CN109855668B - Self-calibration method and device of magnetic angle sensor, magnetic angle sensor and system - Google Patents
Self-calibration method and device of magnetic angle sensor, magnetic angle sensor and system Download PDFInfo
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Abstract
The invention relates to the technical field of magnetic angle sensors, and particularly discloses a self-calibration method of a magnetic angle sensor, wherein the self-calibration method comprises the following steps: obtaining a first set of magnetic angle data; obtaining a second set of magnetic angle data; processing the first group of magnetic angle data and the second group of magnetic angle data to obtain an angle value to be calibrated; calibrating the magnetic angle sensor; wherein obtaining the first set of magnetic angle data and obtaining the second set of magnetic angle data each comprise: acquiring current two-path magnetic angle signal values of the magnetic angle sensor; determining whether to output a motor slow rotation driving signal or not according to the relation between the current two magnetic angle signal values and a first threshold range; and determining whether to output the two magnetic angle signal values according to the relationship between the current two magnetic angle signal values and the second threshold range. The invention also discloses a self-calibration device of the magnetic angle sensor, the magnetic angle sensor and a magnetic angle sensor system. The self-calibration method of the magnetic angle sensor greatly reduces the calibration time and improves the production efficiency.
Description
Technical Field
The invention relates to the technical field of magnetic angle sensors, in particular to a self-calibration method of a magnetic angle sensor, a self-calibration device of the magnetic angle sensor, the magnetic angle sensor comprising the self-calibration device of the magnetic angle sensor and a magnetic angle sensor system comprising the magnetic angle sensor.
Background
In the actual production process of the magnetic angle sensor, due to various reasons such as sensors, magnets and assembly, maxX, minX, maxY and minY of each complete machine are different, and therefore calibration needs to be carried out one by one. The existing calibration method mainly comprises the steps that the MCU searches for a maximum value through self comparison or calculates the maximum and minimum values after all data of the next week are stored by the upper computer and then returns the maximum and minimum values to the MCU for subsequent calculation, the two methods have the defects that each angle point in 360 degrees needs to be tested, the tested points are more and more dense along with the increase of the precision requirement of a customer, a large amount of time is consumed for calibration, the production efficiency is reduced, and the test cost is increased.
Disclosure of Invention
The present invention is directed to solve at least one of the technical problems in the prior art, and provides a self-calibration method of a magnetic angle sensor, a self-calibration device of a magnetic angle sensor, a magnetic angle sensor including the self-calibration device of the magnetic angle sensor, and a magnetic angle sensor system including the magnetic angle sensor, so as to solve the problems in the prior art.
As a first aspect of the present invention, there is provided a self-calibration method of a magnetic angle sensor, wherein the self-calibration method of a magnetic angle sensor includes:
obtaining a first set of magnetic angle data;
obtaining a second set of magnetic angle data;
normalizing the first group of magnetic angle data and the second group of magnetic angle data to obtain an angle value to be calibrated;
calibrating the magnetic angle sensor according to the angle value to be calibrated;
wherein the obtaining the first set of magnetic angle data and the obtaining the second set of magnetic angle data each comprise:
acquiring two magnetic angle signal values of a magnetic angle sensor under the condition of quick rotation of a motor;
determining whether to output a motor slow rotation driving signal according to the relation between the two magnetic angle signal values under the condition of the motor fast rotation and a first threshold range;
after a motor slow rotation driving signal is output, two magnetic angle signal values of the magnetic angle sensor under the slow rotation of the motor are obtained;
determining whether to output two magnetic angle signal values or not according to the relation between the two magnetic angle signal values under the slow rotation of the motor and a second threshold range;
and when the two magnetic angle signal values are output completely, obtaining the first group of magnetic angle data/the second group of magnetic angle data.
Preferably, the determining whether to output the motor slow rotation driving signal according to the relationship between the two magnetic angle signal values under the condition of the motor fast rotation and the first threshold range includes:
judging whether one of the two magnetic angle signal values under the condition of rapid rotation of the motor is within a first threshold range;
if one of the two magnetic angle signal values under the condition of quick rotation of the motor is within a first threshold range, outputting a motor slow rotation driving signal;
and if the two magnetic angle signal values in the two magnetic angle signal values under the quick rotation of the motor are not in the first threshold range, outputting a quick rotation driving signal of the motor, and returning to execute the acquisition of the two magnetic angle signal values of the magnetic angle sensor under the quick rotation of the motor.
Preferably, the determining whether to output two magnetic angle signal values according to a relationship between two magnetic angle signal values under the slow rotation of the motor and a second threshold range includes:
judging whether one of the two magnetic angle signal values of the motor rotating at a slow speed is within a second threshold range;
and if the two magnetic angle signal values of the motor rotating at the slow speed are within the range of the second threshold value, outputting the magnetic angle signal value.
Preferably, the self-calibration method of the magnetic angle sensor further includes, before the step of obtaining the first set of magnetic angle data/the second set of magnetic angle data when both of the two magnetic angle signal values are completely output:
judging whether the two magnetic angle signal values are output completely;
and if at least one of the two magnetic angle signal values is not completely output, outputting a motor rapid rotation driving signal, and returning to the step of acquiring the two magnetic angle signal values of the magnetic angle sensor under the rapid rotation of the motor.
Preferably, the normalizing the first set of magnetic angle data and the second set of magnetic angle data to obtain an angle value to be calibrated includes:
carrying out gain error calibration and offset error calibration on the first set of magnetic angle data and the second set of magnetic angle data to obtain a required cosine value and a required sine value;
and calculating to-be-calibrated angle values through arctan according to the cosine values and the sine values.
As a second aspect of the present invention, there is provided a self-calibration device of a magnetic angle sensor, wherein the self-calibration device of a magnetic angle sensor includes: the calibration device comprises a first data obtaining module, a second data obtaining module, a data processing module and a calibration module, wherein the first data obtaining module is used for obtaining a first group of magnetic angle data, the second data obtaining module is used for obtaining a second group of magnetic angle data, the data processing module is used for carrying out normalization processing on the first group of magnetic angle data and the second group of magnetic angle data to obtain an angle value to be calibrated, and the calibration module is used for calibrating a magnetic angle sensor according to the angle value to be calibrated;
wherein the first data obtaining module and the second data obtaining module each comprise:
the first acquisition unit is used for acquiring two paths of magnetic angle signal values of the magnetic angle sensor under the condition of quick rotation of the motor;
the driving signal output unit is used for determining whether to output a motor slow rotation driving signal according to the relation between the two magnetic angle signal values under the condition of fast rotation of the motor and a first threshold range;
the second acquisition unit is used for acquiring two magnetic angle signal values of the magnetic angle sensor under the slow rotation of the motor after outputting a motor slow rotation driving signal;
the magnetic angle signal value output unit is used for determining whether to output two magnetic angle signal values or not according to the relation between the two magnetic angle signal values under the slow rotation of the motor and a second threshold range;
and the data acquisition unit is used for acquiring the first group of magnetic angle data/the second group of magnetic angle data when the two magnetic angle signal values are output completely.
As a third aspect of the present invention, there is provided a magnetic angle sensor, wherein the magnetic angle sensor includes a magnet, an angle sensor and the self-calibration device of the magnetic angle sensor, the magnet is magnetically connected to the angle sensor, the angle sensor is connected to the self-calibration device of the magnetic angle sensor in communication, the angle sensor can output a magnetic angle signal value when the magnet rotates, and the self-calibration device of the magnetic angle sensor can obtain the magnetic angle signal value through the angle sensor.
Preferably, the self-calibration means of the magnetic angle sensor comprise an MCU controller.
As a fourth aspect of the present invention, a magnetic angle sensor system is provided, wherein the magnetic angle sensor system comprises a driving motor and the magnetic angle sensor mentioned above, the driving motor is connected with the magnet, the driving motor is connected with the magnetic angle sensor in a communication way, and the driving motor is used for rotating under the driving signal of the magnetic angle sensor so as to drive the magnet to rotate.
Preferably, the magnetic angle sensor system further comprises an upper computer, the driving motor and the magnetic angle sensor are both in communication connection with the upper computer, the driving motor obtains a driving signal of the magnetic angle sensor through the upper computer, and the upper computer is used for displaying a self-calibration result of the magnetic angle sensor.
The self-calibration method of the magnetic angle sensor provided by the invention judges the rotating speed of the driving motor by setting a first threshold range when acquiring magnetic angle data, when one path of magnetic angle signal value is in the first threshold range, the driving motor rotates slowly, when the two paths of magnetic angle signal values are not in the first threshold range, the driving motor needs to rotate quickly, and by setting a second threshold range, whether the output magnetic angle signal value is zero or not is judged, when the output magnetic angle signal value is in the second threshold range, the magnetic angle signal value is output, otherwise, the driving motor returns to continue to rotate; and the rotating speed can be properly reduced in the area close to the zero value, and the area is considered to have required parameters, so that the calibration time is greatly reduced, the production efficiency is improved, and the test cost is reduced.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic view of an internal structure of a magnetic angle sensor according to the present invention.
Fig. 2 is a schematic diagram of the operation of the angle sensor provided by the present invention under a magnetic field.
Fig. 3 is an ideal output curve of the magnetic angle sensor provided by the present invention.
Fig. 4 is a schematic diagram of an image obtained by differencing the differential analog signal provided by the present invention.
Fig. 5 is a round figure of lissajous corresponding to fig. 4.
Fig. 6 is a flow chart of a self-calibration method of a magnetic angle sensor provided by the present invention.
FIG. 7 is a flowchart of an embodiment of obtaining the first/second set of magnetic angle data according to the present invention.
Fig. 8 is a block diagram of a self-calibration apparatus of a magnetic angle sensor according to the present invention.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.
It should be noted that the magnetic angle sensor adopts a Wheatstone full-bridge structure with mutually perpendicular induction directions, outputs two groups of differential analog signals SIN +, SIN-, COS +, COS-, and makes a difference to obtain X (COS) and Y (SIN). Fig. 1 is a schematic diagram of the internal structure of the magnetic angle sensor. Fig. 2 is a schematic diagram of the operation of the angle sensor under a magnetic field. Fig. 3 is an ideal output curve of the magnetic angle sensor. Fig. 4 and 5 are the images obtained after the subtraction and the corresponding lissajous circles, respectively:
X(COS)=(COS+)-(COS-)，Y(SIN)=(SIN+)-(SIN-)。
measuring the analog quantity obtained at each angle in a circle by slowly rotating the magnet, then obtaining the maximum value and the minimum value maxX, minX, maxY and minY of X (COS) and Y (SIN), calibrating the gain error and the offset error, namely normalizing to obtain the finally needed X '(COS) and Y' (SIN), and finally obtaining the corresponding absolute angle value theta through arctan calculation:
peak-to-peak X: XPP = max X-minX,
peak-to-peak Y: YPP = max Y-minY,
x zero shift: xoffset = (maxX + minX)/2,
y zero shift: yoffset = (maxY + minY)/2,
X' (COS)=( X(COS)-Xoffset)/(XPP/2)，
Y' (SIN)=( Y(SIN)-Yoffset)/(YPP/2)，
θ=arctan(Y' (SIN)/ X' (COS))。
therefore, it can be seen from the above principle that how to rapidly measure the maxX, minX, maxY, and minY parameters is needed to be solved.
It should be noted that, as shown in fig. 4, according to the trigonometric function characteristic, when x (cos) is equal to 0, the value corresponding to y (sin) is maxY or minY, and maxY > 0 > minY; similarly, when Y (SIN) is equal to 0, the value corresponding to X (COS) is maxX or minX, and maxX > 0 > minX. Therefore, finding the largest and smallest unknown values of X (COS) and Y (SIN) translates to finding the determined value of X (COS) and Y (SIN) zero.
As a first aspect of the present invention, there is provided a self-calibration method of a magnetic angle sensor, wherein, as shown in fig. 6, the self-calibration method of a magnetic angle sensor includes:
s110, obtaining a first group of magnetic angle data;
s120, obtaining a second group of magnetic angle data;
s130, normalizing the first group of magnetic angle data and the second group of magnetic angle data to obtain an angle value to be calibrated;
s140, calibrating the magnetic angle sensor according to the angle value to be calibrated;
wherein the obtaining the first set of magnetic angle data and the obtaining the second set of magnetic angle data each comprise:
s111, acquiring two magnetic angle signal values of the magnetic angle sensor under the condition of quick rotation of the motor;
s112, determining whether to output a motor slow rotation driving signal according to the relation between the two magnetic angle signal values under the condition of fast rotation of the motor and a first threshold range;
s113, after a motor slow rotation driving signal is output, two magnetic angle signal values of the magnetic angle sensor under the slow rotation of the motor are obtained;
s114, determining whether to output two magnetic angle signal values or not according to the relation between the two magnetic angle signal values under the slow rotation of the motor and a second threshold range;
and S115, when the two magnetic angle signal values are output completely, obtaining the first group of magnetic angle data/the second group of magnetic angle data.
The self-calibration method of the magnetic angle sensor provided by the invention judges the rotating speed of the driving motor by setting a first threshold range when acquiring magnetic angle data, when one path of magnetic angle signal value is in the first threshold range, the driving motor rotates slowly, when the two paths of magnetic angle signal values are not in the first threshold range, the driving motor needs to rotate quickly, and by setting a second threshold range, whether the output magnetic angle signal value is zero or not is judged, when the output magnetic angle signal value is in the second threshold range, the magnetic angle signal value is output, otherwise, the driving motor returns to continue to rotate; and the rotating speed can be properly reduced in the area close to the zero value, and the area is considered to have required parameters, so that the calibration time is greatly reduced, the production efficiency is improved, and the test cost is reduced.
It should be understood that, two magnetic angle signal values of each set of magnetic angle data obtained initially are analog data, and after analog-to-digital conversion, a corresponding digital quantity is obtained, and then the digital quantity corresponding to the magnetic angle signal value is compared with the first threshold range and the second threshold range to obtain a corresponding result, and it should be further understood that the first threshold range and the second threshold range are both digital quantities.
Specifically, as shown in fig. 7, the determining whether to output the motor slow rotation driving signal according to the relationship between the two magnetic angle signal values (X and Y) under the condition of the motor fast rotation and the first threshold range includes:
judging whether one of the two magnetic angle signal values (X or Y) under the condition of quick rotation of the motor is in a first threshold range or not;
if one magnetic angle signal value (X or Y) of the two magnetic angle signal values (X and Y) under the condition of quick rotation of the motor is within a first threshold value range, outputting a motor slow rotation driving signal;
and if the two magnetic angle signal values (X and Y) in the two magnetic angle signal values under the condition of the quick rotation of the motor are not in the first threshold range, outputting a quick rotation driving signal of the motor, and returning to execute the acquisition of the two magnetic angle signal values of the magnetic angle sensor under the condition of the quick rotation of the motor.
Further specifically, the determining whether to output two magnetic angle signal values according to a relationship between two magnetic angle signal values under the slow rotation of the motor and a second threshold range includes:
judging whether one magnetic angle signal value (X or Y) of the two magnetic angle signal values under the slow rotation of the motor is within a second threshold value range;
and if the two magnetic angle signal values of the motor rotating at the slow speed are within the range of the second threshold value, outputting the magnetic angle signal value.
Specifically, the self-calibration method of the magnetic angle sensor further includes, before the step of obtaining the first set of magnetic angle data when the two magnetic angle signal values are all output:
judging whether the two magnetic angle signal values are output completely;
and if the two magnetic angle signal values are not output completely, outputting a motor quick rotation driving signal, and returning to execute the step of acquiring the two magnetic angle signal values of the magnetic angle sensor under the quick rotation of the motor.
Specifically, the normalizing the first set of magnetic angle data and the second set of magnetic angle data to obtain an angle value to be calibrated includes:
carrying out gain error calibration and offset error calibration on the first set of magnetic angle data and the second set of magnetic angle data to obtain a required cosine value and a required sine value;
and calculating to-be-calibrated angle values through arctan according to the cosine values and the sine values.
As shown in fig. 7, a 16-bit differential ADC port may be specifically adopted to collect the magnetic angle signal output by the sensor, and the zero value is 215Setting threshold values alpha and beta, wherein alpha is used for judging the rotating speed of the motor, when the magnetic angle signal value is out of the threshold value alpha, the motor is driven to rotate fast, otherwise, the motor rotates slowly; and beta is used for judging whether the output value is zero or not, and when the magnetic angle signal value is within the threshold value beta, the magnetic angle signal value is output.
It should be understood that, taking the setting of the threshold values α, β as an example, the first threshold value range may be represented as (2)15-α，215+ α), the second threshold range may be represented as (2)15-β，215+ β), wherein the sizes of α and β may be set according to the requirement, and are not limited herein.
It should be noted that, through the flowchart shown in fig. 7, the first set of magnetic angle signal values, i.e., X1 and Y1, can be obtained, and the process is repeated to obtain the second set of magnetic angle signal values, i.e., X2 and Y2. By comparing X1 and X2, maxX, minX are obtained, and by comparing Y1 and Y2, maxY, minY are obtained.
It should be noted that, if at least one of the two magnetic angle signal values is not output after the comparison with the second threshold range, the driving motor needs to rotate by an angle of at least m, preferably, m is between 10 ° and 80 °, and further preferably, m can be selected to be 45 °, so that the region with the required parameters can be entered more quickly.
Thus, by purposeful searching as described above, it is possible to quickly roll over in areas that are not zero values, since there must be no required parameters inside; while in the region close to zero the rotation speed can be slowed down appropriately, this region is considered to have the required parameters, thereby reducing the calibration time considerably.
As a second aspect of the present invention, there is provided a self-calibration device of a magnetic angle sensor, wherein, as shown in fig. 8, the self-calibration device 100 of a magnetic angle sensor comprises: the calibration device comprises a first data obtaining module 110, a second data obtaining module 120, a data processing module 130 and a calibration module 140, wherein the first data obtaining module 110 is used for obtaining a first group of magnetic angle data, the second data obtaining module 120 is used for obtaining a second group of magnetic angle data, the data processing module 130 is used for carrying out normalization processing on the first group of magnetic angle data and the second group of magnetic angle data to obtain a value of an angle to be calibrated, and the calibration module 140 is used for calibrating a magnetic angle sensor according to the value of the angle to be calibrated;
wherein the first data obtaining module 110 and the second data obtaining module 120 each include:
the first acquisition unit 111 is used for acquiring two magnetic angle signal values of the magnetic angle sensor under the condition of quick rotation of the motor;
a driving signal output unit 112, where the driving signal output unit 112 is configured to determine whether to output a motor slow rotation driving signal according to a relationship between two magnetic angle signal values under the condition of fast rotation of the motor and a first threshold range;
the second obtaining unit 113, where the second obtaining unit 113 is configured to obtain two magnetic angle signal values of the magnetic angle sensor when the motor slow rotation driving signal is output;
a magnetic angle signal value output unit 114, where the magnetic angle signal value output unit 114 is configured to determine whether to output two magnetic angle signal values according to a relationship between the two magnetic angle signal values under the slow rotation of the motor and a second threshold range;
and the data obtaining unit 115 is used for obtaining the first group of magnetic angle data/the second group of magnetic angle data when the two magnetic angle signal values are output completely.
The self-calibration device of the magnetic angle sensor provided by the invention judges the rotating speed of the driving motor by setting a first threshold range when acquiring magnetic angle data, when one path of magnetic angle signal value is in the first threshold range, the driving motor rotates slowly, when the two paths of magnetic angle signal values are not in the first threshold range, the driving motor needs to rotate quickly, and judges whether the output magnetic angle signal value is zero or not by setting a second threshold range; and the rotating speed can be properly reduced in the area close to the zero value, and the area is considered to have required parameters, so that the calibration time is greatly reduced, the production efficiency is improved, and the test cost is reduced.
As a third aspect of the present invention, there is provided a magnetic angle sensor, wherein the magnetic angle sensor includes a magnet, an angle sensor and the self-calibration device of the magnetic angle sensor, the magnet is magnetically connected to the angle sensor, the angle sensor is connected to the self-calibration device of the magnetic angle sensor in communication, the angle sensor can output a magnetic angle signal value when the magnet rotates, and the self-calibration device of the magnetic angle sensor can obtain the magnetic angle signal value through the angle sensor.
The magnetic angle sensor provided by the invention adopts the self-calibration device of the magnetic angle sensor, can purposefully search for the zero value to be determined, and can quickly rotate in the region which is not the zero value because the required parameters are certainly not available in the region; and the rotating speed can be properly reduced in the area close to the zero value, and the area is considered to have required parameters, so that the calibration time is greatly reduced, the production efficiency is improved, and the test cost is reduced.
Preferably, the self-calibration means of the magnetic angle sensor comprise an MCU controller.
As a fourth aspect of the present invention, a magnetic angle sensor system is provided, wherein the magnetic angle sensor system comprises a driving motor and the magnetic angle sensor mentioned above, the driving motor is connected with the magnet, the driving motor is connected with the magnetic angle sensor in a communication way, and the driving motor is used for rotating under the driving signal of the magnetic angle sensor so as to drive the magnet to rotate.
According to the magnetic angle sensor system provided by the invention, the magnetic angle sensor in the prior art is adopted, zero values needing to be determined can be purposefully searched, and the magnetic angle sensor can quickly rotate in the areas which are not the zero values, as no needed parameters are definitely in the magnetic angle sensor system; and the rotating speed can be properly reduced in the area close to the zero value, and the area is considered to have required parameters, so that the calibration time is greatly reduced, the production efficiency is improved, and the test cost is reduced.
Specifically, the magnetic angle sensor system further comprises an upper computer, the driving motor and the magnetic angle sensor are both in communication connection with the upper computer, the driving motor obtains driving signals of the magnetic angle sensor through the upper computer, and the upper computer is used for displaying self-calibration results of the magnetic angle sensor.
It will be understood that the above embodiments are merely exemplary embodiments taken to illustrate the principles of the present invention, which is not limited thereto. It will be apparent to those skilled in the art that various modifications and improvements can be made without departing from the spirit and substance of the invention, and these modifications and improvements are also considered to be within the scope of the invention.
Claims (10)
1. A method for self-calibration of a magnetic angle sensor, characterized in that it comprises:
obtaining a first set of magnetic angle data;
obtaining a second set of magnetic angle data;
normalizing the first group of magnetic angle data and the second group of magnetic angle data to obtain an angle value to be calibrated;
calibrating the magnetic angle sensor according to the angle value to be calibrated;
wherein the obtaining the first set of magnetic angle data and the obtaining the second set of magnetic angle data each comprise:
acquiring two magnetic angle signal values of a magnetic angle sensor under the condition of quick rotation of a motor;
determining whether to output a motor slow rotation driving signal according to the relation between the two magnetic angle signal values under the condition of the motor fast rotation and a first threshold range;
after a motor slow rotation driving signal is output, two magnetic angle signal values of the magnetic angle sensor under the slow rotation of the motor are obtained;
determining whether to output two magnetic angle signal values or not according to the relation between the two magnetic angle signal values under the slow rotation of the motor and a second threshold range;
and when the two magnetic angle signal values are output completely, obtaining the first group of magnetic angle data/the second group of magnetic angle data.
2. The self-calibration method of the magnetic angle sensor according to claim 1, wherein the determining whether to output the motor slow rotation driving signal according to the relationship between the two magnetic angle signal values under the fast rotation of the motor and the first threshold range comprises:
judging whether one of the two magnetic angle signal values under the condition of rapid rotation of the motor is within a first threshold range;
if one of the two magnetic angle signal values under the condition of quick rotation of the motor is within a first threshold range, outputting a motor slow rotation driving signal;
and if the two magnetic angle signal values in the two magnetic angle signal values under the quick rotation of the motor are not in the first threshold range, outputting a quick rotation driving signal of the motor, and returning to execute the acquisition of the two magnetic angle signal values of the magnetic angle sensor under the quick rotation of the motor.
3. The self-calibration method of the magnetic angle sensor according to claim 2, wherein the determining whether to output the two-way magnetic angle signal value according to the relationship between the two-way magnetic angle signal value under the slow rotation of the motor and the second threshold range comprises:
judging whether one of the two magnetic angle signal values of the motor rotating at a slow speed is within a second threshold range;
and if the two magnetic angle signal values of the motor rotating at the slow speed are within the range of the second threshold value, outputting the magnetic angle signal value.
4. The method for self-calibrating a magnetic angle sensor according to claim 1, further comprising, before the step of obtaining the first set of magnetic angle data/the second set of magnetic angle data when both magnetic angle signal values are output:
judging whether the two magnetic angle signal values are output completely;
and if at least one of the two magnetic angle signal values is not completely output, outputting a motor rapid rotation driving signal, and returning to the step of acquiring the two magnetic angle signal values of the magnetic angle sensor under the rapid rotation of the motor.
5. The self-calibration method of a magnetic angle sensor according to claim 1, wherein the normalizing the first set of magnetic angle data and the second set of magnetic angle data to obtain an angle value to be calibrated comprises:
carrying out gain error calibration and offset error calibration on the first set of magnetic angle data and the second set of magnetic angle data to obtain a required cosine value and a required sine value;
and calculating to-be-calibrated angle values through arctan according to the cosine values and the sine values.
6. Self-calibration device of a magnetic angle sensor, characterized in that it comprises: the calibration device comprises a first data obtaining module, a second data obtaining module, a data processing module and a calibration module, wherein the first data obtaining module is used for obtaining a first group of magnetic angle data, the second data obtaining module is used for obtaining a second group of magnetic angle data, the data processing module is used for carrying out normalization processing on the first group of magnetic angle data and the second group of magnetic angle data to obtain an angle value to be calibrated, and the calibration module is used for calibrating a magnetic angle sensor according to the angle value to be calibrated;
wherein the first data obtaining module and the second data obtaining module each comprise:
the first acquisition unit is used for acquiring two paths of magnetic angle signal values of the magnetic angle sensor under the condition of quick rotation of the motor;
the driving signal output unit is used for determining whether to output a motor slow rotation driving signal according to the relation between the two magnetic angle signal values under the condition of fast rotation of the motor and a first threshold range;
the second acquisition unit is used for acquiring two magnetic angle signal values of the magnetic angle sensor under the slow rotation of the motor after outputting a motor slow rotation driving signal;
the magnetic angle signal value output unit is used for determining whether to output two magnetic angle signal values or not according to the relation between the two magnetic angle signal values under the slow rotation of the motor and a second threshold range;
and the data acquisition unit is used for acquiring the first group of magnetic angle data/the second group of magnetic angle data when the two magnetic angle signal values are output completely.
7. A magnetic angle sensor, characterized in that it comprises a magnet magnetically connected to the angle sensor, an angle sensor in communication with the self-calibration means of the magnetic angle sensor according to claim 6, capable of outputting a magnetic angle signal value upon rotation of the magnet, and self-calibration means of the magnetic angle sensor capable of acquiring the magnetic angle signal value through the angle sensor.
8. A magnetic angle sensor according to claim 7, characterized in that the self-calibration means of the magnetic angle sensor comprise an MCU controller.
9. A magnetic angle sensor system, characterized in that it comprises a drive motor and a magnetic angle sensor according to claim 7 or 8, said drive motor being connected to said magnet, said drive motor being in communication with said magnetic angle sensor, said drive motor being adapted to rotate under a drive signal of said magnetic angle sensor to drive the magnet to rotate.
10. The magnetic angle sensor system according to claim 9, further comprising an upper computer, wherein the driving motor and the magnetic angle sensor are both in communication connection with the upper computer, the driving motor obtains a driving signal of the magnetic angle sensor through the upper computer, and the upper computer is configured to display a self-calibration result of the magnetic angle sensor.
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| CN110631474B (en) * | 2019-11-04 | 2021-07-30 | 重庆市亿飞智联科技有限公司 | Motor calibration system, method and device, controller and storage medium |
| CN110645891B (en) * | 2019-11-04 | 2022-02-08 | 重庆市亿飞智联科技有限公司 | Motor calibration system, method and device, controller and storage medium |
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