CN110307860A - A kind of differential type Hall multi-turn position absolute position transducer and its detection method - Google Patents
A kind of differential type Hall multi-turn position absolute position transducer and its detection method Download PDFInfo
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- CN110307860A CN110307860A CN201910589432.3A CN201910589432A CN110307860A CN 110307860 A CN110307860 A CN 110307860A CN 201910589432 A CN201910589432 A CN 201910589432A CN 110307860 A CN110307860 A CN 110307860A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/30—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring angles or tapers; for testing the alignment of axes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
- G01D5/142—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices
- G01D5/145—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices influenced by the relative movement between the Hall device and magnetic fields
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- General Physics & Mathematics (AREA)
- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
- Transmission And Conversion Of Sensor Element Output (AREA)
Abstract
The present invention provides a kind of differential type Hall multi-turn position absolute position transducer and its detection methods, belong to stroke detection technical field；Including first detection module and controller, first detection module includes the first rotating device, and the output axis connection with actuator is rotated under the drive of output shaft with the first transmission ratio of setting；First magnetic element is set on the first rotating device；First Hall angular transducer, it is corresponding with the first magnetic element, to obtain the first angle of the first rotating device rotation in real time；Controller goes out the stroke of actuator according to first angle and the first gear ratio calculation.The present invention uses hall principle, is non-contact detection, and the vibration etc. of the adverse circumstances of actuator installation will not impact each component and testing result, can effectively extend the service life of sensor and improve measurement accuracy；The transmission signal of hall principle is digital signal simultaneously, and strong antijamming capability, signal transmission is reliably.
Description
Technical field
The present invention relates to stroke detection technical field, in particular to a kind of differential type Hall multi-turn position absolute position sensing
Device and its detection method.
Background technique
Actuator is an essential important component in automatic control system.Its effect is to receive controller
The control signal sent changes the size of controlled medium, thus by controlled variable maintain it is required numerically or centainly
In range.
Actuator generally controls the flux of medium in pipeline in industrial automatic control by connecting valve, to reach work
The purpose of skill control.The aperture of valve is given by the stroke of actuator or feeds back to control system by actuator；Actuator
Travel feedback directly affect the superiority and inferiority of industrial manufacture process.
Existing actuator is in such a way that potentiometer is as travel feedback.Potentiometer is a kind of adjustable electronic component,
It is made of resistor body and brush, stroke is transformed into the resistor body of potentiometer in movement by actuator by certain mechanical mechanism
The variation of resistance value.Potentiometer inevitably exists as a kind of docking simulation electric signal and with the electronic component of mechanical movement
The fastidious factor of mechanical wear, measurement noise, the linearity, the needs such as resolution ratio；However, because actuator is typically mounted at industry
Scene, application environment is severe, is inevitably accompanied by mechanical shock, influences the service life and measurement accuracy of potentiometer；And
And industrial environment is complicated, various noises also can generate interference to the transmission of potentiometer measuring signal.
Summary of the invention
The present invention for travel feedback of the potentiometer as actuator is used in the prior art, because potentiometer is a kind of docking
Analog electrical signal and electronic component with mechanical movement, in the adverse circumstances of actuator installation, service life, measurement accuracy
Transmission with measuring signal will receive the problem of seriously affecting, and provide a kind of differential type Hall multi-turn position absolute position sensing
Device and its detection method.
The technical solution that the present invention is proposed with regard to above-mentioned technical problem is as follows:
On one side, the present invention provides a kind of differential type Hall multi-turn position absolute position transducers, including the first inspection
Module and controller are surveyed, first detection module includes the first rotating device, the first magnetic element and the first Hall angular transducer,
First rotating device, the output axis connection with actuator, with the first transmission ratio of setting the output shaft band
Dynamic lower rotation；
First magnetic element is set on first rotating device, to generate around first rotating device
Magnetic field；
First Hall angular transducer, it is corresponding with first magnetic element, with the magnetic to first magnetic element
Field direction is measured in real time, to obtain the first angle of the first rotating device rotation in real time；
Controller is electrically connected with the first Hall angular transducer, to receive the first Hall angular transducer inspection
The first angle measured, and go out according to the first angle and first gear ratio calculation stroke of the actuator.
