CN115876386A - Parameter correction method and device of Hall torque sensor and storage medium - Google Patents

Abstract

The application discloses a parameter correction method of a Hall torque sensor, electronic equipment and a storage medium, wherein the method comprises the following steps: acquiring a plurality of actual parameter values of a parameter to be corrected of the Hall torque sensor, wherein the actual parameter values are parameter values of the parameter to be corrected under the condition that corresponding influence factors are respectively in a plurality of different states, the parameter to be corrected comprises at least one of voltage and torsion compensation, the influence factor corresponding to the voltage is torque, and the influence factor corresponding to the torsion compensation is temperature; and correcting the parameter to be corrected based on the plurality of actual parameter values of the parameter to be corrected and the standard parameter value of the parameter to be corrected. According to the scheme, the voltage and/or the torsion of the Hall torque sensor can be corrected, so that the accuracy and the reliability of measurement of the Hall torque sensor are improved.

Description

Parameter calibration method, device, and storage medium of a Hall torque sensor

technical field

The present application relates to the technical field of sensors, in particular to a parameter calibration method of a Hall torque sensor, electronic equipment, and a storage medium.

Background technique

The torque sensor is an important safety component in the electric power steering system (Electric Power Steering, referred to as EPS). The measurement accuracy and reliability of the torque sensor in the EPS play a decisive role in the steering. Measurement errors will cause the motor to run incorrectly, and the steering process is out of control. , causing major accidents.

At present, the mainstream torque sensor used in EPS in the market is the Hall torque sensor. The Hall torque sensor generates a magnetic field by a magnetic ring. The magnetic ring is coupled with the Hall torque sensor. When the Hall torque sensor operates in the EPS system, the torsion bar is affected by the torque of the steering wheel, the position of the magnetic ring in the Hall torque sensor relative to the soft magnetic conductor changes, and the magnetic flux density of the soft magnetic conductor changes accordingly. The torque sensor measures the magnetic flux density which will also change. This method measures the absolute value of the magnetic field strength and magnetic flux density through the magnetic ring, but because the Hall torque sensor is susceptible to various factors such as temperature, manufacturing and installation errors, etc., the relevant measurement parameters of the Hall torque sensor may exist. The deviation affects the measurement accuracy of the Hall torque sensor, which in turn affects the power assistance sensitivity and reliability of the EPS.

Contents of the invention

The present application at least provides a parameter calibration method of a Hall torque sensor, electronic equipment, and a storage medium, capable of calibrating the parameters of the Hall torque sensor, so as to improve the accuracy and reliability of its measurement.

The first aspect of the present application provides a method for correcting parameters of a Hall torque sensor, the method comprising: obtaining several actual parameter values of the parameters to be corrected of the Hall torque sensor, wherein the values of the several actual parameters are in the corresponding values of the parameters to be corrected The parameter values of the influencing factors in several different states, the parameters to be corrected include at least one of voltage and torque compensation, the influencing factor corresponding to voltage is torque, and the influencing factor corresponding to torque compensation is temperature; several actual parameters based on the parameters to be corrected value and the standard parameter value of the parameter to be corrected, the parameter to be corrected is corrected.

Among them, the parameters to be corrected include voltage, and several actual parameter values of the parameters to be corrected of the Hall torque sensor are obtained, including: measuring the actual voltage values corresponding to the Hall torque sensor under different torques; several actual parameter values based on the parameters to be corrected and the standard parameter value of the parameter to be corrected, the parameter to be corrected is corrected, including: using the actual voltage values corresponding to different torques to determine the current voltage sensitivity coefficient, wherein the current voltage sensitivity coefficient is the Hall torque sensor during calibration The slope of the previous torque-voltage curve; based on the actual voltage values corresponding to at least two target torques, the standard voltage values corresponding to at least two target torques, and the current voltage sensitivity coefficient, the corrected voltage sensitivity coefficient is obtained, wherein, The corrected voltage sensitivity coefficient represents the slope of the corrected torque-voltage curve.

Among them, using the actual voltage values corresponding to different torques to determine the current voltage sensitivity coefficient includes: using the actual voltage values corresponding to different torques to generate torque-voltage curves before correction; converting the torque-voltage curves before correction The slope of is used as the current voltage sensitivity coefficient; based on the actual voltage values corresponding to at least two target torques, the standard voltage values corresponding to at least two target torques, and the current voltage sensitivity coefficient, the corrected voltage sensitivity coefficient is obtained, including : Obtain the first voltage difference between the standard voltage values corresponding to the two target torques respectively, and the second voltage difference between the actual voltage values corresponding to the two target torques respectively, and combine the first voltage difference and the second voltage difference The product of the ratio and the current voltage sensitivity coefficient is used as the corrected voltage sensitivity coefficient.

Wherein, after obtaining the corrected voltage sensitivity coefficient, the method further includes: using the third voltage difference between the standard voltage value and the actual voltage value of the midpoint voltage to obtain a corrected voltage value of the midpoint voltage, wherein the midpoint voltage Indicates the voltage corresponding to the Hall torque sensor when the torque is zero, and the correction voltage value is used to represent the translation of the torque-voltage curve before and after correction.

Wherein, after using the difference between the standard voltage value and the actual voltage value of the midpoint voltage to obtain the corrected voltage value of the midpoint voltage, the method further includes any one or more of the following steps: in response to the corrected voltage sensitivity coefficient satisfying Sensitivity coefficient requirements, the corrected voltage sensitivity coefficient is written into the memory of the Hall torque sensor; in response to the corrected voltage value of the midpoint voltage meeting the midpoint voltage requirement, the corrected voltage value of the midpoint voltage is written into the Hall torque sensor In the memory of the Hall torque sensor; use the current torque of the Hall torque sensor and the corrected torque voltage curve to obtain the corrected output voltage of the Hall torque sensor, and use the ratio between the power supply voltage of the Hall torque sensor and the reference voltage as the amplification factor, The corrected output voltage is amplified by the amplification factor to obtain the current output voltage of the Hall torque sensor.

Among them, the parameters to be corrected include torque compensation, obtaining several actual parameter values of the parameters to be corrected by the Hall torque sensor, including: measuring the actual torque compensation values corresponding to the Hall torque sensor at different temperatures; several actual values based on the parameters to be corrected The parameter value and the standard parameter value of the parameter to be corrected are corrected for the parameter to be corrected, including: obtaining a standard torque compensation range; responding to the fact that the measured actual torque compensation value exceeds the standard torque compensation range, selecting from at least one set of candidate compensation correction parameters Select a set of target compensation correction parameters, wherein the target compensation correction parameters can make the corrected torque compensation values at different temperatures within the standard torque compensation range, and the target compensation correction parameters are used to adjust the Hall torque sensor at different temperatures torque compensation.

Wherein, each group of candidate compensation correction parameters includes a first candidate correction parameter and a second candidate correction parameter, and selecting a set of target compensation correction parameters from at least one set of candidate compensation correction parameters includes: for each set of candidate compensation correction parameters, obtaining The temperature difference between each temperature and the reference temperature is calculated by using the temperature difference corresponding to each temperature, the first candidate correction parameter and the second candidate correction parameter to obtain the corrected torque compensation value at each temperature; in response to the candidate compensation The corrected torque compensation values corresponding to the correction parameters are all within the standard torque compensation range, and the candidate compensation correction parameters are determined as the target compensation correction parameters.

Wherein, after selecting a set of target compensation correction parameters from at least one set of candidate compensation correction parameters, the method further includes any one or more of the following steps: writing the target compensation correction parameters into the memory of the Hall torque sensor; acquiring the Hall torque sensor The current temperature of the Hall torque sensor is obtained, the current temperature difference between the current temperature and the reference temperature is obtained, and the target torque compensation value at the current temperature is calculated by using the current temperature difference and the target compensation correction parameter, and the target torque compensation value is used for Hall The current torque of the torque sensor is compensated.

The second aspect of the present application provides an electronic device, including a memory and a processor coupled to each other, and the processor is used to execute the program instructions stored in the memory, so as to realize the parameters of the Hall torque sensor in any one of the above-mentioned first aspects Calibration method.

The third aspect of the present application provides a computer-readable storage medium, on which program instructions are stored, and when the program instructions are executed by a processor, the method for calibrating the parameters of the Hall torque sensor in the first aspect above is implemented.

The above scheme uses the voltage and/or torque compensation of the Hall torque sensor as the parameters to be corrected, and uses the parameter values and standard parameter values of the parameters to be corrected by the Hall torque sensor when the corresponding influencing factors are in several different states and their standard parameter values. The correction of the correction parameters, thereby realizing the correction of the voltage and/or torque compensation of the Hall torque sensor, thereby improving the accuracy and reliability of the Hall torque sensor measurement.

Specifically, for voltage correction, the actual voltage value of the Hall torque sensor under different torques is obtained by measurement, and the voltage sensitivity coefficient is corrected by using the standard voltage value corresponding to the actual voltage value under different torques. The problem of deviation between the actual measured voltage of the Hall torque sensor and the design voltage can be solved, and the accuracy and reliability of the Hall torque sensor can be improved. For torque compensation correction, by measuring the actual torque compensation value of the Hall torque sensor at different temperatures, when the actual torque compensation value at different temperatures exceeds the standard torque compensation range, it is determined that the corrected actual torque at different temperatures The compensation correction parameter whose torque compensation value is within the standard torque compensation range realizes the correction of torque compensation, thereby reducing the influence of temperature on the measurement of the Hall torque sensor and improving the accuracy and reliability of the measurement of the Hall torque sensor.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.

Description of drawings

The accompanying drawings here are incorporated into the specification and constitute a part of the specification. These drawings show embodiments consistent with the application, and are used together with the description to describe the technical solution of the application.

Fig. 1 is a schematic flow chart of an embodiment of the parameter correction method of the Hall torque sensor of the present application;

Fig. 2 is a schematic flow chart of an embodiment of the voltage correction method of the Hall torque sensor of the present application;

Fig. 3 is a schematic flow chart of another embodiment of the voltage correction method of the Hall torque sensor of the present application;

Fig. 4 is a graph of an embodiment of the application output torque and sensor output voltage;

Fig. 5 is a schematic flow chart of an embodiment of a torque compensation correction method for a Hall torque sensor of the present application;

Fig. 6 is a schematic flowchart of another embodiment of the torque compensation correction method of the Hall torque sensor of the present application;

Fig. 7 is a graph of an embodiment of the application output temperature and booster gain;

Fig. 8 is a schematic frame diagram of an embodiment of the electronic device of the present application;

Fig. 9 is a schematic diagram of an embodiment of a computer-readable storage medium of the present application.

Detailed ways

The solutions of the embodiments of the present application will be described in detail below in conjunction with the accompanying drawings.

In the following description, for purposes of illustration rather than limitation, specific details, such as specific system architectures, interfaces, and techniques, are set forth in order to provide a thorough understanding of the present application.

The term "at least one" herein means any one of a variety or any combination of at least two of a variety, for example, including at least one of A, B, and C, may mean including from A, B, and Any one or more elements selected from the set formed by C.

Please refer to FIG. 1 . FIG. 1 is a schematic flowchart of an embodiment of a method for calibrating parameters of a Hall torque sensor according to the present application. Specific steps are as follows:

Step S110: Acquiring several actual parameter values of the parameters to be corrected of the Hall torque sensor.

Among them, some actual parameter values are the parameter values of the parameters to be corrected when the corresponding influence factors are in several different states, the parameters to be corrected include at least one of voltage and torque compensation, the influence factor corresponding to voltage is torque, and the corresponding to torque compensation The influencing factor is temperature.

The Hall torque sensor mentioned in this article usually includes: a torsion shaft, a permanent magnet block and a Hall element. A permanent magnet block is installed on the torsion pump, and a Hall element is installed at a certain angle from the permanent magnet block. When the Hall When the torque sensor is subjected to a torque, the torsion shaft will rotate an angle, which will drive the position of the permanent magnet to change, so that the distance between the permanent magnet and the Hall element will change, so that the voltage output by the Hall element will change. In this process, the Hall torque sensor converts the change of torque into a change of voltage output. Therefore, the actual voltage value measured by the Hall torque sensor is easily affected by the torque. The Hall torque sensor can be used in the field of automobile industry, and can also be used in the control and monitoring of oil exploration and refining processes and the like. It can be understood that the method for calibrating the parameters of the Hall torque sensor herein can also be applied in various fields, which is not specifically limited here.

In addition, the Hall torque sensor can output a corresponding torque compensation signal according to its temperature, and the torque compensation signal will be sent to auxiliary power equipment such as a servo motor or a steering motor, and the auxiliary power equipment will generate a corresponding torque compensation value according to the torque compensation signal. Among them, if the actual torque provided by the auxiliary power equipment is not equal to the standard torque, the difference in torque is the torque compensation value. For example, in EPS, the actual torque output by the steering motor according to the signal is 5.2N·m, and the standard torque of the signal is 5N·m, then 0.2N·m is the torque compensation value, that is, the booster gain value.

In a specific embodiment, a temperature sensor may be provided in the Hall torque sensor to measure the temperature of the Hall torque sensor itself or the temperature of its environment.

Step S120: Correct the parameter to be corrected based on several actual parameter values of the parameter to be corrected and standard parameter values of the parameter to be corrected.

In some embodiments, the actual voltage value and the standard voltage value of the Hall torque sensor under different torques are obtained, and the actual voltage value is corrected based on the standard voltage value, so that the actual voltage value approaches the standard voltage value, Or equal to the standard voltage value. It can be understood that the selection or setting of the standard voltage value may depend on specific circumstances, and is not specifically limited here.

In some embodiments, the torque compensation signals of the Hall torque sensor at different temperatures are obtained, and the motor can calculate the corresponding actual torque compensation value according to the torque compensation signal, and then obtain the standard torque compensation value at the corresponding temperature. Based on the standard torque compensation value, the actual torque compensation value is corrected so that the actual torque compensation value approaches the standard torque compensation value, or is equal to the standard torque compensation value. Then correct the torque compensation signal according to the corrected actual torque compensation value. It can be understood that the selection or setting of the standard torsion compensation value depends on specific conditions, and is not specifically limited here.

In some other embodiments, the output value of the Hall torque sensor is a torque compensation value at different temperatures, and after the motor receives the torque compensation value, the output actual torque compensation value is the torque compensation value. Then obtain the standard torque compensation value at the corresponding temperature. Based on the standard torque compensation value, the actual torque compensation value is corrected so that the actual torque compensation value approaches the standard torque compensation value, or is equal to the standard torque compensation value.

Please refer to FIG. 2 . FIG. 2 is a schematic flowchart of an embodiment of a voltage calibration method for a Hall torque sensor of the present application. The specific calibration steps are as follows:

Step S210: Measure the corresponding actual voltage values of the Hall torque sensor under different torques.

In some embodiments, a torque can be applied to the torsion shaft of the Hall torque sensor to drive the position of the permanent magnet block to change the magnetic flux density of the Hall torque sensor, so that the Hall torque sensor can generate a corresponding actual voltage value. Repeatedly apply multiple groups of different torques and record the corresponding actual voltage values, then the actual voltage values corresponding to the Hall torque sensor under different torques can be obtained. It can be understood that the method of measuring the actual voltage values corresponding to different torques of the Hall torque sensor can be determined according to the situation, and is not specifically limited here.

Step S220: Using the corresponding actual voltage values under different torques, determine the current voltage sensitivity coefficient.

Wherein, the current voltage sensitivity coefficient is the slope of the torque-voltage curve of the Hall torque sensor before calibration.

In some embodiments, the slope between any two sets of torque voltage data can be calculated using the general formula of slope, and the slope can be used as the voltage sensitivity coefficient of the two sets of torque voltage data. It can be understood that the calculation method for the slope of the curve may be other methods besides the general formula, which is not specifically limited here.

In other embodiments, the calculation method for the voltage sensitivity coefficient is as follows:

Step S221: Using the corresponding actual voltage values under different torques, generate a torque-voltage curve before correction.

In some embodiments, the obtained actual voltage values corresponding to different torques can be input into the rectangular coordinate system, wherein the torque can be used as the abscissa and the voltage as the ordinate, so as to generate the torque voltage before correction curve. It can be understood that the method for generating the torque-voltage curve before correction is not specifically limited here.

Step S222: Use the slope of the torque-voltage curve before correction as the current voltage sensitivity coefficient.

Step S230: Obtain a corrected voltage sensitivity coefficient based on the actual voltage values corresponding to the at least two target torques, the standard voltage values corresponding to the at least two target torques, and the current voltage sensitivity coefficient.

Wherein, the corrected voltage sensitivity coefficient represents the slope of the corrected torque-voltage curve.

In some embodiments, the actual voltage values corresponding to the two target torques are selected from the torque-voltage curve before correction, and the slope between the two target torques is calculated as the current voltage sensitivity coefficient. From the standard torque voltage Two standard voltage values corresponding to the same target torque are selected from the curve, and the corrected voltage sensitivity coefficient is obtained by using the actual voltage value, the standard voltage value and the current voltage sensitivity coefficient.

Specifically, the first voltage difference between the standard voltage values corresponding to the two target torques and the second voltage difference between the actual voltage values corresponding to the two target torques are obtained, and the first voltage difference and the second voltage The product of the ratio of the difference and the current voltage sensitivity coefficient is used as the corrected voltage sensitivity coefficient as described in Equation 1:

Among them, S' is the current voltage sensitivity coefficient, S is the corrected voltage sensitivity coefficient, A[V], B[V] are the standard voltage values corresponding to the two target torques respectively, A'[V], B'[ ] are the actual voltage values corresponding to the two target torques respectively.

Step S240: Using the third voltage difference between the standard voltage value and the actual voltage value of the midpoint voltage to obtain a corrected voltage value of the midpoint voltage.

Wherein, the midpoint voltage represents the voltage corresponding to the Hall torque sensor when the torque is zero, and the corrected voltage value is used to represent the translation amount of the torque-voltage curve before and after correction.

In some embodiments, after correcting the slope of the torque-voltage curve, the corrected torque-voltage curve may be parallel to the standard torque-voltage curve. In order to correct the torque-voltage curve to the standard torque-voltage curve, it is necessary to adjust the torque The midpoint voltage of the voltage curve is corrected. Specifically, formula 2 can be used:

V _oq =V _m ′[V]+V _o ′ _q (2)

Among them, V _o ′ _q is the actual voltage value of the midpoint voltage, V _oq is the standard voltage value of the midpoint voltage, and V _m ′[V] is the corrected voltage value.

In some embodiments, the corrected voltage sensitivity coefficient is written to the memory of the Hall torque sensor in response to the corrected voltage sensitivity coefficient meeting the sensitivity coefficient requirement. Specifically, the corrected voltage sensitivity coefficient can be verified. If it meets the sensitivity coefficient requirements, the corrected voltage sensitivity coefficient can be written into the memory of the Hall torque sensor; Coefficients are recalculated. Among them, the setting of the sensitivity coefficient requirement can be: calculate the similarity between the corrected voltage sensitivity coefficient and the standard voltage sensitivity coefficient, if the similarity reaches a certain threshold, it can be considered that the corrected voltage sensitivity coefficient meets the sensitivity coefficient requirement. It can be understood that the setting of the requirement for the sensitivity coefficient may depend on specific circumstances, and is not specifically limited here.

In some embodiments, the corrected voltage value for the midpoint voltage is written to a memory of the Hall torque sensor in response to the corrected voltage value for the midpoint voltage meeting the midpoint voltage requirement. Specifically, the corrected voltage value of the midpoint voltage can be verified. If it meets the requirements of the midpoint voltage, the corrected voltage value of the midpoint voltage can be written into the memory of the Hall torque sensor; The corrected voltage value of the voltage is recalculated. Wherein, the setting of the midpoint voltage requirement may be: judging whether the actual voltage value of the midpoint voltage plus the corrected voltage value is equal to the standard voltage value of the midpoint voltage. It can be understood that the setting of the requirement for the midpoint voltage may depend on specific circumstances, and is not specifically limited here.

In some embodiments, the corrected output voltage of the Hall torque sensor is obtained by using the current torque of the Hall torque sensor and the corrected torque-voltage curve, and the ratio between the power supply voltage of the Hall torque sensor and the reference voltage is used as an amplified coefficient, use the amplification factor to amplify the corrected output voltage to obtain the current output voltage of the Hall torque sensor. Specific as public

Formula 3:

Among them, V _T is the current output voltage of the Hall torque sensor, a is the corrected voltage sensitivity coefficient of the Hall torque sensor, θ is the torque, V _i is the standard voltage value of the midpoint voltage, and V _CC is the voltage value of the Hall torque sensor Supply voltage, V _ref is the reference voltage of the Hall torque sensor.

In a specific application scenario, the Hall torque sensor in the EPS is calibrated by using the Hall torque sensor voltage calibration method, please refer to FIG. 3 for specific steps. Step 1: Apply multiple sets of torque to the torsion bar of the steering system through the steering wheel, and record the corresponding actual voltage value generated by the Hall torque sensor. And multiple groups of torques and their corresponding actual voltage values constitute a torque-voltage curve, which can be combined with reference to FIG. 4 , wherein the corrected curve is a standard torque-voltage curve, the abscissa is the torque, and the ordinate is the voltage. Due to the working characteristics of the Hall sensor, voltage calibration can be divided into sensitivity coefficient calibration and midpoint voltage calibration.

Step 2: When correcting the voltage sensitivity coefficient, select the actual voltage value when the target torque is ±4.9N·m, calculate the slope of the two points of the actual voltage value corresponding to ±4.9N·m, and use this slope as the current Voltage sensitivity coefficients, and the voltage sensitivity coefficients of these two points in the standard torque-voltage curve are known. Correct the current voltage sensitivity coefficient to a standard voltage sensitivity coefficient through formula 1.

Among them, A[V] is the standard voltage value at 4.9N·m, B[V] is the standard voltage value at -4.9N·m, A'[V] is the actual voltage value at 4.9N·m, B '[] is the actual voltage value at -4.9N·m.

Step 3: When correcting the midpoint voltage, the voltage of the Hall torque sensor is 2.5V when it is unloaded, that is, the voltage when the torque is 0. By formula 2, the actual voltage value of the midpoint voltage is corrected to the standard voltage value, so as to obtain the corrected voltage value of the midpoint voltage.

V _oq ＝2.5V＝V _m ′[V]+ _o ′ _q

The fourth step: judging the corrected voltage sensitivity coefficient and the corrected voltage value of the midpoint voltage. Detect whether the corrected voltage sensitivity coefficient is the standard voltage sensitivity coefficient, detect whether the actual voltage value plus the corrected voltage value of the midpoint voltage is the standard voltage value of the midpoint voltage, and if so, add the corrected voltage sensitivity coefficient and the midpoint The corrected voltage value of the voltage is written into the Hall IC, and the voltage sensitivity coefficient and the voltage calibration program are locked to complete the voltage calibration; if the voltage sensitivity coefficient is not, repeat the second, third, and fourth steps above until the judgment process passes ; If the actual voltage value of the midpoint voltage plus the corrected voltage value is not equal to the standard voltage value of the midpoint voltage, repeat the third and fourth steps above until the judgment process is passed.

Please refer to FIG. 5 . FIG. 5 is a schematic flowchart of an embodiment of a torque compensation correction method for a Hall torque sensor of the present application. The specific establishment and correction steps of torque compensation are as follows:

Step S310: Measuring the actual torque compensation values corresponding to the Hall torque sensor at different temperatures.

Step S320: Obtain a standard torque compensation range.

In an ideal state, the actual torque compensation value signal output by the Hall torque sensor is 0. In actual use, the actual torque compensation value signal output by the Hall torque sensor will only tend to 0, and will not be equal to 0. Therefore, a standard torque compensation range is set, and when the actual torque compensation value signal output by the Hall torque sensor is within the standard torque compensation range, the torque compensation value corresponding to the actual torque compensation value signal will not affect normal use.

In some embodiments, the standard torsion compensation range may be preset or set according to experience, which is not specifically limited here.

Step S330: Select a set of target compensation correction parameters from at least one set of candidate compensation correction parameters in response to the fact that the measured actual torque compensation value exceeds the standard torque compensation range.

Wherein, the target compensation correction parameters can make the corrected torque compensation values at different temperatures within the standard torque compensation range, and the target compensation correction parameters are used to compensate the torque of the Hall torque sensor at different temperatures.

In some embodiments, each temperature of the Hall torque sensor corresponds to at least one set of candidate compensation correction parameters, and the candidate compensation correction parameters corresponding to each temperature may be the same or different. If the measured actual torque compensation value at a certain temperature exceeds the standard torque compensation range, a set of target compensation correction parameters is selected from the candidate compensation correction parameters at this temperature to correct the actual torque compensation value at this temperature .

In other embodiments, each temperature of the Hall torque sensor corresponds to at least one set of candidate compensation correction parameters. If the measured actual torque compensation value at a certain temperature exceeds the standard torque compensation range, a set of target compensation correction parameters is selected from the candidate compensation correction parameters to correct the actual torque compensation values at all temperatures.

Specifically, the following steps can be combined:

Step S331: For each group of candidate compensation correction parameters, obtain the temperature difference between each temperature and the reference temperature, and use the temperature difference corresponding to each temperature, the first candidate correction parameter and the second candidate correction parameter to calculate the Corrected torque compensation value.

In some embodiments, the current temperature of the Hall torque sensor is obtained, the current temperature difference between the current temperature and the reference temperature is obtained, and the target torque compensation value at the current temperature is calculated by using the current temperature difference and the target compensation correction parameter, The current torque of the Hall torque sensor is compensated by using the target torque compensation value. Specifically, as formula 4:

S _TC ＝TC ₁ ×(TT ₀ )+TC ₂ ×(TT ₀ ) ² (4)

Wherein, S _TC is the corrected torque compensation value, TC ₁ is the first candidate correction parameter, TC ₂ is the second candidate correction parameter, and T ₀ is the reference temperature.

Step S332: In response to the corrected torque compensation values corresponding to the candidate compensation correction parameters are all within the standard torque compensation range, determine the candidate compensation correction parameters as target compensation correction parameters.

In some embodiments, the target compensation correction parameters are verified, and if the corrected torque compensation values are all within the standard torque compensation range, then the candidate compensation correction parameters are determined as the target compensation correction parameters, and the target compensation correction parameters Write it into the memory of the Hall torque sensor; if the corrected torque compensation value is still beyond the standard torque compensation range, recalculate or select the target compensation correction parameter.

In a specific application scenario, the Hall torque sensor in the EPS is calibrated using the Hall torque sensor torque compensation correction method, please refer to FIG. 6 and FIG. 7 in conjunction. The first step: under the condition that the other working condition parameters are kept unchanged, measure the booster gain signal of the Hall torque sensor at different working temperatures (high and low temperature), and obtain the corresponding booster gain (that is, torque compensation) according to the booster gain signal. And a curve of the boost gain changing with temperature is obtained, wherein the determination range of setting the boost gain is within ±0.3N·m.

The second step: according to the determination range of the booster gain (that is, the torque compensation value), the curve of the booster gain versus temperature in this embodiment has exceeded the determination range of the booster gain, and a group of target compensations needs to be selected from the candidate compensation correction parameters Correction parameters, and input this set of target compensation correction parameters into Equation 4. Wherein, the straight line with the power boost gain of 0 is selected as the standard power boost gain curve. The formula 4 is used to correct the assist gain-temperature curve to a standard assist gain curve, thereby completing the correction of the assist gain signal of the Hall torque sensor.

The third step: judge the set of target compensation correction parameters, and input the boost gain measured by the Hall torque sensor into the formula 4 of the target compensation correction parameter to be set again. If the recalculated boost gain-temperature curve is in the boost If the gain is within the determination range, write the set of target compensation correction parameters into the Hall IC, and lock the torque compensation correction procedure; otherwise, repeat the above steps until the corrected boost gain-temperature curve is within the determination range of the boost gain. within range.

In this application, the actual voltage values corresponding to the Hall torque sensor under different torques are plotted into actual torque-voltage curves, and the voltage sensitivity coefficient (ie slope) of the actual torque-voltage curve is first corrected to the standard torque-voltage curve The voltage sensitivity coefficient, and then correct the actual voltage value of the midpoint voltage of the actual torque-voltage curve to the standard voltage value, so that the actual torque-voltage curve coincides with the standard torque-voltage curve, so as to complete the Hall torque sensor Correction of the output voltage, thereby improving the accuracy and reliability of the output voltage of the Hall torque sensor of the steering system. When correcting the temperature characteristics of the Hall torque sensor, obtain the torque compensation signal of the Hall torque sensor at different temperatures, calculate the corresponding actual torque compensation value according to the torque compensation signal, and then obtain the standard torque at the temperature The compensation value is based on the standard torque compensation value, and the actual torque compensation value is corrected so that the actual torque compensation value is close to the standard torque compensation value, or equal to the standard torque compensation value, and then compensated according to the corrected actual torque compensation value The value corrects the torque compensation signal, thereby improving the temperature characteristics of the steering system Hall torque sensor.

Those skilled in the art can understand that in the above method of specific implementation, the writing order of each step does not mean a strict execution order and constitutes any limitation on the implementation process. The specific execution order of each step should be based on its function and possible The inner logic is OK.

Please refer to FIG. 8 . FIG. 8 is a schematic frame diagram of an embodiment of an electronic device 80 of the present application. The electronic device 80 includes a memory 81 and a processor 82 coupled to each other. The processor 82 is used to execute the program instructions stored in the memory 81 to implement the steps of any one of the above embodiments of the Hall torque sensor parameter calibration method. In a specific implementation scenario, the electronic device 80 may include, but is not limited to: a microcomputer and a server. In addition, the electronic device 80 may also include mobile devices such as notebook computers and tablet computers, which are not limited here.

Specifically, the processor 82 is used to control itself and the memory 81 to implement the steps in any of the above embodiments of the Hall torque sensor parameter correction method, or to implement the steps in any of the above embodiments of the image detection method. The processor 82 may also be referred to as a CPU (Central Processing Unit, central processing unit). The processor 82 may be an integrated circuit chip with signal processing capabilities. The processor 82 can also be a general-purpose processor, a digital signal processor (Digital Signal Processor, DSP), an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), a field-programmable gate array (Field-Programmable Gate Array, FPGA) or other possible Program logic devices, discrete gate or transistor logic devices, discrete hardware components. A general-purpose processor may be a microprocessor, or the processor may be any conventional processor, or the like. In addition, the processor 82 may be jointly realized by an integrated circuit chip.

Please refer to FIG. 9 . FIG. 9 is a schematic frame diagram of an embodiment of a computer-readable storage medium 90 of the present application. The computer-readable storage medium 90 stores program instructions 901 that can be executed by the processor, and the program instructions 901 are used to implement the steps in any of the above embodiments of the method for correcting parameters of the Hall torque sensor.

In some embodiments, the functions or modules included in the device provided by the embodiments of the present disclosure can be used to execute the methods described in the method embodiments above, and its specific implementation can refer to the description of the method embodiments above. For brevity, here No longer.

The above descriptions of the various embodiments tend to emphasize the differences between the various embodiments, the same or similar points can be referred to each other, and for the sake of brevity, details are not repeated herein.

In the several embodiments provided in this application, it should be understood that the disclosed methods and devices may be implemented in other ways. For example, the device implementations described above are only illustrative. For example, the division of modules or units is only a logical function division. In actual implementation, there may be other division methods. For example, units or components can be combined or integrated. to another system, or some features may be ignored, or not implemented. In another point, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of devices or units may be in electrical, mechanical or other forms.

In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, each unit may exist separately physically, or two or more units may be integrated into one unit. The above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units.

If the integrated unit is realized in the form of a software function unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or part of the contribution to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium , including several instructions to make a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor (processor) execute all or part of the steps of the methods in various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disk and other media that can store program codes. .

Claims (10)

1. A parameter correction method of a Hall torque sensor is characterized by comprising the following steps:

acquiring a plurality of actual parameter values of a parameter to be corrected of the Hall torque sensor, wherein the actual parameter values are parameter values of the parameter to be corrected under the condition that corresponding influence factors are respectively in a plurality of different states, the parameter to be corrected comprises at least one of voltage and torsion compensation, the influence factor corresponding to the voltage is torque, and the influence factor corresponding to the torsion compensation is temperature;

and correcting the parameter to be corrected based on the plurality of actual parameter values of the parameter to be corrected and the standard parameter value of the parameter to be corrected.

2. The method according to claim 1, wherein the parameter to be corrected comprises a voltage, and the obtaining of the actual parameter values of the parameter to be corrected of the hall torque sensor comprises:

measuring actual voltage values respectively corresponding to the Hall torque sensors under different torques;

the correcting the parameter to be corrected based on the plurality of actual parameter values of the parameter to be corrected and the standard parameter value of the parameter to be corrected comprises the following steps:

determining a current voltage sensitivity coefficient by using the actual voltage values respectively corresponding to different torques, wherein the current voltage sensitivity coefficient is the slope of a torque-voltage curve of the Hall torque sensor before correction;

obtaining a corrected voltage sensitivity coefficient based on an actual voltage value corresponding to each of at least two target torques, a standard voltage value corresponding to each of the at least two target torques, and the current voltage sensitivity coefficient, wherein the corrected voltage sensitivity coefficient represents a slope of a corrected torque-voltage curve.

3. The method of claim 2, wherein determining the current voltage sensitivity coefficient by using the actual voltage values respectively corresponding to the different torques comprises:

generating a torque voltage curve before correction by using the actual voltage values respectively corresponding to different torques;

taking the slope of the torque-voltage curve before correction as the current voltage sensitivity coefficient;

the obtaining the corrected voltage sensitivity coefficient based on the actual voltage values respectively corresponding to the at least two target torques, the standard voltage values respectively corresponding to the at least two target torques, and the current voltage sensitivity coefficient includes:

and acquiring a first voltage difference between standard voltage values corresponding to the two target torques respectively and a second voltage difference between actual voltage values corresponding to the two target torques respectively, and taking the product of the ratio of the first voltage difference and the second voltage difference and the current voltage sensitivity coefficient as the corrected voltage sensitivity coefficient.

4. The method of claim 2, wherein after obtaining the corrected voltage sensitivity coefficient, the method further comprises:

and obtaining a correction voltage value of the midpoint voltage by using a third voltage difference between the standard voltage value and the actual voltage value of the midpoint voltage, wherein the midpoint voltage represents the voltage corresponding to the Hall torque sensor when the torque is zero, and the correction voltage value is used for representing the translation amount of the torque voltage curve before and after correction.

5. The method according to claim 4, wherein after the corrected voltage value of the midpoint voltage is obtained using a difference between the standard voltage value and the actual voltage value of the midpoint voltage, the method further comprises any one or more of the following steps:

in response to the corrected voltage sensitivity coefficient satisfying a sensitivity coefficient requirement, writing the corrected voltage sensitivity coefficient into a memory of the Hall torque sensor;

in response to the corrected voltage value for the midpoint voltage meeting a midpoint voltage requirement, writing the corrected voltage value for the midpoint voltage into a memory of the Hall torque sensor;

and obtaining the corrected output voltage of the Hall torque sensor by using the current torque of the Hall torque sensor and the corrected torque voltage curve, taking the ratio of the power voltage of the Hall torque sensor to the reference voltage as an amplification factor, and amplifying the corrected output voltage by using the amplification factor to obtain the current output voltage of the Hall torque sensor.

6. The method according to claim 1, wherein the parameter to be corrected comprises a torsional compensation, and the obtaining of the plurality of actual parameter values of the parameter to be corrected of the hall torque sensor comprises:

measuring actual torque compensation values of the Hall torque sensors respectively corresponding to different temperatures;

the correcting the parameter to be corrected based on the plurality of actual parameter values of the parameter to be corrected and the standard parameter value of the parameter to be corrected comprises the following steps:

acquiring a standard torque compensation range;

and selecting a group of target compensation correction parameters from at least one group of candidate compensation correction parameters in response to the fact that the measured actual torque compensation value exceeds the standard torque compensation range, wherein the target compensation correction parameters can enable the corrected torque compensation values at different temperatures to be located in the standard torque compensation range, and the target compensation correction parameters are used for compensating the torques of the Hall torque sensor at different temperatures.

7. The method of claim 6, wherein each set of candidate compensation correction parameters comprises a first candidate correction parameter and a second candidate correction parameter, and wherein selecting a set of target compensation correction parameters from at least one set of candidate compensation correction parameters comprises:

for each group of candidate compensation correction parameters, acquiring temperature differences between each temperature and a reference temperature, and respectively calculating to obtain corrected torque compensation values at each temperature by using the temperature differences corresponding to each temperature, the first candidate correction parameters and the second candidate correction parameters;

and determining the candidate compensation correction parameters as the target compensation correction parameters in response to that the corrected torque compensation values corresponding to the candidate compensation correction parameters are all located in the standard torque compensation range.

8. The method of claim 6, wherein after said selecting a target set of compensation correction parameters from the at least one set of candidate compensation correction parameters, the method further comprises any one or more of:

writing the target compensation correction parameter into a memory of the Hall torque sensor;

and acquiring the current temperature of the Hall torque sensor, acquiring the current temperature difference between the current temperature and a reference temperature, calculating by using the current temperature difference and the target compensation correction parameter to obtain a target torsion compensation value at the current temperature, and compensating the current torsion of the Hall torque sensor by using the target torsion compensation value.

9. An electronic device comprising a memory and a processor coupled to each other, wherein the processor is configured to execute program instructions stored in the memory to implement the method for calibrating a parameter of a hall torque sensor of any one of claims 1 to 8.

10. A computer readable storage medium having stored thereon program instructions, which when executed by a processor implement the method of parameter correction of a hall torque sensor of any of claims 1 to 8.

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