CN110307860B - Differential Hall multi-ring position absolute position sensor and detection method thereof - Google Patents

Differential Hall multi-ring position absolute position sensor and detection method thereof Download PDF

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CN110307860B
CN110307860B CN201910589432.3A CN201910589432A CN110307860B CN 110307860 B CN110307860 B CN 110307860B CN 201910589432 A CN201910589432 A CN 201910589432A CN 110307860 B CN110307860 B CN 110307860B
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angle
rotating device
formula
hall
rotating
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CN110307860A (en
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袁菲
徐浩
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SHENZHEN MAXONIC AUTOMATION CONTROL CO Ltd
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SHENZHEN MAXONIC AUTOMATION CONTROL CO Ltd
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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
    • 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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Abstract

The invention provides a differential Hall multi-turn position absolute position sensor and a detection method thereof, belonging to the technical field of stroke detection; the device comprises a first detection module and a controller, wherein the first detection module comprises a first rotating device which is connected with an output shaft of an actuator and is driven by the output shaft to rotate according to a set first transmission ratio; the first magnetic element is arranged on the first rotating device; the first Hall angle sensor corresponds to the first magnetic element so as to acquire a first rotating angle of the first rotating device in real time; and the controller calculates the stroke of the actuator according to the first angle and the first transmission ratio. The Hall principle is adopted, non-contact detection is realized, the vibration of the actuator in a severe environment and the like can not affect each component and a detection result, the service life of the sensor can be effectively prolonged, and the measurement precision can be improved; meanwhile, the transmission signal of the Hall principle is a digital signal, so that the anti-interference capability is strong, and the signal transmission is reliable.

Description

Differential Hall multi-ring position absolute position sensor and detection method thereof
Technical Field
The invention relates to the technical field of stroke detection, in particular to a differential Hall multi-ring position absolute position sensor and a detection method thereof.
Background
The actuator is an essential important component of an automatic control system. It is used to receive the control signal from the controller and change the size of the controlled medium to maintain the controlled variable at the required value or in certain range.
In industrial automation control, an actuator generally controls the flux of a medium in a pipeline through a connecting valve so as to achieve the purpose of process control. The opening degree of the valve is given through the stroke of the actuator or fed back to the control system through the actuator; the stroke feedback of the actuator directly influences the quality of the industrial production process.
The existing actuator adopts a potentiometer as a stroke feedback mode. The potentiometer is an adjustable electronic element and consists of a resistor body and an electric brush, and when an actuator acts, the stroke is converted into the change of the resistor body resistance value of the potentiometer through a certain mechanical mechanism. As an electronic component which is butted with an analog electric signal and has mechanical motion, a potentiometer inevitably has factors needing to be studied, such as mechanical abrasion, measurement noise, linearity, resolution ratio and the like; however, since the actuator is generally installed in an industrial field, the application environment is severe, and mechanical vibration is inevitably accompanied, so that the service life and the measurement accuracy of the potentiometer are influenced; and the industrial field environment is complicated, and various noises can also interfere the transmission of the measuring signal of the potentiometer.
Disclosure of Invention
The invention provides a differential Hall multi-ring position absolute position sensor and a detection method thereof, aiming at the problems that in the prior art, a potentiometer is adopted as stroke feedback of an actuator, the potentiometer is an electronic component which is in butt joint with an analog electric signal and has mechanical motion, and the service life, the measurement precision and the transmission of a measurement signal are seriously influenced in a severe environment in which the actuator is installed.
The technical scheme provided by the invention for the technical problem is as follows:
in one aspect, the present invention provides a differential hall multi-turn absolute position sensor, comprising a first detection module and a controller, the first detection module comprising a first rotating device, a first magnetic element and a first hall angle sensor,
the first rotating device is connected with an output shaft of the actuator and is driven by the output shaft to rotate according to a set first transmission ratio;
a first magnetic element disposed on the first rotating device to generate a magnetic field around the first rotating device;
the first Hall angle sensor corresponds to the first magnetic element so as to detect the magnetic field direction of the first magnetic element in real time and acquire a first rotating angle of the first rotating device in real time;
and the controller is electrically connected with the first Hall angle sensor so as to receive the first angle detected by the first Hall angle sensor and calculate the stroke of the actuator according to the first angle and the first transmission ratio.
Further, the absolute position sensor further includes a second detection module, the second detection module including:
the second rotating device is connected with the first rotating device and driven by the first rotating device to rotate at a set second transmission ratio; wherein a second transmission ratio of the first rotating means and the second rotating means is not equal to 1;
the second magnetic element is arranged on the second rotating device so as to generate a magnetic field around the second rotating device; and
the second Hall angle sensor corresponds to the second magnetic element so as to detect the magnetic field direction of the second magnetic element in real time and acquire a second angle of rotation of the second rotating device in real time; the second Hall angle sensor is also electrically connected with the controller so as to send the detected second angle to the controller; the controller calculates the stroke of the actuator according to the first angle, the second transmission ratio and the first transmission ratio.