Further, the absolute position transducer further includes the second detection module, and second detection module includes:
Second rotating device is connect with first rotating device, with the second transmission ratio of setting in first rotation
It is rotated under the drive of device；Wherein, the second transmission ratio of first rotating device and second rotating device is not equal to 1；
Second magnetic element is set on second rotating device, to generate around second rotating device
Magnetic field；And
Second Hall angular transducer, it is corresponding with second magnetic element, with the magnetic to second magnetic element
Field direction is measured in real time, to obtain the second angle of the second rotating device rotation in real time；The second Hall angle
Sensor is also electrically connected with the controller, is sent to the controller with the second angle that will test；The controller root
Go out the actuator according to the first angle, the second angle, second transmission ratio and first gear ratio calculation
Stroke.
Further, first rotating device and second rotating device are gear.
Further, the controller includes the first rotating device range setup unit, the determining list of the first rotating device stroke
Member and actuator travel determination unit,
The first rotating device range setup unit, for according to the first Hall angular transducer described under original state
The second initial angle and institute that the second Hall angular transducer detects under the first initial angle for detecting, original state
State the range that the second transmission ratio determines first rotating device；
The first rotating device stroke determination unit, for according to the first Hall angular transducer described under operating status
The second angle and described second that the second Hall angular transducer detects under the first angle that detects, operating status pass
The dynamic stroke than determining first rotating device；
The actuator travel determination unit, for being driven according to the stroke of first rotating device and described first
The stroke of the actuator more described than determination.
Further, the first initial angle ZA, ZA∈ [0 °, 360 °) meet the following Expression 1 .1；Second initial angle ZB, ZB∈
[0 °, 360 °) meet the following Expression 1 .2:
A2=A21*360°+ZAFormula 1.1
B2=B21*360°+ZBFormula 1.2
In formula, A2For total rotational angle of the first rotating device；A21For the integer circle number of the first rotating device rotation；B2For
Total rotational angle of second rotating device；B21For the integer circle number of the second rotating device rotation；
Wherein, total rotational angle A of the first rotating device2With total rotational angle B of the second rotating device2Meet following formula
1.3:
In formula, A1For first number of teeth of the first rotating device；B1For second number of teeth of the second rotating device；
Convolution 1.1, formula 1.2 and formula 1.3 can further derive the following Expression 1 .4:
It is Z by first initial angleA, second initial angle be ZBFormula 1.4 is substituted into second transmission ratio
In, it enumerates in A21And B21It is taken from the right all A counted and the right and left of formula 1.4 is equal21And B21Value；First rotation
The range A of device20=(A21)min×360°。
Further, first angle A3, A3∈ [0 °, 360 °) meet the following Expression 1 .5；Second angle B3, B3∈ [0 °, 360 °)
Meet the following Expression 1 .6:
A2=A21*360°+(A3-ZA) formula 1.5
B2=B21*360°+(B3-ZB) formula 1.6
Convolution 1.3 and formula 1.6 can further derive the following Expression 1 .7:
By the first angle A3In substitution formula 1.5, enumerate in A21Value be natural number and be calculated in the amount
Journey A20Interior all A2Value, and be denoted as M；By the second angle B3In substitution formula 1.7, enumerate in B21Value is nature
Number and be calculated in the range A20Interior all A2Value, and be denoted as N；The stroke of first rotating device is
Only identical numerical value in the M and the N.
Further, first magnetic element and second magnetic element are magnet steel.
Further, between first magnetic element and first rotating device and second magnetic element and institute
Stating between the second rotating device is detachable connection.
On the other hand, the present invention provides a kind of detection method of differential type Hall multi-turn position absolute position transducer,
The following steps are included:
The magnetic direction of first magnetic element described in first Hall angular transducer real-time detection, to obtain described in real time
The first angle of one rotating device rotation；And the first angle is sent to controller；Wherein, the first rotating device and execution
The output axis connection of device is rotated under the drive of the output shaft with the first transmission ratio of setting；First magnetic element is set to
On first rotating device, to generate magnetic field around first rotating device；
Controller receives the first angle, and goes out described hold according to the first angle and first gear ratio calculation
The stroke of row device.
Another aspect, the present invention also provides a kind of detection sides of differential type Hall multi-turn position absolute position transducer
Method, comprising the following steps:
The magnetic direction of first magnetic element described in first Hall angular transducer real-time detection, to obtain described in real time
The first angle of one rotating device rotation；And first angle is sent to controller；Wherein, the first rotating device and actuator
Axis connection is exported, is rotated under the drive of the output shaft with the first transmission ratio of setting；First magnetic element is set to first
On rotating device, to generate magnetic field around first rotating device；
The magnetic direction of second magnetic element described in second Hall angular transducer real-time detection, to obtain described in real time
The second angle of two rotating devices rotation；And second angle is sent to controller；Wherein, the second rotating device and described first
Rotating device connection, is rotated under the drive of first rotating device with the second transmission ratio of setting, and first rotation
Second transmission ratio of device and second rotating device is not equal to 1；Second magnetic element is set on the second rotating device, with
Magnetic field is generated around second rotating device；
Controller receives the first angle and the second angle, and according to the first angle, the second angle,
Second transmission ratio and first gear ratio calculation go out the stroke of the actuator.
