CN115388925A - Method, device, equipment and medium for detecting performance of code disc of magnetic encoder - Google Patents
Method, device, equipment and medium for detecting performance of code disc of magnetic encoder Download PDFInfo
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Abstract
The application discloses a performance detection method, a device, equipment and a medium for a coded disc of a magnetic encoder, wherein the magnetic encoder comprises the coded disc and a high-sensitivity magnetic sensor, and the performance detection method for the coded disc of the magnetic encoder comprises the following steps: acquiring an original magnetic signal detected by the high-sensitivity magnetic sensor, and counting a sine wave signal waveform corresponding to the original magnetic signal; calculating an error value between magnetic induction peak values in the sine wave signal waveform; based on the error value, a magnetic property of the code wheel is determined. The method and the device solve the technical problem of low accuracy of performance detection of the magnetic code disc or the magnetic code ruler with high signal writing density (small magnetic pole moment).
Description
Technical Field
The present application relates to the field of magnetic encoder technologies, and in particular, to a method, an apparatus, a device, and a medium for detecting performance of a code wheel of a magnetic encoder.
Background
The magnetic encoder is used as a key component for intelligent control of high-end equipment, and can be used for compiling and converting signals or data into signal forms for communication, transmission and storage. With the increasing requirements of people on the control precision of high-grade numerical control machine tools, robot devices and the like, the storage density of magnetic code discs or magnetic code rulers of magnetic encoders is also higher and higher.
At present, HALL sensor probes are usually used to detect signals with large magnetic pole moments to detect the performance of a magnetic code disc or a magnetic code ruler. However, for a code wheel of a magnetic encoder with high signal writing density (small magnetic pole moment), because the sensitivity detected by a hall sensor is low, the residual magnetism on the surface of the code wheel is weak, and the waveform noise of a detected magnetic signal is large, the consistency and the uniformity of the waveform of the real writing signal of the code wheel are difficult to accurately judge, and the accuracy of performance detection on the magnetic code wheel or a magnetic code ruler in the magnetic encoder is low.
Disclosure of Invention
The present application mainly aims to provide a performance detection method and apparatus for a code disc of a magnetic encoder, and a medium, and aims to solve the technical problem in the prior art that the accuracy of performance detection for a magnetic code disc or a magnetic code scale with high signal write density (small magnetic pole moment) is low.
In order to achieve the above object, the present application provides a performance detection method for a code wheel of a magnetic encoder, where the magnetic encoder includes a code wheel and a high-sensitivity magnetic sensor, and the performance detection method for the code wheel of the magnetic encoder includes:
acquiring an original magnetic signal detected by the high-sensitivity magnetic sensor, and counting a sine wave signal waveform corresponding to the original magnetic signal;
calculating an error value between magnetic induction peak values in the sine wave signal waveform;
based on the error value, a magnetic property of the code wheel is determined.
Optionally, the peak magnetic induction values include N-level peak magnetic induction values and S-level peak magnetic induction values.
Optionally, the step of calculating an error value between magnetic induction peak values in the sine wave signal waveform comprises:
calculating N-level error values among the N-level magnetic induction peak values in a preset period, and calculating S-level error values among the S-level magnetic induction peak values in the preset period, wherein the error values comprise one or more of range, variance and standard deviation.
Optionally, the step of determining the magnetic property of the code wheel based on the error value comprises:
respectively comparing the N-level error value and the S-level error value with a preset error threshold value;
and analyzing the magnetic uniformity of the code wheel based on the comparison result, and determining the magnetic performance of the code wheel based on the magnetic uniformity.
Optionally, the step of analyzing the magnetic uniformity of the code wheel based on the comparison result comprises:
if the N-level error value and the S-level error value are both smaller than the preset error threshold value, the magnetism of the coded disc is judged to be uniform;
and if the N-level error value is not less than the preset error threshold value or the S-level error value is not less than the preset error threshold value, determining that the magnetism of the code wheel is not uniform.
Optionally, the step of counting waveforms of the sine wave signals corresponding to the original magnetic signals includes:
and converting the original magnetic signal into a digital signal, and correcting the waveform of the original magnetic signal into the sine wave signal waveform based on the waveform of the digital signal.
Optionally, a distance between each bridge resistor in the high-sensitivity magnetic sensor is matched with a magnetic pole distance stored in the code wheel, the code wheel is a magnetic code wheel or a magnetic code ruler, and the high-sensitivity magnetic sensor includes an AMR anisotropic magnetoresistance or a TMR giant magnetoresistance sensor.
The application still provides a performance detection device of magnetic encoder code wheel, magnetic encoder includes code wheel and high sensitive magnetic sensor, the performance detection device of magnetic encoder code wheel includes:
the acquisition module is used for acquiring the original magnetic signal detected by the high-sensitivity magnetic sensor and counting the sine wave signal waveform corresponding to the original magnetic signal;
the calculation module is used for calculating an error value between magnetic induction peak values in the sine wave signal waveform;
and the determining module is used for determining the magnetic property of the code disc based on the error value.
Optionally, the determining module is further configured to:
respectively comparing the N-level error value and the S-level error value with a preset error threshold value;
and analyzing the magnetic uniformity of the code wheel based on the comparison result, and determining the magnetic performance of the code wheel based on the magnetic uniformity.
Optionally, the determining module is further configured to:
if the N-level error value and the S-level error value are both smaller than the preset error threshold value, the magnetism of the coded disc is judged to be uniform;
and if the N-level error value is not less than the preset error threshold value or the S-level error value is not less than the preset error threshold value, determining that the magnetism of the code wheel is not uniform.
Optionally, the performance detection device of the code disc of the magnetic encoder is further configured to:
and converting the original magnetic signal into a digital signal, and correcting the waveform of the original magnetic signal into the sine wave signal waveform based on the waveform of the digital signal.
The present application further provides an electronic device, the electronic device is an entity device, the electronic device includes: the performance detection method comprises a memory, a processor and a performance detection program of a code disc of the magnetic encoder, wherein the performance detection program of the code disc of the magnetic encoder is stored on the memory, and the performance detection program of the code disc of the magnetic encoder is executed by the processor to realize the steps of the performance detection method of the code disc of the magnetic encoder.
The application also provides a storage medium which is a computer-readable storage medium, wherein a performance detection program of the code disc of the magnetic encoder is stored on the computer-readable storage medium, and the performance detection program of the code disc of the magnetic encoder is executed by a processor to realize the steps of the performance detection method of the code disc of the magnetic encoder.
The application provides a performance detection method, a device, equipment and a medium of a magnetic encoder code disc, wherein the magnetic encoder comprises a code disc and a high-sensitivity magnetic sensor, and the performance detection method of the code disc of the magnetic encoder comprises the following steps: and acquiring an original magnetic signal detected by the high-sensitivity magnetic sensor, counting a string signal waveform corresponding to the original magnetic signal, further calculating an error value between magnetic induction intensity peak values in the string signal waveform, and further determining the magnetic performance of the code disc based on the error value. The magnetic encoder realizes detection on the surface of a code wheel of a high-signal write-in density magnetic encoder by adopting a high-sensitivity sensor, detects the magnetic performance of the small magnetic pole moment density magnetic code wheel through testing of the small magnetic pole moment density magnetic code wheel, analyzes whether the magnetism of the magnetic code wheel is uniform or not according to the error values of N pole and S pole peak values in a waveform by counting original magnetic signals, thereby realizing performance detection of the small magnetic pole moment, the high-density magnetic code wheel or a magnetic code ruler, and has convenient control and higher detection efficiency.
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The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application.
In order to more clearly illustrate the embodiments or technical solutions in the prior art of the present application, the drawings required to be used in the description of the embodiments or prior art will be briefly described below, and it is obvious for those skilled in the art to be able to obtain other drawings without inventive labor based on these drawings.
FIG. 1 is a schematic flow chart of a first embodiment of a performance detection method for a code wheel of a magnetic encoder according to the present application;
FIG. 2 is a schematic diagram of a sinusoidal waveform output by a high signal write density magnetic encoder code wheel detected by a high sensitivity sensor;
FIG. 3 is a schematic view of a sine wave waveform output by a low signal write density magnetic encoder code wheel detected by a Hall sensor;
FIG. 4 is a schematic flow chart of a first embodiment of a performance detection method for a code wheel of a magnetic encoder according to the present application
5 (c) and 5 (d) are schematic diagrams of non-uniform magnetism of a code wheel in the performance detection method of the code wheel of the magnetic encoder;
fig. 6 is a schematic structural diagram of an electronic device in a hardware operating environment according to an embodiment of the present application;
FIG. 7 is a functional block diagram of a performance detection device for a code wheel of a magnetic encoder according to the present application.
The objects, features and advantages of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of and not restrictive on the broad application.
Because of this, HALL sensor probes are currently commonly used to detect large pole moment signals to detect the performance of a magnetic code disc or scale. However, for a magnetic encoder code wheel with high signal writing density (small magnetic pole moment), because the sensitivity of the hall sensor probe is low, the residual magnetism on the surface of the code wheel is weak, and the waveform noise of a detected magnetic signal is large, the consistency and the uniformity of the real writing signal waveform of the code wheel are difficult to accurately judge, and the accuracy of performance detection on the magnetic code wheel or a magnetic code ruler in the magnetic encoder is low.
The main solution of the embodiment of the application is as follows: acquiring an original magnetic signal detected by the high-sensitivity magnetic sensor, and counting a string signal waveform corresponding to the original magnetic signal; calculating an error value between magnetic induction peak values in the sine wave signal waveform; based on the error value, a magnetic property of the code wheel is determined. By the scheme, the magnetic performance of the small magnetic pole moment density magnetic code disc is tested and checked by adopting the high-sensitivity sensor to detect the surface of the code disc of the high-signal write-in density magnetic encoder, and whether the magnetism of the magnetic code disc is uniform or not can be analyzed according to the error values of N and S pole peak magnetic induction intensity peaks in waveforms by counting the original magnetic signals, so that the performance detection of the small magnetic pole moment, the high-density magnetic code disc or the magnetic code scale is realized, the control is convenient, and the detection efficiency is higher.
Specifically, referring to fig. 1, in a first embodiment of a performance detection method of a code wheel of a magnetic encoder of the present application, the performance detection method of the code wheel of the magnetic encoder includes:
step S10, acquiring an original magnetic signal detected by the high-sensitivity magnetic sensor, and counting a sine wave signal waveform corresponding to the original magnetic signal;
in this embodiment, it should be noted that the magnetic encoder is a magnetic encoder with a high signal writing density, and the magnetic encoder includes a code wheel and a high-sensitivity magnetic sensor, where the code wheel may be a magnetic code wheel or a magnetic code ruler, and the code wheel has corresponding S-pole magnetic regions and N-pole magnetic regions, and can generate a magnetic field signal.
It should be further noted that the high-sensitivity magnetic sensor probe converts a changing magnetic field signal into a resistance value change through a magnetoresistance effect, the changed resistance value is converted into a voltage change under the action of an external potential, and an analog voltage signal is converted into a digital signal which can be recognized by a computer through the processing of a subsequent signal processing circuit, so as to realize the encoding function of the magnetic encoder, the high-sensitivity magnetic sensor comprises an AMR anisotropic magnetoresistance and/or a TMR giant magnetoresistance sensor, wherein the AMR anisotropic magnetoresistance and/or the TMR giant magnetoresistance sensor has higher corresponding resolution and sensitivity, because the embodiment adopts the AMR anisotropic magnetoresistance or the TMR giant magnetoresistance sensor with high sensitivity and high resolution, the high-sensitivity magnetic sensor can detect a small magnetic pole distance and a weak magnetic signal, each bridge resistance distance in the high-sensitivity magnetic sensor is matched with the magnetic pole distance of the code disc, and different sensors are correspondingly adopted for the magnetic code discs with different magnetic pole distances, that is, and each magnetic pole distance corresponds to one sensor, so that the magnetic performance of the high storage density code disc with the magnetic pole distance below 1mm can be tested. Referring to fig. 2 and 3, fig. 2 is a schematic diagram of a sine wave waveform output by a high-signal writing density magnetic encoder code disc detected by a high-sensitivity sensor, and fig. 3 is a schematic diagram of a sine wave waveform output by a low-signal writing density magnetic encoder code disc detected by a Hall sensor.
Specifically, an original magnetic signal corresponding to the code wheel detected by the AMR anisotropic magnetoresistance and/or TMR giant magnetoresistance sensor is obtained, the original magnetic signal is converted into a digital signal, and the sine wave signal waveform is formed based on the digital signal, preferably, the sine wave signal waveform is a sine waveform.
Step S20, calculating an error value between magnetic induction peak values in the sine wave signal waveform;
in this embodiment, it should be noted that the peak magnetic induction values include N-level peak magnetic induction values and S-level peak magnetic induction values, where, referring to fig. 2, in the case that the magnetic performance of the code disc is uniform, the N-level peak magnetic induction values are symmetrical to the S-level peak magnetic induction values, and the error value includes one or more of a range, a variance, and a standard deviation. Specifically, an N-level error value between N-level magnetic induction peak values in a preset period is calculated, and an S-level error value between S-level magnetic induction peak values in the preset period is calculated, where the preset period is set according to an actual situation, the preset period may be a whole period in a waveform of a detected sinusoidal signal, and the preset period may also be obtained by dividing a whole period in a waveform of a sinusoidal signal according to a preset proportional period, so as to calculate an error value between magnetic induction peak values in each preset proportional period, and when an error value in one preset proportional period is smaller than a preset error threshold, it is determined that magnetism of the code wheel is not uniform.
And step S30, determining the magnetic property of the code wheel based on the error value.
In this embodiment, it should be noted that the magnetic performance is the magnetic uniformity performance of the code wheel. Specifically, the N-level error value and the S-level error value are respectively compared with a preset error threshold, if both the N-level error value and the S-level error value are smaller than the preset error threshold, the magnetic property of the code wheel is determined to be uniform, and if the N-level error value is not smaller than the preset error threshold or the S-level error value is not smaller than the preset error threshold, the magnetic property of the code wheel is determined to be non-uniform, wherein the range of the preset error threshold is not greater than 1.5%, and preferably, the preset error threshold is set to be 1.5%.
According to the scheme, the original magnetic signal detected by the high-sensitivity magnetic sensor is obtained, the string signal waveform corresponding to the original magnetic signal is counted, the error value between magnetic induction intensity peak values in the string signal waveform is calculated, and further, the magnetic performance of the code disc is determined based on the error value. Through the scheme, the detection on the surface of the code disc of the high-signal write-in density magnetic encoder is realized by adopting the high-sensitivity sensor, the magnetic performance of a small magnetic pole moment, a high-density magnetic code disc or a magnetic code ruler is detected, whether the magnetism of the magnetic code disc is uniform or not can be analyzed according to the error value of the peak value of the magnetic induction intensity of the peak values of the N pole and the S pole in the waveform by counting the original magnetic signals, so that the performance detection on the small magnetic pole moment, the high-density magnetic code disc or the magnetic code ruler is realized, the control is convenient, and the detection efficiency is higher.
Further, referring to fig. 4, based on the first embodiment in the present application, in another embodiment of the present application, the step S30: determining the magnetic performance of the code wheel based on the error value, specifically comprising:
step A10, comparing the N-level error value and the S-level error value with a preset error threshold value respectively;
and A20, analyzing the magnetic uniformity of the coded disc based on the comparison result, and determining the magnetic performance of the coded disc based on the magnetic uniformity.
Wherein the step of analyzing the magnetic uniformity of the code wheel based on the comparison result comprises:
step A21, if the N-level error value and the S-level error value are both smaller than the preset error threshold value based on the comparison result, determining that the magnetism of the code wheel is uniform;
step A22, if it is determined that the N-level error value is not less than the preset error threshold value or the S-level error value is not less than the preset error threshold value based on the comparison result, determining that the magnetism of the code wheel is not uniform.
In this embodiment, specifically, the N-level error value and the S-level error value are respectively compared with a preset error threshold, if it is determined that both the N-level error value and the S-level error value are smaller than the preset error threshold, the magnetic property of the code wheel is determined to be uniform, if the N-level error value and the S-level error value are not smaller than the preset error threshold, the magnetic property of the code wheel is determined to be non-uniform, referring to fig. 5 (c), it can be seen that a peak magnetic induction signal of one magnetic pole in a sinusoidal signal waveform corresponding to the code wheel is weak, and therefore, the magnetic property of the code wheel can be determined to be non-uniform, referring to fig. 5 (d), it can be seen that a sinusoidal signal waveform corresponding to the code wheel has a plurality of magnetic poles with weak peak magnetic induction signals that are obvious, and there is a large gap as a whole, and therefore, the magnetic property of the code wheel can be determined to be non-uniform.
According to the scheme, the N-level error value and the S-level error value are compared with the preset error threshold value respectively, then the magnetic uniformity of the coded disc is analyzed based on the comparison result, the magnetic performance of the coded disc is determined based on the magnetic uniformity, whether the magnetism of the magnetic coded disc is uniform or not can be analyzed according to the error value of the peak value of the magnetic induction intensity of the N pole peak value and the S pole peak value in the waveform, and therefore the magnetic performance detection of the small magnetic pole moment, the high-density magnetic coded disc or the magnetic code ruler is achieved.
Referring to fig. 6, fig. 6 is a schematic structural diagram of an electronic device in a hardware operating environment according to an embodiment of the present application.
As shown in fig. 6, the electronic device may include: a processor 1001, such as a CPU, a memory 1005, and a communication bus 1002. The communication bus 1002 is used for realizing connection communication between the processor 1001 and the memory 1005. The memory 1005 may be a high-speed RAM memory or a non-volatile memory such as a disk memory. The memory 1005 may optionally be storage electronics separate from the processor 1001 described above.
Optionally, the electronic device may also include a rectangular user interface, a network interface, a camera, RF (Radio Frequency) circuitry, sensors, audio circuitry, a WiFi module, and so forth. The rectangular user interface may comprise a Display screen (Display), an input sub-module such as a Keyboard (Keyboard), and the optional rectangular user interface may also comprise a standard wired interface, a wireless interface. The network interface may optionally include a standard wired interface, a wireless interface (e.g., WIFI interface).
Those skilled in the art will appreciate that the electronic device configuration shown in fig. 6 does not constitute a limitation of the electronic device and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
As shown in fig. 6, a memory 1005, which is a kind of computer storage medium, may include therein a performance detection program of an operation device, a network communication module, and a magnetic encoder code wheel. The operating device is a program that manages and controls the hardware and software resources of the electronic device, supports the performance detection program of the code disc of the magnetic encoder, and the operation of other software and/or programs. The network communication module is used for realizing communication among components in the memory 1005 and communication with other hardware and software in the performance detection device of the code disc of the magnetic encoder.
In the electronic device shown in fig. 6, the processor 1001 is configured to execute a performance detection program of a magnetic encoder code disc stored in the memory 1005, and implement the steps of the performance detection method of the magnetic encoder code disc described in any one of the above.
The specific implementation of the electronic device of the present application is substantially the same as the embodiments of the performance detection method for the code wheel of the magnetic encoder, and is not described herein again.
In addition, please refer to fig. 7, fig. 7 is a schematic functional module diagram of the performance detection apparatus for a code wheel of a magnetic encoder according to the present application, and the present application further provides a performance detection apparatus for a code wheel of a magnetic encoder, where the performance detection apparatus for a code wheel of a magnetic encoder includes:
the acquisition module is used for acquiring the original magnetic signal detected by the high-sensitivity magnetic sensor and counting the sine wave signal waveform corresponding to the original magnetic signal;
the calculation module is used for calculating an error value between magnetic induction peak values in the sine wave signal waveform;
and the determining module is used for determining the magnetic property of the code disc based on the error value.
Optionally, the computing module is further configured to:
calculating N-level error values among the N-level magnetic induction peak values in a preset period, and calculating S-level error values among the S-level magnetic induction peak values in the preset period, wherein the error values comprise one or more of range, variance and standard deviation.
Optionally, the determining module is further configured to:
respectively comparing the N-level error value and the S-level error value with a preset error threshold value;
and analyzing the magnetic uniformity of the code wheel based on the comparison result, and determining the magnetic performance of the code wheel based on the magnetic uniformity.
Optionally, the determining module is further configured to:
if the N-level error value and the S-level error value are both smaller than the preset error threshold value, the magnetism of the coded disc is judged to be uniform;
and if the N-level error value is not smaller than the preset error threshold value or the S-level error value is not smaller than the preset error threshold value, judging that the magnetism of the code wheel is not uniform.
Optionally, the performance detection device of the code disc of the magnetic encoder is further configured to:
and converting the original magnetic signal into a digital signal, and correcting the waveform of the original magnetic signal into the sine wave signal waveform based on the waveform of the digital signal.
The specific implementation of the performance detection device for the code disc of the magnetic encoder is basically the same as that of each embodiment of the performance detection method for the code disc of the magnetic encoder, and is not described herein again.
The embodiment of the application provides a storage medium which is a computer readable storage medium, and the computer readable storage medium stores one or more programs, and the one or more programs can be further executed by one or more processors to realize the steps of the performance detection method of the code disc of the magnetic encoder.
The specific implementation of the computer-readable storage medium of the present application is substantially the same as the embodiments of the performance detection method for the code wheel of the magnetic encoder, and is not described herein again.
