CN109361295A - Hall element angle measurement solution angle compensation method based on higher order polynomial - Google Patents
Hall element angle measurement solution angle compensation method based on higher order polynomial Download PDFInfo
- Publication number
- CN109361295A CN109361295A CN201811200774.3A CN201811200774A CN109361295A CN 109361295 A CN109361295 A CN 109361295A CN 201811200774 A CN201811200774 A CN 201811200774A CN 109361295 A CN109361295 A CN 109361295A
- Authority
- CN
- China
- Prior art keywords
- angle
- value
- hall element
- angle measurement
- turntable
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
- H02K11/21—Devices for sensing speed or position, or actuated thereby
- H02K11/215—Magnetic effect devices, e.g. Hall-effect or magneto-resistive elements
Abstract
The Hall element angle measurement solution angle compensation method based on higher order polynomial that the present invention relates to a kind of, belongs to highly-integrated high-precision small servo systems technology field.Method of the invention has obtained engineer application, tests prove that this method can effectively solve the problems, such as that the angle of the angle-measuring equipment in text based on Hall sensor resolves；Hall sensor sampling of the data source inside angle-measuring equipment, calculation amount is small, it is short to calculate the time, meets requirement of real-time；The calculation method is applied widely, can be widely used in the similar angle-measuring equipment based on linear hall sensor.
Description
Technical field
The invention belongs to highly-integrated high-precision small servo systems technology fields, and in particular to one kind is based on high order polynomial
The Hall element angle measurement solution angle compensation method of formula.
Background technique
The development trend of unmanned plane lightweight miniaturization, so that the photoelectric nacelle structure size as its vital task equipment
The indexs such as weight also increasingly focus on the requirement of miniaturization.As position, the feedback member of tracking loop in low profile photovoltaic gondola
If part type selecting uses individual angular transducer, general volume weight is larger, using relatively difficult in small-sized gondola, therefore sets
A kind of small-sized angle-measuring equipment based on Hall sensor has been counted, gage frame angular displacement is used for, schematic diagram of device is shown in Fig. 1.
The device is mounted on motor driving circuit board using Hall sensor, and two circles are pasted in motor output shaft end face
Magnet.When magnet is rotated with motor, Hall sensor passes through magnetic induction output voltage signal.
First-order linear least square resolving Algorithm is generally taken to carry out angle resolving in existing angle calculation method in engineering,
Calculation result such as following formula:
θi=a1·Ui+a0Formula 1
Wherein UiFor current Hall element output difference voltage value, θiFor current resolve angles value, a0、a1Respectively resolve 0
Level number and 1 level number.
Since Hall element is to be welded on angular displacement measuring circuit plate and be connected with motor stator, magnet pasting is in motor output shaft
On, both mounting means not can guarantee higher installation accuracy；Magnet pasting not can guarantee strictly parallel relationship, therefore magnetic
Between two magnet and non-uniform Distribution；When magnet is rotated with motor, among two hall devices not carry out translation motion and
It is that " making an arc " movement is carried out around machine shaft.The resolving angle error that factors above causes first-order linear settlement method to obtain is larger.
Summary of the invention
(1) technical problems to be solved
The technical problem to be solved by the present invention is how to design a kind of based on the building of Hall element angle measurement solution angle model and benefit
Compensation method solves in practical applications, and the real-time angle measurement technique based on Hall element is since magnet installation error is larger, magnet magnetic
The problems such as field uneven distribution, Hall element welding position precision is not high.