Technical solution provided in an embodiment of the present invention has the benefit that
By the present invention in that the output shaft synchronous of the first rotating device and actuator rotates, by the stroke measurment of actuator
It is transferred in the measurement to the rotational angle of the first rotating device；Then hall principle is used, the first Hall angle sensor is passed through
Device is measured in real time the magnetic direction for the first magnetic element being set on the first rotating device, and execution is calculated with this
The stroke of device；The present invention is non-contact detection, and the vibration etc. of the adverse circumstances of actuator installation will not be to each component and detection
As a result it impacts, can effectively extend the service life of sensor and improves measurement accuracy；The transmission letter of hall principle simultaneously
It number is digital signal, strong antijamming capability, signal transmission is reliable.
Detailed description of the invention
Fig. 1 is the module map of differential type Hall multi-turn position provided in an embodiment of the present invention absolute position transducer；
Fig. 2 is the part-structure signal of differential type Hall multi-turn position provided in an embodiment of the present invention absolute position transducer
Figure；
Fig. 3 is the detection principle diagram of differential type Hall multi-turn position provided in an embodiment of the present invention absolute position transducer.
Specific embodiment
In order to solve the travel feedback using potentiometer as actuator in the presence of the prior art, because potentiometer is one
Kind docking simulation electric signal and the electronic component with mechanical movement, in the adverse circumstances of actuator installation, service life, survey
The transmission of accuracy of measurement and measuring signal will receive the problem of seriously affecting, the present invention is intended to provide a kind of differential type Hall multi-turn position
Absolute position transducer is set, core concept is:, will by rotating the output shaft synchronous of the first rotating device and actuator
The stroke measurment of actuator is transferred in the measurement to the rotational angle of the first rotating device；Then hall principle is used, is passed through
First Hall angular transducer is measured in real time the magnetic direction for the first magnetic element being set on the first rotating device,
The stroke of actuator is calculated with this；The present invention is non-contact detection, the vibration etc. of the adverse circumstances of actuator installation, no
Each component and testing result can be impacted, can effectively extend the service life of sensor and improve measurement accuracy；Simultaneously
The transmission signal of hall principle is digital signal, and strong antijamming capability, signal transmission is reliably.
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with attached drawing to embodiment party of the present invention
Formula is described in further detail.
Embodiment one
The embodiment of the invention provides a kind of differential type Hall multi-turn position absolute position transducers, referring to Fig. 1, including one
Kind differential type Hall multi-turn position absolute position transducer, including first detection module 1 and controller 2, first detection module packet
The first rotating device 11, the first magnetic element 12 and the first Hall angular transducer 13 are included,
First rotating device 11, the output axis connection with actuator, with the first transmission ratio of setting in the output shaft
Drive lower rotation；
First magnetic element 12 is set on first rotating device 11, in the week of first rotating device 11
It encloses and generates magnetic field；
First Hall angular transducer 13, it is corresponding with first magnetic element 12, to first magnetic element
12 magnetic direction is measured in real time, to obtain the first angle that first rotating device 11 rotates in real time；
Controller 2 is electrically connected with the first Hall angular transducer 13, to receive the first Hall angular transducer
13 first angles detected, and go out according to the first angle and first gear ratio calculation row of the actuator
Journey.
Because the first Hall angular transducer 13 is only capable of detecting the first magnetic element 12 relative to the inclined of initial, set position
Digression degree (i.e. first angle is less than 360 °), and cannot detect the whole circle circle number of the first magnetic element 12 rotation.So our
Case only for the turnning circle in the first rotating device 11 one circle within when, the stroke measurment of actuator.
By rotating the first rotating device 11 with the output shaft of actuator, the stroke measurment of actuator is transferred to pair
In the measurement of the rotational angle of first rotating device 11；Then hall principle is used, it is right by the first Hall angular transducer 13
The magnetic direction for the first magnetic element 12 being set on the first rotating device 11 is measured in real time, to obtain first turn in real time
The first angle that dynamic device 11 rotates；The stroke of actuator can be calculated by the first angle and the first transmission ratio.
When the first rotating device 11 is rotated with the output shaft synchronous of actuator (the first transmission ratio be 1 when), described the
The stroke (being at this time first angle) of one rotating device 11 is the stroke of the actuator.When the first rotating device 11 and execution
When being connected with deceleration device between the output shaft of device, the stroke of actuator need to be calculated in conjunction with the first transmission ratio of deceleration device.
Further, the absolute position transducer further includes the second detection module 3, and second detection module 3 includes:
Second rotating device 31 is connect with first rotating device 11, with the second transmission ratio of setting described first
It is rotated under the drive of rotating device 11；Wherein, the second transmission of first rotating device 11 and second rotating device 31
Than being not equal to 1；
Second magnetic element 32 is set on second rotating device 31, in the week of second rotating device 31
It encloses and generates magnetic field；And
Second Hall angular transducer 33, it is corresponding with second magnetic element 32, to second magnetic element
32 magnetic direction is measured in real time, to obtain the second angle (second angle that second rotating device 31 rotates in real time
Less than 360 °)；The second Hall angular transducer 33 is also electrically connected with the controller 2, with the second angle that will test
It is sent to the controller 2；The controller 2 is according to the first angle, the second angle, second transmission ratio and institute
State the stroke that the first gear ratio calculation goes out the actuator.
When only with a rotating device, a magnetic element and a Hall angular transducer, it is only capable of for actuator
Output shaft stroke of the turnning circle within a circle measurement, measurement range is limited.And two rotating devices, two are set
Magnetic element and two Hall angular transducers, and the second transmission ratio of two rotating devices is not equal to 1, so that actuator turns
Moving-coil number only needs to meet: the difference of total rotational angle of total rotational angle of the first rotating device 11 and the second rotating device 31 exists
Within 360 °, total rotational angle (stroke of actuator) of actuator can be accurately obtained, the scope of application is broader.
Further, first rotating device 11 and second rotating device 31 are gear.Gear drive steadily may be used
It leans on.
Further, the controller 2 is determined including the first rotating device range setup unit 21, the first rotating device stroke
Unit 22 and actuator travel determination unit 23,
The first rotating device range setup unit 21, for according to the first Hall angle sensor described under original state
The second initial angle that the second Hall angular transducer 33 detects under the first initial angle that device 13 detects, original state
Degree and second transmission ratio determine the range of first rotating device 11；
The first rotating device stroke determination unit 22, for according to the first Hall angle sensor described under operating status
The second Hall angular transducer 33 detects under first angle that device 13 detects, operating status second angle and described
Second transmission ratio determines the stroke of first rotating device 11；
The actuator travel determination unit 23, for according to the stroke of first rotating device 11 and described first
Transmission ratio determines the stroke of the actuator.
In the present embodiment, the first initial angle ZA, ZA∈ [0 °, 360 °) meet the following Expression 1 .1；Second initial angle ZB, ZB
∈ [0 °, 360 °) meet the following Expression 1 .2:
A2=A21*360°+ZAFormula 1.1
B2=B21*360°+ZBFormula 1.2
In formula, A2For total rotational angle of the first rotating device 11；A21For the integer circle number of the first rotating device 11 rotation；
B2For total rotational angle of the second rotating device 31；B21For the integer circle number of the second rotating device 31 rotation；
Wherein, total rotational angle A of the first rotating device 112With total rotational angle B of the second rotating device 312Meet with
Following formula 1.3:
In formula, A1For first number of teeth of the first rotating device 11；B1For second number of teeth of the second rotating device 31；
Convolution 1.1, formula 1.2 and formula 1.3 can further derive the following Expression 1 .4:
It is Z by first initial angleA, second initial angle be ZBFormula 1.4 is substituted into second transmission ratio
In, it enumerates in A21And B21It is taken from the right all A counted and the right and left of formula 1.4 is equal21And B21Value；First rotation
The range A of device 1120=(A21)min×360°。
In the present embodiment, first angle A3, A3∈ [0 °, 360 °) meet the following Expression 1 .5；Second angle B3, B3∈ [0 °,
360 °) meet the following Expression 1 .6:
A2=A21*360°+(A3-ZA) formula 1.5
B2=B21*360°+(B3-ZB) formula 1.6
Convolution 1.3 and formula 1.6 can further derive the following Expression 1 .7:
By the first angle A3In substitution formula 1.5, enumerate in A21Value be natural number and be calculated in the amount
Journey A20Interior all A2Value, and be denoted as M；By the second angle B3In substitution formula 1.7, enumerate in B21Value is nature
Number and be calculated in the range A20Interior all A2Value, and be denoted as N；The stroke of first rotating device 11
For only identical numerical value in the M and the N.
In the present embodiment, when the first rotating device 11 is rotated with the output shaft synchronous of actuator, (the first transmission ratio is 1
When), the stroke of first rotating device 11 is the stroke of the actuator.It is defeated when the first rotating device 11 and actuator
When being connected with deceleration device between shaft, the stroke of actuator need to be calculated in conjunction with the first transmission ratio of deceleration device.
Further, first magnetic element 12 and second magnetic element 32 are magnet steel.
Further, between first magnetic element 12 and first rotating device 11 and second magnetic element
It is detachable connection between 32 and second rotating device 31.It is convenient for disassembly and assembly.
Further, the detachable connection is to be connected together or bonding connection.
Embodiment two, a kind of detection method of above-mentioned differential type Hall multi-turn position absolute position transducer, including it is following
Step:
The magnetic direction of first magnetic element 12 described in 13 real-time detection of the 1a: the first Hall of step angular transducer, with reality
When obtain the first angle that first rotating device 11 rotates；And the first angle is sent to controller 2；Wherein,
The output axis connection of one rotating device 11 and actuator, is rotated under the drive of the output shaft with the first transmission ratio of setting；
First magnetic element 12 is set on the first rotating device 11, to generate magnetic field around first rotating device 11；
Step 2a: controller 2 receives the first angle, and the row of the actuator is calculated according to the first angle
Journey.
Because the first Hall angular transducer 13 is only capable of detecting the first magnetic element 12 relative to the inclined of initial, set position
Digression degree (i.e. first angle is less than 360 °), and cannot detect the whole circle circle number of the first magnetic element 12 rotation.So our
Case only for the turnning circle in the first rotating device 11 one circle within when, the stroke measurment of actuator.
By rotating the first rotating device 11 with the output shaft of actuator, the stroke measurment of actuator is transferred to pair
In the measurement of the rotational angle of first rotating device 11；Then hall principle is used, it is right by the first Hall angular transducer 13
The magnetic direction for the first magnetic element 12 being set on the first rotating device 11 is measured in real time, to obtain first turn in real time
The first angle that device 11 rotates is moved, and goes out the stroke of actuator by the first angle and the first gear ratio calculation.
When the first rotating device 11 is rotated with the output shaft synchronous of actuator (the first transmission ratio be 1 when), described the
The stroke (being at this time first angle) of one rotating device 11 is the stroke of the actuator.When the first rotating device 11 and execution
When being connected with deceleration device between the output shaft of device, the stroke of actuator need to be calculated in conjunction with the first transmission ratio of deceleration device.
Embodiment three, a kind of detection method of above-mentioned differential type Hall multi-turn position absolute position transducer, including it is following
Step:
The magnetic direction of first magnetic element 12 described in 13 real-time detection of the 1b: the first Hall of step angular transducer, with reality
When obtain the first angle that first rotating device 11 rotates；And first angle is sent to controller 2；Wherein, first turn
The output axis connection of dynamic device 11 and actuator, is rotated under the drive of the output shaft with the first transmission ratio of setting；First
Magnetic element 12 is set on the first rotating device 11, to generate magnetic field around first rotating device 11；
The magnetic direction of second magnetic element 32 described in 33 real-time detection of the 2b: the second Hall of step angular transducer, with reality
When obtain the second angle that second rotating device 31 rotates；And second angle is sent to controller 2；Wherein, second turn
Dynamic device 31 is connect with first rotating device 11, with the second transmission ratio of setting first rotating device 11 drive
Lower rotation, and the second transmission ratio of first rotating device 11 and second rotating device 31 is not equal to 1；Second magnetic member
Part 32 is set on the second rotating device 31, to generate magnetic field around second rotating device 31；
Step 3b: controller 2 receives the first angle and the second angle, and according to the first angle, described
Second angle, second transmission ratio and first gear ratio calculation go out the stroke of the actuator.
By the way that two rotating devices, two magnetic elements and two Hall angular transducers, and two rotating devices are arranged
The second transmission ratio be not equal to 1 so that the turnning circle of actuator only needs to meet: total rotational angle of the first rotating device 11 with
The difference of total rotational angle of second rotating device 31 can accurately show that total rotational angle of actuator (is held within 360 °
The stroke of row device), the scope of application is broader.
Further, first rotating device 11 and second rotating device 31 are gear.Gear drive steadily may be used
It leans on.
Further, controller 2 described in the step 3b is according to the first angle, the second angle and described second
Gear ratio calculation goes out the specific implementation of the stroke of the actuator are as follows:
Step 31b: the range of the first rotating device 11 of setting:
The the first initial angle Z detected according to the first Hall angular transducer 13 described under original stateA, ZA∈ [0 °,
360 °), the second initial angle Z that the second Hall angular transducer 33 detects under original stateB, ZB∈ [0 °, 360 °) and
Second transmission ratio determines the range of first rotating device 11；
Wherein, the first initial angle ZA, ZA∈ [0 °, 360 °) meet the following Expression 1 .1；Second initial angle ZB, ZB∈ [0 °,
360 °) meet the following Expression 1 .2:
A2=A21*360°+ZAFormula 1.1
B2=B21*360°+ZBFormula 1.2
In formula, A2For total rotational angle of the first rotating device 11；A21For the integer circle number of the first rotating device 11 rotation；
B2For total rotational angle of the second rotating device 31；B21For the integer circle number of the second rotating device 31 rotation；
Wherein, total rotational angle A of the first rotating device 112With total rotational angle B of the second rotating device 312Meet with
Following formula 1.3:
In formula, A1For first number of teeth of the first rotating device 11；B1For second number of teeth of the second rotating device 31；
Convolution 1.1, formula 1.2 and formula 1.3 can further derive the following Expression 1 .4:
It is Z by first initial angleA, second initial angle be ZBFormula 1.4 is substituted into second transmission ratio
In, it enumerates in A21And B21It is taken from the right all A counted and the right and left of formula 1.4 is equal21And B21Value；First rotation
The range A of device 1120=(A21)min×360°。
Step 32b: the stroke of first rotating device 11 is determined:
The first angle A detected according to the first Hall angular transducer 13 described under operating status3, A3∈ [0 °,
360 °), the second angle B that the second Hall angular transducer 33 detects under operating status3, B3∈ [0 °, 360 °) and it is described
Second transmission ratio determines the stroke of first rotating device 11；
Wherein, first angle A3Meet the following Expression 1 .5；Second angle B3Meet the following Expression 1 .6:
A2=A21*360°+(A3-ZA) formula 1.5
B2=B21*360°+(B3-ZB) formula 1.6
Convolution 1.3 and formula 1.6 can further derive the following Expression 1 .7:
By the first angle A3In substitution formula 1.5, enumerate in A21Value be natural number and be calculated in the amount
Journey A20Interior all A2Value, and be denoted as M；By the second angle B3In substitution formula 1.7, enumerate in B21Value is nature
Number and be calculated in the range A20Interior all A2Value, and be denoted as N；The stroke of first rotating device 11
For only identical numerical value in the M and the N.
Step 33b: the actuator is determined according to the stroke of first rotating device 11 and first transmission ratio
Stroke.
Illustrate the calculating process of the stroke of actuator below with reference to specific data: in the present embodiment, the first rotation dress
Set 11 the first number of teeth A1It is 35, the second number of teeth B of the second rotating device 311It is 36；And first rotating device 11 with actuator
Output shaft synchronous rotation；
Step 31b: the range of the first rotating device 11 of setting:
The of first magnetic element 12 that detects of the first Hall angular transducer 13 under setting original state
One initial angle ZAIt is 36 °；At the beginning of the second of second magnetic element 32 that the second Hall angular transducer 33 detects
Beginning angle ZBIt is 35 °；
Because of A21And B21It is natural number, by determining after enumerating in A21For 36, B21When being 35, A21For 360, B21It is 350
When ... etc., the right and left of formula 1.4 is equal；The smallest A is taken at this time21It is 36；The range A of first rotating device 1120, A20For
36*360 °=12960 °；
Step 32b: the stroke of the first rotating device 11 is determined:
Step 321b: if the first angle A that the first Hall angular transducer 13 detects in the detection process3It is 324 °,
Formula 1.5 is substituted into, and makes A21Value 0,1,2,3... is respectively to calculate A2Value；Wherein in the range A20Interior A2Value has
288°,648°,1008°,...,10728°,11088°,11448°,11808°,12168°,12528°,12888°；
Step 322b: if the second angle B that the second Hall angular transducer 33 detects in the detection process3It is 15 °, it will
It substitutes into formula 1.7, and makes B21Value 0,1,2,3... is respectively to calculate A2Value；In the range A20Interior A2Value have -20.6 °,
349.7°,720°,...,10717.7°,11088°,11458.2°,11828.8°,12198.9°,12569.1°,12939.4°；
Step 323b: only identical 11088 ° of a numerical value in selecting step 321b and step 322b are used as first
The stroke of rotating device 11；
Step 33b: the stroke of the actuator is 11124 °.
The present embodiment is suitable for stroke detection of the total rotational angle of the first rotating device 11 in 12960 ° of range.For
When other smaller or larger stroke detections, second changed between the first rotating device 11 and the second rotating device 31 can be passed through
Transmission ratio or the mode of quantity for changing second detection module 3 are modified range.Meanwhile by being filled to the first rotation
Set 11 and second second transmission ratio between rotating device 31 3 quantity of change or the second detection module change, can also be achieved survey
The change of accuracy of measurement.
The present invention carries out angle detection by Hall angular transducer, is non-contact detection, and actuator is installed severe
The vibration etc. of environment will not impact each component and testing result, can effectively extend the service life of sensor and mention
High measurement accuracy；The transmission signal of hall principle is digital signal simultaneously, and strong antijamming capability, signal transmission is reliably.The present invention
It also can get stroke variation of the actuator during power-off without reserve battery, one powers on the moment and can export and hold under actuator
Stroke variation of the row device during power-off；There is no reserve battery, the non-maintaining period is longer.Hall angular transducer built-in temperature is mended
It repays, there is the excellent linearity and precision in -40 to 85 DEG C of industrial application environment temperature.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and
Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of differential type Hall multi-turn position absolute position transducer, which is characterized in that including first detection module (1) and control
Device (2) processed, first detection module (1) include that the first rotating device (11), the first magnetic element (12) and the first Hall angle pass
Sensor (13),
First rotating device (11), the output axis connection with actuator, with the first transmission ratio of setting the output shaft band
Dynamic lower rotation；
First magnetic element (12) is set on first rotating device (11), in first rotating device (11)
Surrounding generates magnetic field；
First Hall angular transducer (13), it is corresponding with the first magnetic element (12), to first magnetic element
(12) magnetic direction is measured in real time, to obtain the first angle of the first rotating device (11) rotation in real time；
Controller (2) is electrically connected with the first Hall angular transducer (13), to receive the first Hall angular transducer
(13) first angle detected, and the actuator is gone out according to the first angle and first gear ratio calculation
Stroke.
2. differential type Hall multi-turn position according to claim 1 absolute position transducer, which is characterized in that described absolute
Position sensor further includes the second detection module (3), and second detection module (3) includes:
Second rotating device (31) is connect, with the second transmission ratio of setting described first with first rotating device (11)
It is rotated under the drive of rotating device (11)；Wherein, the of first rotating device (11) and second rotating device (31)
Two transmission ratios are not equal to 1；
Second magnetic element (32) is set on second rotating device (31), in second rotating device (31)
Surrounding generates magnetic field；And
Second Hall angular transducer (33), it is corresponding with the second magnetic element (32), to second magnetic element
(32) magnetic direction is measured in real time, to obtain the second angle of the second rotating device (31) rotation in real time；It is described
Second Hall angular transducer (33) is also electrically connected with the controller (2), is sent to the second angle that will test described
Controller (2)；The controller (2) is according to the first angle, the second angle, second transmission ratio and described first
Gear ratio calculation goes out the stroke of the actuator.
3. differential type Hall multi-turn position according to claim 2 absolute position transducer, which is characterized in that described first
Rotating device (11) and second rotating device (31) are gear.
4. differential type Hall multi-turn position according to claim 3 absolute position transducer, which is characterized in that the control
Device (2) includes the first rotating device range setup unit (21), the first rotating device stroke determination unit (22) and actuator row
Journey determination unit (23),
The first rotating device range setup unit (21), for according to the first Hall angular transducer described under original state
(13) the second Hall angular transducer (33) detects under the first initial angle for detecting, original state second is initial
Angle and second transmission ratio determine the range of first rotating device (11)；
The first rotating device stroke determination unit (22), for according to the first Hall angular transducer described under operating status
(13) second angle and institute that the second Hall angular transducer (33) detects under the first angle that detects, operating status
State the stroke that the second transmission ratio determines first rotating device (11)；
The actuator travel determination unit (23), for the stroke and described first according to first rotating device (11)
Transmission ratio determines the stroke of the actuator.
