CN113029222A - Calibration method and device for magnetic encoder and magnetic encoder - Google Patents
Calibration method and device for magnetic encoder and magnetic encoder Download PDFInfo
- Publication number
- CN113029222A CN113029222A CN202110248971.8A CN202110248971A CN113029222A CN 113029222 A CN113029222 A CN 113029222A CN 202110248971 A CN202110248971 A CN 202110248971A CN 113029222 A CN113029222 A CN 113029222A
- Authority
- CN
- China
- Prior art keywords
- sensor
- magnetic
- calibration
- magnetic ring
- magnetic encoder
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 25
- 238000001514 detection method Methods 0.000 claims abstract description 30
- 230000004927 fusion Effects 0.000 claims abstract description 9
- 238000012545 processing Methods 0.000 claims description 14
- 238000005259 measurement Methods 0.000 description 5
- 238000004891 communication Methods 0.000 description 3
- 230000006698 induction Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 239000013049 sediment Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D18/00—Testing or calibrating apparatus or arrangements provided for in groups G01D1/00 - G01D15/00
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
- G01D5/142—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Transmission And Conversion Of Sensor Element Output (AREA)
Abstract
The invention discloses a calibration method, a device and a magnetic encoder for the magnetic encoder, wherein the magnetic encoder comprises a magnetic ring, the magnetic ring is arranged on an output shaft of a motor and rotates along with the output shaft, a first sensor and a second sensor are arranged on the outer side of the magnetic ring, the included angle between the first sensor and the second sensor is 90 degrees, and the calibration method comprises the following steps: respectively acquiring detection positions detected by a first sensor and a second sensor and a calibration reference position to be calibrated; performing linear interpolation calibration on the first sensor and the second sensor according to the detection position and the reference position to be calibrated; and carrying out fusion compensation calibration on the detection positions of the first sensor and the second sensor. The magnetic encoder is of a hollow structure and has high accuracy, resolution and stability.
Description
Technical Field
The invention relates to the technical field of motor encoders, in particular to a calibration method and device for a magnetic encoder and the magnetic encoder.
Background
The Encoder (Encoder) is a novel angle or displacement measuring device, has simple structure, high-speed rotation response speed, no influence of oil sediment, dust and structure, non-contact, small volume, low cost, simple structure, high reliability and the like, and is widely applied to angle measurement in the fields of industry, military, aviation, navigation, communication and the like.
The magnetic encoder applied to absolute angle measurement at present is generally in shaft type measurement, and the encoder is required to be installed on the shaft end face of a measured rotating shaft, so that the magnetic field generated by a magnet is uniformly distributed at a magnetic sensor, the angle output of the magnetic sensor is in a linear relation with the actual mechanical angle of a motor, and the magnetic encoder can be basically not calibrated. The off-axis type mounting structure measurement overcomes the mounting limitation of on-axis type measurement, but the output angle of a common magnetic sensor has an accuracy error larger than 50% when being mounted off-axis, the common magnetic sensor cannot be directly used, the common magnetic sensor needs to be calibrated firstly, the existing calibration method generally adopts a calibration method based on a model or linear interpolation, but only calibration can seriously reduce the resolution of a low encoder.
Disclosure of Invention
In view of the above technical problems, embodiments of the present invention provide a calibration method and apparatus for a magnetic encoder, and a magnetic encoder, which can be used in a hollow structure and have high accuracy, resolution and stability.
A first aspect of an embodiment of the present invention provides a calibration method for a magnetic encoder, where the magnetic encoder includes a magnetic ring, the magnetic ring is disposed on an output shaft of a motor and rotates along with the output shaft, a first sensor and a second sensor are disposed outside the magnetic ring, an included angle between the first sensor and the second sensor is 90 °, and the calibration method includes: respectively acquiring detection positions detected by a first sensor and a second sensor and a calibration reference position to be calibrated; performing linear interpolation calibration on the first sensor and the second sensor according to the detection position and the reference position to be calibrated; and carrying out fusion compensation calibration on the detection positions of the first sensor and the second sensor.
Optionally, the calibration method comprises: the magnetic ring is driven to rotate at a constant speed.
Optionally, the calibration reference position to be calibrated is obtained by controlling an electrical angle of a rotor of the motor by space vector pulse width modulation.
Optionally, the magnetic ring is a radially magnetized ring structure, and a pair of north and south magnetic poles are arranged in the magnetic ring.
A second aspect of an embodiment of the present invention provides a calibration device for a magnetic encoder, where the magnetic encoder includes a magnetic ring, the magnetic ring is disposed on an output shaft of a motor and rotates along with the output shaft, a first sensor and a second sensor are disposed outside the magnetic ring, an included angle between the first sensor and the second sensor is 90 °, and the calibration device includes: the controller is used for acquiring detection positions detected by the first sensor and the second sensor and a calibration reference position to be calibrated; carrying out linear interpolation calibration on the first sensor and the second sensor according to the detection position and the calibration reference position; carrying out fusion compensation calibration on the detection positions of the first sensor and the second sensor; and the memory is used for pre-storing a calibration table of the linear interpolation calibration.
A second aspect of an embodiment of the present invention provides a magnetic encoder, including: the magnetic ring is arranged on the output shaft of the motor and rotates along with the output shaft; and the first sensor and the second sensor are arranged outside the magnetic ring, and an included angle between the first sensor and the second sensor is 90 degrees.
Optionally, the magnetic ring is a radially magnetized ring structure, and a pair of north and south magnetic poles are arranged in the magnetic ring.
Optionally, the magnetic encoder further includes a signal processing unit, where the signal processing unit is respectively connected to the first sensor and the second sensor, and receives the detection signals transmitted by the first sensor and the second sensor, and obtains the position information of the magnetic ring after processing the detection signals.
Optionally, the magnetic encoder further comprises a PCB board, and the first sensor, the second sensor and the signal processing unit are disposed on the PCB board.
Optionally, the first and second sensors comprise hall sensors or magneto-resistive sensors.
In the technical scheme provided by the embodiment of the invention, the included angle between the first sensor and the second sensor is 90 degrees, and the detection positions of the first sensor and the second sensor are subjected to fusion compensation calibration, so that compared with the prior art, the embodiment of the invention adopts a pair of magnetic rings with a hollow structure, and the magnetic rings are matched with the two sensors, thereby improving the detection precision and resolution ratio and simultaneously improving the stability.
Drawings
FIG. 1 is a schematic view of an electromagnetic encoder of the present invention installed;
FIG. 2 is a flow chart illustrating a calibration method for a magnetic encoder according to the present invention;
FIG. 3 is a flow chart illustrating a calibration method for a magnetic encoder according to another embodiment of the present invention.
Detailed Description
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 only a part of the embodiments of the present invention, and not all of the embodiments. 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.
An embodiment of the application provides a magnetic encoder, which comprises a magnetic ring, a first sensor and a second sensor, wherein the magnetic ring is arranged on an output shaft of a motor and rotates along with the output shaft; the first sensor and the second sensor are arranged on the outer side of the magnetic ring, and an included angle between the first sensor and the second sensor is 90 degrees.
Referring to fig. 1, a magnetic ring 10 is installed at the rear end of an output shaft 2 of a motor and rotates synchronously with the output shaft 2, the magnetic ring 10 is of a radially magnetized annular structure, and the center of the magnetic ring 10 is concentric with the axis of the output shaft 2, so that the positions of the outer ring are always ensured to rotate on the same path in the rotation process of the magnetic ring 10.
The first sensor 31 and the second sensor 32 are disposed along the outer ring of the magnetic ring 10 to sense the magnetic field of the magnetic ring 10 and convert the magnetic field into corresponding voltage signals, the first sensor 31 and the second sensor 32 are not in contact with the magnetic ring 10, and the two sensors sense the rotational position of the magnetic ring 10 by the rotation of the output shaft 2, thereby reflecting the rotational position of the output shaft 2. The included angle between the first sensor 31 and the second sensor 32 is 90 degrees, and the distances from the first sensor 31 and the second sensor 32 to the outer ring of the magnetic ring 10 are the same.
In one embodiment of the present invention, a pair of north and south poles are disposed in the magnetic ring 10, and the magnetic encoder further includes a signal processing unit, where the signal processing unit is respectively connected to the first sensor 31 and the second sensor 32, and receives the detection signals transmitted by the first sensor 31 and the second sensor 32, and obtains the position information of the magnetic ring 10 after processing the detection signals.
In one embodiment of the present invention, the magnetic encoder further comprises a PCB board, and the first sensor 31, the second sensor 32 and the signal processing unit are disposed on the PCB board. Specifically, the first sensor 31 and the second sensor 32 may be hall sensors, or may also be magnetoresistive sensors or other sensors, through holes are provided on the PCB, the outer end of the output shaft 2 of the motor may or may not pass through the through holes, and the magnetic ring 10 and the sensors on the PCB are installed in a non-contact manner.
The invention adopts the first sensor 31 and the second sensor 32 which are vertical to each other, and under the condition that external magnetic interference exists, the signal processing unit corrects the position signal detected by the first sensor 31 and the position signal detected by the second sensor 32, thereby improving the accuracy of the detected position.
The embodiment of the application provides a calibrating device for a magnetic encoder, which is matched with a motor and comprises a magnetic ring, a first sensor, a second sensor, a controller and a memory, wherein the magnetic ring is arranged on an output shaft of the motor and rotates along with the output shaft, the first sensor and the second sensor are arranged on the outer side of the magnetic ring, an included angle between the first sensor and the second sensor is 90 degrees, and the controller is used for acquiring detection positions detected by the first sensor and the second sensor and a calibrating reference position to be calibrated; carrying out linear interpolation calibration on the first sensor and the second sensor according to the detection position and the calibration reference position; carrying out fusion compensation calibration on the detection positions of the first sensor and the second sensor; the memory is used for pre-storing a calibration table of linear interpolation calibration.
It can be understood that the calibration table for linear interpolation calibration is stored in the memory in advance, and through the preset corresponding relationship between the mechanical angle and the electrical angle of the motor, when the magnetic encoder detects the given mechanical angle, the electrical angle of the motor corresponding to the given mechanical angle can be found through the corresponding relationship, so that the electrical angle of the motor can be accurately controlled by using the linear interpolation calibration technology, and the calibration between the magnetic encoder and the electrical angle of the motor is completed.
Referring to fig. 2, an embodiment of the present application provides a calibration method for a magnetic encoder, the calibration method including:
in step S10, the detection positions detected by the first sensor and the second sensor and the calibration reference position to be calibrated are acquired, respectively.
According to the invention, the position signal detected by the first sensor and the position signal detected by the second sensor are obtained according to the communication protocol of the first sensor and the second sensor, and specifically, when the magnetic ring rotates, the magnetic field at each sensor position can follow corresponding change and is converted into corresponding voltage signals through the first sensor and the second sensor. When the magnetic encoder is actually used, the first sensors and the second sensors distributed around the magnetic ring induce the magnetic field strengths of the corresponding positions respectively, the magnetic field strengths are converted into voltage signals and then are supplied to the signal processing unit, the signal processing unit collects the voltages output by the first sensors and the second sensors at high speed, and then the actual position of the magnetic ring is calculated by calculating the space positions of the collected voltage signals. And outputting a position signal of the magnetic encoder to a motor control system in a communication mode.
In one embodiment of the invention, the motor or other modes drive the magnetic ring to rotate at a constant speed, and the magnetism ensures the consistency of the interval and the time delay of data collected by the encoder.
The calibration reference position of the invention can be obtained by detecting a coaxially-mounted high-precision encoder and also can be obtained by controlling the electrical angle of a rotor of the motor through space vector pulse width modulation. The method comprises the steps of releasing Space Vector Pulse Width Modulation (SVPWM) control (space Vector Pulse Width modulation), accurately controlling the electric angle of the rotor of the motor to rotate to different positions, and then changing the electric angle of the rotor based on the angle difference between the detection angle and a calibration reference position to be calibrated until the difference is within a preset threshold range.
And step S20, performing linear interpolation calibration on the first sensor and the second sensor according to the detection position and the reference position to be calibrated.
In one embodiment of the present invention, the step S20 is as follows:
step S21, driving the magnetic ring to rotate at a constant speed by a motor;
step S22, acquiring the feedback angle of the first sensor and the second sensor rotating for one circle;
and step S23, performing linear interpolation calibration according to the feedback angle and the reference position to be calibrated.
In step S30, fusion compensation calibration is performed on the detected positions of the first sensor and the second sensor. Specifically, a resolution curve of one rotation of the first sensor and the second sensor is calculated, and fusion compensation is performed according to the resolution curve.
The first sensor and the second sensor are arranged at an angle of 90 degrees, when the magnetic ring rotates the magnetic induction line to be parallel to the first sensor, the magnetic induction line is perpendicular to the second sensor, namely when the measuring resolution of the first sensor is lowest, the second sensor is just positioned at the highest measuring resolution, when the measuring resolution of the second sensor is lowest, the first sensor is just positioned at the highest measuring resolution, and the first sensor and the second sensor are matched, so that the resolution of one sensor is always higher at any angle of one circle of rotation of the magnetic ring.
According to the calibration method for the magnetic encoder, the magnetic ring with one pair of poles is matched with the two sensors, so that the detection precision and the resolution are improved, and the stability is improved.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A calibration method for a magnetic encoder is characterized in that the magnetic encoder comprises a magnetic ring, the magnetic ring is arranged on an output shaft of a motor and rotates along with the output shaft, a first sensor and a second sensor are arranged on the outer side of the magnetic ring, an included angle between the first sensor and the second sensor is 90 degrees, and the calibration method comprises the following steps:
respectively acquiring detection positions detected by a first sensor and a second sensor and a calibration reference position to be calibrated;
performing linear interpolation calibration on the first sensor and the second sensor according to the detection position and the reference position to be calibrated;
and carrying out fusion compensation calibration on the detection positions of the first sensor and the second sensor.
2. A calibration method for a magnetic encoder according to claim 1, characterized in that the calibration method comprises:
the magnetic ring is driven to rotate at a constant speed.
3. A calibration method for a magnetic encoder according to claim 1, characterized in that the calibration reference position to be calibrated is obtained by space vector pulse width modulation controlling the electrical angle of the rotor of the electrical machine.
4. The method as claimed in claim 1, wherein the magnetic ring is a radially magnetized ring structure, and a pair of north and south magnetic poles are disposed in the magnetic ring.
5. The utility model provides a calibrating device for magnetic encoder, its characterized in that, magnetic encoder includes the magnetic ring, the magnetic ring sets up on the output shaft of motor and follows the output shaft rotation, and the magnetic ring outside is provided with first sensor and second sensor, and the contained angle between first sensor and the second sensor is 90, calibrating device includes:
the controller is used for acquiring detection positions detected by the first sensor and the second sensor and a calibration reference position to be calibrated; carrying out linear interpolation calibration on the first sensor and the second sensor according to the detection position and the calibration reference position; carrying out fusion compensation calibration on the detection positions of the first sensor and the second sensor;
and the memory is used for pre-storing a calibration table of the linear interpolation calibration.
6. A magnetic encoder, characterized in that the magnetic encoder comprises:
the magnetic ring is arranged on the output shaft of the motor and rotates along with the output shaft; and
the first sensor and the second sensor are arranged on the outer side of the magnetic ring, and an included angle between the first sensor and the second sensor is 90 degrees.
7. The magnetic encoder as claimed in claim 6, wherein the magnetic ring is a radially magnetized ring structure, and a pair of north and south magnetic poles are disposed in the magnetic ring.
8. The magnetic encoder as claimed in claim 6, further comprising a signal processing unit, wherein the signal processing unit is respectively connected to the first sensor and the second sensor, and is configured to receive the detection signals transmitted by the first sensor and the second sensor and process the detection signals to obtain the position information of the magnetic ring.
9. The magnetic encoder of claim 6, further comprising a PCB board, wherein the first sensor, the second sensor and the signal processing unit are provided on the PCB board.
10. The magnetic encoder of claim 6, wherein the first and second sensors comprise hall sensors or magneto-resistive sensors.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110248971.8A CN113029222A (en) | 2021-03-08 | 2021-03-08 | Calibration method and device for magnetic encoder and magnetic encoder |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110248971.8A CN113029222A (en) | 2021-03-08 | 2021-03-08 | Calibration method and device for magnetic encoder and magnetic encoder |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113029222A true CN113029222A (en) | 2021-06-25 |
Family
ID=76466765
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110248971.8A Pending CN113029222A (en) | 2021-03-08 | 2021-03-08 | Calibration method and device for magnetic encoder and magnetic encoder |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113029222A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113960519A (en) * | 2021-10-19 | 2022-01-21 | 重庆金山医疗技术研究院有限公司 | Calibration method, device, medium and system of magnetic field sensor |
| CN114543718A (en) * | 2022-02-24 | 2022-05-27 | 浙江禾川科技股份有限公司 | Calibration method, device and system of rotary encoder |
| CN115127603A (en) * | 2022-08-25 | 2022-09-30 | 天津云圣智能科技有限责任公司 | Compensation method and device for magnetic encoder in unmanned aerial vehicle and electronic equipment |
| WO2023201513A1 (en) * | 2022-04-19 | 2023-10-26 | 舍弗勒技术股份两合公司 | Calibration method and calibration apparatus for angle sensor |
| WO2023240468A1 (en) * | 2022-06-14 | 2023-12-21 | 华为技术有限公司 | Calibration method for angle sensor and sensing system |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20120138454A (en) * | 2011-06-15 | 2012-12-26 | 현대모비스 주식회사 | Control method of motor driven power steering apparatus |
| CN103837169A (en) * | 2014-02-28 | 2014-06-04 | 哈尔滨工业大学 | Self-correcting device and method for magneto-electricity encoder and magneto-electricity encoder |
| CN205911911U (en) * | 2016-08-25 | 2017-01-25 | 徐连胜 | Motor magnetism encoder mounting structure |
| CN206117425U (en) * | 2016-10-13 | 2017-04-19 | 深圳市泰格运控科技有限公司 | Servo motor and magnetic ring formula motor encoder |
| CN106679710A (en) * | 2017-02-08 | 2017-05-17 | 亿航智能设备（广州）有限公司 | Magnetic encoder calibrating method and system |
| CN109870177A (en) * | 2019-02-15 | 2019-06-11 | 广州极飞科技有限公司 | Magnetic coder and its calibration method and calibrating installation, motor and unmanned vehicle |
| CN110940371A (en) * | 2019-12-13 | 2020-03-31 | 浙江禾川科技股份有限公司 | Calibration method, device and equipment of rotary magnetoelectric encoder |
| CN112067023A (en) * | 2020-07-26 | 2020-12-11 | 哈尔滨理工大学 | two-Hall magnetoelectric encoder and angle value temperature drift compensation method thereof |
| CN112240739A (en) * | 2019-07-19 | 2021-01-19 | 英飞凌科技股份有限公司 | Sensing of rotational angle |
-
2021
- 2021-03-08 CN CN202110248971.8A patent/CN113029222A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20120138454A (en) * | 2011-06-15 | 2012-12-26 | 현대모비스 주식회사 | Control method of motor driven power steering apparatus |
| CN103837169A (en) * | 2014-02-28 | 2014-06-04 | 哈尔滨工业大学 | Self-correcting device and method for magneto-electricity encoder and magneto-electricity encoder |
| CN205911911U (en) * | 2016-08-25 | 2017-01-25 | 徐连胜 | Motor magnetism encoder mounting structure |
| CN206117425U (en) * | 2016-10-13 | 2017-04-19 | 深圳市泰格运控科技有限公司 | Servo motor and magnetic ring formula motor encoder |
| CN106679710A (en) * | 2017-02-08 | 2017-05-17 | 亿航智能设备（广州）有限公司 | Magnetic encoder calibrating method and system |
| CN109870177A (en) * | 2019-02-15 | 2019-06-11 | 广州极飞科技有限公司 | Magnetic coder and its calibration method and calibrating installation, motor and unmanned vehicle |
| CN112240739A (en) * | 2019-07-19 | 2021-01-19 | 英飞凌科技股份有限公司 | Sensing of rotational angle |
| CN110940371A (en) * | 2019-12-13 | 2020-03-31 | 浙江禾川科技股份有限公司 | Calibration method, device and equipment of rotary magnetoelectric encoder |
| CN112067023A (en) * | 2020-07-26 | 2020-12-11 | 哈尔滨理工大学 | two-Hall magnetoelectric encoder and angle value temperature drift compensation method thereof |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113960519A (en) * | 2021-10-19 | 2022-01-21 | 重庆金山医疗技术研究院有限公司 | Calibration method, device, medium and system of magnetic field sensor |
| CN114543718A (en) * | 2022-02-24 | 2022-05-27 | 浙江禾川科技股份有限公司 | Calibration method, device and system of rotary encoder |
| WO2023201513A1 (en) * | 2022-04-19 | 2023-10-26 | 舍弗勒技术股份两合公司 | Calibration method and calibration apparatus for angle sensor |
| WO2023240468A1 (en) * | 2022-06-14 | 2023-12-21 | 华为技术有限公司 | Calibration method for angle sensor and sensing system |
| CN115127603A (en) * | 2022-08-25 | 2022-09-30 | 天津云圣智能科技有限责任公司 | Compensation method and device for magnetic encoder in unmanned aerial vehicle and electronic equipment |
| CN115127603B (en) * | 2022-08-25 | 2022-12-20 | 天津云圣智能科技有限责任公司 | Compensation method and device for magnetic encoder in unmanned aerial vehicle and electronic equipment |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113029222A (en) | Calibration method and device for magnetic encoder and magnetic encoder | |
| US8368392B2 (en) | Magnetic encoder and method of detecting absolute rotational position | |
| CN103443590B (en) | Absolute encoder device and motor | |
| US7965004B2 (en) | Electric motor | |
| US20110187355A1 (en) | Method of processing encoder signals | |
| CN112066863B (en) | Moving-coil linear motor position calibration device and method | |
| CN103326515A (en) | Double-magnetic-circuit multi-signal-mode position sensor and detection method thereof | |
| CN204255287U (en) | Magnetic angular transducer calibration and calibrating installation | |
| CN103023399A (en) | Zero angle calibrating system of rotary transformer rotor | |
| CN110120724B (en) | Motor rotor angle measuring device and method | |
| CN104634367A (en) | Magnetoelectric type absolute position sensor with large central hole structure and method for measuring absolute position | |
| CN104065319A (en) | Permanent magnet synchronous motor zero initial angle calibration method | |
| US7391206B2 (en) | Magnetic detection circuit and encoder | |
| US20240186867A1 (en) | Method of Determining Runout | |
| CN104868812A (en) | Detection system for accurate position of rotor of large spliced arc motor and detection method of detection system | |
| CN107529384B (en) | Micro- flywheel speed-measuring method and device based on linear hall element | |
| CN210922654U (en) | Magnetoelectric encoder based on giant magnetoresistance effect | |
| CN202940767U (en) | System for calibrating zero position angle of resolver rotor | |
| CN101226064A (en) | Induction type rotor position sensor | |
| CN205490286U (en) | Servo driver | |
| CN210041574U (en) | Motor rotor angle measuring device | |
| WO2006013622A1 (en) | Bearing with absolute angle sensor | |
| CN109428455B (en) | Switched reluctance motor and control method thereof | |
| CN101877267B (en) | Magnetoconductive ring | |
| CN102927929B (en) | Detecting method for cam contour detecting system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210625 |