CN117073521A - Angular displacement measurement method and system based on magnetic sensing - Google Patents
Angular displacement measurement method and system based on magnetic sensing Download PDFInfo
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- CN117073521A CN117073521A CN202311009651.2A CN202311009651A CN117073521A CN 117073521 A CN117073521 A CN 117073521A CN 202311009651 A CN202311009651 A CN 202311009651A CN 117073521 A CN117073521 A CN 117073521A
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- 238000005259 measurement Methods 0.000 claims abstract description 29
- 238000003062 neural network model Methods 0.000 claims abstract description 7
- 238000013528 artificial neural network Methods 0.000 claims description 14
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/30—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring angles or tapers; for testing the alignment of axes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01K—MEASURING TEMPERATURE; MEASURING QUANTITY OF HEAT; THERMALLY-SENSITIVE ELEMENTS NOT OTHERWISE PROVIDED FOR
- G01K13/00—Thermometers specially adapted for specific purposes
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- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
Abstract
The invention discloses a magnetic sensing-based angular displacement measurement method, which comprises the following steps: collecting first Hall sampling values of a plurality of paths of Hall sensors; collecting temperature sampling values of temperature sensors, and performing temperature compensation on first Hall sampling values of a plurality of paths of Hall sensors according to the temperature sampling values to obtain second Hall sampling values; and inputting the second Hall sampling value after temperature compensation into a neural network model to calculate an angle value. The invention also discloses an angular displacement measurement system based on magnetic sensing. The invention solves the technical problem of how to accurately and rapidly measure the angular displacement of the detected target and output the result.
Description
Technical Field
The invention relates to the technical field of sensors, in particular to a magnetic sensing-based angular displacement measurement method and a magnetic sensing-based angular displacement measurement system.
Background
The angular displacement sensor and the linear displacement sensor can detect the rotation angular displacement and the linear displacement of a detected target, and are mainly used in flowmeters, industrial machine tools, robot industries, large-scale industrial machinery vehicles and the like. The angular displacement sensor and the linear displacement sensor which are currently used in industry use grating sensing or magnetic sensing modes, and the magnetic sensing modes have the characteristics of vibration resistance, corrosion resistance, pollution resistance and the like, so that the sensor can be widely applied to the fields of machine manufacturing, ships, spinning, printing, aviation and the like. At present, magnetic sensing mostly adopts a magnetic resistance or a Hall element to convert a magnetic field angle into a corresponding sine and cosine signal to calculate the angle, the method can only measure the axial rotation angle of a magnetic field parallel to the surface of the Hall element, and the surface of a magnet and the surface of a magnetic induction chip need to be parallel to each other, namely, are installed on-axis or off-axis, so that the magnetic field is parallel to the surface of the magnetic induction chip and cannot move relative to each other. For some special applications, such as cement pump trucks or other large industrial vehicles, the above requirements for parallel installation cannot be met.
Disclosure of Invention
The invention mainly aims to provide a magnetic sensing-based angular displacement measurement method and a magnetic sensing-based angular displacement measurement system, which aim at solving the technical problem of how to accurately and rapidly measure the angular displacement of a detected target and output a result.
In order to achieve the above object, the present invention provides a magnetic sensing-based angular displacement measurement method, wherein the magnetic sensing-based angular displacement measurement method comprises the following steps:
s1, collecting first Hall sampling values of a plurality of paths of Hall sensors;
s2, acquiring temperature sampling values of temperature sensors, and performing temperature compensation on first Hall sampling values of a plurality of paths of Hall sensors according to the temperature sampling values to obtain second Hall sampling values;
s3, inputting the second Hall sampling value subjected to temperature compensation into a neural network model to calculate an angle value.
In one preferred embodiment, before the step S1 collects the first hall sampling values of the plurality of hall sensors, the method further includes:
s0, initializing a system, and acquiring an initial temperature sampling value of the temperature sensor at 25 ℃.
In one of the preferred schemes, the step S1 collects first hall sampling values of a plurality of hall sensors, specifically:
when the detected object drives the magnet to rotate, and when the detected object and the magnet rotate to an angle or position to be detected, a plurality of paths of first Hall sampling values output by the Hall sensors are collected.
In one preferred scheme, in the step S2, temperature compensation is performed on the first hall sampling values of the plurality of hall sensors according to the temperature sampling values to obtain second hall sampling values, which specifically includes:
collecting initial Hall sampling values when a plurality of Hall sensors are far away from an object to be detected;
calculating the variation value of the current temperature and the temperature sampling of the 25 ℃ temperature sensor;
and carrying out temperature compensation on the first Hall sampling values of the plurality of paths of Hall sensors based on the initial Hall sampling values and the change values of the current temperature and the temperature sampling of the 25 ℃ temperature sensor to obtain a second Hall sampling value.
In one preferred scheme, the second hall sampling value after temperature compensation is:
wherein AD' n AD is a second Hall sampling value of the nth Hall sensor after temperature compensation n AD is the first Hall sampling value of the nth Hall sensor n0 An initial Hall sampling value of an nth Hall sensor, k is a temperature compensation coefficient, and delta T is calculated AD The current temperature is the variation value of the temperature sampling value of the temperature sensor at 25 ℃.
An angular displacement measurement system based on magnetic sensing, comprising: a measurement module and a control module;
the control module comprises a sampling module, a temperature sensor, a temperature compensation module and a neural network module; the measuring module is connected with the detected object and comprises a plurality of Hall sensors;
the sampling module is respectively connected with the measuring module, the temperature sensor and the temperature compensation module, and is used for collecting output values of the Hall sensor and the temperature sensor and transmitting the output values to the temperature compensation module;
the temperature compensation module is connected with the neural network module and is used for performing temperature compensation on the output value of the Hall sensor;
the neural network module is used for calculating the rotation angle value of the detected object.
In one preferred embodiment, the angular displacement measurement system based on magnetic sensing further includes a magnet, which is disposed on the detected object, and a magnetic field generated by the magnet is parallel to the surface of each hall sensor.
In one preferred scheme, a plurality of Hall sensors are uniformly distributed on a circuit board of a measuring module with the same appearance as the movement track of the detected object.
In one of the preferred schemes, the Hall sensor is horizontally arranged, and the distance between the Hall sensor and the magnet is fixed and the same.
In one preferred embodiment, the measuring module is provided with at least two hall sensors.
In the technical scheme of the invention, the angular displacement measuring method based on magnetic sensing comprises the following steps of: collecting first Hall sampling values of a plurality of paths of Hall sensors; collecting temperature sampling values of temperature sensors, and performing temperature compensation on first Hall sampling values of a plurality of paths of Hall sensors according to the temperature sampling values to obtain second Hall sampling values; and inputting the second Hall sampling value after temperature compensation into a neural network model to calculate an angle value. The invention solves the technical problem of how to accurately and rapidly measure the angular displacement of the detected target and output the result.
In the invention, the magnet arranged on the detected object is not required to be arranged in parallel with the magnetic induction chip in the Hall sensor, only the magnetic field generated by the magnet is required to be parallel to the surface of the Hall sensor, and the plurality of Hall sensors are uniformly distributed on the circuit board of the measuring module with the same appearance as the moving track of the detected object, so that the rotation angle and displacement of the detected object are measured.
In the invention, the measurement system can stably measure in a wide temperature range of-20 ℃ to 85 ℃ by carrying out temperature compensation on the collected first Hall sampling value.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the description below are only some embodiments of the invention, and that other drawings may be obtained from the structures shown in these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of an angular displacement measurement method based on magnetic sensing according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of an angular displacement measurement system based on magnetic sensing according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a sampling module and an object to be detected according to an embodiment of the present invention;
FIG. 4 is a graph showing the relationship between the output values of eight Hall sensors and the angle of the detected object according to the embodiment of the invention;
FIG. 5 is a schematic diagram showing the temperature effect and compensation effect of the output value of the Hall sensor according to the embodiment of the present invention;
FIG. 6 is a graph showing the relationship between the output angle of the measuring system and the theoretical angle value at 85deg.C according to the embodiment of the invention.
Reference numerals illustrate:
1. a measurement module; 2. a control module; 3. a hall sensor; 4. a temperature sensor; 5. a sampling module; 6. a temperature compensation module; 7. a neural network module; 8. an object to be detected; 9. a magnet.