5. differential type Hall multi-turn position according to claim 4 absolute position transducer, which is characterized in that first is initial
Angle ZA, ZA∈ [0 °, 360 °) meet the following Expression 1 .1；Second initial angle ZB, ZB∈ [0 °, 360 °) meet the following Expression 1 .2:
A2=A21*360°+ZAFormula 1.1
B2=B21*360°+ZBFormula 1.2
In formula, A2For total rotational angle of the first rotating device (11)；A21For the integer circle number of the first rotating device (11) rotation；
B2For total rotational angle of the second rotating device (31)；B21For the integer circle number of the second rotating device (31) rotation；
Wherein, total rotational angle A of the first rotating device (11)2With total rotational angle B of the second rotating device (31)2Meet with
Following formula 1.3:
In formula, A1For first number of teeth of the first rotating device (11)；B1For second number of teeth of the second rotating device (31)；
Convolution 1.1, formula 1.2 and formula 1.3 can further derive the following Expression 1 .4:
It is Z by first initial angleA, second initial angle be ZBIt is substituted into formula 1.4 with second transmission ratio, column
It lifts in A21And B21It is taken from the right all A counted and the right and left of formula 1.4 is equal21And B21Value；First rotating device
(11) range A20=(A21)min×360°。
6. differential type Hall multi-turn position according to claim 5 absolute position transducer, which is characterized in that first angle
A3, A3∈ [0 °, 360 °) meet the following Expression 1 .5；Second angle B3, B3∈ [0 °, 360 °) meet the following Expression 1 .6:
A2=A21*360°+(A3-ZA) formula 1.5
B2=B21*360°+(B3-ZB) formula 1.6
Convolution 1.3 and formula 1.6 can further derive the following Expression 1 .7:
By the first angle A3In substitution formula 1.5, enumerate in A21Value be natural number and be calculated in the range A20
Interior all A2Value, and be denoted as M；By the second angle B3In substitution formula 1.7, enumerate in B21Value be natural number and
Be calculated in the range A20Interior all A2Value, and be denoted as N；The stroke of first rotating device (11) is institute
State only identical numerical value in M and the N.
7. according to the differential type Hall multi-turn position absolute position transducer any in claim 2 to 6, feature exists
In first magnetic element (12) and second magnetic element (32) are magnet steel.
8. according to the differential type Hall multi-turn position absolute position transducer any in claim 2 to 6, feature exists
In between first magnetic element (12) and first rotating device (11) and second magnetic element (32) and institute
Stating between the second rotating device (31) is detachable connection.
9. a kind of detection method of differential type Hall multi-turn position absolute position transducer, which comprises the following steps:
The magnetic direction of first magnetic element (12) described in first Hall angular transducer (13) real-time detection, to obtain institute in real time
State the first angle of the first rotating device (11) rotation；And the first angle is sent to controller (2)；Wherein, first turn
The output axis connection of dynamic device (11) and actuator, is rotated under the drive of the output shaft with the first transmission ratio of setting；The
One magnetic element (12) is set on the first rotating device (11), to generate magnetic around first rotating device (11)
?；
Controller (2) receives the first angle, and goes out described hold according to the first angle and first gear ratio calculation
The stroke of row device.
10. a kind of detection method of differential type Hall multi-turn position absolute position transducer, which is characterized in that including following step
It is rapid:
The magnetic direction of first magnetic element (12) described in first Hall angular transducer (13) real-time detection, to obtain institute in real time
State the first angle of the first rotating device (11) rotation；And first angle is sent to controller (2)；Wherein, the first rotation dress
The output axis connection of (11) Yu actuator is set, is rotated under the drive of the output shaft with the first transmission ratio of setting；First magnetic
Property element (12) is set on the first rotating device (11), to generate magnetic field around first rotating device (11)；
The magnetic direction of second magnetic element (32) described in second Hall angular transducer (33) real-time detection, to obtain institute in real time
State the second angle of the second rotating device (31) rotation；And second angle is sent to controller (2)；Wherein, the second rotation dress
(31) are set to connect with first rotating device (11), with the second transmission ratio of setting first rotating device (11) band
Dynamic lower rotation, and the second transmission ratio of first rotating device (11) and second rotating device (31) is not equal to 1；Second
Magnetic element (32) is set on the second rotating device (31), to generate magnetic field around second rotating device (31)；
Controller (2) receives the first angle and the second angle, and according to the first angle, the second angle,
Second transmission ratio and first gear ratio calculation go out the stroke of the actuator.
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