CN115940519B - Magnetoelectric encoder and bearing integrated device and redundancy resolving method thereof - Google Patents
Magnetoelectric encoder and bearing integrated device and redundancy resolving method thereof Download PDFInfo
- Publication number
- CN115940519B CN115940519B CN202211297447.0A CN202211297447A CN115940519B CN 115940519 B CN115940519 B CN 115940519B CN 202211297447 A CN202211297447 A CN 202211297447A CN 115940519 B CN115940519 B CN 115940519B
- Authority
- CN
- China
- Prior art keywords
- pair
- encoder signal
- pole
- theta
- hall
- 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.)
- Active
Links
Landscapes
- Transmission And Conversion Of Sensor Element Output (AREA)
Abstract
The invention belongs to the field of encoder manufacturing, and relates to a magneto-electric encoder and bearing integrated device and redundancy thereofThe device consists of single-pair pole magnetic steel, a bearing, an encoder signal resolving board, a Hall element, a singlechip and a motor spindle, and when in operation, the single-pair pole angle value theta is resolved firstly 1 Angle value theta with single pair of poles 2 The two groups of data are processed by arithmetic mean to obtain data theta 3 Will be theta 3 As the output value, θ err Self-checking system as encoder signal resolving board when theta err When the value of (2) is within epsilon-range, it indicates that the encoder is operating normally, when theta err When the value of the encoder signal resolving board is not in the epsilon section, an alarm system is sent out, a difference formula delta (i) =theta (i) -theta (i-1) is used for judging which side of the encoder signal resolving board has a problem, when one encoder signal resolving board is determined to be faulty, the collection of the angle value resolved by the encoder signal resolving board is stopped immediately, and the angle value resolved by the other encoder signal resolving board is temporarily adopted as an output value.
Description
Technical Field
The invention relates to a magnetoelectric encoder and bearing integrated device and a redundancy resolving method thereof, belonging to the field of encoder manufacturing.
Background
The magneto-electric encoder is a device for measuring the rotation angle and displacement of a motor, and can be divided into an absolute magneto-electric encoder and an incremental magneto-electric encoder according to the working mode, and the working principle is to measure the angle and displacement by using magnetic field signals. The magneto-electric encoder is usually composed of magnetic steel, hall element, encoder signal resolving board, etc., because the magnetic field signal is not easy to be interfered by external environment, the magneto-electric encoder is very suitable for occasions with high precision and bad working environment. Compared with other encoders, the magneto-electric encoder can be widely applied to the fields of radar, aerospace, industrial control, military industry and the like.
More of the conventional single-pair-pole magneto-electric encoders are represented by double hall magneto-electric encoders, in which magnetic steel is fixed on a rotating shaft, and a magnetic sensitive element A, B is installed in the circumferential direction of a stator at a position with a phase difference of 90 ° to induce a permanent magnet magnetic field. However, with the development of technology, aviation, aerospace, navigation and various control systems, such as radar directional navigation, coordinate transformation, gun control, machine tool control, encoder motor main shaft, etc., all put higher and higher demands on the shaft angular displacement measurement and control system.
However, the traditional magnetoelectric encoder at present has the problems of higher failure rate, insufficient adaptability under complex working environment and the like, the structure is relatively complex, the installation process is complex, and if the single magnetoelectric encoder fails and cannot be judged in time, the working process is greatly influenced, and the problems have a certain limit on the development of the magnetoelectric encoder.
Disclosure of Invention
The invention provides an integrated device of a magnetoelectric encoder and a bearing and a redundancy resolving method thereof, aiming at saving the space used by the whole assembly structure, having lighter weight and more compact structure, adopting two magnetoelectric encoders to work together with the integrated device of the bearing in practical work, summing and averaging the data measured by the two devices, increasing the output of effective data quantity information, and having a mutual redundancy relation between the two devices.
The invention discloses a redundancy resolving method of a magnetoelectric encoder and bearing integrated device, which comprises the following steps:
step one: the method comprises the steps that a single-pair pole magnetic steel a and a bearing inner ring c4 are connected together in a gluing mode, a left encoder signal resolving plate is arranged on the left side of a left bearing in a hanging mode relative to the bearing inner ring c4, the left encoder signal resolving plate is connected with a bearing outer ring c1 in a gluing mode, a single-pair pole Hall a1, a single-pair pole Hall a2 and a single chip microcomputer a3 are welded on the left encoder signal resolving plate in a soldering mode, the single-pair pole Hall a1 and the single-pair pole Hall a2 are arranged on the same circumference at an angle of 90 degrees, and the position of the single-pair pole Hall a is just opposite to the single-pair pole magnetic steel a, and the single-pair pole magnetic steel a is very close to but not in collision;
the single-pair pole magnetic steel b and the bearing inner ring d4 are connected together in a gluing mode, a right encoder signal resolving plate is suspended on the right side of a right bearing relative to the bearing inner ring d4, the right encoder signal resolving plate is connected with the bearing outer ring d1 in a gluing mode, a single-pair pole Hall b1, a single-pair pole Hall b2 and a singlechip b3 are welded on the right encoder signal resolving plate in a soldering manner, the single-pair pole Hall b1 and the single-pair pole Hall b2 are placed at an angle of 90 degrees on the same circumference, and the position of the single-pair pole Hall b is just opposite to the single-pair pole magnetic steel b, and the single-pair pole Hall b is very close to the Shan Duiji magnetic steel b but not in collision;
when the motor main shaft rotates, the bearing inner ring c4 and the motor main shaft are in transition fit through a base hole, so that the single-pair pole magnetic steel a rotates, the single-pair pole magnetic steel a can generate an axial magnetic field, the single-pair pole Hall a1 and the single-pair pole Hall a2 collect single-pair pole angle value signals A+ and A-, the left encoder signal resolving board carries out analog-to-digital conversion on the angle value analog signals A+ and A-to obtain single-pair pole angle value digital signals HA+ and HA-, resolving is carried out through an arc tangent algorithm built in the single chip microcomputer a3, and resolving is carried out on the obtained single-pair pole angle value digital signals HA+ and HA-to obtain a single-pair pole angle value theta 1 The solution formula is (1):
in a symmetrical part, when a motor main shaft rotates, a bearing inner ring d4 and the motor main shaft are in base hole transition fit, so that single-pair pole magnetic steel B rotates, an axial magnetic field is generated by the single-pair pole magnetic steel B, single-pair pole Hall B1 and single-pair pole Hall B2 acquire single-pair pole angle value signals B+ and B-, a right encoder signal resolving board carries out analog-to-digital conversion on angle value analog signals B+ and B-to obtain single-pair pole angle value digital signals HB and HB-, resolving is carried out through an arc tangent algorithm built in a singlechip B3, and resolving is carried out on the obtained single-pair pole angle value digital signals HB and HB-to obtain a single-pair pole angle value theta 2 The solution formula is (2):
step two: the two groups of single pair polar angle values theta obtained by the solution 1 、θ 2 Summing is performedAveraging the summed results to obtain an angle value theta 3 ，θ 3 Defined as the average value of the angle, θ 3 As a final angle output, the solution formula is (3):
step three: the obtained angle value theta 3 Respectively with theta 1 、θ 2 Performing difference to obtain angle deviation value theta eer1 、θ eer2 The angle value deviation value theta obtained by the difference eer1 、θ eer2 In comparison with the set range epsilon value, if theta eer1 Epsilon and theta eer2 E epsilon is satisfied, then both encoders are indicated to be operating normally; otherwise, the encoder signal resolving board is indicated to have faults, the fault alarm system is uploaded, and the calculation formulas of the deviation amounts are (4) and (5):
θ err1 ＝θ 3 -θ 1 (4)
θ err2 ＝θ 3 -θ 2 (5)
step four: when the alarm system is started, the left encoder signal resolving board and the right encoder signal resolving board are immediately checked, and the single pair of polar angle values theta 1 And a single pair of pole angle values theta 2 Meanwhile, differential calculation is carried out, and the solution formulas of the differential calculation are (6) and (7):
Δ 1 (i)＝θ 1 (i)-θ 1 (i-1)(6)
Δ 2 (i)＝θ 2 (i)-θ 2 (i-1)(7)
wherein delta is 1 For the differential calculated series, θ 1 (i) For a first set of current single pair angle values, θ 1 (i-1) is the last one of the first set of single pair of polar angle values, Δ 2 For the differential calculated series, θ 2 (i) For the second set of current single pair angle values, θ 2 (i-1) is the single pair of polar angle values of the last one of the second group, i being the number of data sampling points.
When checking the left encoder signal resolving board: if delta 1 If the 0 value data point in the encoder continues to appear for a rotation period, the encoder is in a damaged state, and the single-pair pole angle value theta calculated by the encoder signal resolving board a is immediately stopped after the encoder signal resolving board is determined to be faulty 1 Will temporarily use the single pair of pole angle values theta 2 As an output value. When the right encoder signal resolving board is checked: if delta 2 If the 0 value data point in the encoder continues to appear for a rotation period, the encoder is in a damaged state, and the single-pair pole angle value theta calculated by the encoder signal calculating board b is immediately stopped after the encoder signal calculating board is determined to be faulty 2 Will temporarily use the single pair of pole angle values theta 1 As an output value.
The beneficial effects of the invention are as follows:
1. the magnetoelectric encoder and bearing integrated device disclosed by the invention can save more space for assembly structure, has lighter weight and more compact structure, and is very suitable for the aerospace industry field.
2. The invention adds and averages the two groups of data obtained on the two encoder signal resolving boards, and can increase the output of effective data quantity information as a final output value, thereby improving the accuracy of angle value output.
3. The invention compares the final obtained data value with two groups of data values obtained on two encoder signal resolving boards, and the compared result can be used as a self-checking system for detecting whether the encoder signal resolving board has faults or not.
4. The two magnetoelectric encoders and the bearing integrated device adopted by the invention improve the reliability and stability of a control system, the two devices are mutually redundant, when one encoder signal resolving plate fails, the other encoder signal resolving plate can be relied on to continuously maintain working, and the reliable working performance makes the device very suitable for the field of military, civil and aerospace industry with complex working environment.
Drawings
FIG. 1 is an overall schematic of the present invention;
FIG. 2 is a schematic diagram of the overall structure of the present invention;
FIG. 3 is a left side partial schematic view of the present invention;
FIG. 4 is a right side partial schematic view of the present invention;
FIG. 5 is a schematic diagram of an encoder resolution board of the present invention;
FIG. 6 is a graph of two sets of single pair angle signals according to the present invention;
FIG. 7 is a graph of an angular average signal according to the present invention;
FIG. 8 is a graph of the deviation of angle values according to the present invention;
in the figure, 1, a left encoder signal resolving plate, 1-1, single-pair pole Hall a1,1-2, single-pair pole Hall a2,1-3, a single chip microcomputer a3,2, single-pair pole magnetic steel a,3, a left bearing, 3-1, a bearing outer ring c1,3-2, a retainer c2,3-3, rolling bodies c3,3-4, a bearing inner ring c4, a motor main shaft, 5, a right bearing, 5-1, a bearing outer ring d1,5-2, a retainer d2,5-3, rolling bodies d3,5-4, a bearing inner ring d4,6, single-pair pole magnetic steel b,7, a right encoder signal resolving plate, 7-1, single-pair pole Hall b1,7-2, single-pair pole Hall b2,7-3 and a single chip microcomputer b3.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the present invention is described below by means of specific embodiments shown in the accompanying drawings. It should be understood that the description is only illustrative and is not intended to limit the scope of the invention. In addition, in the following description, descriptions of well-known structures and techniques are omitted so as not to unnecessarily obscure the present invention.
The structural composition of the present invention is shown in fig. 1, 2,3 and 4, and the specific structure and specific embodiments of the present invention will be further described with reference to the accompanying drawings.
The magnetoelectric encoder and bearing integrated device consists of a left encoder signal resolving plate (1), single-pair pole magnetic steel a (2), a left bearing (3), a right bearing (5) of a motor main shaft (4), single-pair pole magnetic steel b (6) and a right encoder signal resolving plate (7); the left encoder signal resolving plate (1) comprises a single-pair-pole Hall a1 (1-1), a single-pair-pole Hall a2 (1-2) and a single-chip microcomputer a3 (1-3), wherein the single-pair-pole Hall a1 (1-1), the single-pair-pole Hall a2 (1-2) and the single-chip microcomputer a3 (1-3) are welded with the left encoder signal resolving plate (1) through soldering, the left bearing (3) is a deep groove ball bearing and comprises a bearing outer ring c1 (3-1), a retainer c2 (3-2), a rolling body c3 (3-3) and a bearing inner ring c4 (3-4), the left encoder signal resolving plate (1) is adhered with the bearing outer ring c1 (3-1), the single-pair-pole magnetic steel a (2) is adhered with the bearing inner ring c4 (3-4), and the bearing inner ring c4 (3-4) is in transition fit with a motor spindle (4) through a base hole; the right encoder signal resolving plate (7) comprises a single-pair-pole Hall b1 (7-1), a single-pair-pole Hall b2 (7-2) and a single-chip microcomputer b3 (7-3), wherein the single-pair-pole Hall b1 (7-1), the single-pair-pole Hall b2 (7-2) and the single-chip microcomputer b3 (7-3) are welded with the right encoder signal resolving plate (7) through soldering, the right bearing (5) is a deep groove ball bearing and comprises a bearing outer ring d1 (5-1), a retainer d2 (5-2), a rolling body d3 (5-3) and a bearing inner ring d4 (5-4), the right encoder signal resolving plate (1) is adhered with the bearing outer ring d1 (5-1), the single-pair-pole magnetic steel b (6) is adhered with the bearing inner ring d4 (5-4), and the bearing inner ring d4 (5-4) is in transition fit with a motor spindle (4) through a base hole;
the utility model provides a magnetoelectric encoder and bearing integration device, the concrete realization process of structure does:
step one: the motor main shaft rotates, the bearing inner ring c4 is in transitional fit with the motor main shaft through a base hole, the bearing inner ring c4 is glued with the single-pair pole magnetic steel a, so that the single-pair pole magnetic steel a rotates, an axial magnetic field is generated by the single-pair pole magnetic steel a, the single-pair pole Hall a1, the single-pair pole Hall a2 and a left encoder signal resolving plate are welded in a soldering manner, the single-pair pole Hall a1 and the single-pair pole Hall a2 are placed at an angle of 90 degrees on the same circumference, the left encoder signal resolving plate is suspended relative to the bearing inner ring c4 and glued with the bearing outer ring c1, and is positioned on the left side of the single-pair pole magnetic steel a, at the moment, the single-pair pole magnetic steel a rotates, the single-pair pole Hall a1 and the single-pair pole Hall a2 are used for collecting magnetic field signals generated by the single-pair pole magnetic steel and converting the magnetic field signals into voltage signals to obtain single-pair pole signals A & A-;
the left encoder signal resolving board is used for converting the single-pair electrode voltage signals A+ and A-into digital signals and obtaining digital signals HA+ and HA-through analog-to-digital conversion;
the single-pair pole angle calculation module is used for converting the obtained digital quantity into a single-pair pole angle value theta 1, and the single-chip microcomputer a3 solves the single-pair pole angle value theta through a built-in arctangent algorithm 1 ，θ 1 The value range of (2) is [0, 65535 ]]The solution formula is (1):
the motor spindle rotates at a symmetrical part, the bearing inner ring d4 is in transitional fit with the motor spindle through a base hole, the bearing inner ring d4 is glued with the single-stage magnetic steel B, so that the single-stage magnetic steel B rotates, the single-stage magnetic steel B can generate an axial magnetic field, the single-stage hall B1, the single-stage hall B2 and a right encoder signal resolving plate are welded in a soldering manner, the single-stage hall B1 and the single-stage hall B2 are placed at an angle of 90 degrees on the same circumference, the right encoder signal resolving plate is suspended relative to the bearing inner ring d4 and glued with the bearing outer ring d1, and is positioned on the right side of the single-stage magnetic steel B, and at the moment, the single-stage magnetic steel B rotates, and the single-stage hall B1 and the single-stage hall B2 are used for collecting magnetic field signals generated by the single-stage magnetic steel B and converting the magnetic field signals into voltage signals to obtain single-stage signals B+ and B-;
the right encoder signal resolving board is used for converting the single-pair pole voltage signals B+ and B-into digital signals and obtaining digital signals HB+ and HB-through analog-to-digital conversion;
a single-pair pole angle calculation module for converting the obtained digital quantity into a single-pair pole angle value theta 2 The single-chip microcomputer b3 solves a single-pair polar angle value theta through a built-in arctangent algorithm 2 ，θ 2 The value range of (2) is [0, 65535 ]]The solution formula is (2):
step two: the two groups of single pair polar angle values theta obtained by the solution 1 、θ 2 Summing, averaging the summed results to obtain an angle value theta 3 ，θ 3 Defined as the average value of the angle, θ 3 As the final angle output, θ 3 The value range of (2) is [0, 65535 ]]The solution formula is (3):
step three: the obtained angle value theta 3 Respectively with theta 1 、θ 2 Performing difference to obtain angle deviation value theta eer1 、θ eer2 The angle value deviation value theta obtained by the difference eer1 、θ eer2 Compared with the set ideal angle deviation range epsilon, the range epsilon is within the range of minus 1200,1200 after a great amount of practical working experience and data calculation processing]. If the angle deviation quantity theta eer1 、θ eer2 Both encoders are operating normally if they are within ε, if θ eer1 Or theta eer2 If the error is not within epsilon, the left encoder signal resolving board or the right encoder signal resolving board is indicated to have faults, and the fault alarm system is uploaded, and the resolving formulas of the deviation are (4) and (5):
θ err1 ＝θ 3 -θ 1 (4)
θ err2 ＝θ 3 -θ 2 (5)
step four: when the alarm system is started, the left encoder signal resolving board and the right encoder signal resolving board are immediately checked, and the single pair of polar angle values theta 1 And a single pair of pole angle values theta 2 Meanwhile, differential calculation is carried out, and the solution formulas of the differential calculation are (6) and (7):
Δ 1 (i)＝θ 1 (i)-θ 1 (i-1)(6)
Δ 2 (i)＝θ 2 (i)-θ 2 (i-1)(7)
wherein delta is 1 For the differential calculated series, θ 1 (i) For a first set of current single pair angle values, θ 1 (i-1) is the last one of the first set of single pair of polar angle values, Δ 2 For the differential calculated series, θ 2 (i) Is of the second groupCurrent single pair angle value, θ 2 (i-1) is the single pair of polar angle values of the last one of the second group, i being the number of data sampling points.
When checking the left encoder signal resolving board: if delta 1 If the 0 value data point in the encoder continues to appear for a rotation period, the encoder is in a damaged state, and the single-pair pole angle value theta calculated by the encoder signal resolving board a is immediately stopped after the encoder signal resolving board is determined to be faulty 1 Will temporarily use the single pair of pole angle values theta 2 As an output value. When the right encoder signal resolving board is checked: if delta 2 If the 0 value data point in the encoder continues to appear for a rotation period, the encoder is in a damaged state, and the single-pair pole angle value theta calculated by the encoder signal calculating board b is immediately stopped after the encoder signal calculating board is determined to be faulty 2 Will temporarily use the single pair of pole angle values theta 1 As an output value.
In conclusion, the magnetoelectric encoder and bearing integrated device and the redundancy resolving method thereof are realized, and the two unipolar magnetic steel and deep groove ball bearing integrated devices are used for mutual redundancy, so that the reliability and stability of a control system are improved.
It should be noted that the above embodiments described above with reference to the drawings are only for illustrating the present invention and not for limiting the scope of the present invention, and it should be understood by those skilled in the art that modifications or equivalent substitutions to the present invention are intended to be included in the scope of the present invention without departing from the spirit and scope of the present invention. Furthermore, unless the context indicates otherwise, words occurring in the singular form include the plural form and vice versa. In addition, unless specifically stated, all or a portion of any embodiment may be used in combination with all or a portion of any other embodiment.
Claims (1)
1. A redundancy resolving method of a magnetoelectric encoder and bearing integrated device, the device used in the method is composed of a left encoder signal resolving plate (1), a single-pair pole magnetic steel a (2), a left bearing (3), a motor main shaft (4), a right bearing (5), a single-pair pole magnetic steel b (6) and a right encoder signal resolving plate (7); the left encoder signal resolving board (1) comprises a single-pair-pole Hall a1 (1-1), a single-pair-pole Hall a2 (1-2) and a single-chip microcomputer a3 (1-3), wherein the single-pair-pole Hall a1 (1-1), the single-pair-pole Hall a2 (1-2) and the single-chip microcomputer a3 (1-3) are welded with the left encoder signal resolving board (1) through soldering, the left bearing (3) is a deep groove ball bearing and comprises a bearing outer ring c1 (3-1), a retainer c2 (3-2), a rolling body c3 (3-3) and a bearing inner ring c4 (3-4), the left encoder signal resolving board (1) is adhered with the bearing outer ring c1 (3-1), the single-pair-pole magnetic steel a (2) is adhered with the bearing inner ring c4 (3-4), and the bearing inner ring c4 (3-4) is in transition fit with a motor spindle (4) through a base hole; the right encoder signal resolving plate (7) comprises a single-pair-pole Hall b1 (7-1), a single-pair-pole Hall b2 (7-2) and a singlechip b3 (7-3), wherein the single-pair-pole Hall b1 (7-1), the single-pair-pole Hall b2 (7-2) and the singlechip b3 (7-3) are welded with the right encoder signal resolving plate (7) through soldering tin, the right bearing (5) is a deep groove ball bearing and comprises a bearing outer ring d1 (5-1), a retainer d2 (5-2), a rolling body d3 (5-3) and a bearing inner ring d4 (5-4), the right encoder signal resolving plate (7) is adhered with the bearing outer ring d1 (5-1), the single-pair-pole magnetic steel b (6) is adhered with the bearing inner ring d4 (5-4), and the bearing inner ring d4 (5-4) is in transition fit with a motor spindle (4) through a base hole;
the method is characterized by comprising the following specific implementation processes:
step one: the method comprises the steps that a single-pair pole magnetic steel a and a bearing inner ring c4 are connected together in a gluing mode, a left encoder signal resolving plate is arranged on the left side of a left bearing in a hanging mode relative to the bearing inner ring c4, the left encoder signal resolving plate is connected with a bearing outer ring c1 in a gluing mode, a single-pair pole Hall a1, a single-pair pole Hall a2 and a single chip microcomputer a3 are welded on the left encoder signal resolving plate in a soldering mode, the single-pair pole Hall a1 and the single-pair pole Hall a2 are arranged on the same circumference at an angle of 90 degrees, and the position of the single-pair pole Hall a is just opposite to the single-pair pole magnetic steel a, and the single-pair pole magnetic steel a is very close to but not in collision;
the single-pair pole magnetic steel b and the bearing inner ring d4 are connected together in a cementing way, and the right encoder is signaled
The number resolving plate is suspended on the right side of the right bearing relative to the bearing inner ring d4, the right encoder signal resolving plate is connected with the bearing outer ring d1 in a gluing mode, a single-pair pole Hall b1, a single-pair pole Hall b2 and a singlechip b3 are welded on the right encoder signal resolving plate through soldering tin, the single-pair pole Hall b1 and the single-pair pole Hall b2 are placed at an angle of 90 degrees on the same circumference, and the positions of the single-pair pole Hall b and the single-pair pole Hall b are just opposite to the single-pair pole magnetic steel b, and the single-pair pole Hall b and the Shan Duiji magnetic steel b are very close in distance but not in collision;
when the motor main shaft rotates, the bearing inner ring c4 and the motor main shaft are in transition fit through a base hole, so that the single-pair pole magnetic steel a rotates, the single-pair pole magnetic steel a can generate an axial magnetic field, the single-pair pole Hall a1 and the single-pair pole Hall a2 collect single-pair pole angle value signals A+ and A-, the left encoder signal resolving board carries out analog-to-digital conversion on the angle value analog signals A+ and A-to obtain single-pair pole angle value digital signals HA+ and HA-, resolving is carried out through an arc tangent algorithm built in the single chip microcomputer a3, and resolving is carried out on the obtained single-pair pole angle value digital signals HA+ and HA-to obtain a single-pair pole angle value theta 1 The solution formula is (1):
in a symmetrical part, when a motor main shaft rotates, a bearing inner ring d4 and the motor main shaft are in base hole transition fit, so that single-pair pole magnetic steel B rotates, an axial magnetic field is generated by the single-pair pole magnetic steel B, single-pair pole Hall B1 and single-pair pole Hall B2 acquire single-pair pole angle value signals B+ and B-, a right encoder signal resolving board carries out analog-to-digital conversion on angle value analog signals B+ and B-to obtain single-pair pole angle value digital signals HB and HB-, resolving is carried out through an arc tangent algorithm built in a singlechip B3, and resolving is carried out on the obtained single-pair pole angle value digital signals HB and HB-to obtain a single-pair pole angle value theta 2 The solution formula is (2):
step two: the two groups of single pair polar angle values theta obtained by the solution 1 、θ 2 The summation is performed and the sum is performed,and then average the summation result to obtain the angle value theta 3 ，θ 3 Defined as the average value of the angle, θ 3 As a result of the final angular output,
the solution formula is (3):
step three: the obtained angle value theta 3 Respectively with theta 1 、θ 2 Performing difference to obtain angle deviation value theta eer1 、θ eer2 The angle value deviation value theta obtained by the difference eer1 、θ eer2 In comparison with the set range epsilon value, if theta eer1 Epsilon and theta eer2 E epsilon is satisfied, and the two encoder signal resolving boards are normally operated; otherwise, the encoder signal resolving board is indicated to have faults, the fault alarm system is uploaded, and the calculation formulas of the deviation amounts are (4) and (5):
θ err1 ＝θ 3 -θ 1 (4)
θ err2 ＝θ 3 -θ 2 (5)
step four: when the alarm system is started, the left encoder signal resolving board and the right encoder signal resolving board are immediately checked, and the single pair of polar angle values theta 1 And a single pair of pole angle values theta 2 Meanwhile, differential calculation is carried out, and the solution formula of the differential calculation is (6) (7):
Δ 1 (i)＝θ 1 (i)-θ 1 (i-1)(6)
Δ 2 (i)＝θ 2 (i)-θ 2 (i-1)(7)
wherein delta is 1 For the differential calculated series, θ 1 (i) For a first set of current single pair angle values, θ 1 (i-1) is the last one of the first set of single pair of polar angle values, Δ 2 For the differential calculated series, θ 2 (i) For the second set of current single pair angle values, θ 2 (i-1) is the single pair of polar angle values of the last one of the second group, i being the number of data sampling points;
when checking the left encoder signal resolving board: if delta 1 If the 0 value data point in the encoder continues to appear for a rotation period, the encoder is in a damaged state, and the single-pair pole angle value theta calculated by the encoder signal resolving board a is immediately stopped after the encoder signal resolving board is determined to be faulty 1 Will temporarily use the single pair of pole angle values theta 2 As an output value; when the right encoder signal resolving board is checked: if delta 2 If the 0 value data point in the encoder continues to appear for a rotation period, the encoder is in a damaged state, and the single-pair pole angle value theta calculated by the encoder signal calculating board b is immediately stopped after the encoder signal calculating board is determined to be faulty 2 Will temporarily use the single pair of pole angle values theta 1 As an output value.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211297447.0A CN115940519B (en) | 2022-10-21 | 2022-10-21 | Magnetoelectric encoder and bearing integrated device and redundancy resolving method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211297447.0A CN115940519B (en) | 2022-10-21 | 2022-10-21 | Magnetoelectric encoder and bearing integrated device and redundancy resolving method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115940519A CN115940519A (en) | 2023-04-07 |
| CN115940519B true CN115940519B (en) | 2023-07-21 |
Family
ID=86651481
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211297447.0A Active CN115940519B (en) | 2022-10-21 | 2022-10-21 | Magnetoelectric encoder and bearing integrated device and redundancy resolving method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115940519B (en) |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN207082973U (en) * | 2017-08-25 | 2018-03-09 | 北京进化者机器人科技有限公司 | Magnetic coder, motor and electric system |
| CN111693073B (en) * | 2020-06-28 | 2022-01-25 | 哈尔滨理工大学 | Bidirectional redundant magnetoelectric encoder and redundancy detection method thereof |
| CN112361945A (en) * | 2020-10-30 | 2021-02-12 | 哈尔滨理工大学 | Magnetoelectric encoder for detecting axial movement of motor spindle |
-
2022
- 2022-10-21 CN CN202211297447.0A patent/CN115940519B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN115940519A (en) | 2023-04-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111693073B (en) | Bidirectional redundant magnetoelectric encoder and redundancy detection method thereof | |
| US8319493B2 (en) | Rotation detecting device and bearing assembly equipped with such rotation detecting device | |
| CN112362089B (en) | Multi-pair-pole magnetoelectric encoder and high-resolution and high-reliability angle resolving method thereof | |
| CN112361945A (en) | Magnetoelectric encoder for detecting axial movement of motor spindle | |
| CN111398628A (en) | Motor rotating speed direction measuring device and measuring calculation method thereof | |
| CN111446821B (en) | Magnetic coding multi-Hall redundancy device | |
| CN110345976B (en) | Magneto-optical hybrid encoder system | |
| CN111006696B (en) | Magnetic encoder and angle calculation method thereof | |
| CN115940519B (en) | Magnetoelectric encoder and bearing integrated device and redundancy resolving method thereof | |
| CN115979312A (en) | Ant colony algorithm-based magneto-electric encoder angle value jumping point suppression method and device | |
| CN112945283B (en) | Method, device and system for decoding turn number of absolute encoder | |
| CN202281615U (en) | High-precision absolute encoder | |
| CN116222630B (en) | High-reliability axial double-side magnetic induction type magneto-electric encoder and angle resolving method | |
| CN207268624U (en) | A kind of multi-turn magnetic absolute angle sensor | |
| CN108398569B (en) | Rolling type permanent magnet rotation acceleration sensor and measuring method and assembling method thereof | |
| CN210625594U (en) | Quasi-absolute M-code split photoelectric encoder | |
| CN117387664B (en) | Industrial-grade servo system | |
| CN205352419U (en) | Magnetic resistance absolute encoder | |
| CN112729100A (en) | Rotary variable angle sensor | |
| CN111578970B (en) | Angle precision division method and device for multi-pair-electrode magnetoelectric encoder based on nucleic acid sequence comparison idea | |
| CN109612417A (en) | Precision detection method and detection system for rotary transformer | |
| Wang et al. | Design of magnetic encoder based on reconstructing and mapping looking-up table | |
| CN221666951U (en) | Magnetic coding disk for measuring rotation angle | |
| CN117348612B (en) | Industrial grade automatic control system | |
| CN117411371A (en) | High-precision servo control system |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |