CN115876386A - Parameter correction method and device of Hall torque sensor and storage medium - Google Patents
Parameter correction method and device of Hall torque sensor and storage medium Download PDFInfo
- Publication number
- CN115876386A CN115876386A CN202211493933.XA CN202211493933A CN115876386A CN 115876386 A CN115876386 A CN 115876386A CN 202211493933 A CN202211493933 A CN 202211493933A CN 115876386 A CN115876386 A CN 115876386A
- Authority
- CN
- China
- Prior art keywords
- voltage
- corrected
- parameter
- compensation
- torque
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000012937 correction Methods 0.000 title claims abstract description 120
- 238000000034 method Methods 0.000 title claims abstract description 57
- 230000035945 sensitivity Effects 0.000 claims description 75
- 230000004044 response Effects 0.000 claims description 12
- 230000003321 amplification Effects 0.000 claims description 6
- 238000003199 nucleic acid amplification method Methods 0.000 claims description 6
- 238000013519 translation Methods 0.000 claims description 3
- 238000005259 measurement Methods 0.000 abstract description 11
- 230000008859 change Effects 0.000 description 6
- 230000008569 process Effects 0.000 description 5
- 238000013459 approach Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000004907 flux Effects 0.000 description 4
- 239000004020 conductor Substances 0.000 description 3
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000007935 neutral effect Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
Images
Landscapes
- Hall/Mr Elements (AREA)
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
Technical Field
The present disclosure relates to sensor technologies, and in particular, to a method for calibrating a parameter of a hall torque sensor, an electronic device, and a storage medium.
Background
The torque sensor is an important safety component in an Electric Power Steering (EPS) system, the measurement accuracy and reliability of the torque sensor in the EPS system have a decisive influence on Steering, and the measurement error can cause motor operation error and Steering process loss control, thereby causing major accidents.
The mainstream torque sensor used in EPS in the market at present is a hall torque sensor, the hall torque sensor generates a magnetic field by a magnetic ring, the hall torque sensor for measuring a magnetic field change signal is fixed with a shell, and the magnetic ring is coupled with the hall torque sensor by a soft magnetic conductor. When the Hall torque sensor operates in an EPS system, the torsion bar is acted by the torque of a steering wheel, the position of a magnetic ring in the Hall torque sensor relative to a soft magnetic conductor is changed, the magnetic flux density of the soft magnetic conductor is changed accordingly, and the magnetic flux density measured by the Hall torque sensor is also changed. In this way, the magnetic ring is used to measure the absolute values of the magnetic field intensity and the magnetic flux density, but since the hall torque sensor is susceptible to various factors, such as temperature, manufacturing and installation errors, etc., there may be a deviation in the relevant measurement parameters of the hall torque sensor, that is, the measurement accuracy of the hall torque sensor is affected, and further the power-assisted sensitivity and reliability of the EPS are affected.
Disclosure of Invention
The application at least provides a parameter correction method of a Hall torque sensor, electronic equipment and a storage medium, which can correct the parameters of the Hall torque sensor so as to improve the accuracy and reliability of measurement.
The application provides a parameter correction method of a Hall torque sensor in a first aspect, and 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.
Wherein, waiting to correct the parameter and including voltage, a plurality of actual parameter values of the parameter of waiting to correct of obtaining hall torque sensor include: measuring actual voltage values respectively corresponding to the Hall torque sensors under different torques; correcting the parameter to be corrected based on a plurality of actual parameter values of the parameter to be corrected and a standard parameter value of the parameter to be corrected, including: determining a current voltage sensitivity coefficient by using 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; and obtaining a 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, wherein the corrected voltage sensitivity coefficient represents the slope of the corrected torque-voltage curve.
Wherein, utilize the actual voltage value that corresponds respectively under different moments of torsion, confirm current voltage sensitivity coefficient, include: generating a torque voltage curve before correction by using actual voltage values respectively corresponding to different torques; taking the slope of the torque voltage curve before correction as the current voltage sensitivity coefficient; obtaining a corrected voltage sensitivity coefficient based on actual voltage values corresponding to the at least two target torques, standard voltage values corresponding to the at least two target torques, and a current voltage sensitivity coefficient, including: and acquiring a first voltage difference between the standard voltage values respectively corresponding to the two target torques and a second voltage difference between the actual voltage values respectively corresponding to the two target torques, 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.
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.
Wherein, after obtaining the corrected voltage value of the midpoint voltage by using the 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 the sensitivity coefficient requirement, writing the corrected voltage sensitivity coefficient into a memory of the hall torque sensor; writing the corrected voltage value of the midpoint voltage into a memory of the Hall torque sensor in response to the corrected voltage value of the midpoint voltage satisfying the midpoint voltage requirement; the method comprises the steps of obtaining corrected output voltage of the Hall torque sensor by using a current torque and corrected torque voltage curve of the Hall torque sensor, taking the ratio of power voltage of the Hall torque sensor to 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.
Wherein, waiting to rectify the parameter and including torsion compensation, a plurality of actual parameter values of waiting to rectify the parameter of obtaining hall torque sensor include: measuring actual torque compensation values of the Hall torque sensors respectively corresponding to different temperatures; correcting the parameter to be corrected based on a plurality of actual parameter values of the parameter to be corrected and a standard parameter value of the parameter to be corrected, including: 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 a standard torque compensation range, wherein the target compensation correction parameters can enable the corrected torque compensation values at different temperatures to be within 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.
Wherein each set of candidate compensation correction parameters comprises a first candidate correction parameter and a second candidate correction parameter, and a set of target compensation correction parameters is selected from at least one set of candidate compensation correction parameters, comprising: 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 target compensation correction parameters in response to the corrected torque compensation values corresponding to the candidate compensation correction parameters all being within the standard torque compensation range.
Wherein after selecting a set of target compensation correction parameters from the at least one set of candidate compensation correction parameters, the method further comprises any one or more of the following steps: writing the target compensation correction parameters into a memory of the Hall torque sensor; the method comprises the steps of obtaining the current temperature of a Hall torque sensor, obtaining the current temperature difference between the current temperature and a reference temperature, calculating by using the current temperature difference and a 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.
A second aspect of the present application provides an electronic device, which includes 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 parameter correction method for the hall torque sensor according to any one of the first aspect.
A third aspect of the present application provides a computer-readable storage medium, on which program instructions are stored, which when executed by a processor, implement the parameter correction method of the hall torque sensor in the first aspect described above.
According to the scheme, the voltage and/or torsion compensation of the Hall torque sensor is used as the parameter to be corrected, and the parameter to be corrected is corrected by utilizing the parameter values and the standard parameter values of the parameter to be corrected of the Hall torque sensor under the condition that the corresponding influence factors are respectively in a plurality of different states, so that the correction of the voltage and/or torsion compensation of the Hall torque sensor is realized, and the accuracy and the reliability of the measurement of the Hall torque sensor are improved.
Specifically, for voltage correction, the actual voltage values of the hall torque sensor under different torques are obtained through measurement, and the voltage sensitivity coefficient is corrected by using the standard voltage values corresponding to the actual voltage values under different torques, so that the problem that the actually measured voltage of the hall torque sensor is deviated from the designed voltage can be solved, and the accuracy and the reliability of measurement of the hall torque sensor are improved. Aiming at the torque compensation correction, the actual torque compensation values of the Hall torque sensor at different temperatures are measured, and the compensation correction parameters which can enable the corrected actual torque compensation values at different temperatures to be in the standard torque compensation range are determined under the condition that the actual torque compensation values at different temperatures exceed the standard torque compensation range, so that the correction of the torque compensation is realized, the influence of the temperature on the measurement of the Hall torque sensor can be reduced, and the accuracy and the reliability of the measurement of the Hall torque sensor are improved.
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.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the application.