Further, the first rotating device and the second rotating device are both gears.
Further, the controller includes a first rotating device range setting unit, a first rotating device stroke determining unit, and an actuator stroke determining unit,
the first rotating device range setting unit is used for determining the range of the first rotating device according to a first initial angle detected by the first Hall angle sensor in an initial state, a second initial angle detected by the second Hall angle sensor in the initial state and the second transmission ratio;
the first rotating device stroke determining unit is used for determining the stroke of the first rotating device according to a first angle detected by the first Hall angle sensor in an operating state, a second angle detected by the second Hall angle sensor in the operating state and the second transmission ratio;
the actuator stroke determining unit is used for determining the stroke of the actuator according to the stroke of the first rotating device and the first transmission ratio.
Further, a first initial angle ZA，ZAThe epsilon [0 DEG, 360 DEG) satisfies the following formula 1.1; second initial angle ZB，ZBE [0 °, 360 °) satisfies the following formula 1.2:
A2＝A21*360°+ZAformula 1.1
B2＝B21*360°+ZBFormula 1.2
In the formula, A2Is the total rotation angle of the first rotating device; a. the21The number of turns of the first rotating device is an integer; b is2The total rotation angle of the second rotating device; b is21The number of turns of the second rotating device is an integer;
wherein the total rotation angle A of the first rotating device2And the total angle of rotation B of the second rotating means2Satisfies the following formula 1.3:
Figure BDA0002115512410000031
in the formula, A1A first number of teeth of the first rotating means; b is1A second number of teeth of the second rotating means;
the following formula 1.4 can be further deduced by combining formula 1.1, formula 1.2 and formula 1.3:
Figure BDA0002115512410000041
setting the first initial angle as ZAThe second initial angle is ZBAnd said second ratio is substituted into equation 1.4, listed in A21And B21All A are natural numbers and equal on the left and right sides of formula 1.421And B21Taking values; range a of the first rotating means20＝(A21)min×360°。
Further, the first angle A3，A3∈[0°，360 DEG, the following formula 1.5 is satisfied; second angle B3，B3E [0 °, 360 °) satisfies the following formula 1.6:
A2＝A21*360°+(A3-ZA) Formula 1.5
B2＝B21*360°+(B3-ZB) Formula 1.6
The following formula 1.7 can be further deduced by combining formula 1.3 with formula 1.6:
Figure BDA0002115512410000042
the first angle A is adjusted3Substituted in formula 1.5, listed in A21The value is natural number and is calculated to be in the measuring range A20All of A in2And is denoted as M; will be at the second angle B3Substituted in formula 1.7, listed in B21The value is natural number and is calculated to be in the measuring range A20All of A in2And is denoted as N; the stroke of the first rotating means is the same value only of M and N.
Further, the first magnetic element and the second magnetic element are both magnetic steel.
Furthermore, the first magnetic element and the first rotating device, and the second magnetic element and the second rotating device are detachably connected.
In another aspect, the present invention provides a method for detecting a differential hall multi-turn absolute position sensor, comprising the steps of:
the first Hall angle sensor detects the magnetic field direction of the first magnetic element in real time so as to acquire a first rotating angle of the first rotating device in real time; and sending the first angle to a controller; the first rotating device is connected with an output shaft of the actuator and is driven by the output shaft to rotate according to a set first transmission ratio; the first magnetic element is arranged on the first rotating device so as to generate a magnetic field around the first rotating device;
the controller receives the first angle and calculates the stroke of the actuator according to the first angle and the first transmission ratio.
In another aspect, the present invention further provides a method for detecting a differential hall multi-turn absolute position sensor, comprising the following steps:
the first Hall angle sensor detects the magnetic field direction of the first magnetic element in real time so as to acquire a first rotating angle of the first rotating device in real time; and sending the first angle to the controller; the first rotating device is connected with an output shaft of the actuator and is driven by the output shaft to rotate according to a set first transmission ratio; the first magnetic element is arranged on the first rotating device so as to generate a magnetic field around the first rotating device;
the second Hall angle sensor detects the magnetic field direction of the second magnetic element in real time so as to acquire a second angle of rotation of the second rotating device in real time; and sending the second angle to the controller; the second rotating device is connected with the first rotating device and driven by the first rotating device to rotate at a set second transmission ratio, and the second transmission ratio of the first rotating device to the second rotating device is not equal to 1; the second magnetic element is arranged on the second rotating device so as to generate a magnetic field around the second rotating device;
the controller receives the first angle and the second angle, and calculates the stroke of the actuator according to the first angle, the second transmission ratio and the first transmission ratio.
The technical scheme provided by the embodiment of the invention has the following beneficial effects:
the invention transfers the stroke measurement of the actuator to the measurement of the rotating angle of the first rotating device by synchronously rotating the first rotating device and the output shaft of the actuator; then, detecting the magnetic field direction of a first magnetic element arranged on the first rotating device in real time by using a Hall principle through a first Hall angle sensor, and calculating the stroke of the actuator; the invention is non-contact detection, the vibration of the severe environment for mounting the actuator and the like can not affect each part and the detection result, the service life of the sensor can be effectively prolonged, and the measurement precision can be improved; meanwhile, the transmission signal of the Hall principle is a digital signal, so that the anti-interference capability is strong, and the signal transmission is reliable.
Drawings
FIG. 1 is a block diagram of a differential Hall multi-turn absolute position sensor provided by an embodiment of the present invention;
FIG. 2 is a schematic diagram of a partial structure of a differential Hall multi-turn absolute position sensor according to an embodiment of the present invention;
fig. 3 is a detection schematic diagram of a differential hall multi-turn absolute position sensor according to an embodiment of the present invention.
Detailed Description
In order to solve the problems that in the prior art, a potentiometer is adopted as stroke feedback of an actuator, the potentiometer is an electronic component which is in butt joint with an analog electric signal and has mechanical motion, and the service life, the measurement precision and the transmission of a measurement signal of the potentiometer are seriously influenced in a severe environment in which the actuator is installed, the invention aims to provide a differential Hall multi-ring position absolute position sensor, which has the core idea that: transferring the stroke measurement of the actuator to the measurement of the rotation angle of the first rotating means by rotating the first rotating means in synchronism with the output shaft of the actuator; then, detecting the magnetic field direction of a first magnetic element arranged on the first rotating device in real time by using a Hall principle through a first Hall angle sensor, and calculating the stroke of the actuator; the invention is non-contact detection, the vibration of the severe environment for mounting the actuator and the like can not affect each part and the detection result, the service life of the sensor can be effectively prolonged, and the measurement precision can be improved; meanwhile, the transmission signal of the Hall principle is a digital signal, so that the anti-interference capability is strong, and the signal transmission is reliable.
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
Example one
The embodiment of the invention provides a differential Hall multi-turn position absolute position sensor, and the sensor is shown in figure 1, and comprises a first detection module 1 and a controller 2, wherein the first detection module comprises a first rotating device 11, a first magnetic element 12 and a first Hall angle sensor 13,
the first rotating device 11 is connected with an output shaft of the actuator and driven by the output shaft to rotate at a set first transmission ratio;
a first magnetic element 12 disposed on the first rotating device 11 to generate a magnetic field around the first rotating device 11;
the first hall angle sensor 13 corresponds to the first magnetic element 12, so as to detect the magnetic field direction of the first magnetic element 12 in real time, and obtain a first angle of rotation of the first rotating device 11 in real time;
and the controller 2 is electrically connected with the first Hall angle sensor 13 so as to receive the first angle detected by the first Hall angle sensor 13 and calculate the stroke of the actuator according to the first angle and the first transmission ratio.
Since the first hall angle sensor 13 can detect only the angle of deviation of the first magnetic element 12 from the initial set position (i.e., the first angle is less than 360 °), it cannot detect the number of complete rotations of the first magnetic element 12. This embodiment therefore only measures the stroke of the actuator when the number of revolutions of the first rotary device 11 is within one revolution.
Transferring the stroke measurement of the actuator to the measurement of the angle of rotation of the first rotating means 11 by rotating the first rotating means 11 with the output shaft of the actuator; then, detecting the magnetic field direction of a first magnetic element 12 arranged on the first rotating device 11 in real time through a first Hall angle sensor 13 by adopting a Hall principle so as to obtain a first rotating angle of the first rotating device 11 in real time; the stroke of the actuator can be calculated through the first angle and the first transmission ratio.
When the first rotating device 11 rotates synchronously with the output shaft of the actuator (i.e. when the first transmission ratio is 1), the stroke of the first rotating device 11 (which is a first angle in this case) is the stroke of the actuator. When a speed reducer is connected between the first rotating device 11 and the output shaft of the actuator, the stroke of the actuator is calculated by combining the first transmission ratio of the speed reducer.
Further, the absolute position sensor further includes a second detection module 3, and the second detection module 3 includes:
the second rotating device 31 is connected with the first rotating device 11 and is driven by the first rotating device 11 to rotate at a set second transmission ratio; wherein a second transmission ratio of the first rotating means 11 and the second rotating means 31 is not equal to 1;
a second magnetic element 32 disposed on the second rotating device 31 to generate a magnetic field around the second rotating device 31; and
a second hall angle sensor 33 corresponding to the second magnetic element 32 to detect the magnetic field direction of the second magnetic element 32 in real time, so as to obtain a second angle (the second angle is smaller than 360 °) of the rotation of the second rotating device 31 in real time; the second hall angle sensor 33 is also electrically connected with the controller 2 to send the detected second angle to the controller 2; the controller 2 calculates the stroke of the actuator according to the first angle, the second transmission ratio and the first transmission ratio.
When only one rotating device, one magnetic element and one Hall angle sensor are adopted, the measuring range is limited only aiming at the measurement of the travel of the output shaft of the actuator with the number of rotating turns within one circle. And set up two rotating device, two magnetic element and two hall angle sensor, and two rotating device's second drive ratio is not equal to 1 for the number of turns of rotation of executor only needs to satisfy: the difference between the total rotation angle of the first rotating device 11 and the total rotation angle of the second rotating device 31 is within 360 degrees, so that the total rotation angle of the actuator (the stroke of the actuator) can be accurately obtained, and the application range is wider.
Further, the first rotating device 11 and the second rotating device 31 are both gears. The gear transmission is stable and reliable.
Further, the controller 2 includes a first rotating device range setting unit 21, a first rotating device stroke determining unit 22, and an actuator stroke determining unit 23,
the first rotating device range setting unit 21 is configured to determine a range of the first rotating device 11 according to a first initial angle detected by the first hall angle sensor 13 in an initial state, a second initial angle detected by the second hall angle sensor 33 in the initial state, and the second transmission ratio;
the first rotating device stroke determining unit 22 is configured to determine a stroke of the first rotating device 11 according to a first angle detected by the first hall angle sensor 13 in an operating state, a second angle detected by the second hall angle sensor 33 in the operating state, and the second transmission ratio;
the actuator stroke determining unit 23 is configured to determine the stroke of the actuator according to the stroke of the first rotating device 11 and the first transmission ratio.
In this embodiment, the first initial angle ZA，ZAThe epsilon [0 DEG, 360 DEG) satisfies the following formula 1.1; second initial angle ZB，ZBE [0 °, 360 °) satisfies the following formula 1.2:
A2＝A21*360°+ZAformula 1.1
B2＝B21*360°+ZBFormula 1.2
In the formula, A2Is the total rotation angle of the first rotating means 11; a. the21Is an integer number of turns of the first rotating device 11; b is2The total rotation angle of the second rotating device 31; b is21Is an integer number of turns of the second rotating device 31;
wherein the total angle of rotation A of the first rotating means 112And the total angle of rotation B of the second rotating means 312Satisfies the following formula 1.3:
Figure BDA0002115512410000091
in the formula, A1A first number of teeth of the first rotating means 11; b is1A second number of teeth of the second rotating means 31;
the following formula 1.4 can be further deduced by combining formula 1.1, formula 1.2 and formula 1.3:
Figure BDA0002115512410000092
setting the first initial angle as ZAThe second initial angle is ZBAnd said second ratio is substituted into equation 1.4, listed in A21And B21All A are natural numbers and equal on the left and right sides of formula 1.421And B21Taking values; range a of the first rotating means 1120＝(A21)min×360°。
In this embodiment, the first angle A3，A3The epsilon [0 DEG, 360 DEG) satisfies the following formula 1.5; second angle B3，B3E [0 °, 360 °) satisfies the following formula 1.6:
A2＝A21*360°+(A3-ZA) Formula 1.5
B2＝B21*360°+(B3-ZB) Formula 1.6
The following formula 1.7 can be further deduced by combining formula 1.3 with formula 1.6:
Figure BDA0002115512410000101
the first angle A is adjusted3Substituted in formula 1.5, listed in A21The value is natural number and is calculated to be in the measuring range A20All of A in2And is denoted as M; will be at the second angle B3Substituted in formula 1.7, listed in B21Taking the value as a natural number and calculating the quantityProcedure A20All of A in2And is denoted as N; the stroke of the first rotating means 11 is the same value only of M and N.
In this embodiment, when the first rotating device 11 rotates synchronously with the output shaft of the actuator (i.e. when the first transmission ratio is 1), the stroke of the first rotating device 11 is the stroke of the actuator. When a speed reducer is connected between the first rotating device 11 and the output shaft of the actuator, the stroke of the actuator is calculated by combining the first transmission ratio of the speed reducer.
Further, the first magnetic element 12 and the second magnetic element 32 are both magnetic steel.
Further, the first magnetic element 12 and the first rotating device 11, and the second magnetic element 32 and the second rotating device 31 are detachably connected. The disassembly and the assembly are convenient.
Further, the detachable connection is a snap connection or an adhesive connection.
The second embodiment is a method for detecting the differential hall multi-turn absolute position sensor, which comprises the following steps:
step 1 a: the first hall angle sensor 13 detects the magnetic field direction of the first magnetic element 12 in real time to obtain a first angle of rotation of the first rotating device 11 in real time; and sends the first angle to the controller 2; the first rotating device 11 is connected with an output shaft of the actuator and is driven by the output shaft to rotate according to a set first transmission ratio; the first magnetic element 12 is arranged on the first rotating device 11 to generate a magnetic field around the first rotating device 11;
step 2 a: the controller 2 receives the first angle and calculates the stroke of the actuator based on the first angle.
Since the first hall angle sensor 13 can detect only the angle of deviation of the first magnetic element 12 from the initial set position (i.e., the first angle is less than 360 °), it cannot detect the number of complete rotations of the first magnetic element 12. This embodiment therefore only measures the stroke of the actuator when the number of revolutions of the first rotary device 11 is within one revolution.
Transferring the stroke measurement of the actuator to the measurement of the angle of rotation of the first rotating means 11 by rotating the first rotating means 11 with the output shaft of the actuator; then, by using the hall principle, the magnetic field direction of the first magnetic element 12 arranged on the first rotating device 11 is detected in real time through the first hall angle sensor 13, so as to obtain the first rotating angle of the first rotating device 11 in real time, and the stroke of the actuator is calculated through the first angle and the first transmission ratio.
When the first rotating device 11 rotates synchronously with the output shaft of the actuator (i.e. when the first transmission ratio is 1), the stroke of the first rotating device 11 (which is a first angle in this case) is the stroke of the actuator. When a speed reducer is connected between the first rotating device 11 and the output shaft of the actuator, the stroke of the actuator is calculated by combining the first transmission ratio of the speed reducer.
The third embodiment of the invention provides a method for detecting the differential hall multi-turn absolute position sensor, which comprises the following steps:
step 1 b: the first hall angle sensor 13 detects the magnetic field direction of the first magnetic element 12 in real time to obtain a first angle of rotation of the first rotating device 11 in real time; and sends the first angle to the controller 2; the first rotating device 11 is connected with an output shaft of the actuator and is driven by the output shaft to rotate according to a set first transmission ratio; the first magnetic element 12 is arranged on the first rotating device 11 to generate a magnetic field around the first rotating device 11;
and step 2 b: the second hall angle sensor 33 detects the magnetic field direction of the second magnetic element 32 in real time to acquire a second angle of rotation of the second rotating device 31 in real time; and sends the second angle to the controller 2; the second rotating device 31 is connected with the first rotating device 11, and is driven by the first rotating device 11 to rotate at a set second transmission ratio, and the second transmission ratio of the first rotating device 11 and the second rotating device 31 is not equal to 1; the second magnetic element 32 is arranged on the second rotating device 31 to generate a magnetic field around the second rotating device 31;
and step 3 b: the controller 2 receives the first angle and the second angle, and calculates the stroke of the actuator according to the first angle, the second transmission ratio and the first transmission ratio.
Through setting up two rotating device, two magnetic element and two hall angle sensor, and two rotating device's second drive ratio does not equal to 1 for the number of rotations of executor only needs to satisfy: the difference between the total rotation angle of the first rotating device 11 and the total rotation angle of the second rotating device 31 is within 360 degrees, so that the total rotation angle of the actuator (the stroke of the actuator) can be accurately obtained, and the application range is wider.
Further, the first rotating device 11 and the second rotating device 31 are both gears. The gear transmission is stable and reliable.
Further, in step 3b, the specific implementation of the controller 2 calculating the stroke of the actuator according to the first angle, the second angle and the second transmission ratio is as follows:
step 31 b: setting the range of the first rotating device 11:
according to a first initial angle Z detected by the first Hall angle sensor 13 in an initial stateA，ZAE [0 °, 360 °) and a second initial angle Z detected by the second hall angle sensor 33 in the initial stateB，ZBE [0 °, 360 °) and said second transmission ratio determine the range of said first rotating means 11;
wherein the first initial angle ZA，ZAThe epsilon [0 DEG, 360 DEG) satisfies the following formula 1.1; second initial angle ZB，ZBE [0 °, 360 °) satisfies the following formula 1.2:
A2＝A21*360°+ZAformula 1.1
B2＝B21*360°+ZBFormula 1.2
In the formula, A2Is the total rotation angle of the first rotating means 11; a. the21For rotation of the first rotating means 11Integer number of turns; b is2The total rotation angle of the second rotating device 31; b is21Is an integer number of turns of the second rotating device 31;
wherein the total angle of rotation A of the first rotating means 112And the total angle of rotation B of the second rotating means 312Satisfies the following formula 1.3:
Figure BDA0002115512410000131
in the formula, A1A first number of teeth of the first rotating means 11; b is1A second number of teeth of the second rotating means 31;
the following formula 1.4 can be further deduced by combining formula 1.1, formula 1.2 and formula 1.3:
Figure BDA0002115512410000132
setting the first initial angle as ZAThe second initial angle is ZBAnd said second ratio is substituted into equation 1.4, listed in A21And B21All A are natural numbers and equal on the left and right sides of formula 1.421And B21Taking values; range a of the first rotating means 1120＝(A21)min×360°。
Step 32 b: determining the stroke of the first rotating device 11:
according to a first angle A detected by the first Hall angle sensor 13 in an operating state3，A3E [0 °, 360 °) and a second angle B detected by the second hall angle sensor 33 in an operating state3，B3E [0 °, 360 °) and said second transmission ratio determine the stroke of said first rotating means 11;
wherein the first angle A3Satisfying the following formula 1.5; second angle B3Satisfies the following formula 1.6:
A2＝A21*360°+(A3-ZA) Formula 1.5
B2＝B21*360°+(B3-ZB) Formula 1.6
The following formula 1.7 can be further deduced by combining formula 1.3 with formula 1.6:
Figure BDA0002115512410000141
the first angle A is adjusted3Substituted in formula 1.5, listed in A21The value is natural number and is calculated to be in the measuring range A20All of A in2And is denoted as M; will be at the second angle B3Substituted in formula 1.7, listed in B21The value is natural number and is calculated to be in the measuring range A20All of A in2And is denoted as N; the stroke of the first rotating means 11 is the same value only of M and N.
Step 33 b: the stroke of the actuator is determined from the stroke of the first rotating means 11 and the first transmission ratio.
The calculation of the stroke of the actuator will be described below with reference to specific data: in the present embodiment, the first number of teeth A of the first rotating device 11135, second number of teeth B of the second rotating means 311Is 36; the first rotating device 11 rotates synchronously with the output shaft of the actuator;
step 31 b: setting the range of the first rotating device 11:
setting a first initial angle Z of the first magnetic element 12 detected by the first Hall angle sensor 13 in an initial stateAIs 36 degrees; a second initial angle Z of the second magnetic element 32 detected by the second hall angle sensor 33BIs 35 degrees;
due to A21And B21Are all natural numbers, and are determined as A after enumeration21Is 36, B21At 35, A21Is 360, B21When the value is 350, the left side and the right side of the formula 1.4 are equal; at this time, the minimum A is taken21Is 36; range a of the first rotating means 1120，A2036 x 360 ° -12960 °;
step 32 b: determining the stroke of the first rotating device 11:
step 321 b: if the first hall angle sensor 13 detects the first angle a during the detection process3Is 324 degrees, substituted into the formula 1.5, and makes A21Take values of 0,1,2,3, respectively, to calculate a2A value; wherein at said range A20Inner A2Values of 288 °, 648 °, 1008 °,. 10728 °, 11088 °, 11448 °, 11808 °, 12168 °, 12528 °, 12888 °;
step 322 b: if the second angle B detected by the second Hall angle sensor 33 is detected during the detection process3At 15 deg., substituting it into formula 1.7, and making B21Take values of 0,1,2,3, respectively, to calculate a2A value; at the range A20Inner A2Values of-20.6 °, 349.7 °, 720 °,. 10717.7 °, 11088 °, 11458.2 °, 11828.8 °, 12198.9 °, 12569.1 °, 12939.4 °;
step 323 b: selecting the only same one of 11088 ° in the steps 321b and 322b as the stroke of the first rotating device 11;
step 33 b: the stroke of the actuator is 11124 °.
The present embodiment is suitable for stroke detection in which the total rotation angle of the first rotating device 11 is within the range 12960 °. For other smaller or larger stroke detections, the range can be changed by changing the second transmission ratio between the first rotating device 11 and the second rotating device 31, or changing the number of the second detection modules 3. At the same time, by changing the second transmission ratio between the first rotating device 11 and the second rotating device 31, or changing the number of the second detection modules 3, a change in the measurement accuracy can also be achieved.
The Hall angle sensor is used for angle detection, non-contact detection is realized, the vibration of the actuator in a severe environment and the like can not affect all parts and detection results, the service life of the sensor can be effectively prolonged, and the measurement precision can be improved; meanwhile, the transmission signal of the Hall principle is a digital signal, so that the anti-interference capability is strong, and the signal transmission is reliable. According to the invention, the stroke change of the actuator during the power-off period can be obtained without a standby battery, and the stroke change of the actuator during the power-off period can be output at the next power-on moment of the actuator; and a spare battery is not arranged, so that the maintenance-free period is longer. The built-in temperature compensation of the Hall angle sensor has excellent linearity and precision within-40 to 85 ℃ of industrial application environment temperature.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims (5)

1. The differential Hall multi-ring position absolute position sensor is characterized by comprising a first detection module (1), a second detection module (3) and a controller (2), wherein the first detection module (1) comprises a first rotating device (11), a first magnetic element (12) and a first Hall angle sensor (13), and the second detection module (3) comprises a second rotating device (31), a second magnetic element (32) and a second Hall angle sensor (33);
the first rotating device (11) is connected with an output shaft of the actuator and is driven by the output shaft to rotate according to a set first transmission ratio;
a first magnetic element (12) arranged on the first rotating means (11) to generate a magnetic field around the first rotating means (11);
the first Hall angle sensor (13) corresponds to the first magnetic element (12) so as to detect the direction of the magnetic field of the first magnetic element (12) in real time and acquire a first angle of rotation of the first rotating device (11) in real time;
the second rotating device (31) is connected with the first rotating device (11) and is driven by the first rotating device (11) to rotate at a set second transmission ratio; wherein a second transmission ratio of the first rotating means (11) and the second rotating means (31) is not equal to 1;
a second magnetic element (32) provided on the second rotating means (31) to generate a magnetic field around the second rotating means (31);
the second Hall angle sensor (33) corresponds to the second magnetic element (32) so as to detect the direction of the magnetic field of the second magnetic element (32) in real time and acquire a second angle of rotation of the second rotating device (31) in real time;
the controller (2) is electrically connected with the first Hall angle sensor (13) and the second Hall angle sensor (33) respectively so as to receive the first angle detected by the first Hall angle sensor (13) and the second angle detected by the second Hall angle sensor (33), and the stroke of the actuator is calculated according to the first angle, the second transmission ratio and the first transmission ratio;
wherein the controller (2) comprises a first rotating device range setting unit (21), a first rotating device stroke determining unit (22) and an actuator stroke determining unit (23),
the first rotating device range setting unit (21) is used for determining the range of the first rotating device (11) according to a first initial angle detected by the first Hall angle sensor (13) in an initial state, a second initial angle detected by the second Hall angle sensor (33) in the initial state and the second transmission ratio;
the first rotating device stroke determining unit (22) is used for determining the stroke of the first rotating device (11) according to a first angle detected by the first Hall angle sensor (13) in an operating state, a second angle detected by the second Hall angle sensor (33) in the operating state and the second transmission ratio;
the actuator stroke determining unit (23) is used for determining the stroke of the actuator according to the stroke of the first rotating device (11) and the first transmission ratio;
wherein the first initial angle ZA，ZAThe epsilon [0 DEG, 360 DEG) satisfies the following formula 1.1; second initial angle ZB，ZBE [0 °, 360 °) satisfies the following formula 1.2:
A2＝A21*360°+ZAformula 1.1
B2＝B21*360°+ZBFormula 1.2
In the formula, A2Is the total rotation angle of the first rotating device (11); a. the21Is an integer number of turns of the first rotating device (11); b is2Is the total rotation angle of the second rotating device (31); b is21Is an integer number of turns of the second rotating device (31);
wherein the total angle of rotation A of the first rotating means (11)2And the total angle of rotation B of the second rotating means (31)2Satisfies the following formula 1.3:
Figure FDA0003055362910000021
in the formula, A1Is a first number of teeth of the first rotating means (11); b is1A second number of teeth of the second rotating means (31);
the following formula 1.4 can be further deduced by combining formula 1.1, formula 1.2 and formula 1.3:
Figure FDA0003055362910000031
setting the first initial angle as ZAThe second initial angle is ZBAnd said second ratio is substituted into equation 1.4, listed in A21And B21All A are natural numbers and equal on the left and right sides of formula 1.421And B21Taking values; range A of the first rotating device (11)20＝(A21)min×360°；
Wherein the first angle A3，A3The epsilon [0 DEG, 360 DEG) satisfies the following formula 1.5; second angle B3，B3E [0 °, 360 °) satisfies the following formula 1.6:
A2＝A21*360°+(A3-ZA) Formula 1.5
B2＝B21*360°+(B3-ZB) Formula 1.6
The following formula 1.7 can be further deduced by combining formula 1.3 with formula 1.6:
Figure FDA0003055362910000032
the first angle A is adjusted3Substituted in formula 1.5, listed in A21The value is natural number and is calculated to be in the measuring range A20All of A in2And is denoted as M; will be at the second angle B3Substituted in formula 1.7, listed in B21The value is natural number and is calculated to be in the measuring range A20All of A in2And is denoted as N; the stroke of the first rotating means (11) is the same value only of said M and said N.
2. Differential hall multi-turn absolute position sensor according to claim 1, characterized in that both the first rotating means (11) and the second rotating means (31) are gears.
3. Differential hall multi-turn absolute position sensor according to any of claims 1-2, characterized in that the first magnetic element (12) and the second magnetic element (32) are both magnetic steel.
4. Differential hall multi-turn absolute position sensor according to any of claims 1-2, characterized in that the first magnetic element (12) and the first rotating means (11) and the second magnetic element (32) and the second rotating means (31) are detachably connected.
5. A detection method of a differential Hall multi-turn position absolute position sensor is characterized by comprising the following steps:
the first Hall angle sensor (13) detects the magnetic field direction of the first magnetic element (12) in real time so as to acquire a first rotating angle of the first rotating device (11) in real time; and sending the first angle to the controller (2); the first rotating device (11) is connected with an output shaft of the actuator and driven by the output shaft to rotate according to a set first transmission ratio; a first magnetic element (12) is arranged on the first rotating device (11) to generate a magnetic field around the first rotating device (11);
the second Hall angle sensor (33) detects the magnetic field direction of the second magnetic element (32) in real time to acquire a second angle of rotation of the second rotating device (31) in real time; and sending the second angle to the controller (2); the second rotating device (31) is connected with the first rotating device (11) and is driven by the first rotating device (11) to rotate at a set second transmission ratio, and the second transmission ratio of the first rotating device (11) to the second rotating device (31) is not equal to 1; a second magnetic element (32) is arranged on the second rotating device (31) to generate a magnetic field around the second rotating device (31);
the controller (2) receives the first angle and the second angle, and calculates the stroke of the actuator according to the first angle, the second transmission ratio and the first transmission ratio, and specifically includes:
1) setting the range of the first rotating device 11: according to a first initial angle Z detected by the first Hall angle sensor 13 in an initial stateA，ZAE [0 °, 360 °) and a second initial angle Z detected by the second hall angle sensor 33 in the initial stateB，ZBE [0 °, 360 °) and said second transmission ratio determine the range of said first rotating means 11; wherein the first initial angle ZA，ZAThe epsilon [0 DEG, 360 DEG) satisfies the following formula 1.1; second initial angle ZB，ZBE [0 °, 360 °) satisfies the following formula 1.2:
A2＝A21*360°+ZAformula 1.1
B2＝B21*360°+ZBFormula 1.2
In the formula, A2Is the total rotation angle of the first rotating means 11; a. the21Is an integer number of turns of the first rotating device 11; b is2The total rotation angle of the second rotating device 31; b is21Is an integer number of turns of the second rotating device 31;
wherein the total angle of rotation A of the first rotating means 112And the total angle of rotation B of the second rotating means 312Satisfies the following formula 1.3:
Figure FDA0003055362910000051
in the formula, A1A first number of teeth of the first rotating means 11; b is1A second number of teeth of the second rotating means 31;
the following formula 1.4 can be further deduced by combining formula 1.1, formula 1.2 and formula 1.3:
Figure FDA0003055362910000052
setting the first initial angle as ZAThe second initial angle is ZBAnd said second ratio is substituted into equation 1.4, listed in A21And B21All A are natural numbers and equal on the left and right sides of formula 1.421And B21Taking values; range a of the first rotating means 1120＝(A21)min×360°；
2) Determining the stroke of the first rotating device 11:
according to a first angle A detected by the first Hall angle sensor 13 in an operating state3，A3E [0 °, 360 °) and a second angle B detected by the second hall angle sensor 33 in an operating state3，B3E [0 °, 360 °) and said second transmission ratio determine the stroke of said first rotating means 11;
wherein the first angle A3Satisfying the following formula 1.5; second angle B3Satisfies the following formula 1.6:
A2＝A21*360°+(A3-ZA) Formula 1.5
B2＝B21*360°+(B3-ZB) Formula 1.6
The following formula 1.7 can be further deduced by combining formula 1.3 with formula 1.6:
Figure FDA0003055362910000053
the first angle A is adjusted3Substituted in formula 1.5, listed in A21The value is natural number and is calculated to be in the measuring range A20All of A in2And is denoted as M; will be at the second angle B3Substituted in formula 1.7, listed in B21The value is natural number and is calculated to be in the measuring range A20All of A in2And is denoted as N; the stroke of said first rotating means 11 is the only same one of said M and said N;
3) the stroke of the actuator is determined from the stroke of the first rotating means 11 and the first transmission ratio.
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