CN114383495A - double-Hall yaw angle measuring method - Google Patents
double-Hall yaw angle measuring method Download PDFInfo
- Publication number
- CN114383495A CN114383495A CN202111345156.XA CN202111345156A CN114383495A CN 114383495 A CN114383495 A CN 114383495A CN 202111345156 A CN202111345156 A CN 202111345156A CN 114383495 A CN114383495 A CN 114383495A
- Authority
- CN
- China
- Prior art keywords
- hall sensor
- yaw angle
- turns
- hall
- accumulated
- 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.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 30
- 230000005540 biological transmission Effects 0.000 claims abstract description 12
- 238000009825 accumulation Methods 0.000 claims abstract description 8
- 238000012937 correction Methods 0.000 claims abstract description 4
- 230000009466 transformation Effects 0.000 claims abstract description 4
- 238000004364 calculation method Methods 0.000 claims description 11
- 238000005259 measurement Methods 0.000 claims description 7
- 238000000691 measurement method Methods 0.000 claims description 7
- 238000012795 verification Methods 0.000 claims description 6
- 230000009977 dual effect Effects 0.000 claims description 4
- 230000001186 cumulative effect Effects 0.000 claims description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 201000009482 yaws Diseases 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000009191 jumping Effects 0.000 description 1
- 230000009347 mechanical transmission Effects 0.000 description 1
- 238000010248 power generation Methods 0.000 description 1
Images
Classifications
-
- 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
- G01B7/30—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring angles or tapers; for testing the alignment of axes
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D17/00—Monitoring or testing of wind motors, e.g. diagnostics
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Transmission And Conversion Of Sensor Element Output (AREA)
Abstract
The invention discloses a double-Hall yaw angle measuring method, which is characterized in that the yaw angle of a wind generating set is acquired through two Hall sensors arranged in a shell, the two Hall sensors are configured with different transmission ratios, a 1# Hall sensor adopts a turn number accumulation method to measure the yaw angle, the yaw angle corresponding to the turn of the 1# Hall sensor is calculated firstly, then the yaw angle is calculated in real time according to the accumulated turn number and a controller acquisition value, and a 2# Hall sensor calculates the yaw angle in real time through a transformation ratio and the controller acquisition value. The two Hall sensors simultaneously and independently measure the yaw angle, and when the number of turns of the 1# Hall sensor is accumulated wrongly, the 2# Hall sensor participates in the correction of the number of turns of the 1# Hall sensor.
Description
Technical Field
The invention relates to the technical field of wind power generation equipment, in particular to a double-Hall yaw angle measuring method.
Background
The yaw angle measuring device on the market at present mainly comprises the following components:
1. measuring by using a gear transmission and a built-in encoder;
2. gear transmission and built-in potentiometer measurement;
3. and measuring by using a gear transmission and an external encoder.
The above-described measuring device has the following problems:
1. the gear transmission and the built-in encoder are used for measurement, the algorithm is simple, the precision is high, but the cost of the encoder is high;
2. the gear transmission and built-in potentiometer measurement are adopted, the algorithm is simple, the precision is general, and the service life of the potentiometer is short due to the conditions such as abrasion and the like;
3. the gear transmission and the external encoder are used for measurement, the structure is more complex, the algorithm is simple, and the cost is higher.
Disclosure of Invention
Aiming at the defects of a yaw angle measuring device in the existing market, the technical scheme adopted by the invention for solving the technical problems is as follows: a dual hall yaw angle measurement method, the method comprising:
gather wind generating set's driftage angle through setting up two hall sensor inside the casing, two hall sensor configuration different drive ratios: the 1# Hall sensor measures a yaw angle by adopting a turn number accumulation method, firstly calculates the yaw angle corresponding to one turn of the 1# Hall sensor, and then calculates a real-time yaw angle according to the accumulated turn number and a controller acquisition value; the 2# Hall sensor calculates the yaw angle in real time through the transformation ratio and the acquisition value of the controller; the two Hall sensors simultaneously and independently measure the yaw angle, and when the number of turns of the 1# Hall sensor is accumulated wrongly, the 2# Hall sensor participates in the correction of the number of turns of the 1# Hall sensor.