The above description is only a preferred embodiment of the present application, and not intended to limit the patent value of the present application, and all the equivalent structures or equivalent flow transformations that are made by the contents of the specification and the drawings, or directly or indirectly applied to other related technical fields, are included in the patent processing value of the present application.
Claims (10)
1. A performance detection method for a code disc of a magnetic encoder is characterized in that the magnetic encoder comprises the code disc and a high-sensitivity magnetic sensor, and the performance detection method for the code disc of the magnetic encoder comprises the following steps:
acquiring an original magnetic signal detected by the high-sensitivity magnetic sensor, and counting a sine wave signal waveform corresponding to the original magnetic signal;
calculating an error value between magnetic induction peak values in the sine wave signal waveform;
based on the error value, a magnetic property of the code wheel is determined.
2. The method of detecting performance of a code wheel of a magnetic encoder according to claim 1, characterized in that said peak magnetic induction values comprise N-level peak magnetic induction values and S-level peak magnetic induction values.
3. The method of detecting performance of a magnetic encoder code wheel of claim 2, wherein said step of calculating an error value between magnetic induction peaks in said sinusoidal signal waveform includes:
calculating N-level error values among the N-level magnetic induction peak values in a preset period, and calculating S-level error values among the S-level magnetic induction peak values in the preset period, wherein the error values comprise one or more of range, variance and standard deviation.
4. The method of detecting the performance of a code wheel of a magnetic encoder as set forth in claim 3, wherein said step of determining the magnetic performance of said code wheel based on said error value comprises:
respectively comparing the N-level error value and the S-level error value with a preset error threshold value;
and analyzing the magnetic uniformity of the code wheel based on the comparison result, and determining the magnetic performance of the code wheel based on the magnetic uniformity.
5. The method for detecting the performance of the code wheel of the magnetic encoder as claimed in claim 4, wherein said step of analyzing the magnetic uniformity of the code wheel based on the comparison result comprises:
if the N-level error value and the S-level error value are both smaller than the preset error threshold value based on the comparison result, the magnetism of the coded disc is judged to be uniform;
and if the N-level error value is determined to be not smaller than the preset error threshold value or the S-level error value is determined to be not smaller than the preset error threshold value based on the comparison result, the magnetic property of the code wheel is judged to be non-uniform.
6. The method for detecting the performance of the code disc of the magnetic encoder as claimed in claim 1, wherein the step of counting the waveform of the sine wave signal corresponding to the original magnetic signal comprises:
and converting the original magnetic signal into a digital signal, and forming the sine wave signal waveform based on the digital signal.
7. The method of detecting performance of a magnetic encoder code wheel of claim 1, wherein each bridge resistance pitch in said high sensitivity magnetic sensor matches a magnetic pole pitch stored by said code wheel, said code wheel comprising a magnetic code wheel or a magnetic code scale, said high sensitivity magnetic sensor comprising an AMR anisotropic magneto-resistance or TMR giant magneto-resistance sensor.
8. The performance detection device for the code disc of the magnetic encoder is characterized in that the magnetic encoder comprises the code disc and a high-sensitivity magnetic sensor, and the performance detection device for the code disc of the magnetic encoder comprises:
the acquisition module is used for acquiring the original magnetic signal detected by the high-sensitivity magnetic sensor and counting the sine wave signal waveform corresponding to the original magnetic signal;
the calculation module is used for calculating an error value between magnetic induction peak values in the sine wave signal waveform;
and the determining module is used for determining the magnetic property of the code wheel based on the error value.
9. An electronic device, comprising: a memory, a processor and a performance detection program of a code disc of a magnetic encoder stored on the memory,
the performance detection program of the code disc of the magnetic encoder is executed by the processor to realize the performance detection method of the code disc of the magnetic encoder according to any one of claims 1 to 7.
10. A storage medium, which is a computer readable storage medium, characterized in that the computer readable storage medium stores thereon a performance detection program of a magnetic encoder code disc, the performance detection program of the magnetic encoder code disc is executed by a processor to implement the steps of the performance detection method of the magnetic encoder code disc according to any one of claims 1 to 7.
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| CN110793430A (en) * | 2019-12-23 | 2020-02-14 | 峰岹科技（深圳）有限公司 | Absolute electrical angle detection method, system and computer readable storage medium |
| CN113483799A (en) * | 2021-06-25 | 2021-10-08 | 佛山非夕机器人科技有限公司 | Magnetic encoder detection method, magnetic encoder detection device, computer equipment and storage medium |
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