CN114858192B - double-Hall magnetoelectric encoder based on double-wheel structure and angle resolving method thereof - Google Patents
double-Hall magnetoelectric encoder based on double-wheel structure and angle resolving method thereof Download PDFInfo
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- CN114858192B CN114858192B CN202210263599.2A CN202210263599A CN114858192B CN 114858192 B CN114858192 B CN 114858192B CN 202210263599 A CN202210263599 A CN 202210263599A CN 114858192 B CN114858192 B CN 114858192B
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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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/30—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring angles or tapers; for testing the alignment of axes
Abstract
The invention relates to a double-Hall magnetoelectric encoder based on a double-wheel structure and an angle calculating method thereof, wherein the angle calculating method comprises the following steps: a new type of encoder structure, which replaces the permanent magnet rotor structure of the traditional encoder with the cam on the rotor, the special gear structure and the magnetic field generator which keeps the stator still. Measuring angle value signals of the Hall sensors of the cam and the special gear, carrying out analog-to-digital conversion on the Hall signals by an analog-to-digital converter, and obtaining a cam angle value and a special gear angle value through a cam angle calculation module and a gear angle calculation module; obtaining absolute angle position theta of rotor by utilizing cam angle value A Using the angle value theta of the gear B And theta A The corresponding relation is subjected to angle subdivision to obtain a subdivision relief angle value theta 2seg Output, the method can effectively solve the problems of equipment unreliability and incapability of ensuring precision caused by permanent magnet material characteristics and shape characteristics of a magnetoelectric encoder, and provides an angle calculation method on the basis of improving the structure.
Description
Technical Field
The invention relates to a double-Hall magnetoelectric encoder based on a double-wheel structure and an angle settlement method thereof, belonging to the technical field of magnetoelectric encoder manufacturing.
Background
Encoders are devices that encode signals or data into a form of signal that can be used for communication, transmission and storage, and are used in high and new technology areas such as: the device has important functions in machinery, military industry, precise optical instruments, aerospace and the like. The most common encoders currently on the market are photoelectric and magneto-electric encoders. For photoelectric encoder, magnetoelectric encoder can work in harsher environment, but magnetoelectric encoder resolution ratio is difficult to improve. The conventional magnetoelectric encoder mainly comprises a permanent magnet and a commonly used magnetoelectric encoder structure which generally comprises a stator, a rotor and a magnetic sensing element, wherein the permanent magnet is fixed on the rotor to form a magnetic circuit system. The permanent magnet rotates along with the rotor to form a rotating magnetic field signal in the rotating process, the magnetoelectric encoder signal detection plate is in a static state relative to the motor stator, the changed magnetic field signal is collected through a magneto-sensitive element on the signal detection plate, the current rotor angle position is obtained through signal processing and resolving, the magneto-sensitive element can induce space magnetic field change caused by the rotating motion of the permanent magnet through a Hall effect or a reluctance effect, the magneto-sensitive element collects the space magnetic field change signal to obtain a voltage change signal, and a digital signal is obtained through digital-to-analog conversion. On this basis, in order to improve the resolution ratio of the angle value of the magnetoelectric encoder, the traditional magnetoelectric encoder also adopts the mode of combining single-pair-pole magnetic steel and multi-pair-pole magnetic steel to improve the resolution ratio of the angle value, the multi-pair-pole magnetic steel rotates for one circle to generate a multi-period signal magnetic field, and the single-pair-pole magnetic steel rotates for one circle to generate a single-period magnetic field. The absolute position of the current angle value is determined through the single-period magnetic field, and the angle value signals generated by the multiple pairs of poles divide the angle value obtained by resolving the single-pair pole signals, so that the resolution of the angle value is improved.
And traditional magnetoelectric encoder is not enough and the problem a bit, what traditional magnetoelectric encoder rotor adopted usually the permanent magnet is fired by tombarthite material and is formed with the bonding, and is breakable in the operation process, and the piece that drops has the possibility of gluing on the rotor, and the structure is unreliable. And because of the high temperature generated by the rotation of the rotor, the permanent magnet attached to the surface of the rotor is easy to generate the phenomenon of demagnetization. Meanwhile, in the manufacturing technology, a rotor of a traditional magnetoelectric encoder is provided with a plurality of permanent magnets, so that the fact that the magnetizing of each permanent magnet is the same cannot be guaranteed, a magnetic field generating source is not unique, and the measurement error of the magnetoelectric encoder is caused.
Aiming at the problems, the invention provides a double-Hall magnetoelectric encoder based on a double-wheel structure and an angle calculating method thereof.
Disclosure of Invention
In order to solve the problems, the invention provides a dual-wheel structure-based dual-Hall magnetoelectric encoder, an angle calculating method thereof and an angle calculating method thereof, and aims to solve the problems of unreliable encoders and poor control of manufacturing precision caused by the characteristics of permanent magnets of the magnetoelectric encoder. The accuracy of the magnetoelectric encoder is improved by designing a new structure, and the magnetoelectric encoder angle calculating method based on the structure is provided.
The above purpose is mainly achieved through the following scheme:
the invention discloses a double-Hall magnetoelectric encoder based on a double-wheel structure, an angle calculating method thereof and an angle calculating method thereof.
The method comprises the following steps:
1. double-Hall magnetoelectric encoder based on double-wheel structure and angle calculating method overall structure thereof
The magnetic induction encoder comprises an encoder main body (1) and a magnetic induction sensor (2), wherein the encoder main body (1) is connected with the magnetic induction sensor (2) through a detachable plug, the encoder main body (1) comprises an end cover (1-1), a shell body (1-2), a rotating shaft (1-3), a cam (1-4), a bearing a (1-5), a bearing b (1-6) and a special gear (1-7), wherein the shell body (1-1) is in screw connection with the end cover (1-2), the cam (1-4) is in screw connection with the special gear (1-7), the magnetic induction sensor (2) comprises a magnetic induction sensor shell (2-1), a magnetic field receiver a (2-2), a magnetic isolation plate a (2-3), an electromagnet (2-4), a magnetic isolation plate b (2-5), a magnetic field receiver b (2-6) and a wire (2-7), the magnetic field receiver a (2-2) is composed of the same structure and comprises a linear Hall element a (2-2-1), a signal resolving plate (2-1) and a linear Hall element (2-6), the device comprises a single chip microcomputer (2-6-2), an encoder signal resolving board b (2-6-3), an LDO power chip (2-6-4) and a resolving board support b (2-6-5), wherein a linear Hall element a (2-2-1) is welded on the encoder signal resolving board a (2-2-2) through tin, the encoder signal resolving board a (2-2-2) is glued with the resolving board support (2-2-3), the linear Hall element b (2-6-1) and the single chip microcomputer (2-6-2), the LDO power chip (2-6-4) is welded on the encoder signal resolving board b (2-6-3) through tin, and the encoder signal resolving board b (2-6-3) is glued with the resolving board support (2-6-5). The radius of the linear circle center of the outer contour of the cam (1-4) gradually increases linearly from r 1 Linear increase to r n The number of teeth of the special-shaped gears (1-7) is 16, and the circle center of a circular arc on each gear tooth has a radius from r on a root circle 1 Linear increase to r n 。
2. An angle resolving method based on a double-wheel structure double-Hall magnetoelectric encoder and an angle resolving method thereof comprises the following steps:
the method comprises the following steps: the method comprises the following steps of collecting Hall digital signals:
the electromagnetic coil (2-4) is used as a magnetic field generating source and is electrified to generate a magnetic field vertical to the direction of the electromagnetic coil, the cam (1-4) and the special-shaped gear (1)-7) magnetic conductive iron is selected as a material, the encoder shaft rotates along with the motor shaft to drive the magnetized cam (1-4) and the special gear (1-7) to rotate, the distance between the gear teeth of the two wheels and the linear Hall element a (2-2-1) and the linear Hall element B (2-6-1) changes in the rotating process, the magnetic field density around the linear Hall element a (2-2-1) and the linear Hall element B (2-6-1) also changes, the magnetic field strength around the linear Hall element a (2-2-1) and the linear Hall element B (2-6-1) changes, and when the distance between the two is reduced, the magnetic field intensity is strengthened, when the distance between the two linear Hall elements is increased, the magnetic field intensity is weakened, so that the two linear Hall elements detect that the magnetic field intensity of the magnetic field is changed, the outer contour radiuses of the two wheels are gradually increased, and the adopted Hall type adopts a linear Hall device, so that the magnetic field intensity between the two linear Hall elements is also linearly changed, a Hall outputs a voltage signal which is linearly changed in the rotation process of the gear, an angle numerical value signal A of the linear Hall element a (2-2-1) is collected to be used for determining an absolute position, and an angle numerical value signal B of the linear Hall element B (2-6-1) is used for carrying out position subdivision to improve the resolution; sampling to obtain two Hall voltage analog signals V A And V B (ii) a Voltage analog signal V A And V B Two Hall digital signals D are obtained through an analog-to-digital conversion module of a singlechip on a signal processing board of the encoder A And D B ；
Step two: calculating absolute position and the value of the subdivided rake angle of the gear (1-7)
Calibrating the zero crossing point position of the cam (1-4), wherein the digital signal of the voltage maximum point is D AMAX Corresponding angle value is K MAX The voltage minimum value point is D AMIN The corresponding angle value is 0, the zero crossing point position of the special gear (1-7) is calibrated, and the digital signal of the voltage maximum point is D BMAX The corresponding angle value is D, the voltage minimum value point is D BMIN The corresponding angle value is 0, and the current absolute angle value of the cam (1-4) is calculated to be theta by utilizing linear interpolation A Angular value theta before subdivision of special-shaped gears (1-7) B
Step three: for angle value theta of special-shaped gears (1-7) B Making angular subdivisions
Obtaining the absolute position, i.e. the angle value theta of the cam (1-4), according to the step two A And the angle value theta of the special-shaped gear (1-7) B The method carries out angle subdivision according to the absolute mapping relation, and the specific process is as follows:
angle value theta of cam (1-4) A Angle value theta of special-shaped gear (1-7) B Are each in the range of [0, K MAX ]The angle value of the cam (1-4) is from 0 to K when the motor shaft rotates for one circle MAX The numerical value changes once, and the angle numerical value theta of the special-shaped gear (1-7) B From 0 to K MAX The numerical value is changed 16 times, and the angle numerical value of the cam (1-4) at the current moment is recorded as theta Ai Angle value theta of special-shaped gear (1-7) Bi Correspondingly recording and storing in the memory of the single chip microcomputer; 16 zero-crossing points occur in one rotation of the special gear (1-7), so that the angle values of the cam (1-4) corresponding to the 16 zero-crossing points need to be recorded, and according to the angle value theta of the cam (1-4) Ai Recording data and judging the angle value theta of the current special-shaped gear (1-7) Bi The number of the tooth positions is the ith tooth position, and the subdivided angle values theta of the special gears (1-7) are assumed to be in the ith tooth positions Bseg(i) Is composed of
θ Bseg(i) ＝θ Bi +(i-1)×K MAX (3) At this time, the subdivided multi-pair polar angle value theta 2seg The angle value of (1) is in the range of [0, K ] MAX *16]At this time, the angular value resolution is improved, and the range of variation [0, K ] from the initial angular value is increased MAX ]Change to [0,K MAX *16]。
The invention has the beneficial effects that:
1. the structure is safe and reliable, and the device is not easy to crack in operation. The reliability of the encoder in the operation process is greatly improved, and the problem that the traditional encoder is unreliable in operation due to the fact that the permanent magnet shows that substances fall off due to the high temperature of the rotor in operation is effectively solved.
2. The emission source of the magnetic field signal is unique, so that the uniqueness and the accuracy of the magnetic field signal can be ensured.
3. The problem that a signal source is not unique due to nonuniform magnetization of a permanent magnet of a traditional magnetoelectric encoder is solved, and the signal precision of the invention can be controlled by machining precision.
4. The electromagnetic coil is used as a magnetic field generating source, the intensity of the emitted magnetic field can be adjusted, the use is more flexible, and compared with a permanent magnet at a fixed position, the magnetic field measuring device can effectively solve the problem of errors in measurement caused by saturation of a linear Hall element due to overlarge magnetic field intensity in practical application.
5. The absolute position is determined in a single period, and the angle settlement method for angle subdivision in multiple periods is adopted, so that the resolution of the encoder is improved.
Drawings
FIG. 1 is an overall structure diagram of a dual-wheel structure-based dual-Hall magnetoelectric encoder and an angle calculation method thereof;
FIG. 2 is a view of a encoder body subdivision scheme;
FIG. 3 is a diagram of a magnetic induction sensor;
FIG. 4 is a view showing a sub-structure of a magnetic field receiver a and a magnetic field receiver b;
FIG. 5 is a schematic diagram of an encoder angle calculation according to the present invention;
FIG. 6 is a numerical graph of cam and gear angles;
FIG. 7 is a graph of angle subdivision relief angle values;
FIG. 8 is a front view of the cam;
fig. 9 is a front view of the gear wheel.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings.
The embodiments/examples described herein are specific embodiments of the present invention, are intended to be illustrative of the concepts of the present invention, are intended to be illustrative and exemplary, and should not be construed as limiting the embodiments and scope of the invention. In addition to the embodiments described herein, those skilled in the art will be able to employ other technical solutions which are obvious based on the disclosure of the claims and the specification of the present application, and these technical solutions include those which make any obvious replacement or modification of the embodiments described herein, and all of which are within the scope of the present invention.
The angle solution method is shown in fig. 5:
the method comprises the following steps: the method comprises the following steps of collecting Hall digital signals:
the electromagnetic coil (2-4) is used as a magnetic field generating source to be electrified to generate a magnetic field vertical to the direction of the electromagnetic coil, the cam (1-4) and the special-shaped gear (1-7) adopt magnetic conductive iron as materials, the encoder shaft can drive the magnetized cam (1-4) and the special-shaped gear (1-7) to rotate along with the rotation of the motor shaft, the distance between the gear teeth of two wheels and the linear Hall element a (2-2-1) and the linear Hall element b (2-6-1) can be changed in the rotating process, the magnetic field density around the linear Hall element a (2-2-1) and the linear Hall element b (2-6-1) can be changed, further, the magnetic field intensity around the linear Hall element a (2-2-1) and the linear Hall element b (2-6-1) changes, when the distance between the two components is reduced, the magnetic field intensity is strengthened, when the distance between the two components is increased, the magnetic field intensity is weakened, so that the two linear Hall components detect the change of the magnetic field intensity, because the outer contour radius of the two wheels is gradually increased and the adopted Hall type adopts the linear Hall device, the magnetic field intensity between the two wheels is also changed linearly, the method comprises the following steps that a Hall outputs a linearly changing voltage signal in the rotation process of a gear, an angle numerical value signal A of a linear Hall element a (2-2-1) is collected to be used for determining an absolute position, and an angle numerical value signal B of a linear Hall element B (2-6-1) is used for carrying out position subdivision to improve resolution; two Hall voltage analog signals V are obtained by sampling A And V B (ii) a Voltage analog signal V A And V B Two Hall digital signals D are obtained through an analog-to-digital conversion module of a singlechip on a signal processing board of the encoder A And D B ；
Step two: calculating absolute position and subdivision angle value of the special gear (1-7)
Calibrating the zero crossing point position of the cam (1-4), wherein the digital signal of the voltage maximum point is D AMAX Corresponding angle value is K MAX The voltage minimum value point is D BMIN The corresponding angle value is 0, the zero crossing point position of the special gear (1-7) is calibrated, and the digital signal of the voltage maximum point is D BMAX The corresponding angle value is D, the voltage minimum value point is D BMIN The corresponding angle value is 0, and the current absolute angle value of the cam (1-4) is calculated to be theta by utilizing linear interpolation A Angle value theta before subdivision of special-shaped gear (1-7) B
Step three: to the angle value theta B Performing angle subdivision
Obtaining the absolute position, i.e. the angle value theta of the cam (1-4), according to the step two A And the angle value theta of the special-shaped gear (1-7) B The specific process is as follows:
angle value theta of cam (1-4) A Angle value theta of special-shaped gear (1-7) B Are each in the range of [0, K MAX ]The angle value of the cam (1-4) is from 0 to K when the motor shaft rotates for a circle MAX The angle value theta of the special-shaped gear (1-7) is changed once B From 0 to K MAX The numerical value is changed 16 times, and the angle numerical value of the cam (1-4) at the current moment is recorded as theta Ai Angle value theta of special-shaped gear (1-7) Bi Correspondingly recording and storing in the memory of the single chip microcomputer; as shown in fig. 6, 16 zero crossings occur for one rotation of the special-shaped gear (1-7), so that the angle values of the cam (1-4) corresponding to the 16 zero crossings need to be recorded, and the angle value theta is determined according to the angle value theta of the cam (1-4) Ai Recording data and judging the angle value theta of the current special-shaped gear (1-7) Bi The number of the tooth positions is the ith tooth position, and the subdivided angle values theta of the special gears (1-7) are assumed to be in the ith tooth positions Bseg(i) Is composed of
θ Bseg(i) ＝θ Bi +(i-1)×K MAX (3)
At this time, the subdivided multi-pair polar angle value theta 2seg The angle value of (1) is in the range of [0, K ] MAX *16]At this time, the angular value resolution is improved, ranging from the initial angular value [0, K ] MAX ]Change to [0,K MAX *16]。
TABLE 1
| θ i | θ Ai | θ Bi |
| θ 1 | θ A1 | θ B1 |
| …… | …… | …… |
| θ 16 | θ A16 | θ B16 |
The foregoing shows and describes the general principles and features of the present invention, together with the advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are given by way of illustration of the principles of the present invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, and such changes and modifications are within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (1)
1. The utility model provides a based on two hall magnetoelectric encoder of double round structure, includes encoder main part (1), magnetic induction sensor (2) two parts, its characterized in that encoder main part (1) and magnetic induction sensor (2) through dismantling the plug and connect, encoder main part (1), it includes end cover (1-1), shell body (1-2), pivot (1-3), cam (1-4), bearing a (1-5), bearing b (1-6), special type gear (1-7), wherein, shell body (1-2) and end cover (1-1) screw connection, cam (1-4) and special type gear (1-7), the material of cam (1-4) and special type gear (1-7) be the iron that the magnetic conductivity is good, magnetic induction sensor (2), it includes magnetic induction sensor shell (2-1), magnetic field receiver a (2-2), magnetic shield a (2-3), solenoid (2-4), magnetic shield b (2-5), magnetic field receiver b (2-6), it is the same, wherein it comprises hall receiver component (2-2), it is the same as the structure (1-2), the magnetic field receiver b (2-6-4) consists of a linear Hall element b (2-6-1), a single chip microcomputer (2-6-2), an encoder signal resolving plate b (2-6-3), an LDO power chip (2-6-4) and a resolving plate bracket b (2-6-5), wherein the linear Hall element a (2-2-1) is welded on the encoder signal resolving plate a (2-2-2) through tin, the encoder signal resolving plate a (2-2-2) is welded on the resolving plate bracket a (2-2-3) through tin, the linear Hall element b (2-6-1) and the single chip microcomputer (2-6-2), the LDO power chip (2-6-4) is welded on the encoder signal resolving plate b (2-6-3) through tin, and the encoder signal resolving plate b (2-6-3) and the encoder signal resolving plate bracket b (2-6-5) are welded;
the specific implementation process of the magnetoelectric encoder angle calculating method is as follows:
the method comprises the following steps: the method comprises the following steps of collecting Hall digital signals:
the electromagnetic coil (2-4) is used as a magnetic field generating source to be electrified to generate a magnetic field vertical to the direction of the electromagnetic coil, the cam (1-4) and the special-shaped gear (1-7) adopt magnetic conductive iron as materials, the encoder shaft can drive the magnetized cam (1-4) and the special-shaped gear (1-7) to rotate along with the rotation of the motor shaft, the distance between the gear teeth of two wheels and the linear Hall element a (2-2-1) and the linear Hall element b (2-6-1) can be changed in the rotating process, the magnetic field density around the linear Hall element a (2-2-1) and the linear Hall element b (2-6-1) can be changed, further, the magnetic field intensity around the linear hall element a (2-2-1) and the linear hall element b (2-6-1) changes, when the distance between the two components is reduced, the magnetic field intensity is strengthened, when the distance between the two components is increased, the magnetic field intensity is weakened, so that the two linear Hall elements detect the change of the magnetic field intensity, because the outer contour radius of the two wheels is gradually increased and the adopted Hall type adopts a linear Hall device, the magnetic field intensity between the two wheels is also changed linearly, the method comprises the following steps that a Hall outputs a linearly changing voltage signal in the rotation process of a gear, an angle numerical value signal A of a linear Hall element a (2-2-1) is collected to be used for determining an absolute position, and an angle numerical value signal B of a linear Hall element B (2-6-1) is used for carrying out position subdivision to improve resolution; two Hall voltage analog signals V are obtained by sampling A And V B (ii) a Voltage analog signal V A And V B Two Hall digital signals D are obtained through an analog-to-digital conversion module of a singlechip on a signal processing board of the encoder A And D B ；
Step two: calculating absolute position and the value of the subdivided rake angle of the gear (1-7)
Calibrating the zero crossing point position of the cam (1-4), wherein the digital signal of the voltage maximum point is D AMAX Corresponding angle value is K MAX The voltage minimum value point is D AMIN The corresponding angle value is 0, the zero crossing point position of the special gear (1-7) is calibrated, and the digital signal of the voltage maximum point is D BMAX The corresponding angle value is D, the voltage minimum value point is D BMIN The corresponding angle value is 0, and the current absolute angle value of the cam (1-4) is calculated to be theta by utilizing linear interpolation A Subdivision of the rake angle of the gear (1-7)Value theta B
Step three: for angle value theta of special-shaped gears (1-7) B Performing angle subdivision
Obtaining the absolute position, i.e. the angle value theta of the cam (1-4), according to the step two A And the angle value theta of the special-shaped gear (1-7) B The specific process is as follows:
angle value theta of cam (1-4) A Angle value theta of special-shaped gear (1-7) B Are each in the range of [0 MAX ]The angle value of the cam (1-4) is from 0 to K when the motor shaft rotates for one circle MAX The numerical value changes once, and the angle numerical value theta of the special-shaped gear (1-7) B From 0 to K MAX The numerical value is changed 16 times, and the angle numerical value of the cam (1-4) at the current moment is recorded as theta Ai Angle value theta of special-shaped gear (1-7) Bi Correspondingly recording and storing in the memory of the single chip microcomputer; 16 zero-crossing points occur in one rotation of the special gear (1-7), so that the angle values of the cam (1-4) corresponding to the 16 zero-crossing points need to be recorded, and according to the angle value theta of the cam (1-4) Ai Recording data and judging the angle value theta of the current special-shaped gear (1-7) Bi The number of teeth is the ith tooth position, and the subdivided angle value theta of the special-shaped gears (1-7) is assumed to be at the ith tooth position Bseg (i) Is composed of
θ Bseg (i)＝θ Bi +(i-1)×K MAX (3)
At this time, the subdivided multi-pair polar angle value theta 2seg The angle value of (2) is in the range of [0, K ] MAX *16]At this time, the angular value resolution is improved, and the range of variation [0, K ] from the initial angular value is increased MAX ]Change to [0,K MAX *16]；
The radius of the linear circle center of the outer contour of the cam (1-4) gradually and linearly increases from r 1 Linear increase to r n The number of teeth of the special-shaped gears (1-7) is 16, and the radius of the circle center of the circular arc of the gear teeth is linearly increased from r1 to r on the root circle n 。
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| CN116488534A (en) * | 2023-01-04 | 2023-07-25 | 哈尔滨理工大学 | Magneto-electric encoder angle resolving method and device based on magneto-resistance principle |
| CN116222625B (en) * | 2023-02-09 | 2023-09-12 | 哈尔滨理工大学 | Multi-parallel non-magnetic steel multi-turn encoder device and counting method thereof |
| CN116222630B (en) * | 2023-03-17 | 2023-10-20 | 哈尔滨理工大学 | High-reliability axial double-side magnetic induction type magneto-electric encoder and angle resolving method |
| CN117040207B (en) * | 2023-10-10 | 2024-01-19 | 山西省机电设计研究院有限公司 | Large-diameter servo motor and electrical equipment |
| CN117411247B (en) * | 2023-10-10 | 2024-04-12 | 山西省机电设计研究院有限公司 | Industrial servo motor and electrical equipment |
| CN117663026B (en) * | 2024-01-29 | 2024-04-12 | 广东熠日照明科技有限公司 | Design method of rotation angle of double-encoder anchoring motor and stage lamp |
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