FIG. 1 is a schematic flow chart illustrating an embodiment of a method for calibrating a parameter of a Hall torque sensor according to the present application;
FIG. 2 is a schematic flow chart illustrating an embodiment of a voltage calibration method for a Hall torque sensor according to the present application;
FIG. 3 is a schematic flow chart illustrating a voltage calibration method for a Hall torque sensor according to another embodiment of the present invention;
FIG. 4 is a graph of output torque versus sensor output voltage for one embodiment of the present application;
FIG. 5 is a schematic flowchart illustrating an embodiment of a torque compensation calibration method for a Hall torque sensor according to the present disclosure;
FIG. 6 is a schematic flow chart illustrating a torsion compensation calibration method for a Hall torque sensor according to another embodiment of the present invention;
FIG. 7 is a graph of output temperature versus assist gain for one embodiment of the present application;
FIG. 8 is a block diagram of an embodiment of an electronic device of the present application;
FIG. 9 is a block diagram of an embodiment of a computer-readable storage medium of the present application.
Detailed Description
The following describes in detail the embodiments of the present application with reference to the drawings attached hereto.
In the following description, for purposes of explanation rather than limitation, specific details are set forth such as the particular system architecture, interfaces, techniques, etc., in order to provide a thorough understanding of the present application.
The term "at least one" herein means any combination of any one or more of a plurality, for example, including at least one of a, B, C, and may mean including any one or more elements selected from the group consisting of a, B, and C.
Referring to fig. 1, fig. 1 is a schematic flowchart illustrating a method for calibrating a parameter of a hall torque sensor according to an embodiment of the present disclosure. The method comprises the following specific steps:
step S110: and acquiring a plurality of actual parameter values of the to-be-corrected parameters of the Hall torque sensor.
The actual parameter values are parameter values of the parameter to be corrected under the condition that the 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.
The hall torque sensor referred to herein generally comprises: the torsion shaft can rotate for an angle to drive the permanent magnets to change the position when the Hall torque sensor is subjected to a torque, so that the distance between the permanent magnets and the Hall element is changed, and the voltage output by the Hall element is changed. In this process, the hall torque sensor converts the change of the torque into the change of the voltage output, so that the actual voltage value measured by the hall torque sensor is easily affected by the torque. The Hall torque sensor can be applied to the field of automobile industry, and can also be applied to the control and monitoring of the oil exploitation and extraction process and the like. It is understood that the method for correcting the parameters of the hall torque sensor can be applied to various fields, and is not specifically limited herein.
In addition, the hall torque sensor can output a corresponding torque compensation signal according to the temperature of the hall torque sensor, the torque compensation signal is sent to auxiliary power equipment such as a servo motor or a steering motor, and the auxiliary power equipment generates a corresponding torque compensation value according to the torque compensation signal. If the actual torque provided by the auxiliary power equipment is not equal to the standard torque, the torque difference is a torque compensation value. For example, in the 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, 0.2N · m is a torque compensation value, i.e., a power assist gain value.
In one embodiment, a temperature sensor may be disposed in the hall torque sensor for measuring the temperature of the hall torque sensor itself or the temperature of the environment in which the hall torque sensor is located.
Step S120: 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.
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 by taking the standard voltage value as a reference, so that the actual voltage value approaches the standard voltage value or is equal to the standard voltage value. It is understood that the selection or setting of the standard voltage value may be determined according to specific situations, and is not limited in particular.
In some embodiments, torque compensation signals of the hall torque sensor at different temperatures are obtained, and the motor can calculate an actual torque compensation value corresponding to the torque compensation signal according to the torque compensation signal and then obtain a standard torque compensation value at the corresponding temperature. The actual torque compensation value is corrected based on the standard torque compensation value, so that the actual torque compensation value approaches the standard torque compensation value or is equal to the standard torque compensation value. And then correcting the torsion compensation signal according to the corrected actual torsion compensation value. It is understood that the selection or setting of the standard torque compensation value may be determined according to specific situations, and is not limited herein.
In other embodiments, the output value of the hall torque sensor at different temperatures is a torque compensation value, and the actual torque compensation value output by the motor after receiving the torque compensation value is the torque compensation value. And then obtaining a standard torsion compensation value at the corresponding temperature. The actual torque compensation value is corrected based on the standard torque compensation value, so that the actual torque compensation value approaches the standard torque compensation value or is equal to the standard torque compensation value.
Referring to fig. 2, fig. 2 is a schematic flowchart illustrating a voltage calibration method of a hall torque sensor according to an embodiment of the present disclosure. The specific correction steps are as follows:
step S210: and measuring actual voltage values respectively corresponding to the Hall torque sensors under different torques.
In some embodiments, a torsion force may be applied to the torsion shaft of the hall torque sensor to drive the permanent magnets to change their positions, so as to change the magnetic flux density of the hall torque sensor, thereby enabling the hall torque sensor to generate a corresponding actual voltage value. And repeatedly applying a plurality of groups of different torques, and recording the actual voltage values corresponding to the torques, so that the actual voltage values respectively corresponding to the Hall torque sensor under different torques can be obtained. It is understood that the method for measuring the actual voltage values of the hall torque sensor corresponding to different torques may be determined according to the circumstances, and is not particularly limited herein.
Step S220: and determining the current voltage sensitivity coefficient by using the actual voltage values respectively corresponding to different torques.
The current voltage sensitivity coefficient is the slope of the torque voltage curve of the Hall torque sensor before correction.
In some embodiments, the slope between any two sets of torque voltage data can be calculated using the general formula for the slope, and the slope is taken as the voltage sensitivity coefficient of the two sets of torque voltage data. It is understood that the calculation method for the slope of the curve may be other than the general formula, and is not limited in particular.
In other embodiments, the voltage sensitivity factor is calculated as follows:
step S221: and generating a torque voltage curve before correction by using the actual voltage values respectively corresponding to different torques.
In some embodiments, the acquired actual voltage values respectively corresponding to different torques may be input into a rectangular coordinate system, where the torque may be used as an abscissa and the voltage may be used as an ordinate, so as to generate a torque-voltage curve before correction. It is to be understood that the method for generating the torque-voltage curve before correction is not particularly limited herein.
Step S222: the slope of the torque-voltage curve before correction is taken as the current voltage sensitivity coefficient.
Step S230: and obtaining a 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.
Wherein the corrected voltage sensitivity coefficient represents a slope of the corrected torque-voltage curve.
In some embodiments, the actual voltage values corresponding to two target torques are selected from the torque-voltage curve before correction, the slope between the two target torques is calculated as the current voltage sensitivity coefficient, the standard voltage values corresponding to two identical target torques are selected from the standard torque-voltage curve, and the corrected voltage sensitivity coefficient is obtained by using the actual voltage values, the standard voltage values and the current voltage sensitivity coefficient.
Specifically, a first voltage difference between standard voltage values corresponding to two target torques respectively and a second voltage difference between actual voltage values corresponding to two target torques respectively are obtained, and a product of a ratio of the first voltage difference to the second voltage difference and a current voltage sensitivity coefficient is used as a corrected voltage sensitivity coefficient, as shown in formula 1:
wherein 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: 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.
The correction voltage value is used for representing the translation amount of a torque voltage curve before and after correction.
In some embodiments, after the slope of the torque voltage curve is corrected, the corrected torque voltage curve may be parallel to the standard torque voltage curve, and in order to correct the torque voltage curve to the standard torque voltage curve, the midpoint voltage of the torque voltage curve is also corrected. Specifically, equation 2 may be utilized:
V oq ＝V m ′[V]+V o ′ q (2)
wherein, V o ′ q Is the actual voltage value of the midpoint voltage, V oq Is a midpoint voltage standard voltage value, V m ′[V]To correct the voltage value.
In some embodiments, the corrected voltage sensitivity coefficient is written into a memory of the hall torque sensor in response to the corrected voltage sensitivity coefficient satisfying the sensitivity coefficient requirement. Specifically, the corrected voltage sensitivity coefficient may be verified, and if the sensitivity coefficient requirement is met, the corrected voltage sensitivity coefficient may be written into a memory of the hall torque sensor; if not, the corrected voltage sensitivity coefficient is recalculated. Wherein, the setting of the sensitivity coefficient requirement can be as follows: and calculating the similarity between the corrected voltage sensitivity coefficient and the standard voltage sensitivity coefficient, and if the similarity reaches a certain threshold value, determining that the corrected voltage sensitivity coefficient meets the requirement of the sensitivity coefficient. It is to be understood that the setting of the sensitivity coefficient requirements may be contingent upon the particular circumstances and is not specifically limited herein.
In some embodiments, in response to the corrected voltage value for the midpoint voltage meeting the midpoint voltage requirement, the corrected voltage value for the midpoint voltage is written to a memory of the hall torque sensor. Specifically, the correction voltage value of the midpoint voltage can be verified, and if the correction voltage value of the midpoint voltage meets the requirement of the midpoint voltage, the correction voltage value of the midpoint voltage can be written into a memory of the Hall torque sensor; if not, recalculating the correction voltage value of the midpoint voltage. Wherein, the setting of the midpoint voltage requirement can be as follows: and judging whether the actual voltage value of the midpoint voltage plus the correction voltage value is equal to the standard voltage value of the midpoint voltage. It is to be understood that the setting of the midpoint voltage requirement may be contingent upon circumstances and is not particularly limited herein.
In some embodiments, a current torque of the hall torque sensor and a corrected torque voltage curve are used to obtain a corrected output voltage of the hall torque sensor, a ratio between a power supply voltage of the hall torque sensor and a reference voltage is used as an amplification factor, and the corrected output voltage is amplified by the amplification factor to obtain the current output voltage of the hall torque sensor. Is as follows
Formula 3:
wherein, V T Is the current output voltage of the Hall torque sensor, a is the corrected voltage sensitivity coefficient of the Hall torque sensor, theta is the torque, V i Is a standard voltage value of the midpoint voltage, V CC Supply voltage, V, for Hall torque sensors ref Is the reference voltage of the hall torque sensor.
In a specific application scenario, a hall torque sensor in the EPS is corrected by using a hall torque sensor voltage correction method, with reference to fig. 3. The first step is as follows: a plurality of groups of torques can be applied to a torsion bar of the steering system through the steering wheel, and corresponding actual voltage values generated by the Hall torque sensor are recorded. And a torque voltage curve is formed by the plurality of groups of torques and the corresponding actual voltage values, and the reference figure 4 can be combined, wherein the corrected curve is a standard torque voltage curve, the abscissa thereof is the torque, and the ordinate thereof is the voltage. Due to the operating characteristics of the hall sensor, the voltage correction can be divided into sensitivity coefficient correction and midpoint voltage correction.
The second step is as follows: in correcting the voltage sensitivity coefficient, the actual voltage value when the target torque is ± 4.9N · m is selected, the slope of the two points of the actual voltage value corresponding to ± 4.9N · m is calculated, and the slope is used as the current voltage sensitivity coefficient, and the voltage sensitivity coefficients of the two points in the standard torque-voltage curve are known. The current voltage sensitivity coefficient is corrected to a standard voltage sensitivity coefficient by equation 1.
Wherein, A [ V ] is a standard voltage value at 4.9 N.m, B [ V ] is a standard voltage value at-4.9 N.m, A '[ V ] is an actual voltage value at 4.9 N.m, and B' [ ] is an actual voltage value at-4.9 N.m.
The third step: when the neutral voltage is corrected, the voltage of the hall torque sensor when the hall torque sensor is in no-load is 2.5V, that is, the voltage when the torque is 0. The actual voltage value of the midpoint voltage is corrected to the standard voltage value by equation 2 to obtain a corrected voltage value of the midpoint voltage.
V oq ＝2.5V＝V m ′[V]+ o ′ q
The fourth step: the corrected voltage sensitivity coefficient and the correction voltage value of the midpoint voltage are determined. Detecting whether the corrected voltage sensitivity coefficient is a standard voltage sensitivity coefficient, detecting whether the actual voltage value of the midpoint voltage plus the correction voltage value is a midpoint voltage standard voltage value, if so, writing the corrected voltage sensitivity coefficient and the correction voltage value of the midpoint voltage into the Hall IC, and locking the voltage sensitivity coefficient and a voltage correction program to finish voltage correction; if the voltage sensitivity coefficient is not yes, repeating the second, third and fourth steps until the judgment process is passed; if the actual voltage value of the midpoint voltage plus the correction voltage value is not equal to the midpoint voltage standard voltage value, repeating the third step and the fourth step until the judgment process is passed.
Referring to fig. 5, fig. 5 is a schematic flowchart illustrating a torque compensation calibration method of a hall torque sensor according to an embodiment of the present disclosure. The specific establishing and correcting steps of the torsion compensation are as follows:
step S310: and measuring actual torque compensation values of the Hall torque sensor respectively corresponding to different temperatures.
Step S320: and acquiring a standard torsion compensation range.
In an ideal state, the actual torque compensation value signal output by the hall torque sensor is 0. In the actual use process, the actual torque compensation value signal output by the hall torque sensor only tends to 0 and is not equal to 0. Therefore, a standard torsion compensation range is set, and when the actual torsion compensation value signal output by the Hall torque sensor is in the standard torsion compensation range, the torsion compensation value corresponding to the actual torsion compensation value signal does not influence normal use.
In some embodiments, the standard torque compensation range may be predetermined or empirically set, and is not limited herein.
Step S330: a target set of compensation correction parameters is selected from the at least one set of candidate compensation correction parameters in response to the presence of a measured actual torque compensation value that exceeds the standard torque compensation range.
The target compensation correction parameters can enable the corrected torsion compensation values to be within a standard torsion compensation range at different temperatures, and the target compensation correction parameters are used for compensating the torsion 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 group of target compensation correction parameters are selected from the candidate compensation correction parameters at the temperature, and the actual torque compensation value at the temperature is corrected.
In other embodiments, the Hall torque sensors each temperature collectively correspond to at least one set of candidate compensation correction parameters. If the actual torque compensation value at a certain temperature exceeds the standard torque compensation range, a group of target compensation correction parameters are selected from the candidate compensation correction parameters, and the actual torque compensation values at all temperatures are corrected.
Specifically, the following steps may be combined:
step S331: and for each group of candidate compensation correction parameters, acquiring the temperature difference between each temperature and the reference temperature, and respectively calculating to obtain corrected torque compensation values at each temperature by using the temperature difference corresponding to each temperature, the first candidate correction parameters and the second candidate correction parameters.
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, a target torque compensation value at the current temperature is calculated by using the current temperature difference and the target compensation correction parameter, and the current torque of the hall torque sensor is compensated by using the target torque compensation value. Specifically, as in equation 4:
S TC ＝TC 1 ×(T-T 0 )+TC 2 ×(T-T 0 ) 2 (4)
wherein S is TC Is a corrected torque compensation value, TC 1 For the first candidate correction parameter, TC 2 For the second candidate correction parameter, T 0 Is the reference temperature.
Step S332: and determining the candidate compensation correction parameters as target compensation correction parameters in response to the corrected torque compensation values corresponding to the candidate compensation correction parameters all being within the standard torque compensation range.
In some embodiments, the target compensation correction parameter is verified, if the corrected torque compensation values are all within the standard torque compensation range, the candidate compensation correction parameter is determined as the target compensation correction parameter, and the target compensation correction parameter is written into a memory of the hall torque sensor; if the corrected torque compensation value still exceeds the standard torque compensation range, the target compensation correction parameter is recalculated or selected.
In a specific application scenario, the hall torque sensor in the EPS is calibrated by using the hall torque sensor torque compensation calibration method, please refer to fig. 6 and fig. 7 in combination. The first step is as follows: under the condition of ensuring that other working condition parameters are not changed, power-assisted gain signals of the Hall torque sensors at different working temperatures (high and low temperatures) are measured, corresponding power-assisted gain (namely torque compensation) is obtained according to the power-assisted gain signals, and a curve of the power-assisted gain changing along with the temperature is obtained, wherein the judgment range of the power-assisted gain is set to be within +/-0.3 N.m.
The second step is as follows: according to the determination range of the assist gain (i.e., the torque compensation value), if the curve of the assist gain varying with temperature in the present embodiment exceeds the determination range of the assist gain, a set of target compensation calibration parameters needs to be selected from the candidate compensation calibration parameters, and the set of target compensation calibration parameters is input into formula 4. Wherein, the straight line with the boosting gain of 0 is selected as a standard boosting gain curve. The boost gain-temperature curve is corrected to a standard boost gain curve using the equation 4, thereby completing the correction of the boost gain signal of the hall torque sensor.
The third step: judging the group of target compensation correction parameters, inputting the power-assisted gain measured by the Hall torque sensor into a formula 4 of the target compensation correction parameters to be set again, writing the group of target compensation correction parameters into a Hall IC if the recalculated power-assisted gain-temperature curve is in the judgment range of the power-assisted gain, and locking a torsion compensation correction program; otherwise, repeating the steps until the corrected power-assisted gain-temperature curve is in the judgment range of the power-assisted gain.
In the application, the actual voltage values respectively corresponding to the Hall torque sensor under different torques are drawn into an actual torque-voltage curve, firstly, the voltage sensitivity coefficient (namely the slope) of the actual torque-voltage curve is corrected to be the voltage sensitivity coefficient of a standard torque-voltage curve, and then, the actual voltage value of the midpoint voltage of the actual torque-voltage curve is corrected to be the standard voltage value, so that the actual torque-voltage curve is superposed with the standard torque-voltage curve, the correction of the output voltage of the Hall torque sensor is completed, and the accuracy and the reliability of the output voltage of the Hall torque sensor of the steering system are improved. When the temperature characteristic of the Hall torque sensor is corrected, torsion compensation signals of the Hall torque sensor at different temperatures are obtained, an actual torsion compensation value corresponding to the torsion compensation signal is calculated according to the torsion compensation signal, a standard torsion compensation value at the temperature is obtained, the actual torsion compensation value is corrected by taking the standard torsion compensation value as a reference, so that the actual torsion compensation value approaches to or is equal to the standard torsion compensation value, and then the torsion compensation signal is corrected according to the corrected actual torsion compensation value, so that the temperature characteristic of the Hall torque sensor of the steering system is improved.
It will be understood by those skilled in the art that in the method of the present invention, the order of writing the steps does not imply a strict order of execution and any limitations on the implementation, and the specific order of execution of the steps should be determined by their function and possible inherent logic.
Referring to fig. 8, fig. 8 is a schematic block diagram of an embodiment of an electronic device 80 according to the present application. The electronic device 80 includes a memory 81 and a processor 82 coupled to each other, and the processor 82 is configured to execute program instructions stored in the memory 81 to implement the steps of any one of the above-described embodiments of the method for calibrating a parameter of a hall torque sensor. In one particular implementation scenario, the electronic device 80 may include, but is not limited to: a microcomputer, a server, and in addition, the electronic device 80 may also include a mobile device such as a notebook computer, a tablet computer, and the like, which is not limited herein.
Specifically, the processor 82 is configured to control itself and the memory 81 to implement the steps of any one of the above-described embodiments of the hall torque sensor parameter correction method, or to implement the steps of any one of the above-described embodiments of the image detection method. Processor 82 may also be referred to as a CPU (Central Processing Unit). The processor 82 may be an integrated circuit chip having signal processing capabilities. The Processor 82 may also be a general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, 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 collectively implemented by an integrated circuit chip.
Referring to fig. 9, fig. 9 is a block diagram illustrating an embodiment of a computer readable storage medium 90 according to the present application. The computer readable storage medium 90 stores program instructions 901 capable of being executed by a processor, the program instructions 901 being used for implementing the steps in any one of the hall torque sensor parameter correction method embodiments described above.
In some embodiments, functions of or modules included in the apparatus provided in the embodiments of the present disclosure may be used to execute the method described in the above method embodiments, and for specific implementation, reference may be made to the description of the above method embodiments, and for brevity, details are not described here again.
The foregoing description of the various embodiments is intended to highlight different aspects of the various embodiments that are the same or similar, which can be referenced with one another and therefore are not repeated herein for brevity.
In the several embodiments provided in the present application, it should be understood that the disclosed method and apparatus may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, a division of a module or a unit is only one type of logical division, and other divisions may be implemented in practice, for example, the unit or component may be combined or integrated with another system, or some features may be omitted, or not implemented. In addition, the shown or discussed coupling or direct coupling or communication connection between each other may be through some interfaces, indirect coupling or communication connection between devices or units, and may be in an electrical, mechanical or other form.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit may be implemented in the form of hardware, or may also be implemented in the form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, a network device, or the like) or a processor (processor) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk, and various media capable of storing 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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211493933.XA CN115876386A (en) | 2022-11-25 | 2022-11-25 | Parameter correction method and device of Hall torque sensor and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211493933.XA CN115876386A (en) | 2022-11-25 | 2022-11-25 | Parameter correction method and device of Hall torque sensor and storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115876386A true CN115876386A (en) | 2023-03-31 |
Family
ID=85764116
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211493933.XA Pending CN115876386A (en) | 2022-11-25 | 2022-11-25 | Parameter correction method and device of Hall torque sensor and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115876386A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118642028A (en) * | 2024-08-12 | 2024-09-13 | 陕西正泽生物技术有限公司 | Calibration method and device for magnetic measurement Hall probe of medical cyclotron |
-
2022
- 2022-11-25 CN CN202211493933.XA patent/CN115876386A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118642028A (en) * | 2024-08-12 | 2024-09-13 | 陕西正泽生物技术有限公司 | Calibration method and device for magnetic measurement Hall probe of medical cyclotron |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US20210072336A1 (en) | Measurement device | |
| US9702909B2 (en) | Manufacturing method for current sensor and current sensor | |
| CN115876386A (en) | Parameter correction method and device of Hall torque sensor and storage medium | |
| US7222694B2 (en) | Control unit for electric power steering | |
| US6591699B2 (en) | Temperature compensator of torque sensor | |
| EP0922626B1 (en) | Control device for automobiles | |
| US8868365B2 (en) | System and method of generating external parameter value for separately excited motor controller | |
| JP6137678B2 (en) | Strain measuring device | |
| US6957589B2 (en) | Temperature compensator of torque sensor | |
| EP3928063A1 (en) | Apparatus and method for magnetic sensor output compensation based upon ambient temperature | |
| EP1167939B1 (en) | Abnormal state detecting apparatus of torque sensor | |
| US11982526B2 (en) | Safety mechanism for high availability angle sensor | |
| JP2010216906A (en) | Automobile-use flowmeter | |
| CN113063386B (en) | Angle measuring method of EPS system angle sensor | |
| KR101622723B1 (en) | Sensor correcting device for turning of a track vihicles | |
| JP2801124B2 (en) | Correction method for zero error of torque sensor | |
| JP2001174304A (en) | Sensor with built-in arithmetic device | |
| JP4243987B2 (en) | Torque sensor neutral voltage regulator | |
| JP2002022567A (en) | Abnormality detector for torque sensor | |
| KR100388105B1 (en) | Apparatus and control method for steering of vehicle | |
| US20240356472A1 (en) | Electronic control device using shunt resistor and current detection circuit | |
| JP2002148128A (en) | Abnormality detector for torque sensor | |
| US20220043034A1 (en) | Current sensor | |
| CN117782187B (en) | Nonlinear error correction method of encoder and encoder | |
| KR100305001B1 (en) | Control device for automobiles |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |