CN116817740B - Dial reading induction device and method based on off-axis magnetic field sensor array - Google Patents
Dial reading induction device and method based on off-axis magnetic field sensor array Download PDFInfo
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Abstract
The invention provides a dial reading induction device and method based on an off-axis magnetic field sensor array, which relate to the technical field of angle detection and comprise the following steps: the off-axis magnetic field source is fixed on the rigid supporting structure and rotates around the shaft along with the rotating shaft; a plurality of magnetic field sensors form a magnetic field sensor array and are fixed in any off-axis space range; the signal processing unit is used for processing the magnetic field source signals; the method for calculating the angle comprises the steps of training K-Means clustering based on an actual measurement data set or a theoretical data set, redefining categories as angles, and calculating and solving the angles; and deducing output relation between sensor elements based on theory to solve model parameters, updating the model parameters according to the actual measurement data set to realize self-adaption arbitrary model parameters and solving angles. According to the invention, the reference angle positioning and angle measurement are realized through the response signals of the off-axis sensor array to the excitation of the off-axis magnetic field source rotating along with the axis, and the rotating angle of the fast rotating pointer can be effectively detected in a small angle range.
Description
Technical Field
The invention relates to the technical field of angle detection, in particular to a dial reading induction device and method based on an off-axis magnetic field sensor array.
Background
In modern industrial production, the traditional mechanical pointer type instrument still keeps a large number of applications in detection and display of physical quantities such as temperature, pressure, flow and the like, and is particularly important for real-time monitoring of the instrument and automatic acquisition and recording of instrument data.
For rotation angle measurement, a large number of technologies adopt a rotating magnetic field source positioned in the center of a rotating shaft to generate excitation, and obtain rotation angle information through response signals of a magnetic field angle sensor fixed in the center of the rotating shaft to the excitation of the magnetic field source, which is commonly called as an on-axis magnetic field sensor; or by arranging a plurality of magnetic field sensor modules at regular angles on a concentric circle perpendicular to the plane of the rotation axis, the response signal to the excitation of the rotation center magnetic field source obtains information of the rotation angle, commonly referred to as an "off-axis" magnetic field sensor. Along with the development of big data and deep learning, the measurement of the angle realized by the image recognition technology is further developed.
It is known to obtain current angle information based on a magnetic field angle sensor by measuring a magnetic field signal generated at the sensor position by a magnetic field source fixed to the center of a rotation axis: as described in the specifications CN107063310a and CN102445221a, a magnetic field source is fixed to the center of a rotation shaft, and a response signal of the magnetic angle sensor element at the axis center to the magnetic field excitation in the XY axis direction is measured, so that the rotation angle is estimated. When the magnetic field angle sensor or the magnetic field source is not positioned at the rotation center, the XY axis signal of the magnetic angle sensor loses 90 DEG phase difference relation and generates waveform distortion, and the phase difference and the waveform distortion cause errors of actual measured angles; especially for small angle ranges, due to the measured angle rangeAnd the magnetic angle sensor has no extreme value of X or Y axis signals, so that the reference angle positioning and the angle correction are difficult to carry out. As described in the specification of CN113167598A, the extremum of the magnetic angle sensor signal can be partially increased by the multipole magnetic ring of a plurality of magnetic pole pairsSolves the problem of positioning the reference angle. As described in the specifications CN104656042a and CN104296650a, the magnetic field angle sensor array is fixed on the off-axis plane perpendicular to the rotation axis, and the response signal of the sensor to the excitation of the magnetic field source fixed to the center of the rotation axis is measured, thereby calculating the rotation angle. Whether on-axis or off-axis magnetic field angle sensors, the current solution employing a central magnetic field source has an angle reference positioning problem for solving rotation angles over a small angle range. In some special occasions, the two ends of the rotating shaft are in a closed state, and a magnetic field source rotating along with the shaft and a fixed magnetic angle sensor cannot be installed in the rotating center.
It is known that the rotation angle problem can be solved in a small angle range to some extent based on an image recognition technology. In the current image recognition technology, a camera is installed, an image of a pointer dial is acquired, and after preprocessing is carried out on the image, pointer recognition is realized by adopting internal Huffman straight line detection and circle detection, so that the indication number of the pointer dial is acquired. The method has good recognition degree for the pointer rotating at a low speed, but is limited by the frame rate and algorithm complexity of the camera, and cannot recognize and calculate the angle of the pointer rotating at a high speed in real time; in addition, when the camera deviates from the center of the rotation shaft, the vision deviation of the acquired image also affects the accuracy of calculating the angle. As described above, in the current magnetic and visual angle detection technology, there are problems such as reference angle positioning or large frequency and calculation amount in solving the pointer rotation angle that rotates rapidly in a small angle range.
Disclosure of Invention
The invention provides a dial reading induction device and method based on an off-axis magnetic field sensor array, and aims to solve the problems that element installation offset, reference angle positioning deficiency, large frequency and calculation amount and the like exist in the prior art when a pointer rotating angle which rotates rapidly within a small angle range is solved.
In order to achieve the above object, the present invention provides the following technical solutions: the utility model provides a dial plate reading induction system based on off-axis magnetic field sensor array, includes dial plate and rotator, the rotator rotates to set up at the dial plate center, and perpendicular be fixed with rigid support structure on the axis body of rotator still includes:
one end of the rigid supporting structure is vertically fixed on the shaft body of the rotating body;
a magnetic field source disposed at the other end of the rigid support structure;
the magnetic field sensors are uniformly arranged on the dial plate below the rotating circumference of the magnetic field source around the rotating body, and form a magnetic field sensor array for detecting excitation signals of the magnetic field source;
and the signal processing unit is used for processing the magnetic field source excitation signals acquired by the magnetic field sensor array to obtain the rotation angle of the rotating body.
Preferably, the magnetic field source is a permanent magnet or an energized coil, and the magnetic strength of the magnetic field source is kept constant over the measured rotation angle range.
Preferably, the signal processing unit comprises a zeroing circuit, an amplifying circuit, a filtering circuit, a multichannel AD conversion circuit and a processor circuit which are sequentially connected, the zeroing circuit, the amplifying circuit and the filtering circuit are used for processing the excitation signals acquired by the magnetic field sensor, the processed excitation signals are subjected to AD conversion by the multichannel AD conversion circuit, and the excitation signals after AD conversion are sent to the processor circuit for signal analysis and output, so that the rotation angle of the rotating body is obtained.
The invention also provides a dial reading method of the dial reading induction device based on the off-axis magnetic field sensor array, which comprises the following steps:
collecting excitation signals generated when a magnetic field source rotates along with a rigid supporting structure by using a plurality of magnetic field sensors;
inputting the excitation signals into a K-Means clustering model, and outputting the rotation angle of the rotating body;
the step of inputting the excitation signal into a K-Means cluster model and outputting the rotation angle of the rotator comprises the following steps:
performing unbiasing and maximum normalization on the excitation signal, calling a density-based noise application spatial clustering DBSCAN method to judge and reject discrete data of the output excitation signal after unbiasing and maximum normalization;
training a K-Means clustering model with a set K value by using the excitation signal data after eliminating the discrete data;
redefining the cluster category generated after training the K-Means cluster model as an angle through calibration data, and interpolating at the angle to obtain the rotation angle of the rotator.
Preferably, the method for obtaining the calibration data includes:
acquiring a corresponding rotation angle of the measurement output signal according to the characteristic value of the extremum of the output signal of the magnetic field sensor and the central angle of the sensor;
and calculating the output data of the magnetic field sensor and the corresponding rotation angle according to theoretical model simulation or through COMSOL physical simulation.
Preferably, the calibrating the corresponding rotation angle of the measured output value according to the characteristic value of the extremum of the output signal of the magnetic field sensor and the central angle of the sensor comprises the following steps:
at the angle of measurementWithin the range, rotate at uniform speed +.>In the state, use frequency->Sampling the sensor array output signal;
by the magnetic field sensor and the data point corresponding to the output extreme value of the magnetic field sensor as the sensor and the corresponding data pointA reference angular coordinate;
the output corresponding angle value of the magnetic field sensor and other magnetic field sensors between the magnetic field sensors is according to the followingPerforming angle calibration to construct actual measurement standard data +.>。
Preferably, the calculating the sensor output data and the corresponding rotation angle according to the theoretical model simulation calculation or the COMSOL physical simulation calculation includes the steps of:
establishing a mathematical model according to the shape and the size gesture of a magnetic field source, the gesture of a sensor element, the magnetic sensitivity characteristic and the bias of the sensor element and the actual device structure parameters of a space geomagnetic field;
deriving a functional relationship between rotation angle and magnetic field sensor output according to the mathematical model；
According to the functional relationCalculate->Standard data output by sensors in angular range；
Wherein,for the independent rotation angle +.>Is a parameter matrix of the model.
Preferably, the standard dataMiddle->The calculation steps of (a) are as follows:
according to the angle position of the center of a circle where the magnetic field sensor isCalculating the magnetic field of the magnetic field sensor in the magnetic sensitivity directionVariation->；
Based on magnetically-sensitive properties of magnetic field sensorsStatic output bias->Back-end circuit amplification->ADC quantized gain coefficient +.>Calculating the output of the magnetic field sensor induced magnetic field source rotation at any position>；
Wherein HX, HY and HZ are triaxial magnetic field components of the relative rotation track of the magnetic field sensor.
The invention also provides a dial reading method of the dial reading induction device based on the off-axis magnetic field sensor array, which comprises the following steps:
collecting excitation signals generated when a magnetic field source rotates along with a rigid supporting structure by using a plurality of magnetic field sensors;
calculating the rotation angle of the rotating body through a parameter theory of a self-adaptive solving model for the excitation signal;
the method for calculating the rotation angle of the rotator through the parameter theory of the self-adaptive solving model for the excitation signal comprises the following steps:
acquiring a parameter matrix of an output piecewise function model of the neighbor magnetic field sensor according to the acquired excitation signals;
calculating a rotation angle value range through a piecewise inverse function of all the magnetic field sensors according to the parameter matrix and the magnetic field sensor output signals, and calculating the rotation angle by adopting the uniqueness of the rotation angle based on the rotation angle range;
or calculating the minimum value of the theoretical output value and the average relative error of the sensor according to the fixed step length;
at the angle corresponding to the minimum value of average relative errorThe rotation angle is calculated by interpolation.
Preferably, the calculation expression of the average relative error minimum value is:
when the storage space is not limited, the constant-speed measurement data after the calibration angle is stored asThe minimum average relative error is solved according to the fixed step length between the actual measurement data and the standard data, namely:
rotation angle when storage space is limitedPress->Step length sequentially solving a maximum normalized theoretical value;
when the absolute value of the error between the theoretical value and the actually measured output value of a certain sensor is satisfiedCorresponding +.>Calculate->The angle corresponds to the sensor output value, and the minimum average relative error of the group of data is obtained, namely:
wherein MRE is the average relative error minimum;the angle corresponds to the minimum value; />Is a parameter matrix of the model;biasing for static output; />The method comprises the steps of sensing an output theoretical value of rotation of a magnetic field source for a magnetic field sensor; m represents the number of samples; />Signals are output for the magnetic field sensor.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the invention, the off-axis magnetic field sensor array and the magnetic field source arranged on the rigid supporting structure are arranged, and the response signals excited by the magnetic field source are acquired and output through the magnetic field sensor array vertical to the plane of the rotating shaft, so that the reference angle positioning and angle measurement are realized.
2. According to the invention, the response of the magnetic field sensor array to the excitation of the off-axis magnetic field source rotating along with the axis is utilized to process the output signal of the magnetic field sensor and then the reference angle positioning is carried out through the calibration data; the method provides the sensor array element space arbitrary posture distribution with different central angles and the device model calculation mode of the arbitrary posture of the cuboid magnetic field source, guides the device to design, install and calculate the model parameters, and realizes the effective detection of the rotation angle of the fast rotating pointer in a small angle range.
Drawings
FIG. 1 is a schematic side cross-sectional view of a magnetic field source and magnetic field sensor array rotated off-axis in accordance with example 1 of the present invention;
FIG. 2 is a schematic top view of an off-axis rotating magnetic field source and magnetic field sensor array according to example 1 of the present invention;
FIG. 3 is a schematic diagram of the back-end circuitry of the magnetic field sensor arrays of embodiments 1 and 2 of the present invention;
FIG. 4 is a schematic diagram of a rectangular permanent magnet magnetic charge model according to example 1 of the present invention;
FIG. 5 is a waveform diagram of output signals of the magnetic field sensor array of embodiment 1 of the present invention;
FIG. 6 is a schematic side view of an off-axis rotating magnetic field source and a randomly distributed magnetic field sensor array element of example 2 of the present invention;
FIG. 7 is a schematic diagram of the off-axis rotating magnetic field source pose of embodiment 2 of the present invention;
FIG. 8 is a schematic diagram of the attitude of an off-axis magnetic field sensor array member according to embodiment 2 of the present invention;
FIG. 9 is a schematic diagram showing a two-dimensional attitude of an off-axis magnetic field sensor array member according to embodiment 2 of the present invention;
FIG. 10 is a flowchart of a computing method of the present invention.
Detailed Description
The following describes the embodiments of the present invention further with reference to the accompanying drawings. The following examples are only for more clearly illustrating the technical aspects of the present invention, and are not intended to limit the scope of the present invention.
In order to understand and explain the example structure, the data set acquisition and the rotation angle calculation process, the dial reading sensing device and method based on the off-axis magnetic field sensor array provided by the invention are described in detail below.
Example 1:
the invention provides a dial reading induction device based on an off-axis magnetic field sensor array, which comprises: dial, rotator 101, rigid support structure 102, magnetic field source 103, multiple magnetic field sensors and signal processing unit.
Specifically, as shown in fig. 1, in a schematic side sectional view of a magnetic field source and a magnetic field sensor array that rotate off-axis in embodiment 1 of the present invention, a rotating body 101 is disposed at the center of a dial, and one end of a rigid support structure 102 is vertically fixed on a shaft body of the rotating body 101, the rigid support structure 102 is used for fixing a magnetic field source 103, and the magnetic field source 103 is disposed at the other end of the rigid support structure 102 and is used for driving the magnetic field source 103 to rotate along with the rotating shaft 101. The magnetic field source 103 is implemented asThe rectangular N40 Rb-Fe-B permanent magnet has an off-axis radius of +.>The ac surface is north-south pole, parallel to the tangent line of the rotation circumference or perpendicular to the rotation plane, and rotates around the axis along with the rotation axis.
Where elements are used below instead of the magnetic field sensors of the magnetic field sensor array. The plurality of magnetic field sensors form a magnetic field sensor array, and elements of the magnetic field sensor array are distributed on a rotation circumference within a measured angle range, and adjacent element outputs have non-zero effective data intersections. According to response signals of the sensor array elements to the excitation of the magnetic field source, an actual measurement data set is constructed to calculate or optimize an example to perform theoretical calculation to solve the rotation angle in a small angle range. Specifically, a plurality of magnetic field sensors are uniformly disposed on the dial below the rotation circumference of the magnetic field source 103 for detecting the excitation signal of the magnetic field source 103. And the accuracy of detecting the excitation signal is highly corrected by adjusting the distance of the magnetic field sensor from the rotating body 101, the posture of the magnetic field sensor, and the distance of the magnetic field sensor from the magnetic field source 103. When the magnetic field sensor is arranged at different central angles of the dial under the rigid supporting structure 102, the off-axis distance, the gesture and the distance of the magnetic field source are adjusted to ensure that the absolute value of the derivative of the response output of the two adjacent elements to the excitation of the magnetic field source to the rotation angle between the two elements is larger than zero in the range of the central included angle of the two adjacent elements when the magnetic field source rotates along with the axis relative to the magnetic field sensor array; the element output signal type can be a digital signal or an analog single-ended or analog differential signal; the linear measurement range of the element needs to contain the magnetic intensity range of the magnetic field source; the location of the central angle of the element is known, and the volume of the element is negligible relative to the whole device. The signal processing unit is used for processing the excitation signal of the magnetic field source 103 acquired by the magnetic field sensor array to obtain the rotation angle of the rotating body 101. The signal processing unit comprises a zeroing circuit, an amplifying circuit, a filtering circuit, a multichannel AD conversion circuit and a processor circuit, wherein the zeroing circuit, the amplifying circuit and the filtering circuit are used for processing excitation signals acquired by the magnetic field sensor, the processed excitation signals are subjected to AD conversion by the multichannel AD conversion circuit, and the excitation signals after AD conversion are sent to the processor circuit for signal analysis and output, so that the rotation angle is obtained. Wherein the magnetic field source 103 is a permanent magnet or an energized coil, and the magnetic strength of the magnetic field source 103 is kept constant within the measured rotation angle range.
The method comprises the following steps: output signals of magnetic field sensor array elements 104-107 of the device are input into a 24-bit analog-to-digital converter with the model of MAX11040 after RC low-pass filtering, zeroing and amplifying, and are read by an MCU after conversion, and calculation processing is carried out to solve the rotation angle. The signal processing unit, namely the analog-to-digital converter and the MCU, has the functions of synchronously measuring the magnetic field sensor array and calculating the processing capacity, and the optional optimization method comprises the following steps: unnecessary structures such as zeroing, filtering, amplifying and other circuits are omitted; selecting different types of elements, and integrating and packaging partial integrated filtering, zeroing, amplifying, AD conversion and other circuits or all circuits into a sensor chip; and (5) performing over-amplitude processing, and collecting, digitally filtering and calculating after the output amplitude of the sensor element exceeds the background magnetic field.
Alternatively, the rigid support structure 102 and the magnetic field source 103 may be combined into a unitary rigid structure having magnetic properties. As shown in FIG. 2, the number N of elements of the magnetic field sensor array is 4, 104-107, respectively, and the elements are fixed on a plane perpendicular to the rotation axis, the element type is realized as a single axis X, and the tunnel magneto-resistance sensor chip with the size of 3X 3mm is arranged on the radiusWithin 120 DEG of (A)>Relative angles, the magnetic sensitive axes of the elements are respectively parallel to the tangential direction; the sensor array plane is +.>。
The invention provides a dial reading method of a dial reading induction device based on an off-axis magnetic field sensor array, which comprises the following steps:
s1: excitation signals of the magnetic field source 103 as it rotates with the rigid support structure are acquired with a plurality of magnetic field sensors.
In the device model of example 1, as shown in step S1, when the magnetic field source 103 rotates to the same rotation angle as the element, the magnetic sensor array element magnetically sensitive directions are parallel, the element outputs an approximate even function and there is an extremum. The extremum corresponding output data may be selected as a reference angle for calibration. A solution for improving accuracy and range, the number of elements N of the magnetic field sensor array can be implemented more for improving accuracy and angular range of measurement; referring to fig. 3, which is a block diagram of a signal processing unit of a sensor back-end circuit, the amplifying, filtering, zeroing and ADC module part may be omitted depending on the performance of the magnetic field sensor and the type of output signal. The element output may be a digital signal or an analog single ended or analog differential signal.
S2: inputting the excitation signal into a K-Means cluster model to calculate the rotation angle of the rotator; or calculating the rotation angle of the rotating body through the parameter theory of the self-adaptive solving model on the excitation signal.
The output signal is input into a K-Means cluster model to calculate the rotation angle, and the method comprises the following steps:
s21: and (3) unbiasing and maximum normalizing the output signal, calling a density-based noise application spatial clustering DBSCAN method to judge and reject discrete data of the output signal after unbiasing and maximum normalizing, and carrying out data preprocessing.
S22: and training a K-Means clustering model with a set K value by using the data after the data preprocessing.
S23: redefining the cluster category after training the K-Means cluster model as an angle through the calibration data, and carrying out interpolation calculation on the rotation angle at the angle category.
The method for calculating the rotation angle of the rotating body through the parameter theory of the self-adaptive solving model for the excitation signal comprises the following steps:
s21: and acquiring a parameter matrix of the output piecewise function model of the neighbor magnetic field sensor according to the acquired excitation signals.
S22: acquiring an output signal according to the parameter matrix and the acquired excitation signal, calculating a rotation angle value range through the piecewise inverse function of all the magnetic field sensors, and calculating the rotation angle by adopting the uniqueness of the rotation angle based on the rotation angle range; or calculating the minimum value of the theoretical output value and the average relative error of the sensor according to the fixed step length.
S23: at the angle corresponding to the minimum value of average relative errorThe rotation angle is calculated by adopting an interpolation or further narrowing step formula.
As shown by a solid arrow flow in fig. 10, according to the output data of the elements of the sensor array measured (synchronously measured) within the rotation angle, unbiasing and maximum normalizing the data, invoking a clustering method of spatial clustering DBSCAN based on density noise to judge and reject discrete data, performing data preprocessing, and training K-Means clustering after the possible invalid data is rejected. K-Means clustering of a K value is set through the training of the preprocessed data, the preprocessed data is classified according to the clusters, the centers of the clusters are solved, the center of mass is initialized through a K-means++ method to improve the clustering effect, and the K value is calculated according to the measuring range and the resolution ratio. The class after the clustering model is trained is redefined as an angle by the calibration data, new measurement data is directly imported into the model, namely a given angle class, and interpolation calculation is carried out near the angle class.
As shown by the dotted arrow flow in fig. 10, there are two options for calibration data: the first data source rotates the measurement data uniformly. Measuring a uniform rotation or a measured angular rangeAnd outputting the sensor element, and calibrating the corresponding angle of the measured output value according to the characteristic value of the extremum of the sensor output signal and the central angle of the sensor. Specifically, at the measured angleWithin the range, rotate at uniform speed +.>In the state, use higher frequency +.>The sensor array outputs a signal. Data points corresponding to the output extremum of magnetic field sensors 104 and 107 are used as the data points corresponding to sensors 104 and 107 +.>Reference angular coordinates, other sensor outputs in between corresponding angular values according to +.>Performing angle calibration to construct actual measurement standard data +.>. The second data is derived from theoretical model simulation calculation or COMSOL simulation calculation sensor output data and rotation angle. Specifically, a mathematical model is built according to the shape and the size and the posture of a magnetic field source, the posture of a sensor element, the magnetic sensitivity characteristics, the bias, the structural parameters of a space geomagnetic field and other practical device, the output functional relation between a rotation angle and the sensor element is deduced, and the calculation is performedStandard data of sensor output in angle range +.>。
Establishing a mathematical model according to the actual device structure, and performing simulation calculation to solve the rotation angle and the output data of the magnetic field sensor array element. Referring to the device structure diagrams shown in fig. 1 and 2, a three-dimensional cartesian right-hand coordinate system +_is established with the rotation center as the origin>. Referring to the cuboid permanent magnet magnetic charge model structure shown in fig. 4, a three-dimensional Cartesian right-hand relative coordinate system is established by taking the permanent magnet body center as an origin>. According to the device definition variables: the length, width and height of the cuboid permanent magnet are respectively set to be +.>、/>、/>Its north-south magnetic field lines are perpendicular to the ac plane and parallel to the tangent of the circumference of rotation; radius from the centre of rotation is +.>The method comprises the steps of carrying out a first treatment on the surface of the The radius of the elements defining the magnetic field sensor array from the centre of rotation is +.>The method comprises the steps of carrying out a first treatment on the surface of the The included angle between the X positive half axis and the XY plane is +.>The method comprises the steps of carrying out a first treatment on the surface of the The height of the magnetic field source rotating plane in the Z-axis direction is +.>The method comprises the steps of carrying out a first treatment on the surface of the The sensitivity coefficient of the sensor output and the magnetic field is +.>. The geomagnetic field is regarded as +.>Is a spatially uniform background magnetic field of the sensor, the sensor is statically biasedPut->. The rotation angle of the rotation shaft is +.>。
The rectangular permanent magnet can be regarded as the magnetic density according to the magnetic charge modelIs a spatial superposition of the distributed magnetic charges,，/>for the remanent magnetization, uniformly magnetize perpendicular to the ac plane,/->For normal vectors, only the surface magnetic charge exists, scalar magnetic bits +.>Density of magnetic charge of surface->The relation is: />Where dS is the area element of the ac face and R is the distance from the point P (x, y, z) to the area element dS, the magnetic field strength H is given by equation (1):
(1)
referring to FIG. 4, the xyz-direction component of the S+ plane at point P (x, y, z) is solvedThe formulas of (2) to (4) are shown. B in formulas (2) - (4) is replaced by-b, and the component of the S-surface at the point P (x, y, z) is solvedThe formula of (2) is the magnetic field of xyz-direction component +.>As shown in formula (5) (three-dimensional spatial magnetic field distribution calculation formula).
(2)
(3)
(4)
(5)
The elements of the magnetic field sensor array are in the Cartesian coordinate system of FIG. 4, with the permanent magnet stationaryTrack equation of the lower rotation track>As shown in equation (6).
(6)
The relative rotation track of the elements.Triaxial magnetic field component->The magnetic field is carried into the magnetic fields (2) - (5) by the formula (6) and the spatially uniform background magnetic field is considered +.>Such as(7) The formula shown gives.
(7)
Considering the angle position of the center of a circle where the magnetic field sensor isThe magnetic field in the magnetically sensitive direction of the element changesGiven by equation (8). Consider the magnetic sensitivity of the component->Static output bias->Back-end circuit amplification->ADC quantized gain coefficient +.>The magnetic field sensor element in any position direction in space senses the output of the magnetic field source rotating with the shaft +.>Given by equation (9).
(8)
(9)
When the element position is fixed, the background magnetic field is constant, the working is in the magnetic sensitivity linear range, and the amplification factor of the back-end circuit is increasedADC quantization gain coefficient->When constant. By unbiasing, the maximum normalization process ignores the magneto-sensitive property +.>Static output bias->Spatially homogeneous background magnetic field->And the back-end circuit amplifies and ADC quantized gain coefficients +.>Influence on the calculation result.
The device model is shown in FIG. 1, at a constant speedRotation angle measuring sensor array element output signal +.>And calculating the sensor output signal from theory +.>. The measured data and the calculated output data are unbiased, the maximum value is normalized, the output signal waveform is shown in fig. 5 after the phase is translated, and it can be seen that the theoretical calculation is basically consistent with the actual measurement curve.
Therefore, two alternative methods for optimizing the solving angle are that constant-speed measurement data after calibrating the angle are stored when the storage space is not limitedSolving average relative error between actual measurement data and the standard data according to fixed step lengthMinimum, corresponding to angle +.>The accurate angle is solved nearby by adopting a numerical interpolation method or a reduced step length. When the storage space is limited and the calculation performance is high, the model parameters are saved, and the rotation angle is +.>Press->Step length sequentially solving maximum normalized theoretical value +.>When the absolute value of the error between the theoretical value and the actually measured output value of a certain sensor is satisfied +.>Corresponding +.>Calculate->Angle corresponds to the sensor output value such that the average relative error of the set of data +.>Minimum, interpolation or reduction +.>The step size solves for a more accurate solution of the angle.
Example 2:
in order to generalize the device model further, the permanent magnet posture, the magnetic field sensor element type and the magnetic sensitive axis posture are considered on the basis of the embodiment 1, and the embodiment 2 of the invention is combined with a schematic side view of a magnetic field source rotating off-axis and a magnetic field sensor array element which is scattered and distributed according to fig. 6 to describe an example model structure and model parameter solving.
In fig. 6, a rigid support structure 202 is mounted on a rotator 201 for fixing a magnetic field source203, the magnetic field source 203 is still realized as a magnetic field source with length, width and height of respectivelyIs of a rectangular parallelepiped with an off-axis radius of +.>The ac surface is the south and the north, and rotates along with the rotating shaft around the shaft; the types of the elements 204-207 of the magnetic field sensor array are implemented as three sensor elements with different sensitivity degrees, such as QFN packaging chips of 3X 3mm of self-grinding X-axis tunnel magneto-resistance sensor, multidimensional technology TMR2003 and TMR 2501.
Referring to fig. 7-9, an off-axis magnetic field source pose, an off-axis magnetic field sensor array element pose, and a schematic view of the central angle at which it is located. Definition (Pitch, head, roll) of the relative coordinate system around the permanent magnetIs provided. Defining the clockwise external tangent angle of the circle formed by the magnetic sensitive axis at the central angle position and the rotation center>The height of the magnetic field source rotating plane in the Z-axis direction is +.>Elevation angle is +.>. The point shown in fig. 7->Rotate to +.>Point +.>Is shown in formula (10).
(10)
Considering the attitude of the magnetic field sensor in the magnetically sensitive directionThe magnetic field variation H in the magnetically sensitive direction of the element is given by the formula (11).
(11)
I.e. given actual model parametersThe magnetic field sensor element output value under any model is directly calculated from equation 11. In particular, the magnetic sensitive axis attitude parameter of the magnetic field sensor array element +.>When the output signals are consistent, the element outputs are unbiased, and the output signals after the maximum normalization are only in the existence of the central angle phase +.>Different; while->Or 0, pi, the sensor output signal approximates the characteristic of an odd function or an even function, and accordingly the zero value of the odd function or the extremum of the even function is used for solving the problem of positioning the reference angle during the small-angle test.
As in step S2 in example 1, for the model of example 2, the output function of the magnetic field sensor element isWherein->For the independent rotation angle +.>Is a parameter matrix of the model. As shown in the dashed arrow flow in FIG. 10, consider two adjacent elements energizing a magnetic field sourceThe absolute value of the derivative of the response output of (a) with respect to the rotation angle between the two elements is greater than zero, by +.>Magnetic field sensors and adjacent +.>Relative rotation angle of the individual magnetic field sensors +.>Is a limit within which the +.>First derivative of the individual magnetic field sensor outputs +.>SegmentationSo that ∈10 in the range of the segment>For independent variable->Solving a piecewise anti-function for a single-valued function>Then->Is output by the magnetic field sensor of (2)From->Magnetic field sensor output of +.>Represented by the formula. Turn to be knownSolving a piecewise function +.>Parameter matrix of->Problems. Setting upper and lower limit constraint parameter ranges of parameters according to actual model conditions, and solving a function by adopting a nonlinear least square methodParameter matrix of->. Adaptive calculation of the parameter matrix for the actual measurement>And realizing the self-adaptive adjustment of model parameters of any model. Calculating the parameter matrix of the sensor output piecewise function model of the neighbor according to the measured output signals, calculating the theoretical output values of all elements according to the calculated parameter matrix, the parameter matrix and the output signals according to a fixed step length and solving the average relative error +.>Minimum value, minimum value corresponds to angle +.>Calculating the angle by adopting interpolation or further narrowing step formula nearby; or directly solving m piecewise anti-function angle possible values of n elements according to the sensor output>There is a unique rotation angle +>The error from the angle possible values of the n elements satisfies +.>. Wherein, three-dimensional space magnetic field distribution calculation is publicThe formula is shown in formula (5), and the three-dimensional space magnetic field distribution formula is transformed by changing the type, the size, the shape and the position of the magnetic field source, the number of north-south polarities of the single magnetic field source and the number of the total magnetic field sources of the device, and the current three-dimensional space magnetic field distribution is calculated.
For the embodiment model of which the magnetic field strength cannot be calculated through a formula, according to the constant-speed rotation measurement data, the angle of the measurement data is calibrated through an extreme value or a zero value and is used as standard dataSolving the average relative error of the measured data and the standard data>Minimum value. Or redefining the category as an angle through K-Means clustering, and further adopting interpolation to calculate the angle.
The above embodiments are merely preferred embodiments of the present invention, the protection scope of the present invention is not limited thereto, and any simple changes or equivalent substitutions of technical solutions that can be obviously obtained by those skilled in the art within the technical scope of the present invention disclosed in the present invention belong to the protection scope of the present invention.
Claims (8)
1. A dial plate reading method of a dial plate reading induction device based on an off-axis magnetic field sensor array, the dial plate reading induction device comprises a dial plate and a rotating body (101), the rotating body (101) is rotationally arranged at the center of the dial plate, and the dial plate reading induction device is characterized by further comprising:
a rigid support structure (102), one end of which is vertically fixed on the shaft body of the rotating body (101);
a magnetic field source (103) arranged at the other end of the rigid support structure (102);
a plurality of magnetic field sensors uniformly arranged on the dial below the rotation circumference of the magnetic field source (103) around the rotating body (101), the plurality of magnetic field sensors forming a magnetic field sensor array for detecting an excitation signal of the magnetic field source (103);
the signal processing unit is used for processing the excitation signal of the magnetic field source (103) acquired by the magnetic field sensor array to obtain the rotation angle of the rotating body (101);
the dial reading method of the dial reading induction device based on the off-axis magnetic field sensor array comprises the following steps of:
collecting excitation signals of a magnetic field source (103) when rotating along with a rigid supporting structure (102) by using a plurality of magnetic field sensors;
inputting the excitation signal into a K-Means cluster model, and outputting the rotation angle of the rotating body (101);
the method for inputting the excitation signal into the K-Means cluster model and outputting the rotation angle of the rotating body (101) comprises the following steps:
performing unbiasing and maximum normalization on the excitation signal, calling a density-based noise application spatial clustering DBSCAN method to judge and reject discrete data of the output excitation signal after unbiasing and maximum normalization;
training a K-Means clustering model with a set K value by using the excitation signal data after eliminating the discrete data;
redefining cluster types generated after training the K-Means cluster model as angles through calibration data, and interpolating at the angles to obtain the rotation angles of the rotating bodies (101);
the method for acquiring the calibration data comprises the following steps:
acquiring a corresponding rotation angle of the measurement output signal according to the characteristic value of the extremum of the output signal of the magnetic field sensor and the central angle of the sensor;
and calculating the output data of the magnetic field sensor and the corresponding rotation angle according to theoretical model simulation or through COMSOL physical simulation.
2. A dial reading method of a dial reading induction device based on an off-axis magnetic field sensor array according to claim 1, characterized in that the magnetic field source (103) is a permanent magnet or an energized coil, and the magnetic strength of the magnetic field source (103) is kept constant over the measured rotation angle range.
3. The dial reading method of the dial reading sensing device based on the off-axis magnetic field sensor array according to claim 1, wherein the signal processing unit comprises a zeroing circuit, an amplifying circuit, a filtering circuit, a multichannel AD conversion circuit and a processor circuit which are sequentially connected, excitation signals acquired by the magnetic field sensors are processed through the zeroing circuit, the amplifying circuit and the filtering circuit, the processed excitation signals are subjected to AD conversion through the multichannel AD conversion circuit, and the excitation signals after AD conversion are sent to the processor circuit for signal analysis and output, so that the rotation angle of the rotating body (101) is obtained.
4. The dial reading method of the dial reading sensing device based on the off-axis magnetic field sensor array according to claim 1, wherein the obtaining the corresponding rotation angle of the measurement output signal according to the characteristic value of the extremum of the magnetic field sensor output signal and the central angle of the sensor comprises the steps of:
within the range of the measured angles (ρs1, ρsN), ω is rotated at constant speed m In a state, sampling output signals of the magnetic field sensor array by adopting frequency f;
the data points corresponding to the output extreme values of the magnetic field sensors at the two ends of the dial are used as the respective corresponding circle center angle positions of the two magnetic field sensors at the two ends of the dial
The corresponding angle value of the output of other magnetic field sensors between the two magnetic field sensors at the two ends of the dial is according to (ρs1- ρsN) & f/ω m Performing angle calibration to construct actual measurement standard data
Wherein θ is the rotation angle of the argument,signals are output for the magnetic field sensor.
5. The dial reading method of the dial reading sensing device based on the off-axis magnetic field sensor array according to claim 4, wherein the calculating of the magnetic field sensor output data and the corresponding rotation angle according to theoretical model simulation or through COMSOL physical simulation comprises the steps of:
establishing a mathematical model according to the shape and the size gesture of a magnetic field source, the gesture of a sensor element, the magnetic sensitivity characteristic and the bias of the sensor element and the actual device structure parameters of a space geomagnetic field;
deriving a functional relationship between rotation angle and magnetic field sensor output according to the mathematical model
According to the functional relationCalculating the standard data +.f of the sensor output in the angular range (ρs1, ρsN)>
Wherein θ is the rotation angle of the argument,for the parameter matrix of the model, < >>The output of the magnetic field source rotation is sensed for the magnetic field sensor.
6. The method for reading a dial of a dial reading sensing device based on an off-axis magnetic field sensor array of claim 5, wherein the standard dataMiddle->The calculation steps of (a) are as follows:
according to the angle position of the center of a circle where the magnetic field sensor isCalculating the magnetic field change Ht of the magnetic field sensor in the magnetic sensitivity direction;
based on the magnetosensitive characteristics k of the magnetic field sensor s Static output bias V 0 Amplification factor A of back-end circuit s ADC quantized gain coefficient G s Calculating the rotation output of the induction magnetic field source of the magnetic field sensor at any position and direction
Wherein HX and HY are two axial magnetic field components of the relative rotation track of the magnetic field sensor.
7. A dial plate reading method of a dial plate reading induction device based on an off-axis magnetic field sensor array, the dial plate reading induction device comprises a dial plate and a rotating body (101), the rotating body (101) is rotationally arranged at the center of the dial plate, and the dial plate reading induction device is characterized by further comprising:
a rigid support structure (102), one end of which is vertically fixed on the shaft body of the rotating body (101);
a magnetic field source (103) arranged at the other end of the rigid support structure (102);
a plurality of magnetic field sensors uniformly arranged on the dial below the rotation circumference of the magnetic field source (103) around the rotating body (101), the plurality of magnetic field sensors forming a magnetic field sensor array for detecting an excitation signal of the magnetic field source (103);
the signal processing unit is used for processing the excitation signal of the magnetic field source (103) acquired by the magnetic field sensor array to obtain the rotation angle of the rotating body (101);
the dial reading method of the dial reading induction device based on the off-axis magnetic field sensor array comprises the following steps of: the method comprises the following steps:
collecting excitation signals of a magnetic field source (103) when rotating along with a rigid supporting structure (102) by using a plurality of magnetic field sensors;
calculating the rotation angle of the rotating body (101) through a parameter theory of a self-adaptive solving model for the excitation signal;
wherein the calculating the rotation angle of the rotator (101) by the parameter theory of the self-adaptive solving model for the excitation signal comprises the following steps:
calculating a parameter matrix of the output piecewise function model of the neighbor magnetic field sensor according to the collected excitation signals;
calculating a rotation angle value range through the piecewise inverse function of all the magnetic field sensors according to the parameter matrix and the output signals, and calculating the rotation angle by adopting the uniqueness of the rotation angle based on the rotation angle range; or calculating the minimum value of the theoretical output value and the average relative error of the sensor according to the fixed step length;
at a minimum corresponding to an angle theta δ The rotation angle is calculated by interpolation or further narrowing the step size.
8. The method of dial reading for an off-axis magnetic field sensor array based dial reading sensing device of claim 7, wherein the average relative error minimum is calculated as:
when the storage space is not limited, the constant-speed measurement data after the calibration angle is stored as actual measurement standard dataBy determining the step length of the actual measured data and the standard dataSolving for the minimum average relative error, namely:
when the storage space is limited, the rotation angle theta= -pi, delta, pi sequentially solves the maximum normalized theoretical value according to delta step length;
when the absolute value of the error between the theoretical value and the actually measured output value of a certain sensor is satisfiedTheta corresponding to time δ Calculate->The angle corresponds to the sensor output value, and the minimum average relative error of the group of data is obtained, namely:
wherein MRE is the average relative error minimum; θ δ The angle corresponds to the minimum value;is a parameter matrix of the model; />Biasing the actual measured static output; />The method comprises the steps of sensing an output theoretical value of rotation of a magnetic field source for a magnetic field sensor; m represents the number of samples; />Outputting a signal for the magnetic field sensor; />Biasing a static output of the magnetic field sensor; />The center angle position of the magnetic field sensor is provided.
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