CN115824273B - Spherical multi-winding magneto-electric encoder and angle resolving method thereof - Google Patents
Spherical multi-winding magneto-electric encoder and angle resolving method thereof Download PDFInfo
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Abstract
The invention belongs to the field of encoder manufacturing, and relates to a spherical multi-winding magneto-electric encoder and an angle resolving method thereof, which comprises the following steps: the method comprises the steps of utilizing a combination body of 3 groups of parallel energized spherical winding coils embedded into a hemispherical rotor to generate a converging magnetic field, utilizing different types of Hall sensors arranged on the same plane to respectively collect axial and radial magnetic field component signals, and processing, positioning and judging axial movement and rotation angle value theta of a main shaft by a singlechip on each magnetic field component signal of the collected converging magnetic field. The magneto-electric encoder adopts the electrified spherical winding coil to generate a converging magnetic field more stably and reliably, utilizes different types of Hall sensors and dislocation arrangement, realizes simultaneous real-time monitoring of axial movement and rotation angle of the main shaft, and saves the space of a servo system.
Description
Technical Field
The invention belongs to the field of encoder manufacturing, and particularly relates to a spherical multi-winding magneto-electric encoder and an angle resolving method thereof.
Background
The rotary encoder is used as a branch of the rotary sensor, and plays an important role in an automatic control system by virtue of being capable of monitoring the running state of a motor in real time, and mainly comprises a photoelectric encoder and a magnetoelectric encoder.
The magnetoelectric encoder is installed in the motor rear end, and the two mutually support and use, because the motor exists the error at equipment, the in-process of installation, lead to at the in-process of motor operation, there is the condition emergence of main shaft axial float, cause very big adverse effect to the steady operation and the safety in utilization of motor, traditional single magnetoelectric encoder can not realize main shaft axial float and angle value real-time supervision simultaneously moreover, and traditional magnetoelectric encoder has the condition that the permanent magnet demagnetizes and the encoder that leads to can't normal operating.
In view of the above, the present invention provides a spherical multi-winding magneto-electric encoder and an angle resolving method thereof.
Disclosure of Invention
Aiming at the problems, the invention provides a scheme for solving the problem that the axial movement and the angle value of a motor main shaft cannot be monitored simultaneously in real time, designs a new structure for improving the angle resolving precision and the use stability of the encoder, and provides an angle resolving method based on the encoder.
The invention discloses a spherical multi-winding magneto-electric encoder and an angle resolving method thereof, comprising the following steps:
the spherical winding coils are embedded in the hemispherical rotor and electrified to generate a stable magnetic field, the magnetic fields generated by the three groups of spherical winding coils which are connected in parallel and are 120 degrees apart are converged at the spherical center of the hemispherical rotor, the converged magnetic field is expressed as only axial magnetic field components on the axis of the hemispherical rotor, and all other positions are expressed as both axial magnetic field components and radial magnetic field components;
the working face of the patch type Hall sensor is perpendicular to the axis of the main shaft and is arranged at the central position of the signal processing board, and the output voltage of the Hall sensor is in direct proportion to the magnetic field intensity perpendicular to the working face of the Hall sensor, so that the Hall sensor is used for collecting the magnetic field intensity signal of the converging magnetic field generated by the spherical winding coil in the axial magnetic field component;
the plug-in type linear Hall sensor comprises a first plug-in type linear Hall sensor, a second plug-in type linear Hall sensor and a third plug-in type linear Hall sensor which are arranged on the same circumference of the center of the signal processing board at a distance of 120 DEG from the center of a circle perpendicular to the axis of the main shaft, the working face of the first plug-in type linear Hall sensor is perpendicular to the radial direction of the main shaft, the output voltage of the plug-in type linear Hall sensor is in direct proportion to the magnetic field intensity perpendicular to the working face of the Hall sensor, and the plug-in type linear Hall sensor is used for collecting the magnetic field intensity signals of the converging magnetic field generated by the spherical winding coil in the radial magnetic field component;
the plug-in type switch Hall sensor is arranged on the same circumference of the center of the signal processing board at a distance of 30 degrees from the linear Hall sensor and is perpendicular to the axis of the main shaft, the working surface of the plug-in type switch Hall sensor is perpendicular to the radial direction of the main shaft, the plug-in type switch Hall sensor outputs high level outwards only when the magnetic field strength reaches a preset value, and outputs low level outwards in other states, so as to collect magnetic field strength signals of a converging magnetic field generated by the spherical winding coil in a radial magnetic field component;
the singlechip is internally provided with a pin state recognition module and an analog-to-digital converter and is used for processing the analog quantity transmitted by the Hall sensor.
The invention discloses a spherical multi-winding magneto-electric encoder and an angle resolving method thereof, comprising the following steps:
step one: collecting magnetic field intensity signals of a patch type Hall sensor, a plug-in type linear Hall sensor I, a plug-in type linear Hall sensor II, a plug-in type linear Hall sensor III and a plug-in type switch Hall sensor, and outputting angle value signals A, B outwards 1 、B 2 、B 3 C, utilizing single-chip microcomputer to make angle value signal A, B 1 、B 2 、B 3 Conversion of C into an angle value digital signal H A 、H B1 、H B2 、H B3 、H C ；
Step two: under the action of the magnetic conduction plate, three groups of spherical winding coils which are connected in parallel and are 120 degrees apart generate a converging magnetic field, because the radial magnetic field components of the converging magnetic field at the axis of the main shaft are mutually offset, and the axial magnetic field component at the position of the center of the sphere is the largest, because the mounting position of the patch type Hall sensor can only collect the magnetic field intensity signal of the converging magnetic field at the axial magnetic field component, a group of angle value signals A can be collected after the magnetoelectric encoder stably operates for a period of time, and the angle value digital signals H are obtained through the processing of a singlechip A (t,y A (t)), where t is the sampling point, y A (t) is the amplitude of the digital signal corresponding to the sampling point t; the axial movement distance L of the main shaft of the encoder allowed in the running process is less than or equal to 3mm, and the digital signal H is measured when L=0mm A (t,y A (t) Corresponding amplitude of 5V, digital signal H when l=3 mm A (t,y A (t)) corresponds to a magnitude of 4.6V;
i.e. when y A When (t) is more than or equal to 4.6V, the axial movement distance of the motor main shaft in the running process is within an allowable range, and the motor main shaft can be regarded as reasonable axial movement;
when y is A (t)<When the axial movement distance of the motor spindle exceeds the allowable range in the operation process, an alarm signal is required to be sent to a main control system at the moment, so that engineering accidents are avoided;
step three: because the magnetic fields generated by three groups of parallel spherical winding coils with 120 degrees apart are converged at the spherical center, the hemispherical rotor is driven by the adjusting main shaft to rotate each circle of plug-in type linear Hall sensor I, plug-in type linear Hall sensor II and plug-in type linear Hall sensor III, and three groups of angle value signals B with 120 degrees phase difference and cosine change can be output 1 、B 2 、B 3 Three groups of cosine-shaped-change angle value digital signals H with 120 DEG phase difference are obtained through single chip microcomputer processing B1 、H B2 、H B3 Comparing the three groups of angle value digital signals and taking the maximum value to obtain an angle value digital signal H B (t,y B (t)), the plug-in type switch Hall sensor can collect a group of angle value signals C which are distributed at intervals of high and low levels, and angle value digital signals H are obtained after analog-digital conversion by the singlechip C (t,y C (t)), where t is the sampling point, y B (t)、y C (t) is the amplitude of the digital signal of the angle value corresponding to the sampling point t; digital signal H of angle value B (t,y B The maximum amplitude in (t)) is noted as y Bmax The minimum amplitude is denoted as y Bmin The method comprises the steps of carrying out a first treatment on the surface of the Introducing a correction zero y B0 ＝2×y Bmin -y Bmax Correction amplitude y with respect to correction zero Be ＝)y Bmax -y Bmin ) X 2; digital signal H of angle value B (t,y B (t))、H C (t,y C The image corresponding to (t)) is divided into six sections, each of which is denoted as DE, EF, FG, GH, HJ, JK section, and is a periodic number in DE, EF section, FG, GH section, HJ, JK sectionThe signal image is a periodical digital signal image, the point D coincides with the point F, the point F coincides with the point H, the point H coincides with the point K, and an angle value theta can be obtained by solving an inverse trigonometric function;
if the current sampling point t M+1 From the previous sampling point t M The magnitude relation of the corresponding digital signal amplitude is as y B (t M+1 )＝y B (t M )、y C (t M+1 )＝y C (t M ) When the hemispherical rotor does not rotate;
when the hemispherical rotor rotates all the time, there is a first sampling point t 0 The corresponding digital signal amplitude is y B (t 0 )，y C (t 0 ) The method comprises the steps of carrying out a first treatment on the surface of the Three times interval y appears in one circle of unidirectional rotation of hemispherical rotor B (t)＝y Bmax 、y C (t) transition from high to low, y B (t)＝y Bmin 、y C (t) transition from Low to high or y B (t)＝y Bmin 、y C (t) transition from high to low, y B (t)＝y Bmax 、y C (t) transition from low to high; it can be known that the amplitude of the sampling point is y in unidirectional rotation Bmax To the vicinity of y Bmin Hemispherical rotor turns
Will y each time B (t)＝y Bmax 、y C (t) transition from high to low or y each time B (t)＝y Bmin 、y C (t) transition from low to high is counted as an incremental count Z 1 Setting positive rotation, namely counting positive rotation increment Z once each sampling point passes through DE interval or EF interval 1 The sampling point is counted as a forward rotation increment count Z every time the sampling point passes through the DE interval or the EF interval 1 Will y each time B (t)＝y Bmin 、y C (t) transition from high to low or y each time B (t)＝y Bmax 、y C (t) transition from low to high is counted as a count Z of inverted increments 2 I.e. the sampling point counts as a count Z of the inversion increment every time it passes through the FE interval or the ED interval 2 Introduction of the change by forward and reverse rotation of the spindleCalculating the rotation angle of the main shaft by the quantity P;
if there is no increment count, the digital signal H is compared with the angle value B (t,y B (t)) magnitude of positive and negative rotation, i.e. y C (t M+1 ) When=0v, y B (t M+1 )>y B (t M ) At this time, the hemispherical rotor rotates forward;
y C (t M+1 ) When=0v, y B (t M+1 )<y B (t M ) The hemispherical rotor is reversed at this time;
y C (t M+1 ) When=5v, y B (t M+1 )>y B (t M ) The hemispherical rotor is reversed at this time;
y C (t M+1 ) When=5v, y B (t M+1 )<y B (t M ) At this time, the hemispherical rotor rotates forward;
if y C (t 0 )＝0V，y C (t M+1 ) =0v, then the hemispherical rotor rotates by an angle value θ as shown in the following formula (1);
if y C (t 0 )＝5V，y C (t M+1 ) =5v, then the hemispherical rotor rotates by an angle value θ as shown in the following formula (2);
if y C (t 0 )＝0V，y C (t M+1 ) =5v, then the hemispherical rotor rotates by an angle value θ as shown in the following formula (3);
if y C (t 0 )＝5V，y C (t M+1 )＝0V, the hemispherical rotor rotates by an angle value theta at the moment as shown in the following formula (4);
by combining the above, the rotation angle value theta of the hemispherical rotor, namely the spindle rotation angle theta, can be solved.
The beneficial effects of the invention are as follows:
1. the magneto-electric encoder generates a converging magnetic field by energizing three groups of parallel spherical winding coils which are 120 degrees apart, and is more stable and reliable relative to the magnetic field generated by a permanent magnet.
2. The magneto-electric encoder is used for collecting components of the converging magnetic field in different directions by utilizing different mounting positions of the Hall sensors, and simultaneously realizing real-time monitoring of the rotation angle of the main shaft and the axial movement of the main shaft.
3. The magneto-electric encoder uses the linear Hall sensor and the switch Hall sensor in a matched manner, so that the reliability and the angle resolving precision of the encoder are improved.
Description of the drawings:
FIG. 1 is an overall schematic of the present invention;
FIG. 2 is a schematic diagram of a magnetic field signal generating device according to the present invention;
FIG. 3 is a schematic diagram of a signal receiving and processing device according to the present invention;
FIG. 4 is a signal acquisition image of a patch Hall sensor (wherein a is an image of a sampling point when the axial play distance L is less than or equal to 3mm, and b is a voltage image corresponding to the axial play distance L is less than or equal to 3 mm);
FIG. 5 is a digital signal of the angle value collected by the linear Hall sensors one, two and three in one revolution of the hemispherical rotor;
fig. 6 is a signal acquisition image of a single-turn plug-in hall sensor of a hemispherical rotor (wherein c is an angle value digital signal maximum value image acquired by three groups of plug-in linear hall sensors, and d is an angle value digital signal image acquired by a plug-in switch hall sensor);
FIG. 7 is a front view of a spherical winding coil assembly;
table 1 variable P value lookup table;
in the figure, 1, an encoder shell, 1-1, a shell body, 1-2, a bearing, 1-3, an end cover, 1-4, a bolt, 2, a magnetic field signal generating device, 2-1, a spherical winding, 2-2, a hemispherical rotor, 2-3 a bus ring I, 2-4, a brush bracket I, 2-5, a brush I, 2-6, a brush bracket II, 2-7, a brush II, 2-8, a bus ring II, 2-9, a spindle, 2-10, a screw I, 3, a signal receiving processing device, 3-1, a signal processing board support, 3-2, a singlechip, 3-3, a power chip, 3-4, a signal processing board, 3-5, a patch type Hall sensor, 3-6, a plug-in type linear Hall sensor, 3-6-1, a plug-in type linear Hall sensor I, 3-6-2, a plug-in type linear Hall sensor III, 3-7, a plug-in type switch, 3-8, and a magnetic conduction board II.
The specific embodiment is as follows:
the following describes in detail the embodiments of the present invention with reference to the drawings.
The detailed description/examples set forth herein are specific embodiments of the invention and are intended to be illustrative and exemplary of the concepts of the invention and are not to be construed as limiting the scope of the invention. In addition to the embodiments described herein, those skilled in the art will be able to adopt other obvious solutions based on the disclosure of the claims and specification of the present application, including those adopting any obvious substitutions and modifications to the embodiments described herein, all within the scope of the present invention.
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the present invention is described below by means of specific embodiments shown in the accompanying drawings. It should be understood that the description is only illustrative and is not intended to limit the scope of the invention. In addition, in the following description, descriptions of well-known structures and techniques are omitted so as not to unnecessarily obscure the present invention.
As shown in fig. 1, 2, 3, 4, 5, 6, 7 and table 1, the following technical solutions are adopted in this embodiment:
the spherical multi-winding magneto-electric encoder consists of an encoder shell 1, a magnetic field signal generating device 2 and a signal receiving and processing device 3.
The method is characterized in that: the encoder housing 1 is in transition fit with the magnetic field signal generating device 2, and the encoder housing 1 is in interference fit with the signal receiving and processing device 3;
further, the encoder housing 1 comprises a housing body 1-1, a bearing 1-2, an end cover 1-3 and a bolt 1-4, wherein the housing body 1-1 is in transition fit with the bolt 1-4, the bearing 1-2 is in transition fit with the end cover 1-3, and the end cover 1-3 is in transition fit with the bolt 1-4;
further, the magnetic field signal generating device 2 comprises a spherical winding 2-1, a hemispherical rotor 2-2, a confluence ring 1-3, a brush bracket 1 2-4, a brush 1 2-5, a brush bracket 2-6, a brush 2-7, a confluence ring 2-8, a main shaft 2-9 and a screw 1-10, wherein the spherical winding 2-1 is in transition fit with the hemispherical rotor 2-2, the spherical winding 2-1 is in interference fit with the confluence ring 1-3 and the confluence ring 2-8, the hemispherical rotor 2-2 is in transition fit with the confluence ring 1-3, the confluence ring 1-3 is in contact with the brush 1-5, the brush bracket 2-4 is in transition fit with the brush 1-5, the confluence ring 2-8 is in contact with the brush 2-7, the brush bracket 2-6 is in transition fit with the brush 2-7, the hemispherical rotor 2-2 is in transition fit with the confluence ring 2-8, and the hemispherical rotor 2-9 is fixedly connected with the main shaft 2-9 by a screw 2-10; the main shaft 2-9 is in transition fit with the bearing 1-3, and the first brush bracket 2-4 and the second brush bracket 2-6 are in interference fit through the bolt 1-2;
further, the signal receiving and processing device 3 comprises a signal processing board supporting frame 3-1, a singlechip 3-2, a power chip 3-3, a signal processing board 3-4, a patch type Hall sensor 3-5, a linear Hall sensor 3-6, a plug-in type linear Hall sensor I3-6-1, a plug-in type linear Hall sensor II 3-6-2, a plug-in type linear Hall sensor III-6-3, a plug-in type switch Hall sensor 3-7, a magnetic conduction board 3-8, a screw II 3-9, wherein the signal processing board supporting frame 3-1 is in interference fit with the shell 1, the signal processing board 3-4, the magnetic conduction board 3-8 are in fastening fit with the screw II 3-9 by the signal processing board supporting frame 3-1, the singlechip 3-2, the power chip 3-3 and the signal processing board 3-4 are welded, the patch type Hall sensor 3-5, the linear Hall sensor I3-6-1, the linear Hall sensor II 3-6-2, the Hall sensor III-6-3, the Hall sensor III-6-7 and the signal processing board 3-4 are welded with the signal processing board.
The magneto-electric encoder realizes conversion acquisition of digital signals.
A calculation angle resolving method is applied to a spherical multi-winding magneto-electric encoder;
an angle resolving method comprises the following specific implementation processes:
step one: collecting magnetic field intensity signals of a patch type Hall sensor, a plug-in type linear Hall sensor I, a plug-in type linear Hall sensor II, a plug-in type linear Hall sensor III and a plug-in type switch Hall sensor, and outputting angle value signals A, B outwards 1 、B 2 、B 3 C, utilizing single-chip microcomputer to make angle value signal A, B 1 、B 2 、B 3 Conversion of C into an angle value digital signal H A 、H B1 、H B2 、H B3 、H C ；
Step two: under the action of the magnetic conduction plate, three groups of spherical winding coils which are connected in parallel and are 120 degrees apart generate a converging magnetic field, because the radial magnetic field components of the converging magnetic field at the axis of the main shaft are mutually offset, and the axial magnetic field component at the position of the center of the sphere is the largest, because the mounting position of the patch type Hall sensor can only collect the magnetic field intensity signal of the converging magnetic field at the axial magnetic field component, a group of angle value signals A can be collected after the magnetoelectric encoder stably operates for a period of time, and the angle value digital signals H are obtained through the processing of a singlechip A (t,y A (t)), where t is the sampling point, y A (t) is the amplitude of the digital signal corresponding to the sampling point t; the axial play distance L of the encoder spindle allowed during operation is less than or equal to 3mm as shown in FIG. 4aThe digital signal H is shown when L=0 mm is measured A (t,y A (t)) corresponds to an amplitude of 5V, and when l=3 mm, the digital signal H A (t,y A (t)) corresponds to a magnitude of 4.6V as shown in fig. 4 b;
i.e. when y A When (t) is more than or equal to 4.6V, the axial movement distance of the motor main shaft in the running process is within an allowable range, and the motor main shaft can be regarded as reasonable axial movement;
when y is A (t)<When the axial movement distance of the motor spindle exceeds the allowable range in the operation process, an alarm signal is required to be sent to a main control system at the moment, so that engineering accidents are avoided;
step three: because the magnetic fields generated by three groups of parallel spherical winding coils with 120 degrees apart are converged at the spherical center, the hemispherical rotor is driven by the adjusting main shaft to rotate each circle of plug-in type linear Hall sensor I, plug-in type linear Hall sensor II and plug-in type linear Hall sensor III, and three groups of angle value signals B with 120 degrees phase difference and cosine change can be output 1 、B 2 、B 3 Three groups of cosine-shaped-change angle value digital signals H with 120 DEG phase difference are obtained through single chip microcomputer processing B1 、H B2 、H B3 As shown in fig. 4, the three sets of angle value digital signals are compared and the maximum value is taken to obtain an angle value digital signal H B (t,y B (t)) as shown in fig. 6C, the plug-in type switch hall sensor can acquire a group of angle value signals C with high and low level interval distribution, and the angle value digital signals H are obtained by the singlechip after analog-digital conversion C (t,y C (t)) is shown in FIG. 6d, where t is the sampling point, y B (t)、y C (t) is the amplitude of the digital signal of the angle value corresponding to the sampling point t; digital signal H of angle value B (t,y B The maximum amplitude in (t)) is noted as y Bmax The minimum amplitude is denoted as y Bmin The method comprises the steps of carrying out a first treatment on the surface of the Introducing a correction zero y B0 ＝2×y Bmin -y Bmax Correction amplitude y with respect to correction zero Be ＝(y Bmax -y Bmin ) X 2; digital signal H of angle value B (t,y B (t))、H C (t,y C (t)) into sixThe intervals are respectively marked as DE, EF, FG, GH, HJ, JK intervals as shown in fig. 6, and the intervals of DE, EF, FG, GH, HJ and JK are periodical digital signal images, and as the periodical digital signal images are overlapped with the point D and the point F, overlapped with the point H and overlapped with the point K, the angle value theta can be obtained by solving an inverse trigonometric function;
if the current sampling point t M+1 From the previous sampling point t M The magnitude relation of the corresponding digital signal amplitude is as y B (t M+1 )＝y B (t M )、y C (t M+1 )＝y C (t M ) When the hemispherical rotor does not rotate;
when the hemispherical rotor rotates all the time, there is a first sampling point t 0 The corresponding digital signal amplitude is y B (t 0 )，y C (t 0 ) The method comprises the steps of carrying out a first treatment on the surface of the Three times interval y appears in one circle of unidirectional rotation of hemispherical rotor B (t)＝y Bmax 、y C (t) transition from high to low, y B (t)＝y Bmin 、y C (t) transition from Low to high or y B (t)＝y Bmin 、y C (t) transition from high to low, y B (t)＝y Bmax 、y C (t) transition from low to high; it can be known that the amplitude of the sampling point is y in unidirectional rotation Bmax To the vicinity of y Bmin Hemispherical rotor turns
Will y each time B (t)＝y Bmax 、y C (t) transition from high to low or y each time B (t)＝y Bmin 、y C (t) the transition from the low level to the high level is recorded as a forward rotation increment count Z 1 The sampling point is counted as a forward rotation increment count Z every time the sampling point passes through the DE interval or the EF interval 1 Will y each time B (t)＝y Bmin 、y C (t) transition from high to low or y each time B (t)＝y Bmax 、y C (t) transition from low to high is counted as a count Z of inverted increments 2 I.e. the sampling point counts as a count Z of the inversion increment every time it passes through the FE interval or the ED interval 2 Determining forward and backward rotation of the main shaft through the table lookup 1, and then introducing a variable P to calculate the rotation angle of the main shaft;
if there is no increment count, the digital signal H is compared with the angle value B (t,y B (t)) magnitude of positive and negative rotation, i.e. y C (t M+1 ) When=0v, y B (t M+1 )>y B (t M ) At this time, the hemispherical rotor rotates forward;
y C (t M+1 ) When=0v, y B (t M+1 )<y B (t M ) The hemispherical rotor is reversed at this time;
y C (t M+1 ) When=5v, y B (t M+1 )>y B (t M ) The hemispherical rotor is reversed at this time;
y C (t M+1 ) When=5v, y B (t M+1 )<y B (t M ) At this time, the hemispherical rotor rotates forward;
if y C (t 0 )＝0V，y C (t M+1 ) =0v, then the hemispherical rotor rotates by an angle value θ as shown in the following formula (1);
if y C (t 0 )＝5V，y C (t M+1 ) =5v, then the hemispherical rotor rotates by an angle value θ as shown in the following formula (2);
if y C (t 0 )＝0V，y C (t M+1 ) =5v, then the hemispherical rotor rotates by an angle value θ as shown in the following formula (3);
if y C (t 0 )＝5V，y C (t M+1 ) =0v, then the hemispherical rotor rotates by an angle value θ as shown in the following equation (4);
by combining the above, the spindle rotation angle value theta, namely the spindle rotation angle theta, can be solved.
The foregoing has shown and described the basic principles and main features of the present invention and the advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (1)
1. The method is applied to a spherical multi-winding magneto-electric encoder and an angle resolving method thereof, and comprises three parts, namely an encoder shell (1), a magnetic field signal generating device (2) and a signal receiving and processing device (3), wherein the encoder shell (1) is in transition fit with the magnetic field signal generating device (2), and the encoder shell (1) is in interference fit with the signal receiving and processing device (3); the encoder shell (1) comprises a shell body (1-1), a bearing (1-2), an end cover (1-3) and a bolt (1-4), wherein the shell body (1-1) is in transition fit with the bolt (1-4), the bearing (1-2) is in transition fit with the end cover (1-3), and the end cover (1-3) is in transition fit with the bolt (1-4); the magnetic field signal generating device (2) comprises a spherical winding (2-1), a hemispherical rotor (2-2), a confluence ring I (2-3), a brush bracket I (2-4), a brush I (2-5), a brush bracket II (2-6), a brush II (2-7), a confluence ring II (2-8), a main shaft (2-9) and a screw I (2-10), wherein the spherical winding (2-1) is in transition fit with the hemispherical rotor (2-2), the spherical winding (2-1) is in interference fit with the confluence ring I (2-3) and the confluence ring II (2-8), the hemispherical rotor (2-2) is in transition fit with the confluence ring I (2-3), the confluence ring I (2-3) is in line contact with the brush I (2-5), the brush bracket I (2-4) is in transition fit with the brush I (2-5), the confluence ring II (2-8) is in line contact with the brush II (2-7), the bracket II (2-6) is in transition fit with the hemispheric rotor (2-7), the hemispheric rotor (2-8) is in transition fit with the confluence ring II (2-8), the hemispherical rotor (2-2) is fixedly connected with the main shaft (2-9) through a first screw (2-10), the main shaft (2-9) is in transition fit with the bearing (1-2), and the first electric brush bracket (2-4) and the second electric brush bracket (2-6) are in interference fit through a bolt (1-4); the signal receiving and processing device (3) comprises a signal processing board supporting frame (3-1), a singlechip (3-2), a power chip (3-3), a signal processing board (3-4), a patch type Hall sensor (3-5), a plug-in type linear Hall sensor (3-6), a plug-in type linear Hall sensor I (3-6-1), a plug-in type linear Hall sensor II (3-6-2), a plug-in type linear Hall sensor III (3-6-3), a plug-in type switch Hall sensor (3-7), a magnetic conduction board (3-8), a screw II (3-9), the signal processing board supporting frame (3-1) is in interference fit with the shell (1), the signal processing board (3-4), the magnetic conduction board (3-8) is tightly matched with the screw II (3-9) through the signal processing board supporting frame (3-1), the singlechip (3-2), the power chip (3-3) is welded with the signal processing board (3-4), the patch type linear Hall sensor II (3-5), the plug-in type linear Hall sensor II (3-6), the plug-in type linear Hall sensor II (3-6), the plug-in type linear sensor II (3-6) and the plug-in type linear sensor II (3-6) are in type linear sensor II-6 The plug-in type switch Hall sensor (3-7) is welded with the signal processing board (3-4);
the method is characterized in that: the method comprises the following specific implementation processes:
step one: collecting magnetic field intensity signals of a patch type Hall sensor, a plug-in type linear Hall sensor I, a plug-in type linear Hall sensor II, a plug-in type linear Hall sensor III and a plug-in type switch Hall sensor, and outputting angle value signals A, B outwards 1 、B 2 、B 3 C, utilizing single-chip microcomputer to make angle value signal A, B 1 、B 2 、B 3 Conversion of C into an angle value digital signal H A 、H B1 、H B2 、H B3 、H C ；
Step two: three groups of parallel spherical winding coils with 120-degree distance under the action of magnetic conduction plateThe method comprises the steps of generating a converging magnetic field, wherein radial magnetic field components of the converging magnetic field at the axis of a main shaft are offset, axial magnetic field components at the position of a spherical center are maximum, the mounting position of the patch type Hall sensor can only collect magnetic field intensity signals of the converging magnetic field at the axial magnetic field components, a group of angle value signals A can be collected after a magnetoelectric encoder stably operates for a period of time, and angle value digital signals H are obtained through single chip microcomputer processing A (t,y A (t)), where t is the sampling point, y A (t) is the amplitude of the digital signal corresponding to the sampling point t; the axial movement distance L of the main shaft of the encoder allowed in the running process is less than or equal to 3mm, and the digital signal H is measured when L=0mm A (t,y A (t)) corresponds to an amplitude of 5V, and when l=3 mm, the digital signal H A (t,y A (t)) corresponds to a magnitude of 4.6V;
i.e. when y A When (t) is more than or equal to 4.6V, the axial movement distance of the motor main shaft in the running process is within an allowable range, and the motor main shaft can be regarded as reasonable axial movement;
when y is A (t)<When the axial movement distance of the motor spindle exceeds the allowable range in the operation process, an alarm signal is required to be sent to a main control system at the moment, so that engineering accidents are avoided;
step three: because the magnetic fields generated by three groups of parallel spherical winding coils with 120 degrees apart are converged at the spherical center, the hemispherical rotor is driven by the adjusting main shaft to rotate each circle of plug-in type linear Hall sensor I, plug-in type linear Hall sensor II and plug-in type linear Hall sensor III to output three groups of cosine-shaped variable angle value signals B with 120 degrees phase difference 1 、B 2 、B 3 Three groups of cosine-shaped-change angle value digital signals H with 120 DEG phase difference are obtained through single chip microcomputer processing B1 、H B2 、H B3 Comparing the three groups of angle value digital signals and taking the maximum value to obtain an angle value digital signal H B (t,y B (t)), the plug-in type switch Hall sensor can collect a group of angle value signals C which are distributed at intervals of high and low levels, and angle value digital signals H are obtained after analog-digital conversion by the singlechip C (t,y C (t)), where t is the sampling point, y B (t)、y C (t) is the amplitude of the digital signal of the angle value corresponding to the sampling point t; digital signal H of angle value B (t,y B The maximum amplitude in (t)) is noted as y Bmax The minimum amplitude is denoted as y Bmin The method comprises the steps of carrying out a first treatment on the surface of the Introducing a correction zero y B0 ＝2×y Bmin -y Bmax Correction amplitude y with respect to correction zero Be ＝(y Bmax -y Bmin ) X 2; digital signal H of angle value B (t,y B (t))、H C (t,y C The corresponding image is divided into six sections, which are respectively marked as DE, EF, FG, GH, HJ, JK sections, and the sections DE, EF, FG, GH, HJ and JK are periodical digital signal images, and the angle value theta can be obtained by solving an inverse trigonometric function because the periodical digital signal images are overlapped with the point D and the point F, overlapped with the point F and overlapped with the point H;
if the current sampling point t M+1 From the previous sampling point t M The magnitude relation of the corresponding digital signal amplitude is as y B (t M+1 )＝y B (t M )、y C (t M+1 )＝y C (t M ) When the hemispherical rotor does not rotate;
when the hemispherical rotor rotates all the time, there is a first sampling point t 0 The corresponding digital signal amplitude is y B (t 0 )，y C (t 0 ) The method comprises the steps of carrying out a first treatment on the surface of the Three times interval y appears in one circle of unidirectional rotation of hemispherical rotor B (t)＝y Bmax 、y C (t) transition from high to low, y B (t)＝y Bmin 、y C (t) transition from Low to high or y B (t)＝y Bmin 、y C (t) transition from high to low, y B (t)＝y Bmax 、y C (t) transition from low to high; it can be known that the amplitude of the sampling point is y in unidirectional rotation Bmax To the vicinity of y Bmin Hemispherical rotor turns
Will y each time B (t)＝y Bmax 、y C (t) transition from high to low or y each time B (t)＝y Bmin 、y C (t) the transition from the low level to the high level is recorded as a forward rotation increment count Z 1 Will y each time B (t)＝y Bmin 、y C (t) transition from high to low or y each time B (t)＝y Bmax 、y C (t) transition from low to high is counted as a count Z of inverted increments 2 The spindle rotation angle is calculated by introducing a variable P through the forward and reverse rotation of the spindle;
if there is no increment count, the digital signal H is compared with the angle value B (t,y B (t)) magnitude of positive and negative rotation, i.e. y C (t M+1 ) When=0v, y B (t M+1 )>y B (t M ) At this time, the hemispherical rotor rotates forward;
y C (t M+1 ) When=0v, y B (t M+1 )<y B (t M ) The hemispherical rotor is reversed at this time;
y C (t M+1 ) When=5v, y B (t M+1 )>y B (t M ) The hemispherical rotor is reversed at this time;
y C (t M+1 ) When=5v, y B (t M+1 )<y B (t M ) At this time, the hemispherical rotor rotates forward;
if y C (t 0 )＝0V，y C (t M+1 ) =0v, then the hemispherical rotor rotates by an angle value θ as shown in the following formula (1);
if y C (t 0 )＝5V，y C (t M+1 ) =5v, then the hemispherical rotor rotates by an angle value θ as shown in the following formula (2);
if y C (t 0 )＝0V，y C (t M+1 ) =5v, then the hemispherical rotor rotates by an angle value θ as shown in the following formula (3);
if y C (t 0 )＝5V，y C (t M+1 ) =0v, then the hemispherical rotor rotates by an angle value θ as shown in the following equation (4);
by combining the above, the rotation angle value theta of the hemispherical rotor, namely the spindle rotation angle theta, can be solved.
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