CN112902818B - Method for calibrating magnetic linear position sensor - Google Patents
Method for calibrating magnetic linear position sensor Download PDFInfo
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- CN112902818B CN112902818B CN202110170880.7A CN202110170880A CN112902818B CN 112902818 B CN112902818 B CN 112902818B CN 202110170880 A CN202110170880 A CN 202110170880A CN 112902818 B CN112902818 B CN 112902818B
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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
- G01B7/003—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring position, not involving coordinate determination
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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
- G01B7/02—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring length, width or thickness
Abstract
The invention provides a correction method of a magnetic linear position sensor, which comprises the following steps: the magnet moves along the linear stroke and a processing unit in the sensor requires a magnetic angle type sensing element to periodically return a currently generated sine signal and a currently generated cosine signal until the magnet finishes the linear stroke; receiving the digitized sine signal and cosine signal from the processing unit, and processing atan2 (subtracting the sine signal value of the first preset value/subtracting the cosine signal value of the second preset value) operation to the sine signal value subtracted the first preset value and the cosine signal value subtracted the second preset value to obtain the curvature curve, and using the effective line segment in the curvature curve as the characteristic curve to determine the effective detection distance of the sensing element and the corresponding curvature value range, and obtaining the polynomial equation of the fitting characteristic curve, and writing the polynomial equation and the curvature value range into the processing unit as the mathematical model of the sensing element. Therefore, the detection distance of the sensing element can be increased, and the use number of the sensing element is reduced.
Description
Technical Field
The present invention relates to a method for calibrating a position sensor, and more particularly, to a method for calibrating a magnetic linear position sensor.
Background
Referring to fig. 1, one way to obtain the detection distance of a magnetic angle sensor S (e.g., AMR, hall, TMR 8230;) in the prior art is to make the magnetic angle sensor S sense the magnetic field of a magnet M moving along a linear stroke P1, so as to generate a sine wave signal and a cosine wave signal related to a moving distance of the magnet M and output the sine wave signal and the cosine wave signal to a signal processor 10, the signal processor 10 digitizes the sine wave signal and the cosine wave signal into a digitized sine wave signal sin formed by a plurality of sine signal values Usin as shown in fig. 1 and a digitized cosine wave signal cos formed by a plurality of cosine signal values Ucos as shown in fig. 1, and atan2 (Usin/Ucos) operation is performed on the sine signal values Usin and the cosine signal values Ucos to obtain a plurality of curvature values, and the curvature values form a curvature curve C1 as shown in fig. 1, a curvature curve L1 on an effective line segment L1 in the curvature curve C1 corresponds to a curvature value, and the detection distance of the magnetic angle sensor S corresponds to a length of at least one magnetic angle sensor S1 mm 2, and the detection distance is assumed to be only for example, and the detection distance of the magnetic angle sensor S2, and the magnetic angle sensor S has a detection range of at least 0.6 mm, which is not required for detecting a length, and is not required for example, which is at least one detection range of the magnetic angle sensor S6.
Disclosure of Invention
The present invention is directed to a calibration method for a magnetic linear position sensor, which can increase the detection distance of a magnetic angle sensor in the magnetic linear position sensor, thereby reducing the number of magnetic angle sensors.
The invention provides a correction method of a magnetic linear position sensor, wherein the magnetic linear position sensor is arranged on one side of a linear stroke to detect the position of a magnet which reciprocates along the linear stroke, and comprises a magnetic angle type sensing element and a processing unit; the correction method comprises the following steps: (A) The magnet is moved along the linear stroke, and simultaneously, a signal processing device enables the processing unit to request the magnetic angle type sensing element to return a sine signal and a cosine signal which are generated at present at a sampling frequency until the magnet finishes the linear stroke; (B) The processing unit digitalizes the sine signals and the cosine signals continuously transmitted by the magnetic angle type sensing element and outputs the signals to the signal processing device; (C) The signal processing device obtains the corresponding relation between the position of each sampling point of the magnet in the linear stroke and the digitized sine signal value and cosine signal value according to the length of the linear stroke and the sampling frequency, subtracts a first preset value from the sine signal value, and subtracts a second preset value from the cosine signal value, wherein the first preset value is half of the sum of the maximum value and the minimum value in the sine signal value, and the second preset value is half of the sum of the maximum value and the minimum value in the cosine signal value; (D) The signal processing device performs atan2 (subtracting the sine signal value of the first preset value/subtracting the cosine signal value of the second preset value) operation on the sine signal value subtracted by the first preset value and the cosine signal value subtracted by the second preset value to obtainA plurality of corresponding curvature values, wherein the curvature values form a curvature curve; (E) The signal processing device takes an effective line segment in the curvature curve as a characteristic curve of the magnetic angle type sensing element, and determines an effective detection distance and a corresponding curvature value range of the magnetic angle type sensing element according to the characteristic curve, wherein the effective line segment is a line segment between two straight lines in the curvature curve; (F) The signal processing device determines a polynomial equation fitting the characteristic curve by curve fitting and linear regression analysis according to the effective detection distance and the curvature value range
M and beta of 0 ～β m Wherein i =1,2,3 \ 8230n, y i Representing a relative distance, x, between the magnetic angle type sensing element and the magnet i Represents the curvature value, beta 0 ～β m Is a coefficient of the magnetic angle type induction element; and (G) the signal processing device writes the polynomial equation into the processing unit as a mathematical model of the magnetic angle type sensing element.
In some embodiments of the invention, m is 6.
In some embodiments of the present invention, the magnetic angle sensing element has two magnetoresistive bridges 45 ° apart, wherein one of the magnetoresistive bridges senses the magnetic field of the magnet and generates a sine wave signal, and wherein the other magnetoresistive bridge senses the magnetic field of the magnet and generates a cosine wave signal 45 ° apart from the sine wave signal.
In some embodiments of the invention, the range of curvature values is-pi to pi.
The invention has the beneficial effects that: in the calibration procedure, the effective detection distance of the magnetic angle type sensing element can be increased by properly translating the sine signal values and the cosine signals obtained by sensing the magnetic angle type sensing element and then carrying out atan2 operation on the signals, so as to achieve the effects and purposes of reducing the use number of the magnetic angle type sensing element and increasing the detection distance of the magnetic linear position sensor 2.
Drawings
Fig. 1 illustrates a conventional method for obtaining the detection distance of a magnetic angle sensor.
FIG. 2 is a flow chart of an embodiment of a calibration method for a magnetic linear position sensor according to the present invention.
FIG. 3 illustrates the components and arrangement of the magnetic linear position sensor to be calibrated in this embodiment.
Fig. 4 is a detailed circuit diagram of a magnetic angle-type sensing element included in the magnetic linear position sensor of the present embodiment.
Fig. 5 is a schematic waveform diagram of the digitized sine wave signal sin and the digitized cosine wave signal cos digitized by the processing unit of the present embodiment.
Fig. 6 illustrates the digitized sine wave signal sin and the digitized cosine wave signal cos of fig. 5 being shifted down by a first preset value and a second preset value, respectively.
Fig. 7 illustrates atan2 operations performed on the sine wave signal sin 'and the cosine wave signal cos' shown in fig. 6 to obtain corresponding curvature values, which constitute a curvature curve C2.
Fig. 8 illustrates that the X-axis data and the Y-axis data of the effective line segment L2 of the curvature curve C2 shown in fig. 7 are replaced with each other to become a replaced effective line segment L2'.
Detailed Description
The invention is described in detail below with reference to the following figures and examples:
before the present invention is described in detail, it should be noted that like elements are represented by like reference numerals throughout the following description.
Referring to fig. 2, which is a main flow of a calibration method of a magnetic linear position sensor according to an embodiment of the present invention, and as shown in fig. 3, the magnetic linear position sensor 2 to be calibrated is disposed at one side of a linear stroke P2 to detect a position of a magnet M reciprocating along the linear stroke P2, for example, the magnet M is a piston disposed in a cylinder 1, and the linear stroke P2 is a piston stroke of the piston reciprocating in the cylinder 1. The magnetic linear position sensor 2 mainly comprises a magnetic angle type sensing element 21 and a processing unit 22, such as a microprocessor or a Micro Controller Unit (MCU). The magnetic angle type sensing element 21 is disposed at one side of the linear stroke P2, for example, an outer wall surface of the cylinder 1, to sense the magnetic field of the magnet M and output an analog sine signal and a cosine signal; the processing unit 22 is electrically connected to the magnetic angle sensor 21 to receive the sine signal and the cosine signal.
Since the characteristics of the magnetic angle-type sensing element 21 in each magnetic linear position sensor 2 are different, before the magnetic linear position sensor 2 leaves the factory, the magnetic linear position sensor 2 needs to go through a calibration procedure to find the mathematical model corresponding to the characteristics of the magnetic angle-type sensing element 21; and as shown in fig. 4, the magnetic angle-type sensing element 21 (e.g., AMR, hall, TMR \8230;) has two magnetoresistive bridges (bridges) 211, 212 within it that are 45 deg. apart (i.e., subtend a 45 deg. angle); therefore, in the calibration method of the present embodiment, as shown in step S1 of fig. 2, firstly, the magnet M is moved from the end of the linear stroke P2 away from the magnetic angle type sensing element 21 toward the magnetic angle type sensing element 21, passes through the magnetic angle type sensing element 21, and then moves toward the direction away from the magnetic angle type sensing element 21 to the other end of the linear stroke P2, in the process, the two magnetoresistive bridges 211 and 212 continuously sense the magnetic field of the magnet M to generate a sine wave signal SIN and a cosine wave signal COS with a phase difference of 45 °.
Meanwhile, a signal processing device 3, such as but not limited to a personal computer, enables the processing unit 22 to request the magnetic angle sensor 21 to transmit back the sine signal (i.e. the value of a certain point of the sine wave signal SIN, the analog voltage value) and the cosine signal (i.e. the value of a certain point of the cosine wave signal COS, the analog voltage value) generated at present at a sampling frequency (e.g. 10 times/second) until the magnet M has moved through the linear stroke P2, so that the magnetic angle sensor 21 transmits back 10 sine signals and 10 cosine signals to the processing unit 22 at each second, and then, as shown in step S2 of fig. 2, the processing unit 22 digitizes and outputs the received sine signals and cosine signals to the signal processing device 3. The digitized values of the sine signal values Usin and the cosine signal values Ucos may be compared to the values indicated by the left vertical axis of fig. 5.
Therefore, the signal processing device 3 can obtain the corresponding relationship between the position of the magnet M at each sampling point in the linear stroke P2 and the digitized sine signal values Usin and cosine signal values Ucos according to a moving distance of the magnet M (i.e. the length of the linear stroke P2) and the sampling frequency, for example, the digitized sine wave signal sin composed of the digitized sine signal values Usin shown in fig. 5 and the digitized cosine wave signal cos composed of the digitized cosine signal values Ucos shown in fig. 5.
Then, as shown in step S3 of fig. 2, the signal processing apparatus 3 subtracts a first preset value from the sine signal values Usin to obtain Usin ', as shown in fig. 6, which is equivalent to shift the digitized sine wave signal sin downward (offset) by the first preset value to obtain a shifted digitized sine wave signal sin', and the signal processing apparatus 3 subtracts a second preset value from the cosine signal values Ucos to obtain Ucos ', as shown in fig. 6, which is equivalent to shift the digitized cosine wave signal cos downward (offset) by the second preset value to obtain a shifted digitized cosine wave signal cos'; in this embodiment, the first predetermined value is one half of a sum of a maximum value and a minimum value of the plurality of sinusoidal signal values Usin, but not limited thereto; the second predetermined value is one half of a sum of a maximum value and a minimum value of the plurality of cosine signal values Ucos, but not limited thereto.
Next, as shown in step S4 of fig. 2, the signal processing device 3 performs atan2 operation on the sine signal values Usin '(i.e., the translated digitized sine wave signal sin') subtracted by the first predetermined value and the cosine signal values Ucos '(i.e., the translated digitized cosine wave signal cos') subtracted by the second predetermined value, i.e., atan2 (Usin '/Ucos'), to obtain a plurality of corresponding curvature values, which can be compared with the values marked by the right vertical axis of fig. 7, and which form a curvature curve C2 as shown in fig. 7, and an effective line segment L2 of the curvature curve C2 represents a characteristic curve of the magnetic angle sensor 21, and determines an effective detection distance of the magnetic angle sensor 21 and a corresponding curvature value range.
For example, when the curvature value is-1, it can be known that the distance value is-2 mm from the effective line segment L2 (the characteristic curve), and it can represent the position where the magnet M is located at the left side of the magnetic angle type sensing element 21 and is about 2mm away from the magnetic angle type sensing element 21 when viewing fig. 3. Similarly, when the curvature value is 2, it can be known that the distance value is 2.6mm, which represents that the magnet M is located at the right side of the magnetic angle type sensing element 21 and is spaced from the magnetic angle type sensing element 21 by about 2.6 mm. As shown in fig. 7, in the present embodiment, since the curvature value range can reach-pi, the corresponding effective detection distance can be increased to 14mm, and thus, in the present embodiment, by translating the signal value obtained by the sensing of the magnetic angle sensor 21 and then performing atan2 operation, the detection distance (14 mm) of the magnetic angle sensor 21 can be increased to more than twice of the detection distance (6 mm) of the prior art, and therefore, if the length to be detected is 6 times of 6mm, only 3 magnetic angle sensors 21 need to be arranged in parallel for simultaneous detection, and the number of the magnetic angle sensors 21 can be reduced.
Then, as shown in step S6 of fig. 2, the signal processing device 3 determines the effective detection distance of the magnetic angle sensor 21 and the corresponding curvature value range by using the effective line segment L2 (i.e. the effective detection distance and the corresponding curvature value range) as the characteristic curve of the magnetic angle sensor 21, and the signal processing device 3 determines a polynomial equation fitting the characteristic curve by curve fitting and linear regression analysis according to the effective detection distance and the curvature value range
M and beta of 0 ～β m Wherein i =1,2,3 \ 8230n, y i Represents a relative distance, x, between the magnetic angle type sensing element 21 and the magnet M i Represents the curvature value, beta 0 ～β m Is the magnetic angle type inductionThe coefficient of the element 21.
Specifically, as shown in fig. 8 (a), assuming that the effective line L2 (the characteristic curve) is composed of 100 curvature values (the curvature value range) corresponding to 100 positions (i.e., the distance values between the 100 magnets M and the magnetic angle sensor 21, i.e., the effective detection distance), in the present embodiment, the signal processing device 3 first replaces the data of the X axis and the Y axis of the effective line L2, so that the X axis is changed to exhibit the curvature values and the Y axis is changed to exhibit the corresponding distance values, and the effective line L2 is changed to a replaced effective line L2', as shown in fig. 8 (B). Then, the signal processing device 3 determines the polynomial equation most suitable for the replaced effective line segment L2
For example, by using Polynomial Fitting (Polynomial Fitting), regression equation using univariate m-degree Polynomial
The permuted valid line segment L2' is fitted and the polynomial regression equation is solved with a matrix as shown below:
wherein y is 1 ～y n Represents the 100 distance values, x 1 ～x n Represents the 100 curvature values, beta 0 ～β m Is a coefficient, and since the characteristics of each of the magnetic angle type induction elements 21 are different, the coefficient β thereof 0 ～β m So that the coefficients β of the magnetic angle-type inductive element 21 can be found by the matrix operation 0 ～β m And a polynomial equation that determines the fit to be used for the displaced active line segment L2'. For example, the embodiment may use the polyfit instruction provided by MATLAB to find the optimal coefficients (parameters) of the unary mth-order polynomial equation and the polynomial equation that best matches the replaced valid line segment L2'.
For example, the above-mentioned known 100 curvature value (x) is indicated by the polyfit instruction 1 ～x n ) Corresponding to the 100 distance values (y) 1 ～y n ) When the optimal coefficients of the 8 polynomial equations and the fitting result of the optimal coefficients with the replaced effective line segment L2' are obtained by respectively substituting the optimal coefficients into 8 polynomial equations of 1-membered 1-degree to 1-membered 8-degree, and the result of fitting the unary 6-degree polynomial equation to the replaced effective line segment L2' is found to be optimal (i.e. the unary 6-degree polynomial equation is closest to and can best represent the replaced effective line segment L2 ') from the 8 polynomial equations, the signal processing device 3 uses the unary 6-degree polynomial equation with the optimal fitting result, and the equation is, for example, y =2.4431x 6 -8.2418x 5 +15.967x 4 -10.349x 3 +7.6091x 2 +1.567x +1.0009, wherein y represents a relative distance between the magnet M and the magnetic angle sensor 21 (i.e. the distance value mentioned above), and x represents a curvature value. Then, as shown in step S7 of fig. 2, the signal processing apparatus 3 writes the unary 6 th-order polynomial equation and the curvature value range into the processing unit 22 as a mathematical model of the characteristic curve of the magnetic angle sensor 21, thereby completing the calibration procedure.
Therefore, when the magnetic linear position sensor 2 is actually applied to the cylinder 1 shown in fig. 3, for example, to detect the position of the piston (i.e., the magnet M) in the cylinder 1, and the processing unit 22 receives the analog sine signal and the cosine signal transmitted from the magnetic angle sensor 21, the processing unit 22 digitizes the sine signal and the cosine signal into a sine signal value and a cosine signal value, and after subtracting the first preset value from the sine signal value and subtracting the second preset value from the cosine signal value, atan2 operation is performed on the sine signal value subtracted by the first preset value and the cosine signal value subtracted by the second preset value, i.e., atan2 (the sine signal value subtracted by the first preset value/the cosine signal value subtracted by the second preset value) to obtain a curvature value; then, when the processing unit 22 determines that the curvature value is within the curvature value range, the processing unit substitutes the curvature value into the mathematical model, so as to obtain a distance value by using the 6 th-order polynomial equation, where the distance value represents the relative distance between the magnetic angle type sensing element 21 and the magnet M; then, the processing unit 22 can directly output the distance value for the back-end application, or convert the distance value into a corresponding analog signal, such as an analog voltage (e.g., a voltage value of 1-5V) or an analog current (e.g., a current value of 4-20 mA), and output the analog voltage or the analog current to the back-end application.
To sum up, in the calibration procedure of the above embodiment, the effective detection distance of the magnetic angle sensor 21 can be increased by properly translating the sine signal values and the cosine signals obtained by the magnetic angle sensor 21 and then performing atan2 operation on them, so as to achieve the effects and purposes of reducing the number of the magnetic angle sensor 21 and increasing the detection distance of the magnetic linear position sensor 2; furthermore, by means of a calibration procedure, the mathematical model in the processing unit 22 of the magnetic linear position sensor 2 is made to fit the characteristic curve of the magnetic angle-type sensing element 21, and an effective detection distance and a corresponding curvature value range of the magnetic angle-type sensing element 21 are determined; therefore, the processing unit 22 only needs to digitize the sine signal and the cosine signal transmitted from the magnetic angle sensing element 21, then performs atan2 (subtracting the sine signal value of the first preset value/subtracting the cosine signal value of the second preset value) operation on the sine signal value subtracted by the first preset value and the cosine signal value subtracted by the second preset value to obtain a corresponding curvature value, and then inputs the curvature value into the mathematical model for calculating the distance, so that a relative distance between the magnetic angle sensing element 21 and the magnet M can be quickly obtained through an easily calculated unary M-th order polynomial equation.
The above description is only for the preferred embodiment of the present invention, and it is not intended to limit the scope of the present invention, and any person skilled in the art can make further modifications and variations without departing from the spirit and scope of the present invention, therefore, the scope of the present invention should be determined by the claims of the present application.
Claims (4)
1. A method for calibrating a magnetic linear position sensor disposed on one side of a linear path to detect a position of a magnet reciprocating along the linear path, the magnetic linear position sensor comprising a magnetic angle-type sensing element and a processing unit, the method comprising:
a: the magnet is made to move along the linear stroke, and simultaneously, the signal processing device makes the processing unit request the magnetic angle type sensing element to transmit back the currently generated sine signal and cosine signal at the sampling frequency until the magnet finishes the linear stroke;
b: the processing unit digitizes and outputs a plurality of sine signals and a plurality of cosine signals continuously transmitted by the magnetic angle type sensing element to the signal processing device;
c: the signal processing device obtains the corresponding relation between the position of each sampling point of the magnet in the linear stroke and a digitized sine signal value and cosine signal value according to the length of the linear stroke and the sampling frequency, subtracts a first preset value from the sine signal value and subtracts a second preset value from the cosine signal value, wherein the first preset value is half of the sum of the maximum value and the minimum value in the sine signal value, and the second preset value is half of the sum of the maximum value and the minimum value in the cosine signal value;
d: the signal processing device performs atan2 (subtracting the sine signal value of the first preset value/subtracting the cosine signal value of the second preset value) operation on the sine signal value subtracted by the first preset value and the cosine signal value subtracted by the second preset value to obtain a plurality of corresponding curvature values, and the curvature values form a curvature curve;
e: the signal processing device takes an effective line segment in the curvature curve as a characteristic curve of the magnetic angle type sensing element, and determines an effective detection distance and a corresponding curvature value range of the magnetic angle type sensing element according to the characteristic curve, wherein the effective line segment is a line segment between two straight lines in the curvature curve;
f: the letterThe processing device determines a polynomial equation fitting the characteristic curve by curve fitting and linear regression analysis according to the effective detection distance and the curvature value range
M value and beta of 0 ～β m Wherein i =1,2,3 \ 8230n, y i Representing the relative distance, x, between the magnetic angle-type sensing element and the magnet i Represents the curvature value, beta 0 ～β m Is a coefficient of the magnetic angle type induction element; and
g: the signal processing device writes the polynomial equation and the curvature value range into the processing unit as a mathematical model of the characteristic curve of the magnetic angle type inductive element.
2. The method of calibrating a magnetic linear position sensor according to claim 1, wherein m is 6.
3. The method of calibrating a magnetic linear position sensor according to claim 1, wherein the magnetic angle type sensing element has two magnetoresistive bridges differing by 45 °, one of the two magnetoresistive bridges sensing the magnetic field of the magnet and generating a sine wave signal, and the other magnetoresistive bridge sensing the magnetic field of the magnet and generating a cosine wave signal differing by 45 ° from the sine wave signal.
4. The method of claim 1, wherein the curvature value ranges from-pi to pi.
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| JPH07218288A (en) * | 1994-01-28 | 1995-08-18 | Mitsubishi Electric Corp | Absolute position detector and its error correcting method |
| TWI274235B (en) * | 2005-12-23 | 2007-02-21 | Ind Tech Res Inst | Method and apparatus for estimating the position of a moving part of a linear actuator |
| JP4921327B2 (en) * | 2007-11-27 | 2012-04-25 | シーケーディ株式会社 | Magnetic linear measuring device |
| DE102012205903B4 (en) * | 2012-04-11 | 2014-01-30 | Tyco Electronics Amp Gmbh | METHOD FOR CONTACTLESSLY MEASURING A RELATIVE POSITION BY MEANS OF A MAGNETIC FIELD SENSOR ARRAY TO HALLE EFFECT BASE AND TRANSMITTER |
| US9733317B2 (en) * | 2014-03-10 | 2017-08-15 | Dmg Mori Seiki Co., Ltd. | Position detecting device |
| FR3036790B1 (en) * | 2015-05-27 | 2017-06-02 | Continental Automotive France | METHOD FOR DETERMINING THE POSITION OF A MOBILE PIECE ALONG AN AXIS USING AN INDUCTIVE SENSOR |
| CN105487489B (en) * | 2015-12-29 | 2018-12-21 | 浙江讯领科技有限公司 | The subdivision of triple channel encoder and position information acquisition device of a kind of band by test specimen synchronizing function |
| KR20180122377A (en) * | 2016-03-13 | 2018-11-12 | 세르보센스 (에스엠씨) 엘티디. | Position encoder |
| WO2017208674A1 (en) * | 2016-06-02 | 2017-12-07 | 株式会社コガネイ | Position detecting device and actuator |
| CN106323220A (en) * | 2016-08-09 | 2017-01-11 | 北京智联安科技有限公司 | Method for eliminating direct-current offset of angular displacement sensor |
| CN207007092U (en) * | 2017-04-27 | 2018-02-13 | 江苏多维科技有限公司 | A kind of magneto-resistor linear position sensor |
| US10668822B2 (en) * | 2017-07-25 | 2020-06-02 | GM Global Technology Operations LLC | Elimination of fundamental harmonic position measurement errors in a vector-based position sensing system |
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