The achievement of the object, functional features and advantages of the present invention will be further described with reference to the drawings in connection with the embodiments.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, based on the embodiments of the invention, which are apparent to those of ordinary skill in the art without inventive faculty, are intended to be within the scope of the invention.
It should be noted that all directional indicators (such as upper and lower … …) in the embodiments of the present invention are merely used to explain the relative positional relationship, movement conditions, etc. between the components in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indicator is changed accordingly.
Furthermore, descriptions such as those referred to as "first," "second," and the like, are provided for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implying an order of magnitude of the indicated technical features in the present disclosure. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature.
Moreover, the technical solutions of the embodiments of the present invention may be combined with each other, but it is necessary to be based on the fact that those skilled in the art can implement the embodiments, and when the technical solutions are contradictory or cannot be implemented, it should be considered that the combination of the technical solutions does not exist, and is not within the scope of protection claimed by the present invention.
Referring to fig. 1, according to an aspect of the present invention, there is provided a magnetic sensing-based angular displacement measurement method, wherein the magnetic sensing-based angular displacement measurement method includes the steps of:
s1, collecting first Hall sampling values of a plurality of paths of Hall sensors 3;
s2, acquiring a temperature sampling value of the temperature sensor 4, and performing temperature compensation on first Hall sampling values of a plurality of paths of Hall sensors 3 according to the temperature sampling value to obtain a second Hall sampling value;
s3, inputting the second Hall sampling value subjected to temperature compensation into a neural network model to calculate an angle value.
Specifically, in this embodiment, before the step S1 collects the first hall sampling values of the plurality of hall sensors 3, the method further includes:
s0, initializing a system, and acquiring and storing an initial temperature sampling value of the temperature sensor 4 at 25 ℃ by a sampling module 5.
Specifically, in this embodiment, the step S1 collects first hall sampling values of the plurality of hall sensors 3, specifically: when the detected object 8 drives the magnet 9 to rotate, and when the detected object 8 and the magnet 9 rotate to an angle or position to be detected, the output value of each path of Hall sensor 3 is fixed, and a plurality of paths of first Hall sampling values output by the Hall sensors 3 are collected through the sampling module 5.
Specifically, in this embodiment, in step S2, the temperature compensation is performed on the first hall sampling values of the plurality of hall sensors 3 according to the temperature sampling values, which specifically is:
collecting initial Hall sampling values when a plurality of Hall sensors 3 are far away from a detected object 8;
calculating the change value of the current temperature and the temperature sampling of the 25 ℃ temperature sensor 4; the method comprises the following steps:
ΔT AD ＝T 1 -T 2
wherein T is 1 T is the temperature sampling value of the current temperature sensor 4 2 An initial temperature sample at 25 ℃;
and carrying out temperature compensation on the first Hall sampling values of the plurality of paths of Hall sensors 3 based on the initial Hall sampling values and the change values of the current temperature and the temperature sampling of the temperature sensor 4 at 25 ℃ to obtain second Hall sampling values.
Specifically, in this embodiment, the second hall sampling value after temperature compensation is:
wherein AD' n AD is the second Hall sampling value of the nth Hall sensor 3 after temperature compensation n AD is the first Hall sampling value of the nth Hall sensor 3 n0 An initial Hall sampling value of the nth path of Hall sensor 3, k is a temperature compensation coefficient, delta T AD The temperature compensation coefficient is 14% for the variation value of the current temperature and the temperature sampling value of the 25 ℃ temperature sensor 4.
Specifically, in this embodiment, the neural network model includes a three-layer neural network, where the neural network may be a conventional neural network, and the present invention is not limited in detail; in the invention, the measuring module 1 comprises eight hall sensors 3, eight nodes are arranged on a neural network input layer, one node is arranged on an output layer, theoretical angle values corresponding to detected objects at a large number of different positions and first hall sampling values of the hall sensors 3 are input into a neural network model realized by Matlab software for learning and training at the temperature of 25 ℃, angle calculation parameters are obtained, the parameters are stored, and in actual measurement, the angle values are converted and output according to the hall sampling values of the hall sensors 3 and the angle calculation parameters.
Referring to fig. 2-3, according to another aspect of the present invention, there is provided a magnetic sensing-based angular displacement measurement system, wherein the magnetic sensing-based angular displacement measurement method measurement system includes: the system comprises a measurement module 1 and a control module 2, wherein the control module 2 comprises a sampling module 5, a temperature sensor 4, a temperature compensation module 6 and a neural network module 7; the measuring module 1 is connected with a detected object 8, and the measuring module 1 comprises a plurality of Hall sensors 3;
the sampling module 5 is respectively connected with the measuring module 1, the temperature sensor 4 and the temperature compensation module 6, and the sampling module 5 is used for collecting output values of the Hall sensor 3 and the temperature sensor 4 and transmitting the output values to the temperature compensation module 6;
the temperature compensation module 6 is connected with the neural network module 7, and the temperature compensation module 6 is used for performing temperature compensation on the output value of the Hall sensor 3;
the neural network module 7 is used for calculating the rotation angle value of the detected object 8.
Specifically, in this embodiment, the angular displacement measurement system based on magnetic sensing further includes a magnet 9, configured to be disposed on the detected object 8, where a magnetic field generated by the magnet 9 is parallel to the surface of each hall sensor 3; the detected object 8 is a detected rotating object, and the structure of the measuring module 1 needs to be designed to be the same as the moving track of the detected object 8; the magnet 9 is located at one side of the measurement module 1, the measurement module 1 is provided with at least two hall sensors 3, in the invention, the measurement module 1 is provided with eight hall sensors 3, the invention is not particularly limited, and the invention can be specifically set according to the needs; eight Hall sensors 3 are uniformly distributed on a circuit board of a measuring module with the same appearance as the moving track of the detected object 8; the Hall sensor 3 is horizontally arranged, and the distance between the Hall sensor 3 and the magnet 9 is fixed and the same.
Specifically, in this embodiment, the hall sensor 3 may be an AMR3008 type sensor, which is not specifically limited in the present invention, and may be specifically set as needed; the rotation angle of the detected object 8 is 100 degrees, the eight hall sensors 3 are uniformly distributed in a circumference range with the radius of 90mm and the angle of 140 degrees, the distance between the magnet 9 and each hall sensor 3 is 10mm, and the zero angle position of the detected object 8 is not necessarily identical to the zero angle position of the measuring module 1, so that the measuring system is marked with zero before use, and the zero marking mode is as follows: when the detected object 8 is positioned at the zero degree position, the angle output value theta of the measuring system is obtained 0 The angle output value of the detected object 8 when the object is positioned at any position is deducted by theta 0 And finishing zero marking.
Specifically, in this embodiment, referring to fig. 4, the control module 2 may use an STM32G473 microcontroller, where the resolution of the sampling module 5 of the microcontroller is 12 bits, when the measured object is located at different angles, the first hall sampling values of the eight paths of hall sensors 3 are obtained by sampling, the ordinate in the figure is the AD sampling value output by the hall sensor 3, that is, the first hall sampling value, and the abscissa in the figure is the angle value of the measured object 8; referring to fig. 5, a graph of the degree to which a certain hall sensor 3 is affected by temperature is shown, and the second hall sampling value after temperature compensation is closer to the hall output value under the normal temperature condition.
Specifically, in this embodiment, referring to fig. 6, the ordinate is the actually measured angle value, the abscissa is the theoretical angle value, and the calculated angle value is almost similar to the theoretical angle value according to the second hall sample after temperature compensation, and the temperature compensation effect is remarkable; by temperature compensating the collected first hall sample value, stable measurement of the measurement system in a wide temperature range of-20-85 ℃ can be realized, and in the embodiment, the maximum reference error at-20-85 ℃ is 3%.
Specifically, in this embodiment, the magnet 9 on the detected object 8 and the hall sensors 3 in the angular displacement measurement system based on magnetic sensing can not only rotate but also move in relative position, and the magnet 9 and the surface of the magnetic induction chip of the hall sensor 3 do not need to be installed in parallel, so that the angular displacement measurement system based on magnetic sensing can be used for measuring not only the lateral rotation angle, that is, the on-axis or off-axis rotation with the unnecessary surfaces parallel to each other, but also the displacement.
The foregoing description of the preferred embodiments of the present invention should not be construed as limiting the scope of the invention, but rather as utilizing equivalent structural changes made in the description of the present invention and the accompanying drawings or directly/indirectly applied to other related technical fields under the inventive concept of the present invention.
Claims (10)
1. The angular displacement measurement method based on magnetic sensing is characterized by comprising the following steps of:
s1, collecting first Hall sampling values of a plurality of paths of Hall sensors;
s2, acquiring temperature sampling values of temperature sensors, and performing temperature compensation on first Hall sampling values of a plurality of paths of Hall sensors according to the temperature sampling values to obtain second Hall sampling values;
s3, inputting the second Hall sampling value subjected to temperature compensation into a neural network model to calculate an angle value.
2. The method for measuring angular displacement based on magnetic sensing according to claim 1, wherein before the step S1 of collecting the first hall sampling values of the hall sensors, the method further comprises:
s0, initializing a system, and acquiring an initial temperature sampling value of the temperature sensor at 25 ℃.
3. The method for measuring angular displacement based on magnetic sensing according to any one of claims 1-2, wherein the step S1 collects first hall sampling values of a plurality of hall sensors, specifically:
when the detected object drives the magnet to rotate, and when the detected object and the magnet rotate to an angle or position to be detected, a plurality of paths of first Hall sampling values output by the Hall sensors are collected.
4. The method for measuring angular displacement based on magnetic sensing according to claim 2, wherein in the step S2, temperature compensation is performed on first hall sampling values of a plurality of hall sensors according to the temperature sampling values to obtain second hall sampling values, which specifically comprises:
collecting initial Hall sampling values when a plurality of Hall sensors are far away from an object to be detected;
calculating the variation value of the current temperature and the temperature sampling of the 25 ℃ temperature sensor;
and carrying out temperature compensation on the first Hall sampling values of the plurality of paths of Hall sensors based on the initial Hall sampling values and the change values of the current temperature and the temperature sampling of the 25 ℃ temperature sensor to obtain a second Hall sampling value.
5. The method for measuring angular displacement based on magnetic sensing according to claim 4, wherein the second hall sampling value after temperature compensation is:
wherein AD' n AD is a second Hall sampling value of the nth Hall sensor after temperature compensation n AD is the first Hall sampling value of the nth Hall sensor n0 An initial Hall sampling value of an nth Hall sensor, k is a temperature compensation coefficient, and delta T is calculated AD The current temperature is the variation value of the temperature sampling value of the temperature sensor at 25 ℃.
6. A measurement system for a magnetic sensing based angular displacement measurement method according to any one of claims 1-5, comprising: a measurement module and a control module;
the control module comprises a sampling module, a temperature sensor, a temperature compensation module and a neural network module; the measuring module is connected with the detected object and comprises a plurality of Hall sensors;
the sampling module is respectively connected with the measuring module, the temperature sensor and the temperature compensation module, and is used for collecting output values of the Hall sensor and the temperature sensor and transmitting the output values to the temperature compensation module;
the temperature compensation module is connected with the neural network module and is used for performing temperature compensation on the output value of the Hall sensor;
the neural network module is used for calculating the rotation angle value of the detected object.
7. The angular displacement measurement system of claim 6, further comprising a magnet disposed on the object to be measured, wherein a magnetic field generated by the magnet is parallel to each hall sensor surface.
8. The angular displacement measurement system based on magnetic sensing according to claim 6, wherein the hall sensors are uniformly distributed on a circuit board of a measurement module with the same appearance as the movement track of the detected object.
9. The angular displacement measurement system based on magnetic sensing according to claim 7, wherein the hall sensor is horizontally arranged, and the distance between the hall sensor and the magnet is fixed and the same.
10. The magnetic sensing-based angular displacement measurement system of claim 6, wherein the measurement module is provided with at least two hall sensors.
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| CN202311009651.2A CN117073521A (en) | 2023-08-11 | 2023-08-11 | Angular displacement measurement method and system based on magnetic sensing |
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| CN202311009651.2A CN117073521A (en) | 2023-08-11 | 2023-08-11 | Angular displacement measurement method and system based on magnetic sensing |
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