CN111781546A - Background calibration method and system for eliminating nonideality of two paths of mutually orthogonal signals - Google Patents
Background calibration method and system for eliminating nonideality of two paths of mutually orthogonal signals Download PDFInfo
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Abstract
The invention discloses a background calibration method and a system for eliminating nonidealities of two paths of mutually orthogonal signals, wherein the background calibration method comprises the following steps: s1, obtaining wave crests and wave troughs of the two orthogonal signals by utilizing the phase relation between the orthogonal signals; step S2, calculating a direct current offset error and an amplitude mismatch error according to the wave crests and the wave troughs of the two paths of orthogonal signals obtained in the step S1; and step S3, compensating the direct current offset error and the amplitude mismatch error acquired in the step S2 to a signal processing link in real time through an interpolation algorithm. The background calibration method and the background calibration system for eliminating the nonidealities of the two paths of orthogonal signals can monitor and eliminate the loss regulation error and the amplitude mismatch error in real time.
Description
Technical Field
The invention belongs to the technical field of magnetic sensors, relates to a signal calibration method, and particularly relates to a background calibration method and a background calibration system for eliminating nonidealities of two paths of mutual orthogonal signals.
Background
The magnetic sensor is a device for converting the change of the magnetic property of a sensitive element caused by external factors such as magnetic field, current, stress strain, temperature, light and the like into an electric signal, and detecting the corresponding physical quantity in such a way. The magnetic sensor has wide application and plays an important role in the fields of national economy, national defense construction, scientific technology, medical treatment and health and the like. Among them, products such as angle sensors and encoders are important components of magnetic sensing technology, and have wide applications in the automobile industry, including throttle control, power systems, and vehicle body control.
Fig. 1 shows a typical system block diagram of an angle sensor based on magnetic sensing technology, in which: the magneto-sensitive unit-X and the magneto-sensitive unit-Y are two mutually orthogonal Wheatstone bridges which are respectively used for detecting the magnetic field intensity in the X direction and the Y direction and converting the magnetic field intensity into a voltage or current signal (Vx/Vy); then the signal is amplified, filtered (Vxp/Vyp) and subjected to analog-to-digital conversion (Dx/Dy), and then the signal is sent to a digital signal processing unit (DSP); and the DSP calculates the magnetic field angle according to the value of Dx/Dy. From the physical properties of the magneto-sensitive cells, the following expression can be obtained:
wherein alpha is the angle to be measured, and theta is the actually measured angle.
In the practical application process, parameters (such as sensitivity, disorder, consistency and the like) of the magnetic sensitive unit and the signal processing circuit are influenced by manufacturing process fluctuation, application environment change, aging and the like, and non-ideal effects can be generated. The following were used:
wherein, bx、byIt is known that k is the amplitude mismatch error (amplitude) for the direct current offset error (DC offset) it can be derived by simple mathematical derivation that the error e of the angle value θ calculated by equation (2) compared to the actual angle value α can be approximated by equation (4) when these three errors are present.
The error can cause the defects of poor consistency, large temperature drift, poor reliability and the like of the angle sensor, and finally influences the application of the product in a client.
In view of the above, there is a need to design a signal processing method for an angle sensor to overcome the above-mentioned drawbacks of the existing angle sensors.
Disclosure of Invention
The invention provides a background calibration method and a background calibration system for eliminating nonidealities of two paths of mutually orthogonal signals, which can monitor and eliminate direct current offset errors and amplitude mismatch errors in real time.
In order to solve the technical problem, according to one aspect of the present invention, the following technical solutions are adopted:
a background calibration method for eliminating non-ideality of two paths of mutually orthogonal signals comprises the following steps:
s1, obtaining wave crests and wave troughs of the two orthogonal signals by utilizing the phase relation between the orthogonal signals;
step S2, calculating a direct current mismatch error and an amplitude mismatch error according to the wave crests and the wave troughs of the two paths of orthogonal signals acquired in the step S1;
and step S3, compensating the direct current offset error and the amplitude mismatch error acquired in the step S2 into a signal processing link in real time through an interpolation algorithm.
As an embodiment of the present invention, in step S1, three sets of adjacent sampling points are obtained, which are a first sampling point, a second sampling point, and a third sampling point, respectively, where coordinates of the first sampling point are (x1, y1), coordinates of the second sampling point are (x2, y2), and coordinates of the third sampling point are (x3, y 3):
if three groups of adjacent sampling points simultaneously meet two conditions in the formula (5), obtaining that the wave trough of the X-axis signal is X _ min-X2;
if three groups of adjacent sampling points simultaneously satisfy two conditions in the formula (6), obtaining the peak of the X-axis signal as X _ max ═ X2;
if three groups of adjacent sampling points simultaneously satisfy two conditions in the formula (52), obtaining that the trough of the Y-axis signal is Y _ min-Y2;
if three groups of adjacent sampling points simultaneously satisfy two conditions in the formula (62), obtaining the peak of the Y-axis signal as Y _ max ═ Y2;
as an embodiment of the present invention, in step S2, according to the four parameters of the valley X _ min of the X-axis signal, the peak X _ max of the X-axis signal, the valley Y _ min of the Y-axis signal, and the peak Y _ max of the Y-axis signal obtained in step S1, the dc offset error and the amplitude mismatch error of the two signals of the X-axis and the Y-axis are derived, which are respectively expressed as formula (7);
wherein bx is the DC offset error of the X-axis signal, by is the DC offset error of the Y-axis signal, and k is the amplitude mismatch error between the X-axis and the Y-axis.
As an embodiment of the present invention, the step S3 includes:
when the compensation data (bx, by, k) changes, the new compensation parameters are compared with the compensation parameters output by the interpolation algorithm, the meaning of the comparison function sign () is shown as a formula (8), and the output of the comparison function sign () is summed with the compensation parameters output by the interpolation algorithm at the previous time, so that the latest compensation parameters are obtained:
where a is a set value.
In one embodiment of the present invention, a is 1.
According to another aspect of the invention, the following technical scheme is adopted: a background calibration system for eliminating two paths of mutual orthogonal signal nonidealities comprises:
the wave crest and trough acquisition module is used for acquiring wave crests and wave troughs of the two orthogonal signals by utilizing the phase relationship between the orthogonal signals;
the error acquisition module is used for calculating a direct current offset error and an amplitude mismatch error according to the wave crests and the wave troughs of the two orthogonal signals acquired by the wave crest and wave trough acquisition module;
and the interpolation compensation module is used for compensating the direct current offset error and the amplitude mismatch error acquired by the error acquisition module into a signal processing link in real time through an interpolation algorithm.
As an embodiment of the present invention, the peak and valley acquiring module is configured to acquire three sets of adjacent sampling points, which are a first sampling point, a second sampling point and a third sampling point, respectively, where coordinates of the first sampling point are (x1, y1), coordinates of the second sampling point are (x2, y2), and coordinates of the third sampling point are (x3, y 3):
if three groups of adjacent sampling points simultaneously satisfy two conditions in the formula (5), the wave crest and wave trough obtaining module obtains that the wave trough of the X-axis signal is X _ min ═ X2;
if three groups of adjacent sampling points simultaneously satisfy two conditions in the formula (6), the peak and trough obtaining module obtains a peak of the X-axis signal as X _ max being X2;
if three groups of adjacent sampling points simultaneously meet two conditions in the formula (52), the wave crest and wave trough obtaining module obtains the wave trough of the Y-axis signal as Y _ min-Y2;
if three groups of adjacent sampling points simultaneously meet two conditions in the formula (62), the peak and trough obtaining module obtains a Y-axis signal peak Y _ max which is Y2;
as an embodiment of the present invention, the error obtaining module derives the dc offset error and the amplitude mismatch error of the two signals of the X-axis and the Y-axis according to four parameters, namely, the valley X _ min of the X-axis signal, the peak X _ max of the X-axis signal, the valley Y _ min of the Y-axis signal, and the peak Y _ max of the Y-axis signal, which are obtained by the peak and valley obtaining module, as shown in formula (7);
wherein bx is the DC offset error of the X-axis signal, by is the DC offset error of the Y-axis signal, and k is the amplitude mismatch error between the X-axis and the Y-axis.
As an embodiment of the present invention, the interpolation compensation module is configured to compare a new compensation parameter with a compensation parameter output by an interpolation algorithm when the compensation data (bx, by, k) changes, where the meaning of the comparison function sign () is shown in formula (8), and the comparison function sign () is summed with the compensation parameter output by the interpolation algorithm at the previous time to obtain a latest compensation parameter:
where a is a set value.
In one embodiment of the present invention, a is 1.
The invention has the beneficial effects that: the background calibration method and the background calibration system for eliminating the nonidealities of the two paths of orthogonal signals can monitor and eliminate the loss modulation error and the amplitude mismatch error in real time.
The method utilizes the phase relation between two paths of mutually orthogonal signals to monitor the peak value and the valley value of the two paths of signals in real time; calculating the direct current offset error and the amplitude mismatch error of the two paths of signals according to the peak value/valley value, and further updating the compensation parameters in real time; and (4) interpolating the updated compensation parameters and then sending the interpolated compensation parameters to a compensation network, thereby eliminating the non-ideality of the original signal in real time (the non-ideality means that direct current loss modulation errors and amplitude mismatch errors exist).
The method for obtaining the system compensation parameter by utilizing the phase relation between two paths of mutually orthogonal signals has the advantages of high sensitivity, high reliability and the like; the mode of updating the compensation parameters by using an interpolation algorithm can prevent the system output from sudden change and ensure the continuity and stability of the system output; the background calibration algorithm of real-time monitoring and real-time compensation can prevent the fluctuation of the manufacturing process, can also cope with the parameter drift of the sensor caused by factors such as the application environment change of the product, the aging of devices and the like, and improves the stability and the reliability of the product.
Drawings
Fig. 1 is a typical system block diagram of an angle sensor based on magnetic sensing technology.
Fig. 2 is a schematic diagram of a background calibration method based on peak-to-valley detection according to an embodiment of the present invention.
Fig. 3 is a schematic diagram of a technique for detecting peak-to-valley values of signals by using a phase relationship between mutually orthogonal signals according to an embodiment of the present invention.
FIG. 4 is a schematic diagram of a compensation parameter interpolation algorithm according to an embodiment of the present invention.
FIG. 5 is a waveform diagram of an input and an output of an interpolation algorithm according to an embodiment of the present invention.
Detailed Description
Preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
For a further understanding of the invention, reference will now be made to the preferred embodiments of the present invention by way of example, and it is to be understood that the description is intended to further illustrate the features and advantages of the present invention and is not intended to limit the scope of the appended claims.
The description in this section is for several exemplary embodiments only, and the present invention is not limited only to the scope of the embodiments described. It is within the scope of the present disclosure and protection that the same or similar prior art means and some features of the embodiments may be interchanged.
The invention discloses a background calibration method for eliminating non-ideality of two paths of mutually orthogonal signals, and fig. 2 is a schematic diagram of the background calibration method based on peak-to-valley detection in an embodiment of the invention; referring to fig. 2, in an embodiment of the present invention, the background calibration method includes:
step S1, obtaining wave crests and wave troughs of the two paths of orthogonal signals by utilizing the phase relation between the orthogonal signals;
step S2, calculating a direct current offset error and an amplitude mismatch error according to the wave crests and the wave troughs of the two paths of orthogonal signals obtained in the step S1;
step S3, the dc offset error and the amplitude mismatch error obtained in step S2 are compensated in real time to the signal processing link by an interpolation algorithm.
In an embodiment of the present invention, in the step S1, three sets of adjacent sampling points are obtained, which are a first sampling point, a second sampling point and a third sampling point, respectively, where coordinates of the first sampling point are (x1, y1), coordinates of the second sampling point are (x2, y2), and coordinates of the third sampling point are (x3, y 3).
FIG. 3 is a schematic diagram of a technique for detecting peak-to-valley values of signals using a phase relationship between mutually orthogonal signals according to an embodiment of the present invention; referring to fig. 3, in an embodiment of the invention:
if three groups of adjacent sampling points simultaneously meet two conditions in the formula (5), obtaining that the wave trough of the X-axis signal is X _ min-X2;
if three groups of adjacent sampling points simultaneously satisfy two conditions in the formula (6), obtaining the peak of the X-axis signal as X _ max ═ X2;
if three groups of adjacent sampling points simultaneously satisfy two conditions in the formula (52), obtaining that the trough of the Y-axis signal is Y _ min-Y2;
if three groups of adjacent sampling points simultaneously satisfy two conditions in the formula (62), obtaining the peak of the Y-axis signal as Y _ max ═ Y2;
as an embodiment of the present invention, in step S2, according to the four parameters of the valley X _ min of the X-axis signal, the peak X _ max of the X-axis signal, the valley Y _ min of the Y-axis signal, and the peak Y _ max of the Y-axis signal obtained in step S1, the dc offset error and the amplitude mismatch error of the two signals of the X-axis and the Y-axis are derived, which are respectively expressed as formula (7);
wherein bx is the DC offset error of the X-axis signal, by is the DC offset error of the Y-axis signal, and k is the amplitude mismatch error between the X-axis and the Y-axis.
If direct current offset errors and amplitude mismatch errors (bx, by, k) of the two paths of signals are directly substituted into the compensation network in the graph (2), sudden change of output signals of the sensor can be caused, and misjudgment of a user is caused. In order to prevent such phenomena, the present invention adds an interpolation algorithm, and fig. 4 is a schematic diagram of a compensation parameter interpolation algorithm according to an embodiment of the present invention; referring to fig. 4, in an embodiment of the present invention, when the compensation data (bx, by, k) changes, a difference comparison is performed between a new compensation parameter and a compensation parameter output by the interpolation algorithm, the meaning of the comparison function sign () is shown in formula (8), and the latest compensation parameter is obtained by summing the output of the comparison function sign () and the compensation parameter output by the interpolation algorithm at the previous time:
where a is a set value. In one embodiment of the present invention, a is 1. FIG. 5 is a waveform diagram of an input and an output of an interpolation algorithm according to an embodiment of the present invention.
The invention also discloses a background calibration system for eliminating the nonideality of two paths of mutually orthogonal signals, which comprises the following steps: the device comprises a peak and trough obtaining module 1, an error obtaining module 2 and an interpolation compensation module 3. The peak and trough obtaining module 1 is used for obtaining peaks and troughs of two orthogonal signals by using a phase relationship between the orthogonal signals. The error obtaining module 2 is configured to calculate a dc offset error and an amplitude mismatch error according to the peaks and troughs of the two orthogonal signals obtained by the peak and trough obtaining module 1. The interpolation compensation module 3 is used for compensating the direct current offset error and the amplitude mismatch error acquired by the error acquisition module 2 into a signal processing link in real time through an interpolation algorithm.
In an embodiment of the present invention, the peak and valley obtaining module 1 is configured to obtain three sets of adjacent sampling points, which are a first sampling point, a second sampling point and a third sampling point, respectively, where coordinates of the first sampling point are (x1, y1), coordinates of the second sampling point are (x2, y2), and coordinates of the third sampling point are (x3, y 3):
if three groups of adjacent sampling points simultaneously satisfy two conditions in the formula (5), the peak and trough obtaining module obtains X _ min as X2 (fig. 3 can be combined with);
if three groups of adjacent sampling points simultaneously satisfy two conditions in the formula (6), the peak and valley obtaining module obtains that the peak of the X-axis signal is X _ max ═ X2 (fig. 3 can be combined);
if three groups of adjacent sampling points simultaneously meet two conditions in the formula (52), the wave crest and wave trough obtaining module obtains the wave trough of the Y-axis signal as Y _ min-Y2;
if three groups of adjacent sampling points simultaneously meet two conditions in the formula (62), the peak and trough obtaining module obtains a Y-axis signal peak Y _ max which is Y2;
in an embodiment of the present invention, the error obtaining module 2 derives the dc offset error and the amplitude mismatch error of the two signals of the X-axis and the Y-axis according to four parameters, namely, the valley X _ min of the X-axis signal, the peak X _ max of the X-axis signal, the valley Y _ min of the Y-axis signal, and the peak Y _ max of the Y-axis signal, which are obtained by the peak and valley obtaining module, respectively as in formula (7);
wherein bx is the DC offset error of the X-axis signal, by is the DC offset error of the Y-axis signal, and k is the amplitude mismatch error between the X-axis and the Y-axis.
With reference to fig. 4 and 5, in an embodiment of the present invention, the interpolation compensation module 3 is configured to compare a new compensation parameter with a compensation parameter output by an interpolation algorithm when the compensation data (bx, by, k) changes, a meaning of the comparison function sign () is shown in formula (8), and the latest compensation parameter is obtained by summing an output of the comparison function sign () with a compensation parameter output by the interpolation algorithm at the previous time:
where a is a set value. In one embodiment of the present invention, a is 1.
In summary, the background calibration method and system for eliminating the nonidealities of the two paths of orthogonal signals provided by the invention can monitor and eliminate the direct current offset error and the amplitude mismatch error in real time.
The method utilizes the phase relation between two paths of mutually orthogonal signals to monitor the peak value and the valley value of the two paths of signals in real time; calculating the direct current offset error and the amplitude mismatch error of the two paths of signals according to the peak value/valley value, and further updating the compensation parameters in real time; and (4) interpolating the updated compensation parameters and then sending the interpolated compensation parameters to a compensation network, thereby eliminating the non-ideality of the original signal in real time (the non-ideality means that direct current loss modulation errors and amplitude mismatch errors exist).
The method for obtaining the system compensation parameter by utilizing the phase relation between two paths of mutually orthogonal signals has the advantages of high sensitivity, high reliability and the like; the mode of updating the compensation parameters by using an interpolation algorithm can prevent the system output from sudden change and ensure the continuity and stability of the system output; the background calibration algorithm of real-time monitoring and real-time compensation can prevent the fluctuation of the manufacturing process, can also cope with the parameter drift of the sensor caused by factors such as the application environment change of the product, the aging of devices and the like, and improves the stability and the reliability of the product.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The description and applications of the invention herein are illustrative and are not intended to limit the scope of the invention to the embodiments described above. Variations and modifications of the embodiments disclosed herein are possible, and alterations and equivalents of the various elements of the embodiments are known to those skilled in the art. It will be clear to those skilled in the art that the present invention may be embodied in other forms, structures, arrangements, proportions, and with other components, materials, and parts, without departing from the spirit or essential characteristics thereof. Other variations and modifications of the embodiments disclosed herein may be made without departing from the scope and spirit of the invention.
Claims (10)
1. A background calibration method for eliminating non-ideality of two paths of mutually orthogonal signals is characterized by comprising the following steps:
s1, obtaining wave crests and wave troughs of the two orthogonal signals by utilizing the phase relation between the orthogonal signals;
step S2, calculating a direct current offset error and an amplitude mismatch error according to the wave crests and the wave troughs of the two paths of orthogonal signals obtained in the step S1;
and step S3, compensating the direct current offset error and the amplitude mismatch error acquired in the step S2 to a signal processing link in real time through an interpolation algorithm.
2. The background calibration method for eliminating the non-ideality of two paths of mutually orthogonal signals according to claim 1, characterized in that:
in step S1, three groups of adjacent sampling points are obtained, which are respectively a first sampling point, a second sampling point, and a third sampling point, where coordinates of the first sampling point are (x1, y1), coordinates of the second sampling point are (x2, y2), and coordinates of the third sampling point are (x3, y 3):
if three groups of adjacent sampling points simultaneously meet two conditions in the formula (5), obtaining that the wave trough of the X-axis signal is X _ min-X2;
if three groups of adjacent sampling points simultaneously satisfy two conditions in the formula (6), obtaining the peak of the X-axis signal as X _ max ═ X2;
if three groups of adjacent sampling points simultaneously satisfy two conditions in the formula (52), obtaining that the trough of the Y-axis signal is Y _ min-Y2;
if three groups of adjacent sampling points simultaneously satisfy two conditions in the formula (62), obtaining the peak of the Y-axis signal as Y _ max ═ Y2;
3. the background calibration method for eliminating the non-ideality of two paths of mutually orthogonal signals according to claim 1, characterized in that:
in step S2, deriving a dc offset error and an amplitude mismatch error of the two signals of the X-axis and the Y-axis according to the four parameters of the wave trough X _ min of the X-axis signal, the wave crest X _ max of the X-axis signal, the wave trough Y _ min of the Y-axis signal, and the wave crest Y _ max of the Y-axis signal, which are obtained in step S1, as shown in formula (7);
wherein bx is the DC offset error of the X-axis signal, by is the DC offset error of the Y-axis signal, and k is the amplitude mismatch error between the X-axis and the Y-axis.
4. The background calibration method for eliminating the non-ideality of two paths of mutually orthogonal signals according to claim 1, characterized in that:
the step S3 includes:
when the compensation data (bx, by, k) changes, the new compensation parameters are compared with the compensation parameters output by the interpolation algorithm, the meaning of the comparison function sign () is shown as a formula (8), and the output of the comparison function sign () is summed with the compensation parameters output by the interpolation algorithm at the previous time, so that the latest compensation parameters are obtained:
where a is a set value.
5. The background calibration method for eliminating the non-idealities of the two paths of mutually orthogonal signals according to claim 4, is characterized in that:
wherein a is 1.
6. A background calibration system for eliminating two paths of mutual orthogonal signal nonidealities is characterized in that the background calibration system comprises:
the wave crest and trough acquisition module is used for acquiring wave crests and troughs of the two orthogonal signals by utilizing the phase relationship between the orthogonal signals;
the error acquisition module is used for calculating a direct current offset error and an amplitude mismatch error according to the wave crests and the wave troughs of the two orthogonal signals acquired by the wave crest and wave trough acquisition module;
and the interpolation compensation module is used for compensating the direct current offset error and the amplitude mismatch error acquired by the error acquisition module into a signal processing link in real time through an interpolation algorithm.
7. The background calibration system for eliminating the non-idealities of the two paths of mutually orthogonal signals according to claim 6, wherein:
the peak and trough acquiring module is used for acquiring three groups of adjacent sampling points, namely a first sampling point, a second sampling point and a third sampling point, wherein the coordinates of the first sampling point are (x1, y1), the coordinates of the second sampling point are (x2, y2), and the coordinates of the third sampling point are (x3, y 3):
if three groups of adjacent sampling points simultaneously satisfy two conditions in the formula (5), the wave crest and wave trough obtaining module obtains that the wave trough of the X-axis signal is X _ min ═ X2;
if three groups of adjacent sampling points simultaneously satisfy two conditions in the formula (6), the peak and trough obtaining module obtains a peak of the X-axis signal as X _ max being X2;
if three groups of adjacent sampling points simultaneously satisfy two conditions in the formula (52), the wave crest and trough acquiring module acquires that the trough of the Y-axis signal is Y _ min-Y2;
if three groups of adjacent sampling points simultaneously meet two conditions in the formula (62), the peak and trough obtaining module obtains a Y-axis signal peak Y _ max which is Y2;
8. the background calibration system for eliminating the non-idealities of the two paths of mutually orthogonal signals according to claim 6, wherein:
the error acquisition module deduces the direct current offset error and the amplitude mismatch error of the two paths of signals of the X-axis and the Y-axis according to four parameters of a wave trough X _ min of the X-axis signal, a wave crest X _ max of the X-axis signal, a wave trough Y _ min of the Y-axis signal and a wave crest Y _ max of the Y-axis signal acquired by the wave crest and wave trough acquisition module, wherein the four parameters are respectively shown in a formula (7);
wherein bx is the DC offset error of the X-axis signal, by is the DC offset error of the Y-axis signal, and k is the amplitude mismatch error between the X-axis and the Y-axis.
9. The background calibration system for eliminating the non-idealities of the two paths of mutually orthogonal signals according to claim 6, wherein:
the interpolation compensation module is used for comparing a new compensation parameter with a compensation parameter output by an interpolation algorithm when the compensation data (bx, by, k) change, the meaning of a comparison function sign () is shown in a formula (8), and the output of the comparison function sign () is summed with the compensation parameter output by the interpolation algorithm at the previous time to obtain the latest compensation parameter:
where a is a set value.
10. The background calibration system for eliminating two paths of mutually orthogonal signal nonidealities as recited in claim 9, wherein:
wherein a is 1.
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| CN114608629A (en) * | 2021-11-02 | 2022-06-10 | 杭州微光技术有限公司 | Incremental encoder based on AMR technology |
| CN114858062A (en) * | 2022-06-13 | 2022-08-05 | 探维科技(北京)有限公司 | Detection signal processing method, device, medium, equipment and grating ruler |
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