(2) technical solution
In order to solve the above-mentioned technical problems, the present invention provides a kind of Hall element angle measurement Xie Jiao based on higher order polynomial
Compensation method, comprising the following steps:
1), data acquire
Motor stator is installed on horizontal one-dimensional turntable by structure tooling, Hall element on angular displacement measuring circuit and turntable
Table top is fixedly connected, and rotary table base is fixed machine shaft locking by cantilever design tooling, at this time motor stator and rotor
Relative rotation angle it is identical as turntable reading, stir turntable table top clockwise, until reach mechanical position limitation at, record work as forward
Corner of table angle value.Then since current location, make turntable stepping, and turntable angle value and Hall element voltage are defeated each time for record
It is worth out；
2), data processing
(4) output of each pair of point Hall element samples at 3000 points and mean value is taken to be recorded as output valve, until reaching
Motor other side restraining position；
(5) angle measurement dead zone data segment, non-gondola workspace data segment are removed, chooses valid data segment data as to be compensated
Data (U1,θ1),(U2,θ2)...(Ui,θi)...(Un,θn), wherein UiFor current Hall element output difference voltage value, θiFor
Current resolve angles value；
(6) threshold value ε is set0As judge angle error fitting whether standard in place；
3), Hall element angle measurement resolves compensation
Using least square method, the angle measurement data obtained after data processing are fitted, choosing fitting order is three ranks,
Obtain angle measurement solution angle model are as follows:
Wherein θiIndicate fitting gained resolve angles value, a0、a1、a2、a3Respectively indicate 0 to 3 quadratic term Function Fitting width
Value coefficient, UiIndicate current location hall element output voltage value；
After bringing angle measurement solution angle model into control program, executes step 1 and carry out the acquisition of angle measurement data, and in the process of acquisition
The angle value that middle record control program samples resolve, if resolving obtained angle value using formula 2 reads angle value with turntable
Difference be less than angle error index ε0, then angle measurement resolves compensation and terminates；It is such as unsatisfactory for, then mentions angle measurement solution angle model fitting order
Higher order repeats this step, until meeting error criterion requirement.
Preferably, in step 2, ε is set0For angle measurement accuracy index request value.
Preferably, step 1 is performed simultaneously with step 3.
Preferably, make turntable stepping every 0.5 ° in step 1.
Preferably, the method is in servo-system.
(3) beneficial effect
(1) method of the invention has obtained engineer application, tests prove that this method can be solved effectively in text based on suddenly
The angle of the angle-measuring equipment of your sensor resolves problem；
(2) Hall sensor sampling of the data source inside angle-measuring equipment, calculation amount is small, it is short to calculate the time, meets
Requirement of real-time；
(3) calculation method is applied widely, can be widely used in the similar angle measurement based on linear hall sensor
In device.
Detailed description of the invention
Fig. 1 is Hall angle-measuring equipment schematic diagram；
Fig. 2 is angle measurement data solution angle compensation process of the invention；
Fig. 3 is the acquisition of Hall element angle measurement data and processing figure of the invention；
Fig. 4 is angle measurement data solution angle fitting result chart of the invention；
Fig. 5 is solution angle model compensation effect figure of the invention.
Specific embodiment
To keep the purpose of the present invention, content and advantage clearer, with reference to the accompanying drawings and examples, to of the invention
Specific embodiment is described in further detail.
A kind of Hall element angle measurement solution angle compensation method based on higher order polynomial provided by the invention, including following step
It is rapid:
1, data acquire
Motor stator is installed on horizontal one-dimensional turntable by structure tooling, Hall element on angular displacement measuring circuit and turntable
Table top is fixedly connected, and rotary table base is fixed machine shaft locking by cantilever design tooling, at this time motor stator and rotor
Relative rotation angle it is identical as turntable reading, stir turntable table top clockwise, until reach mechanical position limitation at, record work as forward
Corner of table angle value.Then since current location, make every 0.5 ° the accurate stepping of turntable (0.01 ° of precision), and record and turn each time
Corner of table angle value and Hall element voltage output value；
2, data processing
(7) for precise measurement, 3000 points of each pair of point Hall element output sampling simultaneously takes mean value to carry out as output valve
Record, until reaching motor other side restraining position.It obtains in total travel between hall element output voltage and frame angular displacement
Relationship such as Fig. 3 a) shown in.
(8) angle measurement dead zone data segment, non-gondola workspace data segment are removed, chooses valid data segment data as to be compensated
Data (U1,θ1),(U2,θ2)...(Ui,θi)...(Un,θn), wherein UiFor current Hall element output difference voltage value, θiFor
Current resolve angles value.Angle compensation data such as Fig. 3 b to be solved is obtained after carrying out dead zone processing to data) shown in.
(9) threshold value ε is set0As judge angle error fitting whether standard in place, generally non-particular/special requirement, if
Determine ε0For angle measurement accuracy index request value.
3, Hall element angle measurement resolves compensation
Using least square method, angle measurement data after data processing are fitted, choosing fitting order is three ranks, is surveyed
Angle solves angle model are as follows:
Wherein θiIndicate fitting gained resolve angles value, a0、a1、a2、a3Respectively indicate 0 to 3 quadratic term Function Fitting width
Value coefficient, UiIndicate current location hall element output voltage value.
After bringing angle measurement solution angle model into control program, executes step 1 and carry out the acquisition of angle measurement data, and in the process of acquisition
The angle value that middle record control program samples resolve, if sampling resolve angles value and the difference of turntable reading angle value are less than angle measurement
Error criterion ε0, then angle measurement resolves compensation and terminates；It is such as unsatisfactory for, then angle measurement solution angle model fitting order is improved into single order, repeated
This step, until meeting error criterion requirement.Detailed process is as shown in Figure 2.
In the present embodiment, angle compensation data to be solved are fitted to obtain such as Fig. 4 by the way of the fitting of three rank multinomials
Shown result, it can be seen that error of fitting is ± 0.02 °, meets required precision.After bringing solution angle compensation model into control system,
The acquisition of angle measurement data is re-started for the system of compensation, verifying calibration result is as shown in figure 5, as seen from the figure, compensation is imitated
Fruit is obvious, and solution angle error is contracted to (- 0.03 °, 0.03 °) by (- 0.3 °, 0.15 °), solution angular accuracy relatively compensation premise high level original side
The 1/8 of method.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, several improvement and deformations can also be made, these improvement and deformations
Also it should be regarded as protection scope of the present invention.
Claims (5)
1. a kind of Hall element angle measurement solution angle compensation method based on higher order polynomial, which comprises the following steps:
1), data acquire
Motor stator is installed on horizontal one-dimensional turntable by structure tooling, Hall element on angular displacement measuring circuit and turntable table top
It is fixedly connected, rotary table base is fixed machine shaft locking by cantilever design tooling, at this time the phase of motor stator and rotor
It is identical as turntable reading to rotation angle, turntable table top is stirred clockwise, until reaching at mechanical position limitation, records current turntable angle
Angle value.Then since current location, make turntable stepping, and record turntable angle value each time and Hall element voltage output
Value；
2), data processing
(1) output of each pair of point Hall element samples at 3000 points and mean value is taken to be recorded as output valve, until reaching motor
Other side restraining position；
(2) angle measurement dead zone data segment, non-gondola workspace data segment are removed, chooses valid data segment data as data to be compensated
(U1,θ1),(U2,θ2)...(Ui,θi)...(Un,θn), wherein UiFor current Hall element output difference voltage value, θiIt is current
Resolve angles value；
(3) threshold value ε is set0As judge angle error fitting whether standard in place；
3), Hall element angle measurement resolves compensation
Using least square method, the angle measurement data obtained after data processing are fitted, choosing fitting order is three ranks, is obtained
Angle measurement solution angle model are as follows:
Wherein θiIndicate fitting gained resolve angles value, a0、a1、a2、a3Respectively indicate 0 to 3 quadratic term Function Fitting amplitude system
Number, UiIndicate current location hall element output voltage value；
After bringing angle measurement solution angle model into control program, executes step 1 and carry out the acquisition of angle measurement data, and remember during acquisition
The angle value that record control program samples resolve, if resolving the difference of obtained angle value and turntable reading angle value using formula 2
Less than angle error index ε0, then angle measurement resolves compensation and terminates；It is such as unsatisfactory for, then angle measurement solution angle model fitting order is improved one
Rank repeats this step, until meeting error criterion requirement.
2. the method as described in claim 1, which is characterized in that in step 2, set ε0For angle measurement accuracy index request value.
3. the method as described in claim 1, which is characterized in that step 1 is performed simultaneously with step 3.
4. the method as described in claim 1, which is characterized in that make turntable stepping every 0.5 ° in step 1.
5. method according to any one of claims 1 to 4, which is characterized in that the method is in servo-system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811200774.3A CN109361295B (en) | 2018-10-16 | 2018-10-16 | Hall element angle measurement solution angle compensation method based on higher order polynomial |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811200774.3A CN109361295B (en) | 2018-10-16 | 2018-10-16 | Hall element angle measurement solution angle compensation method based on higher order polynomial |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109361295A true CN109361295A (en) | 2019-02-19 |
| CN109361295B CN109361295B (en) | 2019-08-16 |
Family
ID=65349020
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811200774.3A Active CN109361295B (en) | 2018-10-16 | 2018-10-16 | Hall element angle measurement solution angle compensation method based on higher order polynomial |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109361295B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110989354A (en) * | 2019-12-17 | 2020-04-10 | 天津津航技术物理研究所 | High-order polynomial position feedforward compensation method of piezoelectric ceramic micro-motion platform |
| CN111077777A (en) * | 2019-12-17 | 2020-04-28 | 天津津航技术物理研究所 | Trigonometric function model error compensation method for angle measurement of double-channel rotary transformer |
| CN112649587A (en) * | 2020-12-01 | 2021-04-13 | 中北大学 | Metal classification device and method combining electromagnetic sensor and photoelectric sensor |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103501141A (en) * | 2013-10-10 | 2014-01-08 | 中国科学院上海技术物理研究所 | Angle position error detecting and compensating device of round angle position sensor and compensating method |
| CN104101361A (en) * | 2014-05-26 | 2014-10-15 | 北京航天控制仪器研究所 | Inertial platform angle sensor error calibration compensation method |
| CN205246044U (en) * | 2015-11-13 | 2016-05-18 | 兰州飞行控制有限责任公司 | Measurement device for asymmetric value of synchronous ware |
-
2018
- 2018-10-16 CN CN201811200774.3A patent/CN109361295B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103501141A (en) * | 2013-10-10 | 2014-01-08 | 中国科学院上海技术物理研究所 | Angle position error detecting and compensating device of round angle position sensor and compensating method |
| CN104101361A (en) * | 2014-05-26 | 2014-10-15 | 北京航天控制仪器研究所 | Inertial platform angle sensor error calibration compensation method |
| CN205246044U (en) * | 2015-11-13 | 2016-05-18 | 兰州飞行控制有限责任公司 | Measurement device for asymmetric value of synchronous ware |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110989354A (en) * | 2019-12-17 | 2020-04-10 | 天津津航技术物理研究所 | High-order polynomial position feedforward compensation method of piezoelectric ceramic micro-motion platform |
| CN111077777A (en) * | 2019-12-17 | 2020-04-28 | 天津津航技术物理研究所 | Trigonometric function model error compensation method for angle measurement of double-channel rotary transformer |
| CN112649587A (en) * | 2020-12-01 | 2021-04-13 | 中北大学 | Metal classification device and method combining electromagnetic sensor and photoelectric sensor |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109361295B (en) | 2019-08-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109361295B (en) | Hall element angle measurement solution angle compensation method based on higher order polynomial | |
| CN109827505B (en) | High-precision laser scanning galvanometer position sensor calibration system | |
| CN101398316B (en) | Method for demarcating motor rotor position sensor | |
| CN105058388B (en) | Sensor data fusion method used for acquiring robot joint position feedback information | |
| CN111366908B (en) | Laser radar rotary table and measuring device and measuring method thereof | |
| Du et al. | A Hall sensor-based position measurement with on-line model parameters computation for permanent magnet synchronous linear motor | |
| CN102554710B (en) | Device and method for measuring rotation angle error of rotary table of machine tool | |
| CN102607391B (en) | Method for measuring displacement of planar motor rotor | |
| CN112066863B (en) | Moving-coil linear motor position calibration device and method | |
| Ramakrishnan et al. | Effect of position sensor error on the performance of PMSM drives for low torque ripple applications | |
| CN102136300A (en) | Three-section combined type ultraprecise positioning table and positioning method thereof | |
| CN109238175A (en) | A kind of space plane angle measurement method based on laser tracker | |
| CN109696187A (en) | Rotary encoder eccentric correction device | |
| CN110530296A (en) | A kind of line laser fix error angle determines method | |
| TW201440413A (en) | Magnetic alignment system and alignment method therefor | |
| Zhao et al. | Precision position measurement of linear motors mover based on temporal image correlation | |
| CN103822576A (en) | Method using linear Hall sensor group to detect permanent magnet plane motor rotor coil phase | |
| CN206989972U (en) | It is a kind of to suppress interference and the hall signal sampling magnetism encoder of temperature drift | |
| Yang et al. | Thrust force calculation and analysis for the permanent magnet linear motor motion system considering the encoder errors | |
| Wang et al. | Research on angle subdivision method of multi-pole magnetic encoder based on pole number quotient remainder | |
| CN116488401A (en) | Encoder, linear motor, and position detection method for linear motor | |
| TWM577495U (en) | A rotary encoder eccentricity correction apparatus | |
| TW202027428A (en) | A rotary encoder eccentricity correction apparatus | |
| CN111257855B (en) | Method for analyzing influence of position sensitive detector performance on tracking performance of laser tracking measurement system | |
| CN112665531B (en) | Multi-pair-level rotation-transformation coordinate transformation angle solving method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |