CN110940371B - Calibration method, device and equipment of rotary magnetoelectric encoder - Google Patents
Calibration method, device and equipment of rotary magnetoelectric encoder Download PDFInfo
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- CN110940371B CN110940371B CN201911283773.4A CN201911283773A CN110940371B CN 110940371 B CN110940371 B CN 110940371B CN 201911283773 A CN201911283773 A CN 201911283773A CN 110940371 B CN110940371 B CN 110940371B
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- 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
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- 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
- G01D5/147—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 movement of a third element, the position of Hall device and the source of magnetic field being fixed in respect to each other
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Abstract
The embodiment of the invention can fit a function expression of the corresponding relation between two voltage signal values of the Hall sensor and the rotation angle of a magnetic code disc based on two groups of voltage signal values output by the Hall sensor in the encoder to be calibrated in at least one period obtained by sampling, and compared with a preset ideal sine and cosine curve, the rotation angle of a rotating shaft can be calculated more accurately according to the accurate function expression fitted in the application, and the measurement accuracy of the rotary magnetoelectric encoder is improved. The invention also discloses a calibration device and equipment of the rotary magnetoelectric encoder, which have the same beneficial effects as the calibration method of the rotary magnetoelectric encoder.
Description
Technical Field
The invention relates to the field of rotary magnetoelectric encoders, in particular to a calibration method of a rotary magnetoelectric encoder, and also relates to a calibration device and equipment of the rotary magnetoelectric encoder.
Background
The rotating magnetoelectric encoder can detect the rotating angle of a measured rotating shaft, can calculate data such as the position and the speed of an object connected with the rotating shaft (such as the rotating shaft of a motor) according to the rotating angle, and when the rotating angle is measured, a Hall sensor can output two paths of sinusoidal voltage signals with the phase difference of 90 degrees along with the rotation of a magnetic code disc, wherein the sinusoidal signals with the phase leading by 90 degrees are considered to be sin signals, and the sinusoidal signals with the phase lagging by 90 degrees are considered to be cos signals. According to the two voltage signals, analog-to-digital conversion is carried out to obtain digital signals, and then the angle value of a magnetic code disc (a measured rotating shaft) of the encoder is decoded according to the two digital signals.
However, the phase difference may not be the standard 90 ° due to differences in amplitude, offset, etc. between the two sinusoidal voltage signals caused by mechanical mounting, chip design, and circuit interference. The finally decoded angle value has deviation, so that the measurement accuracy of the whole rotary magnetoelectric encoder is influenced.
Therefore, how to provide a solution to the above technical problem is a problem that needs to be solved by those skilled in the art.
Disclosure of Invention
The invention aims to provide a calibration method of a rotary magnetoelectric encoder, which can calculate the rotation angle of a rotating shaft more accurately according to an accurate function expression fitted in the application and improve the measurement accuracy of the rotary magnetoelectric encoder; another object of the present invention is to provide a calibration apparatus and device for a rotary magnetoelectric encoder, which can calculate the rotation angle of the rotating shaft more accurately according to the fitted precise function expression in the present application, thereby improving the measurement accuracy of the rotary magnetoelectric encoder.
In order to solve the technical problem, the invention provides a calibration method of a rotary magnetoelectric encoder, which comprises the following steps:
sampling two groups of voltage signal values output by a Hall sensor in an encoder to be calibrated in at least one period;
acquiring an accurate rotation angle value of the rotating shaft of the encoder to be calibrated, which corresponds to the voltage signal value of each sample;
calculating a function expression of the corresponding relation between two voltage signal values of the Hall sensor and the rotation angle of the magnetic code disc by adopting a preset fitting algorithm according to a plurality of sampled voltage signal values and an accurate rotation angle value corresponding to each sampled voltage signal value;
and calculating the rotation angle of the rotating shaft of the encoder to be calibrated according to the function expression and two voltage signal values output by the Hall sensor in the encoder to be calibrated.
Preferably, the functional expression for calculating the corresponding relationship between the two voltage signal values of the hall sensor and the rotation angle of the magnetic code disc by using a preset fitting algorithm according to the sampled voltage signal values and the accurate rotation angle value corresponding to each sampled voltage signal value is specifically:
according to the sampled voltage signal values, fitting a function waveform of a corresponding relation between two voltage signal values of the Hall sensor and the rotation angle of the magnetic code disc by adopting a preset fitting algorithm;
determining a zero point in the function waveform by utilizing inverse trigonometric calculation;
and determining a function expression of the corresponding relation between the two voltage signal values of the Hall sensor and the rotation angle of the magnetic code disc according to the zero point and the accurate rotation angle value corresponding to the voltage signal value of each sample.
Preferably, the obtaining of the accurate rotation angle value corresponding to the voltage signal value of each sample of the rotating shaft on which the encoder to be calibrated is located specifically includes:
acquiring a rotation angle of the rotating shaft synchronously measured by an accurate encoder in the rotating process of the rotating shaft;
and the precision of the precise encoder is a preset multiple of the precision of the encoder to be calibrated.
Preferably, the preset fitting algorithm is a fourier series interpolation fitting method.
Preferably, the two groups of voltage signal values output by the hall sensor in the encoder to be calibrated, which sample at least one period, are specifically:
sampling two groups of voltage signal values output by a Hall sensor in an encoder to be calibrated in at least one period at a preset sampling frequency;
wherein the preset sampling frequency is greater than 1/16 of the resolution of the encoder to be calibrated.
Preferably, after the rotation angle of the rotating shaft where the encoder to be calibrated is located is calculated according to the function expression and two voltage signal values output by the hall sensor in the encoder to be calibrated, the calibration method of the rotating magneto-electric encoder further includes:
and after a preset period, returning to the step of sampling two groups of voltage signal values output by the Hall sensor in the encoder to be calibrated for at least one period.
In order to solve the above technical problem, the present invention further provides a calibration apparatus for a rotary magnetoelectric encoder, including:
the sampling module is used for sampling two groups of voltage signal values output by a Hall sensor in the encoder to be calibrated in at least one period;
the acquisition module is used for acquiring an accurate rotation angle value of a rotating shaft where the encoder to be calibrated is located, wherein the accurate rotation angle value corresponds to the voltage signal value of each sample;
the first calculation module is used for calculating a function expression of the corresponding relation between two voltage signal values of the Hall sensor and the rotation angle of the magnetic code disc by adopting a preset fitting algorithm according to a plurality of sampled voltage signal values and an accurate rotation angle value corresponding to each sampled voltage signal value;
and the second calculation module is used for calculating the rotation angle of the rotating shaft of the encoder to be calibrated according to the function expression and two voltage signal values output by the Hall sensor in the encoder to be calibrated.
Preferably, the first calculation module comprises:
the fitting module is used for fitting a function waveform of a corresponding relation between two voltage signal values of the Hall sensor and the rotating angle of the magnetic code disc by adopting a preset fitting algorithm according to the plurality of sampled voltage signal values;
the third calculation module is used for determining a zero point in the function waveform by utilizing inverse trigonometric calculation;
and the determining module is used for determining a function expression of the corresponding relation between the two voltage signal values of the Hall sensor and the rotating angle of the magnetic code disc according to the zero point and the accurate rotating angle value corresponding to the voltage signal value of each sample.
Preferably, the calibration apparatus of the rotary magneto-electric encoder further includes:
and the return module is used for returning to the step of sampling two groups of voltage signal values output by the Hall sensor in the encoder to be calibrated in at least one period after the preset period.
In order to solve the above technical problem, the present invention further provides a calibration apparatus for a rotary magnetoelectric encoder, comprising:
a memory for storing a computer program;
a processor for implementing the steps of the calibration method of a rotary magneto-electric encoder as described in any one of the above when executing the computer program.
The invention provides a calibration method of a rotary magnetoelectric encoder, and the embodiment of the invention can fit a function expression of the corresponding relation between two voltage signal values of a Hall sensor and the rotation angle of a magnetic code disc based on two groups of voltage signal values output by the Hall sensor in the encoder to be calibrated in at least one period obtained by sampling.
The invention also provides a calibration device and equipment of the rotary magnetoelectric encoder, and the calibration device and equipment have the same beneficial effects as the calibration method of the rotary magnetoelectric encoder.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed in the prior art and the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic flow chart illustrating a method for calibrating a rotary magneto-electric encoder according to the present invention;
FIG. 2 is a schematic structural diagram of a calibration apparatus for a rotary magneto-electric encoder according to the present invention;
fig. 3 is a schematic structural diagram of a calibration apparatus of a rotary magnetoelectric encoder according to the present invention.
Detailed Description
The core of the invention is to provide a calibration method of a rotary magnetoelectric encoder, the rotation angle of a rotating shaft can be calculated more accurately according to an accurate function expression fitted in the application, and the measurement accuracy of the rotary magnetoelectric encoder is improved; the other core of the invention is to provide a calibration device and equipment of the rotary magnetoelectric encoder, which can calculate the rotation angle of the rotating shaft more accurately according to the accurate function expression fitted in the application and improve the measurement accuracy of the rotary magnetoelectric encoder.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, fig. 1 is a schematic flow chart illustrating a calibration method of a rotating magneto-electric encoder according to the present invention, including:
step S1: sampling two groups of voltage signal values output by a Hall sensor in an encoder to be calibrated in at least one period;
specifically, two groups of voltage signal values output by the hall sensor obtained by sampling in the embodiment of the present invention may be used as a data basis in subsequent steps, so as to obtain a functional expression of the corresponding relationship between the two voltage signal values of the hall sensor and the rotation angle of the magnetic code disc in the subsequent steps.
In order to realize accurate fitting of a function expression of a corresponding relation between two voltage signal values of a hall sensor and a rotation angle of a magnetic code disc, in the embodiment of the invention, in the process of rotating a rotating shaft where an encoder to be calibrated is located, a voltage signal value of at least one period of the hall sensor in the encoder to be calibrated, which is arranged on the rotating shaft, is sampled, and the sampling amount may not be at least one period, for example, less than one period, and the like.
Step S2: acquiring an accurate rotation angle value corresponding to each sampled voltage signal value of a rotating shaft where an encoder to be calibrated is located;
the accurate rotation angle value can be obtained by various measuring instruments, for example, a rotating magnetoelectric encoder with high accuracy can be used for measuring, and the accurate rotation angle value is required to correspond to a voltage signal value output by the hall sensor on a time axis.
Specifically, in order to accurately fit a function expression of the corresponding relationship between the voltage signal value of the hall sensor and the rotation angle of the magnetic code disc, it is necessary to synchronously measure the accurate rotation angle value of the rotating shaft by using a relevant measuring instrument, so as to determine the rotation angle value of the rotating shaft corresponding to the voltage signal value output by the hall sensor at each moment and obtain the function expression of the corresponding relationship between the voltage signal value of the hall sensor and the rotation angle of the magnetic code disc.
The rotating shaft of the encoder to be calibrated may be of various types, for example, the rotating shaft may be a rotating shaft of a motor, and the embodiment of the present invention is not limited herein.
Step S3: calculating a function expression of the corresponding relation between two voltage signal values of the Hall sensor and the rotation angle of the magnetic code disc by adopting a preset fitting algorithm according to a plurality of sampled voltage signal values and an accurate rotation angle value corresponding to each sampled voltage signal value;
according to the data base acquired in the step, a function expression of the corresponding relation between the two voltage signal values of the Hall sensor and the rotation angle of the magnetic code disc can be fitted due to the fact that the function expression comprises the voltage signal value output by the Hall sensor at each sampling moment in at least one period and the rotation angle value of the rotation shaft corresponding to the voltage signal value, and the function expression is true and accurate due to the fact that the function expression is fitted according to actually acquired data.
The function expression of the corresponding relation between the voltage signal value of the Hall sensor and the rotation angle of the magnetic code disc basically also accords with the function expression of a sine-cosine waveform curve of a trigonometric function, and only relative to a standard sine-cosine curve, some offset errors, gain errors or phase errors may exist, and the function expression of the corresponding relation between the two voltage signal values of the Hall sensor and the rotation angle of the magnetic code disc basically can accord with the following formula:
step S4: and calculating the rotation angle of the rotating shaft of the encoder to be calibrated according to the functional expression and two voltage signal values output by the Hall sensor in the encoder to be calibrated.
Specifically, after a function expression of the corresponding relationship between two voltage signal values of the hall sensor and the rotation angle of the magnetic code disc is obtained in a curve fitting manner, the rotation angle of the rotating shaft at the current moment can be calculated according to the actually measured function expression and by combining two voltage signal values output by the hall sensor in the encoder to be calibrated.
In particular, we need to clarify the principle of the output angle of the rotating magnetoelectric encoder to which the present invention is applied. The rotary magnetoelectric encoder can sample the current position through two sampling points of the Hall resistors with a phase difference of 90 degrees in the magnetic field position when the magnetic code disc rotates for one circle according to the change of the magnetic field, and outputs two sine voltage waveform curves with a complete period with a phase difference of 90 degrees, wherein the sine voltage waveform curves are generally called sin theta curves leading 90 degrees and cos theta curves lagging 90 degrees (theta is the current rotation angle value of the rotating shaft). The current angle value of the encoder is then solved out using the arctan function by reading the current two voltage signal values. The principle is as follows:
order:
x＝sinθ，y＝cosθ；
then:
θ＝arctan(x/y)；
due to the deviation of the relative positions of the sampling points of the hall sensors, the deviation of the installation positions of the magnetic disc of the encoder and the circuit board, the magnetic field is easily interfered by the outside, and the like, the output waveform signals may not be ideal sin theta and cos theta curve waveforms, so that the output waveform curves have offset errors A, B, gain errors α and β and phase errors
The functional expression of the waveform curve of the actually output original signal of the hall sensor can be as follows:
specifically, according to the principle of the encoder, the period of the wave-shaped curve x is equal to that of the wave-shaped curve y, namely, theta ∈ [0, 2 x pi ], so that omega 1 is omega 2 is 1, and the zero point position of the angle value theta is opposite, so that the wave-shaped curve can be made to be the same
Substituting the formula (1) and the formula (2) to obtain the finishing formula:
y＝β*cosθ+B； (4)
after the formula (3) is finished and developed, the compound can be obtained:
the two formulas (4) and (5) are converted to obtain:
β*cosθ＝y-B； (6)
and (3) knowing:
θ＝arctan(tanθ)＝arctan[(β*sinθ)/(β*cosθ)]； (8)
therefore, we only need to find the ideal (β sin θ) value and the ideal (β cos θ) value, that is, the unknown A, B,
And
the current ideal angle position value theta can be obtained, and the unknown quantities can be obtained according to the two function expressions of the Hall sensor obtained in the step, so that the accurate rotation angle value theta of the rotating shaft can be obtained.
The invention provides a calibration method of a rotary magnetoelectric encoder, and the embodiment of the invention can fit a function expression of the corresponding relation between two voltage signal values of a Hall sensor and the rotation angle of a magnetic code disc based on two groups of voltage signal values output by the Hall sensor in the encoder to be calibrated in at least one period obtained by sampling.
On the basis of the above-described embodiment:
as a preferred embodiment, according to a plurality of sampled voltage signal values and an accurate rotation angle value corresponding to each sampled voltage signal value, a functional expression for calculating a corresponding relationship between two voltage signal values of the hall sensor and a rotation angle of the magnetic code disc by using a preset fitting algorithm is specifically as follows:
according to the sampled voltage signal values, fitting a function waveform of a corresponding relation between two voltage signal values of the Hall sensor and the rotation angle of the magnetic code disc by adopting a preset fitting algorithm;
determining a zero point in the function waveform by utilizing inverse trigonometric calculation;
and determining a functional expression of the corresponding relation between the two voltage signal values of the Hall sensor and the rotation angle of the magnetic code disc according to the zero point and the accurate rotation angle value corresponding to each sampled voltage signal value.
Specifically, a function waveform of the corresponding relation between two voltage signal values of the Hall sensor and the rotation angle of the magnetic code disc can be fitted according to a plurality of sampled voltage signal values (without the accurate rotation angle value of the rotation shaft at the same time corresponding to the voltage signal values), but at this time, the zero point of the abscissa of the function waveform cannot be known, and theoretically, the position of the zero point of the abscissa should be on the abscissa of the point where the y value of the curve waveform is maximum, but we cannot use the abscissa of the maximum point of the directly read voltage signal value as the abscissa zero point, since even if we sample a sufficient number of data points of the voltage signal value, the maximum point of the y value in the probability can only be infinitely close to the maximum point, the maximum point can not be accurately reached, and the consistency of the magnetoelectric encoder is poor, therefore, the maximum point maximum probability of the y value in the voltage signal value obtained by sampling is not the maximum point in the function expression after being fitted. Therefore, the angle value of the maximum value point of the fitted function waveform is directly calculated by using an inverse trigonometric calculation in a direct calculation mode, so that the zero point of the function waveform is determined, and then the function waveform and the accurate rotation angle value corresponding to each voltage signal value in the function waveform can be obtained.
As a preferred embodiment, the obtaining of the accurate rotation angle value corresponding to each sampled voltage signal value of the rotating shaft on which the encoder to be calibrated is located specifically includes:
the method comprises the steps of obtaining a rotation angle of a rotating shaft synchronously measured by an accurate encoder in the rotating process of the rotating shaft;
the precision of the precise encoder is a preset multiple of the precision of the encoder to be calibrated.
Specifically, the preset multiple may be set autonomously, for example, the preset multiple may be 10 times, and the embodiment of the present invention is not limited herein.
Specifically, a high-precision measuring device is needed as a reference for the value of the abscissa θ, which is considered as the ideal angular position. Firstly, data are collected, when data of a double-channel ADC (analog-to-digital converter) corresponding to a Hall sensor of a magnetoelectric encoder are collected, a single-point triggering and double-channel simultaneous sampling mode is properly used, and meanwhile, an angle value of high-precision measuring equipment needs to be synchronously sampled. What we need to guarantee is that the dual-channel ADC and the high-precision device sample synchronously with the angle, so as to minimize the phase error. The collected data points should be guaranteed to be distributed over at least one complete cycle, and should be distributed appropriately and uniformly over the value of the abscissa θ, in sufficient numbers. Only then we can guarantee that the fitted function waveform is as close as possible to the ideal curve waveform.
Specifically, the accurate encoder has advantages such as the precision is high and convenient to use.
Of course, besides the precise encoder, other methods and devices may be used to measure the precise rotation angle value of the rotating shaft, and the embodiment of the present invention is not limited herein.
As a preferred embodiment, the predetermined fitting algorithm is a fourier series interpolation fitting method.
Specifically, since the format of the function expression of the waveform curve x and the waveform curve y is completely the same as the fourier series first-order expansion (f) (x) ═ a0+ a1 cos (x × ω) + a2 (x × ω)), here, we can calculate the function expression of the two curves by fitting the function expression of the waveform curve x and the waveform curve y using a fourier series interpolation fitting method, which has the advantages of rapidness and high accuracy.
Of course, besides the fourier series interpolation fitting method, the preset fitting algorithm may be of other various types, and the embodiment of the present invention is not limited herein.
As a preferred embodiment, sampling two groups of voltage signal values output by the hall sensor in the encoder to be calibrated for at least one period specifically includes:
sampling two groups of voltage signal values output by a Hall sensor in an encoder to be calibrated in at least one period at a preset sampling frequency;
where the preset sampling frequency is greater than 1/16 of the resolution of the encoder to be calibrated.
Specifically, in order to achieve acceptable accuracy of the fitted wave curve, the sampling frequency may be set to a value greater than 1/16 which is the resolution of the encoder to be calibrated, in which case the number of sampled data points is sufficient to simulate an accurate wave curve, and the more data points are sampled, i.e., the higher the sampling frequency is, the more accurate the simulated wave curve is.
As a preferred embodiment, after calculating the rotation angle of the rotating shaft where the encoder to be calibrated is located according to the functional expression and two voltage signal values output by the hall sensor in the encoder to be calibrated, the calibration method of the rotating magnetoelectric encoder further includes:
and after a preset period, returning to the step of sampling two groups of voltage signal values output by the Hall sensor in the encoder to be calibrated for at least one period.
Specifically, considering that the function expression of the last simulated waveform curve becomes larger in deviation from the actual value with the increase of the service time of the encoder to be calibrated, the step of sampling two groups of voltage signal values output by the hall sensor in the encoder to be calibrated in at least one period can be returned after the preset period in the embodiment of the present invention, so as to re-determine the function expression of the corresponding relationship between the two voltage signal values of the hall sensor and the rotation angle of the magnetic code disc, and thus, the encoder to be calibrated is automatically calibrated in each preset period.
The preset period may be set autonomously according to an actual situation, for example, may be set to 1 month, and the like.
Referring to fig. 2, fig. 2 is a schematic structural diagram of a calibration apparatus of a rotary magnetoelectric encoder according to the present invention, including:
the device comprises a sampling module 1, a calibration module and a calibration module, wherein the sampling module 1 is used for sampling two groups of voltage signal values output by a Hall sensor in an encoder to be calibrated in at least one period;
the acquisition module 2 is used for acquiring an accurate rotation angle value of a rotating shaft where the encoder to be calibrated is located, wherein the accurate rotation angle value corresponds to each sampled voltage signal value;
the first calculation module 3 is used for calculating a function expression of the corresponding relation between two voltage signal values of the Hall sensor and the rotation angle of the magnetic code disc by adopting a preset fitting algorithm according to a plurality of sampled voltage signal values and an accurate rotation angle value corresponding to each sampled voltage signal value;
and the second calculation module 4 is used for calculating the rotation angle of the rotating shaft where the encoder to be calibrated is located according to the function expression and two voltage signal values output by the hall sensor in the encoder to be calibrated.
As a preferred embodiment, the first calculation module includes:
the fitting module is used for fitting a function waveform of a corresponding relation between two voltage signal values of the Hall sensor and the rotating angle of the magnetic code disc by adopting a preset fitting algorithm according to the sampled voltage signal values;
the third calculation module is used for determining a zero point in the function waveform by utilizing inverse trigonometric calculation;
and the determining module is used for determining a function expression of the corresponding relation between the two voltage signal values of the Hall sensor and the rotating angle of the magnetic code disc according to the zero point and the accurate rotating angle value corresponding to each sampled voltage signal value.
As a preferred embodiment, the calibration apparatus of the rotary magneto-electric encoder further includes:
and the return module is used for returning to the step of sampling two groups of voltage signal values output by the Hall sensor in the encoder to be calibrated in at least one period after the preset period.
For the description of the calibration apparatus of the rotary magneto-electric encoder according to the embodiments of the present invention, please refer to the embodiments of the calibration method of the rotary magneto-electric encoder described above, and the embodiments of the present invention are not described herein again.
Referring to fig. 3, fig. 3 is a schematic structural diagram of a calibration apparatus of a rotary magnetoelectric encoder according to the present invention, including:
a memory 5 for storing a computer program;
a processor 6 for implementing the steps of the calibration method of any one of the above rotary magneto-electric encoders when executing a computer program.
For the description of the calibration apparatus of the rotary magneto-electric encoder according to the embodiment of the present invention, reference is made to the foregoing embodiment of the calibration method of the rotary magneto-electric encoder, and the embodiments of the present invention are not described herein again.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
It is further noted that, in the present specification, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (8)
1. A method of calibrating a rotary magneto-electric encoder, comprising:
sampling two groups of voltage signal values output by a Hall sensor in an encoder to be calibrated in at least one period;
acquiring an accurate rotation angle value of the rotating shaft of the encoder to be calibrated, which corresponds to the voltage signal value of each sample;
calculating a function expression of the corresponding relation between two voltage signal values of the Hall sensor and the rotation angle of the magnetic code disc by adopting a preset fitting algorithm according to a plurality of sampled voltage signal values and an accurate rotation angle value corresponding to each sampled voltage signal value;
calculating the rotation angle of the rotating shaft of the encoder to be calibrated according to the function expression and two voltage signal values output by the Hall sensor in the encoder to be calibrated;
two of the functional expressions are:
y＝β*cosθ+B；
wherein A and B are bias errors in the two functional expressions, respectively, α and β are gain errors in the two functional expressions, respectively,
is the phase deviation of the first functional expression relative to a second functional expression, the phase error of the second functional expression being set to zero;
calculating the rotation angle of the rotating shaft where the encoder to be calibrated is located according to the function expression and the two voltage signal values output by the hall sensor in the encoder to be calibrated specifically as follows:
θ＝arctan(tanθ)＝arctan[(β*sinθ)/(β*cosθ)]；
and in actual use, theta is an output angle value corrected by the encoder to be calibrated, and x and y are two voltage signal values output by the Hall sensor in the encoder to be calibrated in real time.
2. The method according to claim 1, wherein said obtaining of the accurate rotation angle value of the rotating shaft on which the encoder to be calibrated is located corresponding to the voltage signal value of each sample is specifically:
acquiring a rotation angle of the rotating shaft synchronously measured by an accurate encoder in the rotating process of the rotating shaft;
and the precision of the precise encoder is a preset multiple of the precision of the encoder to be calibrated.
3. The method of calibrating a rotary magneto-electric encoder according to claim 2, wherein the predetermined fitting algorithm is a fourier series interpolation fitting method.
4. The method according to claim 1, wherein said sampling two sets of voltage signal values output by a hall sensor in the encoder to be calibrated for at least one period is specifically:
sampling two groups of voltage signal values output by a Hall sensor in an encoder to be calibrated in at least one period at a preset sampling frequency;
wherein the preset sampling frequency is greater than 1/16 of the resolution of the encoder to be calibrated.
5. The method for calibrating a rotary magnetoelectric encoder according to any one of claims 1 to 4, characterized in that after calculating the rotation angle of the rotating shaft on which the encoder to be calibrated is located according to the functional expression and two voltage signal values output by the Hall sensor in the encoder to be calibrated, the method for calibrating a rotary magnetoelectric encoder further comprises:
and after a preset period, returning to the step of sampling two groups of voltage signal values output by the Hall sensor in the encoder to be calibrated for at least one period.
6. A calibration device for a rotary magneto-electric encoder, comprising:
the sampling module is used for sampling two groups of voltage signal values output by a Hall sensor in the encoder to be calibrated in at least one period;
the acquisition module is used for acquiring an accurate rotation angle value of a rotating shaft where the encoder to be calibrated is located, wherein the accurate rotation angle value corresponds to the voltage signal value of each sample;
the first calculation module is used for calculating a function expression of the corresponding relation between two voltage signal values of the Hall sensor and the rotation angle of the magnetic code disc by adopting a preset fitting algorithm according to a plurality of sampled voltage signal values and an accurate rotation angle value corresponding to each sampled voltage signal value;
the second calculation module is used for calculating the rotation angle of the rotating shaft where the encoder to be calibrated is located according to the function expression and two voltage signal values output by the Hall sensor in the encoder to be calibrated;
two of the functional expressions are:
y＝β*cosθ+B；
wherein A and B are bias errors in the two functional expressions, respectively, α and β are gain errors in the two functional expressions, respectively,
is the phase deviation of the first functional expression relative to a second functional expression, the phase error of the second functional expression being set to zero;
the second calculation module is specifically configured to:
θ＝arctan(tanθ)＝arctan[(β*sinθ)/(β*cosθ)]；
and in actual use, theta is an output angle value corrected by the encoder to be calibrated, and x and y are two voltage signal values output by the Hall sensor in the encoder to be calibrated in real time.
7. The apparatus according to claim 6, further comprising:
and the return module is used for returning to the step of sampling two groups of voltage signal values output by the Hall sensor in the encoder to be calibrated in at least one period after the preset period.
8. A calibration apparatus for a rotary magneto-electric encoder, comprising:
a memory for storing a computer program;
a processor for implementing the steps of the calibration method of a rotary magneto-electric encoder according to any one of claims 1 to 5 when executing said computer program.
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| CN113050699B (en) * | 2020-08-30 | 2024-01-12 | 惠州华阳通用电子有限公司 | Control method and device based on magnetic encoder |
| CN112039373A (en) * | 2020-09-03 | 2020-12-04 | 苏州臻迪智能科技有限公司 | Rotor angle detection method and device based on linear Hall system |
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| CN114593754B (en) * | 2020-12-04 | 2024-01-19 | 小华半导体有限公司 | Data analysis/correction/method and system, storage medium and magnetic encoder |
| CN112964164A (en) * | 2021-03-02 | 2021-06-15 | Oppo广东移动通信有限公司 | Calibration method, calibration device, computer-readable storage medium and electronic equipment |
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