CN113050699A - Control method and device based on magnetic encoder - Google Patents
Control method and device based on magnetic encoder Download PDFInfo
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- CN113050699A CN113050699A CN202010891510.8A CN202010891510A CN113050699A CN 113050699 A CN113050699 A CN 113050699A CN 202010891510 A CN202010891510 A CN 202010891510A CN 113050699 A CN113050699 A CN 113050699A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/10—Control of position or direction without using feedback
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- 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
Abstract
The invention provides a control method and a device based on a magnetic encoder, wherein the method comprises the following steps: step 1, receiving a first encoding signal and a second encoding signal output by a magnetic encoder; step 2, determining the size of a rotation angle theta of the magnetic encoder; step 3, determining the rotation direction of the rotation angle theta of the magnetic encoder; step 4, acquiring a parameter item needing to be adjusted currently; and 5, adjusting the parameter item according to the size and the direction of the rotation angle theta of the magnetic encoder. The invention realizes the control of the target equipment with low cost and high reliability.
Description
Technical Field
The invention relates to the technical field of encoders, in particular to a control method and device based on a magnetic encoder.
Background
At present, mechanical encoders are mostly adopted for knobs used for adjusting volume on many electronic products, and the mechanical structure of the encoders is complex, and the service life of the encoders is generally short. Some electronic products using optical encoders are also currently available. The photoelectric encoder is an angular displacement measuring sensor with a scribed line code disc or a metering grating as a core component, and because of the use of grating materials, the photoelectric encoder cannot adapt to harsh environment work, the code disc is easy to crack when being subjected to external large impact, the grating processing technology is complex, higher assembly and positioning precision is required, the service life of a photosensitive device is limited, the high-precision photoelectric encoder is large in processing difficulty, and the cost is difficult to control.
Therefore, the prior art is in need of further improvement.
Disclosure of Invention
The invention provides a control method and a control device based on a magnetic encoder, aims to overcome the defects in the prior art, and provides a control method and a control device which are low in cost and high in reliability for target equipment.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
one aspect of the present invention provides a control method based on a magnetic encoder, including:
step 1, receiving a first encoding signal and a second encoding signal output by a magnetic encoder;
step 2, determining the size of a rotation angle theta of the magnetic encoder;
step 3, determining the rotation direction of the rotation angle theta of the magnetic encoder;
step 4, acquiring a parameter item needing to be adjusted currently;
and 5, adjusting the parameter item according to the size and the direction of the rotation angle theta of the magnetic encoder.
Specifically, the step 2 includes:
step 201, obtaining a first code signal voltage maximum value VX _ MAX, a voltage minimum value VX _ MIN, a second code signal voltage maximum value VY _ MAX, and a voltage minimum value VY _ MIN;
step 202, calculating a middle value VX _ AVE and a range value VX _ P of the first encoding signal, and a middle value VY _ AVE and a range value VY _ PP of the second encoding signal;
step 203, obtaining the current voltage Vx of the first coding signal, and obtaining the current voltage VY of the second coding signal;
step 204, calculating the current rotation angle theta x of the first coded signal and the current rotation angle theta y of the second coded signal;
step 205, judging the area where the rotation angle theta of the magnetic encoder is located;
step 206, if the rotation angle theta of the magnetic encoder is in the first and third areas, the second encoding signal is used as a reference signal, and if the rotation angle theta of the magnetic encoder is in the second and fourth areas, the first encoding signal is used as a reference signal;
and step 207, determining the rotation angle theta of the magnetic encoder according to the reference signal.
Specifically, VX _ AVE ═ VX _ MAX + VX _ MIN)/2, VX _ PP ═ VX _ MAX-VX _ MIN; VY _ AVE ═ VY _ MAX + VY _ MIN)/2, Y _ PP ═ VY _ MAX-VY _ MIN;
the current rotation angle θ x of the first encoded signal is arccos [2(VX-VX _ AVE)/VX _ PP ];
the second encoding signal is currently rotated by an angle θ y ═ arccos [2(VY-VY _ AVE)/VY _ PP ].
Specifically, the step 205 includes:
judging whether (VX-VX _ AVE)/VX _ PP >0.7 is true, if yes, the rotation angle theta is in a first area;
judging whether (VY-VY _ AVE)/VY _ PP >0.7 is true, if yes, the rotation angle theta is in a second area;
judging whether (VX _ AVE-VX)/VX _ PP >0.7 is true, if yes, the rotation angle theta is in a third area;
and judging whether (VY _ AVE-VY)/VY _ PP >0.7 is true, if so, determining that the rotation angle theta is in a fourth area.
Specifically, the step 207 includes:
if the rotation angle theta of the magnetic encoder is in the first area, the rotation angle theta of the magnetic encoder is 2.5 pi-thetay;
if the rotation angle theta of the magnetic encoder is in a second area, the rotation angle theta of the magnetic encoder is equal to thetax;
if the rotation angle theta of the magnetic encoder is in a third area, the rotation angle theta of the magnetic encoder is 0.5 pi + thetay;
if the magnetic encoder rotation angle theta is in the fourth area, the magnetic encoder rotation angle theta is 2 pi-thetax.
Specifically, the step 3 includes:
if the rotation angle theta of the magnetic encoder is in the first and third areas, when theta is larger than thetax, the clockwise rotation is determined, otherwise, the anticlockwise rotation is determined;
if the rotation angle theta of the magnetic encoder is in the second and fourth areas, when theta is larger than theta y, the clockwise rotation is determined, and otherwise, the anticlockwise rotation is determined.
In another aspect, the present invention provides a control apparatus based on a magnetic encoder, including:
the device comprises a biphase magnetic encoder, a processing module and an execution module which are connected in sequence;
the biphase magnetic encoder is used for outputting an encoded electric signal;
the processing module is used for receiving and processing the coded electric signal output by the biphase magnetic encoder, obtaining the size and the direction of the rotation angle of the magnetic encoder and generating a parameter item adjusting instruction;
and the execution module is used for responding to the parameter item adjusting instruction and outputting an adjusting result.
Specifically, the processing module includes: the device comprises a signal receiving unit, an angle calculating unit, a steering determining unit, an instruction generating unit and a parameter acquiring unit connected with the instruction generating unit, wherein the signal receiving unit, the angle calculating unit, the steering determining unit and the instruction generating unit are sequentially connected;
the signal receiving unit is used for receiving the coded electric signal output by the biphase magnetic encoder;
the angle calculation unit is used for determining the rotation angle of the magnetic encoder;
the steering determining unit is used for determining the rotating direction of the rotating angle of the magnetic encoder;
the parameter acquiring unit is used for acquiring the parameter items which need to be adjusted currently;
and the instruction generating unit is used for generating a parameter item adjusting instruction according to the size and the direction of the rotation angle theta of the magnetic encoder and the parameter item needing to be adjusted before.
Specifically, the angle calculation unit determines the rotation angle of the magnetic encoder according to the following method:
the angle calculation unit acquires a first coding signal voltage maximum value VX _ MAX, a voltage minimum value VX _ MIN, a second coding signal voltage maximum value VY _ MAX and a voltage minimum value VY _ MIN; the angle calculating unit calculates a middle value VX _ AVE and a pole difference value VX _ P of the first encoding signal, and a middle value VY _ AVE and a pole difference value VY _ PP of the second encoding signal; the angle calculation unit acquires the current voltage Vx of the first coding signal and acquires the current voltage VY of the second coding signal; the angle calculation unit calculates a current rotation angle thetax of the first coded signal and a current rotation angle thetay of the second coded signal; the angle calculation unit judges the area where the rotation angle theta of the magnetic encoder is located; if the angle calculation unit judges that the rotation angle theta of the magnetic encoder is in the first region and the third region, the second encoding signal is used as a reference signal, and if the angle calculation unit judges that the rotation angle theta of the magnetic encoder is in the second region and the fourth region, the first encoding signal is used as a reference signal; the angle calculation unit determines the size of the rotation angle theta of the magnetic encoder according to the reference signal.
Specifically, the steering determination unit determines the rotation direction of the rotation angle of the magnetic encoder according to the following method: if the steering determining unit judges that the rotation angle theta of the magnetic encoder is in a first area and a third area, when the theta is larger than thetax, the rotation is judged to be clockwise rotation, otherwise, the rotation is anticlockwise rotation; if the steering determining unit determines that the rotation angle theta of the magnetic encoder is in the second and fourth regions, when theta is larger than thetay, the magnetic encoder is determined to rotate clockwise, and otherwise, the magnetic encoder rotates anticlockwise.
The invention has the beneficial effects that: the invention receives the encoding signal output by the magnetic encoder, determines the size and the rotating direction of the rotating angle of the magnetic encoder, acquires the parameter item which needs to be adjusted currently, and finally adjusts the parameter item, thereby realizing the control of low cost and high reliability of the target equipment.
Drawings
FIG. 1 is a signal direction and angle partition diagram of a magnetic encoder of the present invention;
FIG. 2 is a flow chart schematic of a magnetic encoder based control method of the present invention;
FIG. 3 is a schematic diagram of the structure of a control device based on a magnetic encoder of the present invention;
FIG. 4 is a schematic diagram of a processing module of the present invention.
Detailed Description
The embodiments of the present invention will be described in detail with reference to the accompanying drawings, which are for reference and illustrative purposes only and are not intended to limit the scope of the invention.
As shown in fig. 1, the magnetic encoder of the present invention is a biphase magnetic encoder, and defines X phase as a first encoding signal and Y phase as a second encoding signal, wherein the first encoding signal and the second encoding signal are orthogonal; and the rotation angle θ of the magnetic rotor of the magnetic encoder is equally divided into four regions: theta is larger than or equal to 315 degrees and smaller than 45 degrees, the theta is larger than or equal to 45 degrees and smaller than 135 degrees, the theta is larger than or equal to 135 degrees and smaller than 225 degrees, and the theta is larger than or equal to 225 degrees and smaller than 315 degrees and is a fourth zone. Clockwise is positive rotation and counter-clockwise is negative rotation.
Example 1
As shown in fig. 2, the present embodiment provides a control method based on a magnetic encoder, including:
step 1, receiving a first encoding signal and a second encoding signal output by a magnetic encoder.
And 2, determining the rotation angle theta of the magnetic encoder.
In this embodiment, the step 2 includes:
step 201, a first code signal voltage maximum value VX _ MAX, a voltage minimum value VX _ MIN, a second code signal voltage maximum value VY _ MAX, and a voltage minimum value VY _ MIN are obtained.
Step 202, calculate the middle value VX _ AVE and the range VX _ P of the first encoded signal, and the middle value VY _ AVE and the range VY _ PP of the second encoded signal.
In this embodiment, VX _ AVE is (VX _ MAX + VX _ MIN)/2, and VX _ PP is VX _ MAX-VX _ MIN.
VY_AVE＝(VY_MAX+VY_MIN)/2，VY_PP＝VY_MAX-VY_MIN。
Step 203, obtaining the current voltage VX of the first encoding signal, and obtaining the current voltage VY of the second encoding signal.
And step 204, calculating the current rotation angle theta x of the first coded signal and the current rotation angle theta y of the second coded signal.
In this embodiment:
the current rotation angle θ x of the first encoded signal is arccos [2(VX-VX _ AVE)/VX _ PP ];
the second encoding signal is currently rotated by an angle θ y ═ arccos [2(VY-VY _ AVE)/VY _ PP ].
And step 205, judging the area where the rotation angle theta of the magnetic encoder is located.
In this embodiment, the step 205 includes:
judging whether (VX-VX _ AVE)/VX _ PP >0.7 is true, if yes, the rotation angle theta is in a first area;
judging whether (VY-VY _ AVE)/VY _ PP >0.7 is true, if yes, the rotation angle theta is in a second area;
judging whether (VX _ AVE-VX)/VX _ PP >0.7 is true, if yes, the rotation angle theta is in a third area;
and judging whether (VY _ AVE-VY)/VY _ PP >0.7 is true, if so, determining that the rotation angle theta is in a fourth area.
And step 206, if the rotation angle theta of the magnetic encoder is in the first area and the third area, using the second encoding signal as a reference signal, and if the rotation angle theta of the magnetic encoder is in the second area and the fourth area, using the first encoding signal as a reference signal.
The reference signal is used for calculating the rotation angle theta of the magnetic encoder by taking the signal as a reference.
And step 207, determining the rotation angle theta of the magnetic encoder according to the reference signal.
In this embodiment, the step 207 includes:
if the rotation angle theta of the magnetic encoder is in the first area, the rotation angle theta of the magnetic encoder is 2.5 pi-thetay;
if the rotation angle theta of the magnetic encoder is in a second area, the rotation angle theta of the magnetic encoder is equal to thetax;
if the rotation angle theta of the magnetic encoder is in a third area, the rotation angle theta of the magnetic encoder is 0.5 pi + thetay;
if the magnetic encoder rotation angle theta is in the fourth area, the magnetic encoder rotation angle theta is 2 pi-thetax.
And 3, determining the rotation direction of the rotation angle theta of the magnetic encoder.
In this embodiment, the step 3 includes:
if the rotation angle theta of the magnetic encoder is in the first and third areas, when theta is larger than thetax, the clockwise rotation is determined, otherwise, the anticlockwise rotation is determined;
if the rotation angle theta of the magnetic encoder is in the second and fourth areas, when theta is larger than theta y, the clockwise rotation is determined, and otherwise, the anticlockwise rotation is determined.
And 4, acquiring the parameter item needing to be adjusted currently.
For example, the current mode is a sound reception mode, and the adjusted parameter item is volume.
And 5, adjusting the parameter item according to the size and the direction of the rotation angle theta of the magnetic encoder.
For example, the volume would be increased by 2.
Example 2
As shown in fig. 3, the present embodiment provides a control device based on a magnetic encoder, including:
the device comprises a biphase magnetic encoder, a processing module and an execution module which are connected in sequence;
the biphase magnetic encoder is used for outputting an encoded electric signal;
the processing module is used for receiving and processing the coded electric signal output by the biphase magnetic encoder, obtaining the size and the direction of the rotation angle of the magnetic encoder and generating a parameter item adjusting instruction;
and the execution module is used for responding to the parameter item adjusting instruction and outputting an adjusting result.
The working process of the control device based on the magnetic encoder comprises the following steps:
the processing module receives and processes the coded electric signal output by the biphase magnetic encoder, obtains the size and the direction of the rotation angle of the magnetic encoder, generates a parameter item adjusting instruction according to the current working mode, and sends the parameter item adjusting instruction to the execution module; and the execution module responds to the parameter item adjusting instruction and outputs an adjusting result.
Example 3
As shown in fig. 4, unlike embodiment 3, this embodiment provides a specific structure of the processing module, including:
the device comprises a signal receiving unit, an angle calculating unit, a steering determining unit, an instruction generating unit and a parameter acquiring unit connected with the instruction generating unit, wherein the signal receiving unit, the angle calculating unit, the steering determining unit and the instruction generating unit are sequentially connected;
the signal receiving unit is used for receiving the coded electric signal output by the biphase magnetic encoder;
the angle calculation unit is used for determining the rotation angle of the magnetic encoder;
the steering determining unit is used for determining the rotating direction of the rotating angle of the magnetic encoder;
the parameter acquiring unit is used for acquiring the parameter items which need to be adjusted currently;
and the instruction generating unit is used for generating a parameter item adjusting instruction according to the size and the direction of the rotation angle theta of the magnetic encoder and the parameter item needing to be adjusted before.
The working process of the processing module is as follows:
firstly, the signal receiving unit receives an encoded electric signal output by the biphase magnetic encoder;
then, the angle calculating unit determines the rotation angle of the magnetic encoder according to the encoded electrical signal, specifically, the rotation angle of the magnetic encoder is determined according to the following method:
1) the angle calculation unit obtains a first coding signal voltage maximum value VX _ MAX, a voltage minimum value VX _ MIN, a second coding signal voltage maximum value VY _ MAX and a voltage minimum value VY _ MIN.
2) The angle calculating unit calculates a middle value VX _ AVE and a pole difference value VX _ P of the first encoding signal and a middle value VY _ AVE and a pole difference value VY _ PP of the second encoding signal.
In this embodiment, VX _ AVE is (VX _ MAX + VX _ MIN)/2, and VX _ PP is VX _ MAX-VX _ MIN.
VY_AVE＝(VY_MAX+VY_MIN)/2，VY_PP＝VY_MAX-VY_MIN。
3) The angle calculation unit acquires the current voltage Vx of the first coding signal and acquires the current voltage VY of the second coding signal.
4) The angle calculation unit calculates a current rotation angle thetax of the first encoded signal and a current rotation angle thetay of the second encoded signal.
In this embodiment:
the current rotation angle θ x of the first encoded signal is arccos [2(VX-VX _ AVE)/VX _ PP ];
the second encoding signal is currently rotated by an angle θ y ═ arccos [2(VY-VY _ AVE)/VY _ PP ].
5) The angle calculation unit determines a region in which the magnetic encoder rotation angle θ is located.
The method comprises the following steps:
judging whether (VX-VX _ AVE)/VX _ PP >0.7 is true, if yes, the rotation angle theta is in a first area;
judging whether (VY-VY _ AVE)/VY _ PP >0.7 is true, if yes, the rotation angle theta is in a second area;
judging whether (VX _ AVE-VX)/VX _ PP >0.7 is true, if yes, the rotation angle theta is in a third area;
judging whether (VY _ AVE-VY)/VY _ PP >0.7 is true, if yes, the rotation angle theta is in a fourth area;
6) and if the angle calculation unit judges that the rotation angle theta of the magnetic encoder is in the first region and the third region, the second encoding signal is used as a reference signal, and if the angle calculation unit judges that the rotation angle theta of the magnetic encoder is in the second region and the fourth region, the first encoding signal is used as a reference signal.
The reference signal is used for calculating the rotation angle theta of the magnetic encoder by taking the signal as a reference.
7) The angle calculation unit determines the size of the rotation angle theta of the magnetic encoder according to the reference signal.
The method comprises the following steps:
if the angle calculation unit judges that the rotation angle theta of the magnetic encoder is in a first area, the rotation angle theta of the magnetic encoder is 2.5 pi-thetay;
if the angle calculation unit judges that the rotation angle theta of the magnetic encoder is in a second area, the rotation angle theta of the magnetic encoder is equal to thetax;
if the angle calculation unit judges that the rotation angle theta of the magnetic encoder is in a third area, the rotation angle theta of the magnetic encoder is 0.5 pi + thetay;
and if the angle calculation unit judges that the rotation angle theta of the magnetic encoder is in a fourth area, the rotation angle theta of the magnetic encoder is 2 pi-theta x.
Next, the steering determining unit determines a rotation direction of the rotation angle of the magnetic encoder, specifically, the rotation direction of the rotation angle of the magnetic encoder is determined according to the following method:
if the steering determining unit judges that the rotation angle theta of the magnetic encoder is in a first area and a third area, when the theta is larger than thetax, the rotation is judged to be clockwise rotation, otherwise, the rotation is anticlockwise rotation;
if the steering determining unit determines that the rotation angle theta of the magnetic encoder is in the second and fourth regions, when theta is larger than thetay, the magnetic encoder is determined to rotate clockwise, and otherwise, the magnetic encoder rotates anticlockwise.
Meanwhile, the parameter acquisition unit acquires a parameter item which needs to be adjusted currently;
and finally, the instruction generating unit generates a parameter item adjusting instruction according to the size and the direction of the rotation angle theta of the magnetic encoder and the parameter item needing to be adjusted before and sends the parameter item adjusting instruction to the execution module.
The above disclosure is only for the purpose of illustrating the preferred embodiments of the present invention and should not be taken as limiting the scope of the present invention.
Claims (10)
1. A control method based on a magnetic encoder, comprising:
step 1, receiving a first encoding signal and a second encoding signal output by a magnetic encoder;
step 2, determining the size of a rotation angle theta of the magnetic encoder;
step 3, determining the rotation direction of the rotation angle theta of the magnetic encoder;
step 4, acquiring a parameter item needing to be adjusted currently;
and 5, adjusting the parameter item according to the size and the direction of the rotation angle theta of the magnetic encoder.
2. A control method based on a magnetic encoder according to claim 1, characterized in that said step 2 comprises in particular:
step 201, obtaining a first code signal voltage maximum value VX _ MAX, a voltage minimum value VX _ MIN, a second code signal voltage maximum value VY _ MAX, and a voltage minimum value VY _ MIN;
step 202, calculating a middle value VX _ AVE and a range value VX _ P of the first encoding signal, and a middle value VY _ AVE and a range value VY _ PP of the second encoding signal;
step 203, obtaining the current voltage Vx of the first coding signal, and obtaining the current voltage VY of the second coding signal;
step 204, calculating the current rotation angle theta x of the first coded signal and the current rotation angle theta y of the second coded signal;
step 205, judging the area where the rotation angle theta of the magnetic encoder is located;
step 206, if the rotation angle theta of the magnetic encoder is in the first and third areas, the second encoding signal is used as a reference signal, and if the rotation angle theta of the magnetic encoder is in the second and fourth areas, the first encoding signal is used as a reference signal;
and step 207, determining the rotation angle theta of the magnetic encoder according to the reference signal.
3. The magnetic encoder based control method of claim 2, wherein VX AVE (VX MAX + VX MIN)/2, VX PP (VX MAX VX-VX MIN); VY _ AVE ═ VY _ MAX + VY _ MIN)/2, Y _ PP ═ VY _ MAX-VY _ MIN;
the current rotation angle θ x of the first encoded signal is arccos [2(VX-VX _ AVE)/VX _ PP ];
the second encoding signal is currently rotated by an angle θ y ═ arccos [2(VY-VY _ AVE)/VY _ PP ].
4. The control method based on the magnetic encoder as claimed in claim 3, wherein the step 205 comprises:
judging whether (VX-VX _ AVE)/VX _ PP >0.7 is true, if yes, the rotation angle theta is in a first area;
judging whether (VY-VY _ AVE)/VY _ PP >0.7 is true, if yes, the rotation angle theta is in a second area;
judging whether (VX _ AVE-VX)/VX _ PP >0.7 is true, if yes, the rotation angle theta is in a third area;
and judging whether (VY _ AVE-VY)/VY _ PP >0.7 is true, if so, determining that the rotation angle theta is in a fourth area.
5. The control method based on the magnetic encoder according to claim 4, wherein the step 207 comprises:
if the rotation angle theta of the magnetic encoder is in the first area, the rotation angle theta of the magnetic encoder is 2.5 pi-thetay;
if the rotation angle theta of the magnetic encoder is in a second area, the rotation angle theta of the magnetic encoder is equal to thetax;
if the rotation angle theta of the magnetic encoder is in a third area, the rotation angle theta of the magnetic encoder is 0.5 pi + thetay;
if the magnetic encoder rotation angle theta is in the fourth area, the magnetic encoder rotation angle theta is 2 pi-thetax.
6. The control method based on the magnetic encoder according to claim 5, wherein the step 3 comprises:
if the rotation angle theta of the magnetic encoder is in the first and third areas, when theta is larger than thetax, the clockwise rotation is determined, otherwise, the anticlockwise rotation is determined;
if the rotation angle theta of the magnetic encoder is in the second and fourth areas, when theta is larger than theta y, the clockwise rotation is determined, and otherwise, the anticlockwise rotation is determined.
7. A control device based on a magnetic encoder, comprising:
the device comprises a biphase magnetic encoder, a processing module and an execution module which are connected in sequence;
the biphase magnetic encoder is used for outputting an encoded electric signal;
the processing module is used for receiving and processing the coded electric signal output by the biphase magnetic encoder, obtaining the size and the direction of the rotation angle of the magnetic encoder and generating a parameter item adjusting instruction;
and the execution module is used for responding to the parameter item adjusting instruction and outputting an adjusting result.
8. The magnetic encoder based control device of claim 7, wherein the processing module comprises: the device comprises a signal receiving unit, an angle calculating unit, a steering determining unit, an instruction generating unit and a parameter acquiring unit connected with the instruction generating unit, wherein the signal receiving unit, the angle calculating unit, the steering determining unit and the instruction generating unit are sequentially connected;
the signal receiving unit is used for receiving the coded electric signal output by the biphase magnetic encoder;
the angle calculation unit is used for determining the rotation angle of the magnetic encoder;
the steering determining unit is used for determining the rotating direction of the rotating angle of the magnetic encoder;
the parameter acquiring unit is used for acquiring the parameter items which need to be adjusted currently;
and the instruction generating unit is used for generating a parameter item adjusting instruction according to the size and the direction of the rotation angle theta of the magnetic encoder and the parameter item needing to be adjusted before.
9. The magnetic encoder based control device of claim 8, wherein the angle calculation unit determines the magnitude of the rotation angle of the magnetic encoder according to the following method:
the angle calculation unit acquires a first coding signal voltage maximum value VX _ MAX, a voltage minimum value VX _ MIN, a second coding signal voltage maximum value VY _ MAX and a voltage minimum value VY _ MIN; the angle calculating unit calculates a middle value VX _ AVE and a pole difference value VX _ P of the first encoding signal, and a middle value VY _ AVE and a pole difference value VY _ PP of the second encoding signal; the angle calculation unit acquires the current voltage Vx of the first coding signal and acquires the current voltage VY of the second coding signal; the angle calculation unit calculates a current rotation angle thetax of the first coded signal and a current rotation angle thetay of the second coded signal; the angle calculation unit judges the area where the rotation angle theta of the magnetic encoder is located; if the angle calculation unit judges that the rotation angle theta of the magnetic encoder is in the first region and the third region, the second encoding signal is used as a reference signal, and if the angle calculation unit judges that the rotation angle theta of the magnetic encoder is in the second region and the fourth region, the first encoding signal is used as a reference signal; the angle calculation unit determines the size of the rotation angle theta of the magnetic encoder according to the reference signal.
10. The magnetic encoder based control device according to claim 9, wherein the steering determining unit determines the rotation direction of the rotation angle of the magnetic encoder according to the following method: if the steering determining unit judges that the rotation angle theta of the magnetic encoder is in a first area and a third area, when the theta is larger than thetax, the rotation is judged to be clockwise rotation, otherwise, the rotation is anticlockwise rotation; if the steering determining unit determines that the rotation angle theta of the magnetic encoder is in the second and fourth regions, when theta is larger than thetay, the magnetic encoder is determined to rotate clockwise, and otherwise, the magnetic encoder rotates anticlockwise.
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