The double-hall yaw angle measurement method is as follows:
A0the acquisition value input by the sensor in the last scanning period of the controller;
A1the acquisition value input by the sensor in the current scanning period of the controller;
the clockwise rotation yaw angle of the Hall sensor is increased, and the number of turns of the Hall sensor is cumulatively increased;
the counterclockwise rotation yaw angle of the Hall sensor is reduced, and the accumulated number of turns of the Hall sensor is reduced;
the accumulated number of turns of the Hall sensor is not equal to 0;
0-32767 is a controller acquisition value corresponding to 4-20mA of accumulated analog input signals of Hall sensor turns, the controller acquisition value is changed from 32767 to 0 by changing into plus one turn, and from 0 to 32767 by changing into minus one turn;
n represents the difference value of the acquisition value of the previous period and the current period of the scanning period of the controller, and the difference value is the verification value of the accumulated number of turns of the Hall in one turn;
m represents the difference value of the acquisition value of the previous period and the current period of the scanning period of the controller, and the difference value is that the accumulated number of Hall turns exceeds one turn and is less than two turns of verification value;
the 1# Hall sensor circle number accumulation method flow is as follows:
when | A0-A1When n is less than or equal to n, no calculation of accumulated turns is performed in the same turn, A1Is assigned to A0；
When | A0-A1N is not more than | and A0-A1Is more than or equal to m and A0-A1When m is not more than-m, the Hall rotates clockwise, the number of turns is increased, A1Is assigned to A0The current accumulated turn number = the accumulated turn number +1 of the last scanning period;
when | A0-A1N is not more than | and A0-A1Not less than m and A0-A1When m is less than or equal to m, the Hall rotates anticlockwise, the number of turns is reduced, A1Is assigned to A0The current accumulated turn number = the accumulated turn number-1 of the last scanning period;
when | A0-A1N is not more than | and A0-A1Not less than m and A0-A1When m is not more than-m, no calculation of accumulated number of turns is performed, A1Is assigned to A0。
In the above method for measuring a yaw angle with two hall sensors, the method for calculating the yaw angle measured with the 1# hall sensor includes:
(1) the yaw angle of the 1# Hall sensor rotating for one circle is as follows:
the 1# Hall sensor rotates for one circle by a yaw angle =360 degrees multiplied by the number of teeth of a big gear of a double-sensor limit switch/the number of teeth of a yaw outer gear ring multiplied by the transmission ratio;
(2) and then calculating the real-time yaw angle measured by the 1# Hall sensor according to the yaw angle and the accumulated number of turns of the 1# Hall sensor during one turn and the acquisition value of the controller:
if the number of turns of the 1# Hall sensor is accumulated and increased, namely the 1# Hall sensor rotates clockwise, and the number of turns is more than or equal to 1:
the real-time yaw angle =1# hall sensor turns one turn yaw angle x (hall accumulated turns-1) +1# hall sensor turns 1 turn yaw angle/32767 × input value;
secondly, if the number of turns of the 1# Hall sensor is accumulated and reduced, namely the 1# Hall sensor rotates anticlockwise, and the number of turns is less than or equal to-1:
real-time yaw angle =1# hall sensor revolution yaw angle × (hall cumulative turns +1) +1# hall sensor revolution 1 revolution yaw angle/32767 × (input-32767).
In the above method for measuring a double hall yaw angle, the method for calculating the 2# hall actual time yaw angle includes:
real-time yaw angle =360 × gear ratio × large gear tooth number/yaw outer gear tooth number/32767 × (input value-32767/2).
According to the double-Hall yaw angle measuring method, when the number of turns of the 1# Hall sensor is accumulated to be wrong, the 2# Hall sensor participates in the number of turns calibration of the 1# Hall sensor, and the calibration process is as follows:
when the difference value of the yaw angles measured by the 1# Hall sensor and the 2# Hall sensor is larger than the difference value between the yaw angle rotated by 1 circle of the 1# Hall sensor and the error range of the yaw angle measured by the 2# Hall sensor, the number of circles of the 1# Hall sensor is considered to be accumulated wrongly, and the yaw angle measured by the 2# Hall sensor is a correct value;
substituting the yaw angle measured by the 2# Hall sensor into a formula for calculating the real-time yaw angle by the 1# Hall sensor by taking the yaw angle measured by the 1# Hall sensor as the yaw angle measured by the 1# Hall sensor, and reversely deducing the accumulated turn number of the 1# Hall sensor;
and respectively adding 1 circle to the accumulated number of turns of the reversely pushed 1# Hall sensor and subtracting 1 circle to calculate the number of turns, respectively calculating the yaw angles corresponding to the number of turns added with 1 circle, subtracted with 1 circle and reversely pushed out through a method for calculating the yaw angle through the 1# Hall sensor, and then respectively solving a difference value with the yaw angle measured by the 2# Hall sensor, wherein the accumulated number of turns with the minimum difference value is the correct accumulated number of turns of the 1# Hall sensor, and the accumulated number of turns of the 1# Hall sensor is corrected accordingly.
The invention has the beneficial effects that:
1. according to the scheme, a redundant backup design method that double Hall sensors respectively calculate the yaw angle is adopted, when the 1# Hall sensor fails, the 2# Hall sensor can still measure the yaw angle, and only the precision is low; when the 2# Hall has a fault, the 1# Hall can independently measure the yaw angle, the measurement precision is not affected, and the reliability is improved.
2. According to the scheme, the 1# Hall sensor calculates the yaw angle by adopting a method of accumulating turns, so that the accuracy is improved, and meanwhile, the transmission ratio of the 1# Hall sensor is small and is 4:1, so that the precision is improved and can reach 0.5 degrees.
3. When the accumulated number of turns of the 1# Hall sensor is wrong, the 2# Hall sensor automatically participates in the calibration of the yaw angle of the 1# Hall sensor, and the stability in operation is guaranteed.
Drawings
The invention is further illustrated with reference to the following figures and examples.
FIG. 1 is a flow chart of a 1# Hall turn number accumulation algorithm proposed by the present invention.
FIG. 2 is a calibration flow chart;
fig. 3 is a diagram illustrating the number of turns of the 1# hall sensor cumulatively.
Detailed Description
In order to more clearly illustrate the technical solution of the present invention, the following further description is made with reference to the accompanying drawings, and it is obvious that the following described drawings are only one embodiment of the present invention, and it is within the scope of the present invention for a person of ordinary skill in the art to obtain other embodiments based on the drawings and the embodiment without any creative effort.
A dual hall yaw angle measurement method, as shown in fig. 1-3, comprising:
gather wind generating set's driftage angle through setting up two hall sensor inside the casing, two hall sensor configuration different drive ratios: the 1# Hall sensor measures a yaw angle by adopting a turn number accumulation method, firstly calculates the yaw angle corresponding to one turn of the 1# Hall sensor, and then calculates a real-time yaw angle according to the accumulated turn number and a controller acquisition value; the 2# Hall sensor calculates the yaw angle in real time through the transformation ratio and the acquisition value of the controller; the two Hall sensors simultaneously and independently measure the yaw angle, and when the number of turns of the 1# Hall sensor is accumulated wrongly, the 2# Hall sensor participates in the correction of the number of turns of the 1# Hall sensor.
The double-hall yaw angle measurement method is as follows:
A0the acquisition value input by the sensor in the last scanning period of the controller;
A1the acquisition value input by the sensor in the current scanning period of the controller;
the clockwise rotation yaw angle of the Hall sensor is increased, and the number of turns of the Hall sensor is cumulatively increased;
the counterclockwise rotation yaw angle of the Hall sensor is reduced, and the accumulated number of turns of the Hall sensor is reduced;
the accumulated number of turns of the Hall sensor is not equal to 0;
0-32767 is a controller acquisition value corresponding to 4-20mA of accumulated analog input signals of Hall sensor turns, the controller acquisition value is changed from 32767 to 0 by changing into plus one turn, and from 0 to 32767 by changing into minus one turn;
n represents the difference value of the acquisition value of the previous period and the current period of the scanning period of the controller, and the difference value is the verification value of the accumulated number of turns of the Hall in one turn;
m represents the difference value of the acquisition value of the previous period and the current period of the scanning period of the controller, and the difference value is that the accumulated number of Hall turns exceeds one turn and is less than two turns of verification value;
the 1# Hall sensor circle number accumulation method flow is as follows:
when | A0-A1When n is less than or equal to n, no calculation of accumulated turns is performed in the same turn, A1Is assigned to A0；
When | A0-A1N is not more than | and A0-A1Is more than or equal to m and A0-A1When m is not more than-m, the Hall rotates clockwise, the number of turns is increased, A1Is assigned to A0The current accumulated turn number = the accumulated turn number +1 of the last scanning period;
when | A0-A1N is not more than | and A0-A1Not less than m and A0-A1When m is less than or equal to m, the Hall rotates anticlockwise, the number of turns is reduced, A1Is assigned to A0The current accumulated turn number = the accumulated turn number-1 of the last scanning period;
when | A0-A1N is not more than | and A0-A1Not less than m and A0-A1When m is not more than-m, no calculation of accumulated number of turns is performed, A1Is assigned to A0。
Yaw angle calculation method measured by 1# Hall sensor
Examples are: the number of teeth of a big gear of the double-sensor limit switch is =10, the number of teeth of a yaw outer gear ring is =207, and the transmission ratio is = 4;
(1) the yaw angle of the 1# Hall sensor rotating for one circle is as follows:
1# Hall sensor turns one turn and yaws angle = 360X double sensor limit switch big gear tooth number (10)/yaws outer gear ring tooth number (207) × transmission ratio (4/1) = 360X 10/207X 4 ≈ 69.56 °
(2) And then calculating the real-time yaw angle measured by the 1# Hall sensor according to the yaw angle and the accumulated number of turns of the 1# Hall sensor during one turn and the acquisition value of the controller:
if the number of turns is more than or equal to 1, namely the 1# Hall sensor rotates clockwise,
1# sensor yaw angle =1 sensor revolution yaw angle x (statistical number of turns-1) +1# hall sensor revolution yaw angle/32767 × input value.
Secondly, if the number of turns is less than or equal to minus 1, the 1# Hall sensor rotates anticlockwise,
1# hall sensor yaw angle =1# hall sensor yaw angle x (number of statistical turns +1) +1# hall sensor yaw angle/32767 x (input-32767).
2# yaw angle calculation method measured by Hall sensor:
2# hall sensor yaw angle =360 × gear ratio (160/1) × large gear tooth number (10)/yaw outer ring gear tooth number (207)/32767 × (input value-32767/2).
When the number of turns of the 1# Hall sensor is accumulated to be wrong, the 2# Hall sensor participates in the calibration of the number of turns of the 1# Hall sensor.
The calibration procedure was as follows:
the calibration process is the inverse operation of the yaw angle calculation of the 1# Hall sensor, the accumulated turns are calculated firstly when the 1# Hall sensor calculates the yaw angle, and then the yaw angle is calculated according to the numerical value (0-32767) read by the controller.
Because the Hall sensor is the yaw angle directly calculated through the mechanical transmission ratio, the yaw angle is considered to be calculated without errors on the premise of not considering abnormal phenomena such as gear jumping and the like, and the places where the 1# Hall sensor and the 2# Hall sensor possibly have calculation errors are only the places where the number of turns of the 1# Hall sensor is accumulated and wrong.
When the difference value of the yaw angles measured by the 1# Hall sensor and the 2# Hall sensor is larger than the difference value between the yaw angle rotated by 1 circle of the 1# Hall sensor and the error range of the yaw angle measured by the 2# Hall sensor, the number of circles of the 1# Hall sensor is considered to be accumulated wrongly, and the yaw angle measured by the 2# Hall sensor is a correct value; taking the number 207 of the yaw outer gear rings as an example, the yaw angle corresponding to one turn of the 1# hall sensor is 69.56 degrees, the measurement error of the 2# hall sensor is 20 degrees, if the difference value of the yaw angles measured by the 1# hall sensor and the 2# hall sensor is greater than 69.56-20 degrees =49.56 degrees, the accumulated error of the number of turns of the 1# hall sensor exceeds 1 turn, and the number of turns is more than one turn and less than the real number of turns. When the difference value of the yaw angles measured by the 1# Hall sensor and the 2# Hall sensor is larger than 49.56 degrees, the yaw angle measured by the 2# Hall sensor is taken as a correct value,
substituting the yaw angle measured by the 2# Hall sensor into a formula for calculating the real-time yaw angle by the 1# Hall sensor by taking the yaw angle measured by the 1# Hall sensor as the yaw angle measured by the 1# Hall sensor, and reversely deducing the accumulated turn number of the 1# Hall sensor;
and respectively adding 1 circle to the accumulated number of turns of the reversely pushed 1# Hall sensor and subtracting 1 circle to calculate the number of turns, respectively calculating the yaw angles corresponding to the number of turns added with 1 circle, subtracted with 1 circle and reversely pushed out through a method for calculating the yaw angle through the 1# Hall sensor, and then respectively solving a difference value with the yaw angle measured by the 2# Hall sensor, wherein the accumulated number of turns with the minimum difference value is the correct accumulated number of turns of the 1# Hall sensor, and the accumulated number of turns of the 1# Hall sensor is corrected accordingly.
The above embodiments are only exemplary embodiments of the present invention, and are not intended to limit the present invention, and the scope of the present invention is defined by the claims. Various modifications and equivalents may be made by those skilled in the art within the spirit and scope of the present invention, and such modifications and equivalents should also be considered as falling within the scope of the present invention.
Claims (5)
1. A dual hall yaw angle measurement method, the method comprising:
gather wind generating set's driftage angle through setting up two hall sensor inside the casing, two hall sensor configuration different drive ratios: the 1# Hall sensor measures a yaw angle by adopting a turn number accumulation method, firstly calculates the yaw angle corresponding to one turn of the 1# Hall sensor, and then calculates a real-time yaw angle according to the accumulated turn number and a controller acquisition value; the 2# Hall sensor calculates the yaw angle in real time through the transformation ratio and the acquisition value of the controller; the two Hall sensors simultaneously and independently measure the yaw angle, and when the number of turns of the 1# Hall sensor is accumulated wrongly, the 2# Hall sensor participates in the correction of the number of turns of the 1# Hall sensor.
2. The dual Hall yaw angle measurement method of claim 1,
pre-specifying:
A0the acquisition value input by the sensor in the last scanning period of the controller;
A1the acquisition value input by the sensor in the current scanning period of the controller;
the clockwise rotation yaw angle of the Hall sensor is increased, and the number of turns of the Hall sensor is cumulatively increased;
the counterclockwise rotation yaw angle of the Hall sensor is reduced, and the accumulated number of turns of the Hall sensor is reduced;
the accumulated number of turns of the Hall sensor is not equal to 0;
0-32767 is a controller acquisition value corresponding to 4-20mA of accumulated analog input signals of Hall sensor turns, the controller acquisition value is changed from 32767 to 0 by changing into plus one turn, and from 0 to 32767 by changing into minus one turn;
n represents the difference value of the acquisition value of the previous period and the current period of the scanning period of the controller, and the difference value is the verification value of the accumulated number of turns of the Hall in one turn;
m represents the difference value of the acquisition value of the previous period and the current period of the scanning period of the controller, and the difference value is that the accumulated number of Hall turns exceeds one turn and is less than two turns of verification value;
the 1# Hall sensor circle number accumulation method flow is as follows:
when | A0-A1When n is less than or equal to n, no calculation of accumulated turns is performed in the same turn, A1Is assigned to A0；
When | A0-A1N is not more than | and A0-A1Is more than or equal to m and A0-A1When m is not more than-m, the Hall rotates clockwise, the number of turns is increased, A1Is assigned to A0The current accumulated turn number = the accumulated turn number +1 of the last scanning period;
when | A0-A1N is not more than | and A0-A1Not less than m and A0-A1When m is less than or equal to m, the Hall rotates anticlockwise, the number of turns is reduced, A1Is assigned to A0The current accumulated turn number = the accumulated turn number-1 of the last scanning period;
when | A0-A1N is not more than | and A0-A1Not less than m and A0-A1When m is not more than-m, no calculation of accumulated number of turns is performed, A1Is assigned to A0。
3. The double-Hall yaw angle measuring method according to claim 1, wherein the 1# Hall sensor is used for measuring the yaw angle by the calculation method comprising the following steps:
(1) the yaw angle of the 1# Hall sensor rotating for one circle is as follows:
the 1# Hall sensor rotates for one circle by a yaw angle =360 degrees multiplied by the number of teeth of a big gear of a double-sensor limit switch/the number of teeth of a yaw outer gear ring multiplied by the transmission ratio;
(2) and then calculating the real-time yaw angle measured by the 1# Hall sensor according to the yaw angle and the accumulated number of turns of the 1# Hall sensor during one turn and the acquisition value of the controller:
if the number of turns of the 1# Hall sensor is accumulated and increased, namely the 1# Hall sensor rotates clockwise, and the number of turns is more than or equal to 1:
the real-time yaw angle =1# hall sensor turns one turn yaw angle x (hall accumulated turns-1) +1# hall sensor turns 1 turn yaw angle/32767 × input value;
secondly, if the number of turns of the 1# Hall sensor is accumulated and reduced, namely the 1# Hall sensor rotates anticlockwise, and the number of turns is less than or equal to-1:
real-time yaw angle =1# hall sensor revolution yaw angle × (hall cumulative turns +1) +1# hall sensor revolution 1 revolution yaw angle/32767 × (input-32767).
4. The method for measuring the double Hall yaw angle according to claim 1, wherein the method for calculating the real-time yaw angle of the 2# Hall measurement is as follows:
real-time yaw angle =360 × gear ratio × large gear tooth number/yaw outer gear tooth number/32767 × (input value-32767/2).
5. The dual-Hall yaw angle measurement method of claim 1, wherein when the number 1 Hall sensor turns accumulate errors, the number 2 Hall sensor participates in the number 1 Hall sensor turns calibration, and the calibration procedure is as follows:
when the difference value of the yaw angles measured by the 1# Hall sensor and the 2# Hall sensor is larger than the difference value between the yaw angle rotated by 1 circle of the 1# Hall sensor and the error range of the yaw angle measured by the 2# Hall sensor, the number of circles of the 1# Hall sensor is considered to be accumulated wrongly, and the yaw angle measured by the 2# Hall sensor is a correct value;
substituting the yaw angle measured by the 2# Hall sensor into a formula for calculating the real-time yaw angle by the 1# Hall sensor by taking the yaw angle measured by the 1# Hall sensor as the yaw angle measured by the 1# Hall sensor, and reversely deducing the accumulated turn number of the 1# Hall sensor;
and respectively adding 1 circle to the accumulated number of turns of the reversely pushed 1# Hall sensor and subtracting 1 circle to calculate the number of turns, respectively calculating the yaw angles corresponding to the number of turns added with 1 circle, subtracted with 1 circle and reversely pushed out through a method for calculating the yaw angle through the 1# Hall sensor, and then respectively solving a difference value with the yaw angle measured by the 2# Hall sensor, wherein the accumulated number of turns with the minimum difference value is the correct accumulated number of turns of the 1# Hall sensor, and the accumulated number of turns of the 1# Hall sensor is corrected accordingly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111345156.XA CN114383495B (en) | 2021-11-15 | 2021-11-15 | double-Hall yaw angle measurement method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111345156.XA CN114383495B (en) | 2021-11-15 | 2021-11-15 | double-Hall yaw angle measurement method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114383495A true CN114383495A (en) | 2022-04-22 |
| CN114383495B CN114383495B (en) | 2023-11-03 |
Family
ID=81195189
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111345156.XA Active CN114383495B (en) | 2021-11-15 | 2021-11-15 | double-Hall yaw angle measurement method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114383495B (en) |
Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| BR9811073A (en) * | 1997-08-07 | 2000-08-08 | Trw Lucasvarity Electric Steer | Process to calculate the position at a moment in time of a rotor in an engine that is connected to an output shaft through an intermediate organ, and, electric power assisted steering system |
| CN101594029A (en) * | 2009-07-01 | 2009-12-02 | 宁波双林汽车部件股份有限公司 | Dual-Hall sensor motor |
| CN103166247A (en) * | 2013-03-15 | 2013-06-19 | 东方电气集团东方汽轮机有限公司 | System and method for controlling doubly-fed wind power generation grid-side converter |
| US20140163911A1 (en) * | 2011-05-24 | 2014-06-12 | Ams Ag | Method for operating a hall sensor arrangement and hall sensor arrangement |
| CN203964927U (en) * | 2014-06-24 | 2014-11-26 | 王峰 | Multi-turn absolute value encoder |
| CN104536461A (en) * | 2014-12-31 | 2015-04-22 | 大连华锐重工集团股份有限公司 | Magnetic encoder for wind power yaw controller |
| CN105043238A (en) * | 2015-07-07 | 2015-11-11 | 燕山大学 | Automobile steering wheel angle sensor and processing method for angle signal |
| CN205120037U (en) * | 2015-10-20 | 2016-03-30 | 北京天诚同创电气有限公司 | A driftage measuring device and system for wind generating set |
| CN110307860A (en) * | 2019-07-02 | 2019-10-08 | 深圳万讯自控股份有限公司 | A kind of differential type Hall multi-turn position absolute position transducer and its detection method |
| US20190390979A1 (en) * | 2018-06-25 | 2019-12-26 | Stratec Se | Position Detector |
| CN110631474A (en) * | 2019-11-04 | 2019-12-31 | 重庆市亿飞智联科技有限公司 | Motor calibration system, method and device, controller and storage medium |
| 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 |
| CN111146980A (en) * | 2020-01-06 | 2020-05-12 | 江苏科技大学 | Deviation identification and compensation method for Hall sensor in different installation modes |
-
2021
- 2021-11-15 CN CN202111345156.XA patent/CN114383495B/en active Active
Patent Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| BR9811073A (en) * | 1997-08-07 | 2000-08-08 | Trw Lucasvarity Electric Steer | Process to calculate the position at a moment in time of a rotor in an engine that is connected to an output shaft through an intermediate organ, and, electric power assisted steering system |
| CN101594029A (en) * | 2009-07-01 | 2009-12-02 | 宁波双林汽车部件股份有限公司 | Dual-Hall sensor motor |
| US20140163911A1 (en) * | 2011-05-24 | 2014-06-12 | Ams Ag | Method for operating a hall sensor arrangement and hall sensor arrangement |
| CN103166247A (en) * | 2013-03-15 | 2013-06-19 | 东方电气集团东方汽轮机有限公司 | System and method for controlling doubly-fed wind power generation grid-side converter |
| CN203964927U (en) * | 2014-06-24 | 2014-11-26 | 王峰 | Multi-turn absolute value encoder |
| CN104536461A (en) * | 2014-12-31 | 2015-04-22 | 大连华锐重工集团股份有限公司 | Magnetic encoder for wind power yaw controller |
| CN105043238A (en) * | 2015-07-07 | 2015-11-11 | 燕山大学 | Automobile steering wheel angle sensor and processing method for angle signal |
| CN205120037U (en) * | 2015-10-20 | 2016-03-30 | 北京天诚同创电气有限公司 | A driftage measuring device and system for wind generating set |
| US20190390979A1 (en) * | 2018-06-25 | 2019-12-26 | Stratec Se | Position Detector |
| CN110307860A (en) * | 2019-07-02 | 2019-10-08 | 深圳万讯自控股份有限公司 | A kind of differential type Hall multi-turn position absolute position transducer and its detection method |
| CN110631474A (en) * | 2019-11-04 | 2019-12-31 | 重庆市亿飞智联科技有限公司 | Motor calibration system, method and device, controller and storage medium |
| 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 |
| CN111146980A (en) * | 2020-01-06 | 2020-05-12 | 江苏科技大学 | Deviation identification and compensation method for Hall sensor in different installation modes |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114383495B (en) | 2023-11-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107263543B (en) | Robot joint calibration method and calculation device | |
| JP5720765B2 (en) | Encoder system and signal processing method | |
| US8029233B2 (en) | Wind turbine and method for controlling a wind turbine | |
| KR102086357B1 (en) | Using Absolute Encoders for Motor Absolute position and Finding minimum Absolute Encoders Resolution | |
| AU2018410878B2 (en) | Method, device and system for determining angle-to-wind deviation and correcting angle-to-wind | |
| CN110307860B (en) | Differential Hall multi-ring position absolute position sensor and detection method thereof | |
| CN110617760B (en) | Initial setting method and initial setting device for rotation angle detection device | |
| CN108844558B (en) | Method for realizing power-off position memory by using single-turn absolute value encoder | |
| RU2002100361A (en) | The method of correction of the angular surface of the absolute absolute position sensor | |
| US11187514B2 (en) | Capacitance-grating type digital display measuring tape | |
| CN114383495B (en) | double-Hall yaw angle measurement method | |
| CN115248055A (en) | Steering wheel steering angle measuring method based on double encoders | |
| CN109470913B (en) | Method for reversely deducing power supply voltage through reference voltage | |
| CN108592955B (en) | A kind of multi-turn absolute value encoder and its measurement method | |
| JP2019045280A (en) | Bearing diagnostic device and method for diagnosing bearing | |
| JP2010236935A (en) | Rotation angle detection device | |
| JP2008203175A (en) | Rotary encoder | |
| US20200099387A1 (en) | Encoder and control system | |
| JP2005287294A (en) | Method and apparatus for drive control of electric motor | |
| JP2002350183A (en) | Encoder | |
| CN111272104A (en) | Method suitable for automatically shielding position sensor fault reading head in extreme environment | |
| CN106996799B (en) | Fine tuning encoder, system and recognition methods for instrument panel | |
| CN108223272B (en) | Fan driftage correction system | |
| JP2521747B2 (en) | Analog / digital conversion circuit with slip correction circuit | |
| EP2433098A1 (en) | A method and a system for determining the angular position of a rotary element, and a rolling bearing including such a 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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |