KR20220106353A - Angle measurement system using magnetic encoder, measurement method therefor, parameter setting method of the angle measurement system - Google Patents

Abstract

A system for measuring an angle using a magnet having a magnetized band of a first track and a second track comprises an angle measurement device. The angle measurement device comprises: a first correction angle value calculator calculating a first correction angle value where an interference signal element of a magnetic field of the first track with respect to the second track from output of a first hall sensor measuring a size of the magnetic field of the first track; a second correction angle value calculator calculating a second correction angle value where the interference signal element of the magnetic field of the second track with respect to the first track from the output of a second hall sensor measuring the size of the magnetic field of the second track; and an absolute angle value calculator calculating a rotation angle value of the magnet by using the first correction angle value and the second correction angle value.

Description

ANGLE MEASUREMENT SYSTEM USING MAGNETIC ENCODER, MEASUREMENT METHOD THEREFOR, PARAMETER SETTING METHOD OF THE ANGLE MEASUREMENT SYSTEM

The present invention relates to an angle measuring system using a magnetic encoder, a measuring method thereof, and a parameter setting method of the angle measuring system. It relates to an angle measuring system using a magnetic encoder using a magnetic encoder, a measuring method thereof, and a parameter setting method of the angle measuring system.

An angle measuring system using a magnetic encoder is a system for measuring a rotation angle of a magnet attached to a rotor of a motor. At this time, in order to increase the resolution used to measure the angle, a magnet having two track magnetization bands TR1 and TR2 may be used.

1 is an explanatory diagram of an angle measuring system using a magnetic encoder having two-track magnetization bands TR1 and TR2. The encoder chip C is preferably attached with a gap between the magnet having the two-track magnetization bands TR1 and TR2. In addition, the encoder chip C includes Hall sensors H1 and H2 capable of measuring the magnetic field of each magnetization band.

In the case of using a magnet having two-track magnetization bands TR1 and TR2, the resolution can be increased by using the external magnetization band TR1, and the total rotation angle can be distinguished by using the internal magnetization band TR2 as an index. In addition, when the motor rotates, the magnetic field is changed, and by measuring the changed magnetic field in the two Hall sensors H1 and H2, the rotation angle of the magnet, that is, the rotation angle of the motor can be measured.

However, since each Hall sensor (H1, H2) included in the encoder chip (C) uses two-track magnetization bands (TR1, TR2), they are mutually influenced by magnetic fields, and for this reason, the magnitude of the magnetic field is incorrect. Since it is detected, a method for correcting it is required.

The present invention is an invention aimed at solving the technical problems as described above, and while using a magnet having a magnetization band of two tracks, an accurate rotation angle is measured by removing an interference component of a magnetic field between two tracks. An object of the present invention is to provide an angle measuring system using a magnetic encoder that can do this, a measuring method thereof, and a parameter setting method of the angle measuring system.

An angle measuring system using a magnet having a magnetization band of a first track and a second track of the present invention includes an angle measuring device, wherein the angle measuring device includes a first for measuring the magnitude of the magnetic field of the first track. a first correction angle value calculator for calculating a first correction angle value obtained by removing an interference signal component of a magnetic field with respect to the second track of the first track from the output of the Hall sensor; A second correction angle value for calculating a second correction angle value obtained by removing the interference signal component of the magnetic field with respect to the first track of the second track from the output of the second Hall sensor for measuring the magnitude of the magnetic field of the second track calculator; and an absolute angle value calculator for calculating a rotation angle value of the magnet by using the first corrected angle value and the second corrected angle value.

In addition, the angle measuring device, from the output of the first Hall sensor, a first correction signal generator for generating a first correction signal for removing the interference signal component of the magnetic field with respect to the second track of the first track; and a second correction signal generator for generating, from the output of the second Hall sensor, a second correction signal for removing an interference signal component of a magnetic field with respect to the first track of the second track. do.

Specifically, the first correction angle value calculator may include: a first corrector configured to output a first corrected Hall sensor signal by removing the first correction signal from an output of the first Hall sensor; a 1-1 angle value converter for converting the first corrected Hall sensor signal into a 1-1 angle value; and a 1-2 angular value converter that converts the output of the first Hall sensor into a 1-2 angular value. The second corrected angle value calculator may include: a second corrector configured to output the second corrected Hall sensor signal from an output of the second Hall sensor; a 2-1 angle value converter for converting the second corrected Hall sensor signal into a 2-1 angle value; and a 2-2 second angle value converter converting the output of the second Hall sensor into a 2-2 second angle value.

In addition, the first correction signal generator receives the preset first sine function gain value and the 2-2 angle value, and obtains a sine function value of the first sine function gain value and the 2-2 angle value. Preferably, by multiplying, the first correction signal is generated.

In addition, the first sine function gain value is a value obtained by converting the output of the second Hall sensor, which is expected in an ideal situation without interference by the magnetic field of the first track, into an angular value, and the magnetic field of the first track. It is characterized in that it is set using a difference value of a value obtained by converting the output of the second Hall sensor measured in a situation where there is interference by the angle value.

The angle measuring method using a magnet having a magnetization band of a first track and a second track of the present invention, from the output of the first Hall sensor measuring the magnitude of the magnetic field of the first track, the first of the first track 2 A first correction angle value calculation step of calculating a first correction angle value obtained by removing the interference signal component of the magnetic field with respect to the track; A second correction angle value for calculating a second correction angle value obtained by removing the interference signal component of the magnetic field with respect to the first track of the second track from the output of the second Hall sensor for measuring the magnitude of the magnetic field of the second track calculation step; and an absolute angle value calculation step of calculating a rotation angle value of the magnet by using the first corrected angle value and the second corrected angle value.

In addition, the angle measuring method of the present invention, from the output of the first Hall sensor, a first correction signal for generating a first correction signal for removing the interference signal component of the magnetic field with respect to the second track of the first track generating step; and a second correction signal generating step of generating, from the output of the second Hall sensor, a second correction signal for removing an interference signal component of a magnetic field with respect to the first track of the second track. do it with

Specifically, the calculating of the first correction angle value may include: a first correction step of outputting a first corrected Hall sensor signal by removing the first correction signal from the output of the first Hall sensor; a 1-1 angle value conversion step of converting the first corrected Hall sensor signal into a 1-1 angle value; and a 1-2 angular value conversion step of converting the output of the first Hall sensor into a 1-2 angular value. In addition, the calculating of the second corrected angle value may include: a second correction step of outputting the second corrected Hall sensor signal from the output of the second Hall sensor; a 2-1 angle value conversion step of converting the second corrected Hall sensor signal into a 2-1 angle value; and a 2-2 second angle value conversion step of converting the output of the second Hall sensor into a 2-2 second angle value.

In addition, the step of generating the first correction signal includes receiving a preset first sine function gain value and the 2-2 angle value, and a sine function value of the first sine function gain value and the 2-2 angle value. It is preferable to generate the first correction signal by multiplying by .

In addition, the first sine function gain value is a value obtained by converting the output of the second Hall sensor expected in an ideal situation without interference by the magnetic field of the first track into an angular value and the magnetic field of the first track. It is characterized in that it is set using a difference value of a value obtained by converting the output of the second Hall sensor measured in the presence of interference into an angle value.

The parameter setting method for an angle measurement system using a magnet having a magnetization band of a first track and a second track according to the present invention includes (a) a second track without interference of magnetic fields between the first track and the second track. extracting an ideal rotation angle value for the rotation of the magnet by using the rotation angle value of the magnet from the first point to a second point where there is no interference of the magnetic field between the first track and the second track; (b) calculating a value obtained by converting the output of the first Hall sensor into an angle value, which is expected in an ideal situation in which there is no interference by the magnetic field of the second track, using the ideal rotation angle value; (c) calculating a value obtained by converting the output of the second Hall sensor into an angle value, which is expected in an ideal situation where there is no interference by the magnetic field of the first track, by using the ideal rotation angle value; (d) a value obtained by converting the output of the first Hall sensor measured in a situation where there is interference by the magnetic field of the second track into an angular value, and the first hole expected in the ideal situation calculated in step (b) setting a second parameter by using a difference value of a value obtained by converting an output of a sensor into an angle value; and (e) a value obtained by converting the output of the second Hall sensor measured in a situation where there is interference by the magnetic field of the first track into an angular value, and the second expected in the ideal situation calculated in step (c). and setting the first parameter by using a difference value of a value obtained by converting the output of the hall sensor into an angle value.

According to the angle measuring system using the magnetic encoder of the present invention, the measuring method and the parameter setting method of the angle measuring system, it is possible to remove the interference component of the magnetic field between the two tracks while using a magnet having a two-track magnetization band. It is possible to measure the exact rotation angle.

1 is an explanatory view of an angle measuring system using a magnetic encoder having a magnetization band of two tracks;
2 is a block diagram of an angle measurement system using a conventional magnetic encoder.
3 is an explanatory diagram for a method of measuring a rotation angle in an angle measurement system using a conventional magnetic encoder.
4 is a waveform diagram of an ideal signal without magnetic field interference between tracks and a distorted signal with magnetic interference between tracks.
5 is a block diagram of an angle measurement system using a magnetic encoder according to a preferred embodiment of the present invention.
6 is a block diagram of a first correction angle value calculator of the present invention.
7 is an explanatory diagram for a method of converting an angle value by an angle value converter.
Fig. 8 is an explanatory diagram of interference between tracks in a magnet having a magnetization band of two tracks;
Fig. 9 is an explanatory diagram for step SA10;
10 is an explanatory diagram for steps SA20 to SA70.

Hereinafter, an angle measuring system using a magnetic encoder according to an embodiment of the present invention, a measuring method thereof, and a parameter setting method of the angle measuring system will be described in detail with reference to the accompanying drawings. Of course, the following examples of the present invention are not intended to limit or limit the scope of the present invention only to embody the present invention. What can be easily inferred by an expert in the technical field to which the present invention belongs from the detailed description and examples of the present invention is construed as belonging to the scope of the present invention.

First, FIG. 2 is a configuration diagram of an angle measurement system 1000 using a conventional magnetic encoder.

As can be seen from FIG. 2 , the conventional angle measurement system 1000 using a magnetic encoder includes a first Hall sensor H1 , a second Hall sensor H2 and an angle measurement device 100 . do.

The first Hall sensor H1 serves to measure the magnitude of the magnetic field of the first track TR1 located outside the magnetization bands TR1 and TR2 of the two tracks of the magnet. In addition, the second Hall sensor H2 serves to measure the magnitude of the magnetic field of the second track TR2 located inside of the two magnetization bands TR1 and TR2. For reference, the first track TR1 is called a Master track, and the second track TR2 is called a Nonius track, respectively.

The output of the first Hall sensor H1 is amplified by the first amplifier 110 and then converted into a first angle value by the first angle value converter 130 . In addition, the output of the second Hall sensor H2 is amplified by the second amplifier 120 , and then converted into a second angle value by the second angle value converter 140 . The absolute angle value calculator 170 receives the first angle value and the second angle value, and serves to calculate the rotation angle value of the magnet corresponding to the rotation angle of the motor. For reference, the output of the first Hall sensor H1 and the output of the second Hall sensor H2 may be output in the form of a differential signal.

The first angle value converter 130 and the second angle value converter 140 convert a signal input as a sine value into an angle value, receive an analog signal, and output it as a digital signal.

When the magnet rotates from 0 degrees to 360 degrees, if the first angle value is output using the K1 bit, the first angle value will change from 0 to (K1-1). Similarly, when the magnet rotates from 0 degrees to 360 degrees, if the second angle value is output using the K2 bit, the second angle value will change its value from 0 to (K2-1).

In addition, it is assumed that the motor can display one rotation, that is, one rotation of the magnet, and the rotation angle value by the L bit.

3 is an explanatory diagram for a method of measuring a rotation angle in the conventional angle measuring system 1000 using a magnetic encoder. In Fig. 3, K1 and K2 are set to 1024, and L is set to 4096.

In addition, it is assumed that the first track TR1 is composed of four pairs of N poles and S poles, and the second track TR2 is composed of three pairs of N poles and S poles. Since there are 4 pairs of magnet pairs constituting the first track TR1, an angle occupied by a pair of magnets at 360 degrees, which is an angle of one rotation, can be expressed as K1/4=1024/4. That is, the angle θ(x) occupied by one pair of magnet pairs among the x pairs of magnet pairs constituting the first track TR1 may be expressed as K1/x.

The absolute angle value calculator 170 receives the first angle value θ1 and the second angle value θ2 from the first angle value converter 130 and the second angle value converter 140, respectively, and A rotation angle value θA is calculated.

Specifically, the absolute angle value calculator 170 calculates a phase difference θD between the first angle value θ1 and the second angle value θ2 . The phase difference value θD may be calculated by the remainder of a value obtained by dividing (the first angle value θ1 - the second angle value θ2) by (K1-1). That is, the phase difference value θD may be calculated by the equation of MOD(θ1-θ2, (K1-1)).

If a quotient Q is calculated when the phase difference value θD is divided by the angle occupied by a pair of magnets included in the first track TR1, the quotient Q is included in the first track TR1 The number (T) of the magnet pair being measured by the first Hall sensor (H1) among the four magnet pairs can be known. For example, the number T of the magnet pair may be expressed as 0 to 3 for 4 pairs of magnet pairs constituting the first track TR1.

The absolute angle value calculator 170 calculates the rotation angle value θA of the magnet by multiplying the number T of the magnet pair by K1 and adding the first angle value θ1.

4 shows waveforms of an ideal signal without magnetic field interference between the tracks TR1 and TR2 and a distorted signal with magnetic interference between the tracks TR1 and TR2, respectively.

Since the conventional angle measurement system 1000 using a magnetic encoder uses two tracks TR1 and TR2, the tracks TR1 and TR2 are influenced by a magnetic field between each other.

5 is a block diagram of an angle measurement system 2000 using a magnetic encoder according to a preferred embodiment of the present invention.

As can be seen from FIG. 5 , the angle measurement system 2000 using the magnetic encoder of the present invention includes a first Hall sensor H1 , a second Hall sensor H2 and an angle measurement device 200 . is composed

Each component of the angle measuring apparatus 200 of the present invention may be implemented by any one of a circuit and a processor, or a combination of the circuit and the processor. In addition, the first Hall sensor H1 , the second Hall sensor H2 , and the angle measuring apparatus 200 may be manufactured in the form of a single semiconductor chip.

If there is no separate description for the angle measuring system 2000 of the present invention, the characteristics of the conventional angle measuring system 2000 described above are included as it is.

Hereinafter, the angle measuring device 200 of the present invention will be described in detail.

Angle measuring apparatus 200 of the present invention, the first amplifier 210, the second amplifier 220, the first correction angle value calculator 230, the second correction angle value calculator 240, the first correction It is configured to include a signal generator 250 , a second correction signal generator 260 , and an absolute angle value calculator 270 .

The first amplifier 210 and the second amplifier 220 serve to amplify the output of the first Hall sensor H1 and the output of the second Hall sensor H2, respectively. For reference, the output of the first Hall sensor H1 and the output of the second Hall sensor H2 may be output in the form of a differential signal, and accordingly, the first amplifier 210 and the second amplifier 220 are differentially Using an amplifier, it is preferable that the input signals of the first correction angle value calculator 230 and the second correction angle value calculator 240 are also differential signals.

The first correction angle value calculator 230 receives the amplified output of the first Hall sensor H1 output from the first amplifier 210, and receives the output of the first Hall sensor H1 from the output of the first Hall sensor H1. A first correction angle value obtained by removing the interference signal component of the magnetic field with respect to the second track TR2 of TR1 is calculated. That is, the first corrected angle value calculator 230 removes the interference signal generated by the first track TR1 included in the second track TR2 from the output of the first Hall sensor H1 .

In addition, the second correction angle value calculator 240 receives the amplified output of the second Hall sensor H2 output from the second amplifier 220, and receives a second output from the output of the second Hall sensor H2. A second correction angle value obtained by removing the interference signal component of the magnetic field with respect to the first track TR1 of the track TR2 is calculated. That is, the second corrected angle value calculator 240 removes the interference signal generated by the second track TR2 included in the first track TR1 from the output of the second Hall sensor H2 .

The first correction signal generator 250 receives, from the output of the first Hall sensor H1 , a first correction signal for removing the interference signal component of the magnetic field with respect to the second track TR2 of the first track TR1 . create

In addition, the second correction signal generator 260 is configured to remove, from the output of the second Hall sensor H2 , an interference signal component of the magnetic field with respect to the first track TR1 of the second track TR2 . generate a signal

In addition, the absolute angle value calculator 270 calculates the rotation angle value of the magnet by using the first corrected angle value and the second corrected angle value.

6 shows a configuration diagram of the first correction angle value calculator 230 of the present invention.

As can be seen from FIG. 6 , the first correction angle value calculator 230 includes the first corrector 231 , the 1-1 angle value converter 232 , and the 1-2 angle value converter 233 . include

The first compensator 231 removes the first correction signal from the output of the first Hall sensor H1 to output the first corrected Hall sensor signal.

In addition, the 1-1 angle value converter 232 converts the first corrected Hall sensor signal into a 1-1 angle value and outputs the converted signal. Also, the 1-2 angular value converter 233 converts the output of the first Hall sensor H1 into a 1-2 angular value and outputs it.

For reference, the second corrected angle value calculator 240 is also designed to have the same structure as the first corrected angle value calculator 230 . That is, the second correction angle value calculator 240 includes a second corrector, a 2-1 angle value converter, and a 2-2 angle value converter.

The second compensator removes the second correction signal from the output of the second Hall sensor H2 to output the second corrected Hall sensor signal.

In addition, the 2-1 angle value converter converts the second corrected Hall sensor signal into a 2-1 angle value and outputs the converted signal. In addition, the 2-2 angular value converter converts the output of the second Hall sensor H2 into a 2-2 angular value and outputs it.

A method of converting an angle value by an angle value converter such as the 1-1 angle value converter 232, the 1-2 angle value converter 233, the 2-1 angle value converter, and the 2-2 angle value converter below. will be explained about

The angle value converter generally converts a sine signal input as an analog signal into an angle value of a digital signal and outputs it.

7 is an explanatory diagram for a method of converting an angle value by an angle value converter.

First, the angle value converter calculates the arcsine function value (asin(z)) for the input sine function value (sin(z)), and then the phase area value (PV) assigned to the corresponding sine function value through the phase detector. ) is multiplied by the multiplication factor (PM) by a multiplier.

The phase area value (PV) assigned to the sine function value is the area of the phase of the sine function in units of 90 degrees when describing the positive signal among the differential signals for the input sine function value (sin(z)). By dividing, a phase region value PV of 0 to 3 may be assigned to each region. The value used when the phase region value PV is assigned may be determined using whether the sine function value of the previous stage and the sine function value of the current stage increase or decrease.

The multiplication factor PM for the phase domain value PV may be set for each phase domain value PV as shown in FIG. 7 .

In addition, the angle value converter sets the sum coefficient PS assigned to the corresponding sine function value through the phase detector, and adds the sum coefficient value PS with the output of the multiplier to calculate the angle value Angle.

The first correction signal generator 250 receives the preset first sine function gain value (G1) and the 2-2 angular value, and is a sine of the first sine function gain value (G1) and the 2-2 angular value. It is preferable to generate the first correction signal by multiplying the function value.

Similarly, the second correction signal generator 260 receives the preset second sine function gain value G2 and the 1-2 angular value, and receives the second sine function gain value G2 and the 1-2 angular value. A second correction signal is generated by multiplying the sine function value of .

In addition, the first sine function gain value G1 is a value obtained by converting the output of the second Hall sensor H2 expected in an ideal situation without interference by the magnetic field of the first track TR1 into an angular value and the first It may be set using a difference value of a value obtained by converting the output of the second Hall sensor H2 measured in a situation where there is interference by the magnetic field of the track TR1 into an angular value. That is, the first sine function gain value G1 may be set as the maximum value of the difference value.

In addition, the second sine function gain value G2 is a value obtained by converting the output of the first Hall sensor H1 expected in an ideal situation without interference by the magnetic field of the second track TR2 into an angular value, and the second It may be set using a difference value of a value obtained by converting the output of the first Hall sensor H1 measured in a situation where there is interference by the magnetic field of the track TR2 into an angular value. That is, the second sine function gain value G2 may be set as the maximum value of the difference value.

However, the value obtained by converting the actually measured output of the second Hall sensor H2 used when setting the first sine function gain value G1 into an angular value is the first correction signal generator 250 and the second correction signal The generator 260 corresponds to the 2-1 th angle value or the 2-2 th angle value in a non-operational situation. That is, in a situation in which the first correction signal generator 250 and the second correction signal generator 260 do not operate, the 2-1 th angle value or the 2-2 th angle value will be output as the same value.

Similarly, the value obtained by converting the actually measured output of the first Hall sensor H1 used when setting the second sine function gain value G2 into an angular value is the first correction signal generator 250 and the second correction signal The generator 260 corresponds to a 1-1 angular value or a 1-2 angular value in a non-operational situation. That is, in a situation in which the first correction signal generator 250 and the second correction signal generator 260 do not operate, the 1-1 th angle value or the 1-2 th angle value will be output as the same value.

Hereinafter, a method of setting the first sine function gain value G1 and the second sine function gain value G2, which are parameters for the angle measurement system 2000 of the present invention, will be described in detail.

The parameters for the angle measuring system 2000 may be set by a test device connected to the angle measuring system 2000 of the present invention. The test device may be, for example, a computing device.

A parameter setting method for the angle measurement system 2000 of the present invention will be described.

In the present invention, when setting parameters for the angle measurement system 2000, the magnet rotates at a constant speed, the output of the first Hall sensor H1 is converted into an angle value, and the output of the second Hall sensor H2 is It is necessary to read the value converted into the angle value and the rotation angle value of the magnet from the angle measuring device 200 . In this case, it is preferable to set the first correction signal generator 250 and the second correction signal generator 260 not to operate.

The parameter setting method for the angle measurement system 2000 of the present invention is a first track (TR1) and a second track (TR1) from a first point where there is no interference of magnetic fields between the first track (TR1) and the second track (TR2). and extracting an ideal rotation angle value for the rotation of the magnet by using the rotation angle value of the magnet up to the second point where there is no interference of the magnetic field between the tracks TR2 (SA10).

The first point and the second point are, respectively, a contact point changing from one pole of the N pole and the S pole of the first track TR1 to the other pole, and a pole from one pole of the second track TR2 to the other pole, respectively. It is preferable to set the point where the contact point to be changed to meet each other.

For reference, the first point and the second point may be set to the same point before and after the magnet rotates 360 degrees.

Fig. 8 is an explanatory diagram of the interference between the tracks TR1 and TR2 in a magnet having the magnetization bands TR1 and TR2 of the two tracks.

As can be seen from FIG. 8 , at the junction where one of the N pole and the S pole in each track TR1 and TR2 changes to the other pole, the magnitude of the magnetic field is small, so that the Does not affect the magnetic field.

The region where the magnetic field does not affect each other of the two tracks TR1 and TR2 is a contact point that changes from one pole of the N pole and the S pole of the first track TR1 to the other pole and the second track TR2. The contact point that changes from one pole to the other becomes the point where they meet each other. In addition, the region where there is no magnetic field influence between the two tracks TR1 and TR2 is a contact point that changes from one pole of the N pole and the S pole of the first track TR1 to the other pole and the second track TR2 ) from the other pole to one pole may be the point where the junction meets each other. However, in the present invention, the contact point changing from one pole to the other pole of the N pole and the S pole of the first track TR1 and the contact point changing from one pole to the other pole of the second track TR2 are maximally It is used to calculate the rotation angle value and the minimum rotation angle value.

9 is an explanatory diagram for the SA10 step.

As can be seen from FIG. 9 , a straight line connecting the maximum and minimum rotation angle values of the magnet at the first and second points becomes an ideal rotation angle value for the rotation of the magnet.

The parameter setting method for the angle measurement system 2000 of the present invention uses an ideal rotation angle value of the first Hall sensor H1 expected in an ideal situation without interference by the magnetic field of the second track TR2. calculating a value obtained by converting the output into an angle value (SA20); calculating a value obtained by converting the output of the second Hall sensor H2 into an angle value, which is expected in an ideal situation where there is no interference by the magnetic field of the first track TR1, by using the ideal rotation angle value (SA30); The value obtained by converting the output of the first Hall sensor H1 measured in a situation where there is interference by the magnetic field of the second track TR2 into an angular value and the first Hall sensor H1 expected in the ideal situation calculated in step SA20 ) calculating a first difference value that is a difference value of the value obtained by converting the output of the angle value (SA40); and the value obtained by converting the output of the second Hall sensor H2 measured in a situation where there is interference by the magnetic field of the first track TR1 into an angular value and the second Hall sensor expected in the ideal situation calculated in step SA30 ( It is preferable to further include; calculating a second difference value that is a difference value of the value obtained by converting the output of H2) into an angle value (SA50).

In addition, the parameter setting method for the angle measurement system 2000 of the present invention includes the steps of setting a second parameter that is a second sine function gain value (G2) using a first difference value (SA60); and setting a first parameter that is a first sine function gain value G1 using the second difference value (SA70).

For reference, it is preferable that the second parameter is set to the maximum value of the first difference value, and the first parameter is set to the maximum value of the second difference value.

10 shows explanatory diagrams for steps SA20 to SA70.

When the first correction angle value is output using the K1 bit, the value obtained by converting the output of the first Hall sensor H1 expected in an ideal situation without interference by the magnetic field of the second track TR2 into an angle value, The first angular ideal value I_θ1 may be calculated as a remainder obtained by dividing the ideal rotation angle value I_θA by K1.

In addition, when the second correction angle value is output using the K2 bit, the output of the second Hall sensor H2 expected in an ideal situation without interference by the magnetic field of the first track TR1 is converted into an angle value. The value, the second angular outlier (I_θ2), is obtained by multiplying the ideal rotational angle value (I_θA) by the number (x) of the magnet pairs constituting the first track (TR1) minus 1 (x-1) A value divided by the number (x) of can be calculated as a remainder obtained by dividing by K2. However, it is preferable that K1 and K2 are the same.

The first angular value θ1, which is a value obtained by converting the output of the first Hall sensor H1 measured in a situation where there is interference by the magnetic field of the second track TR2 into an angular value, and the first angular abnormality value I_θ1 The first difference value DIF_1, which is the difference value, and the second angle value θ2, which is a value obtained by converting the output of the second Hall sensor H2 measured in a situation where there is interference by the magnetic field of the first track TR1 into an angle value ) and the first difference value DIF_2, which is a difference value between the second angular ideal value I_θ2, is expressed in the form of a sine function, as shown in FIG. 10 .

For reference, since the first difference value DIF_1 is an interference component of the second track TR2 included in the output of the first Hall sensor H1 , the maximum value of the first difference value DIF_1 is the second correction signal generator It becomes the second sine function gain value G2 input to (260).

In addition, since the second difference value DIF_2 is an interference component of the first track TR1 included in the output of the second Hall sensor H2, the maximum value of the second difference value DIF_2 is determined by the first correction signal generator ( 250) is the first sine function gain value G1 input.

The second angle value θ2 corresponds to the 2-1 th angle value or the 2-2 angular value in a situation in which the first correction signal generator 250 and the second correction signal generator 260 do not operate. That is, in a situation in which the first correction signal generator 250 and the second correction signal generator 260 do not operate, the 2-1 th angle value or the 2-2 th angle value will be output as the same value.

Similarly, the first angle value θ1 corresponds to the 1-1 angle value or the 1-2 angle value in a situation in which the first correction signal generator 250 and the second correction signal generator 260 do not operate. . That is, in a situation in which the first correction signal generator 250 and the second correction signal generator 260 do not operate, the 1-1 th angle value or the 1-2 th angle value will be output as the same value.

Hereinafter, an angle measurement method using a magnetic encoder according to a preferred embodiment of the present invention will be described.

The angle measuring method using the magnetic encoder according to the preferred embodiment of the present invention uses the angle measuring system 2000 using the magnetic encoder according to the preferred embodiment of the present invention. Of course, it includes all the features of the angle measurement system 2000 using a formula encoder.

In addition, each step of the angle measurement method using a magnetic encoder according to a preferred embodiment of the present invention may be implemented by a circuit, a processor, or a combination of a circuit and a processor.

The angle measurement method using a magnetic encoder according to a preferred embodiment of the present invention, from the output of the first Hall sensor (H1) for measuring the magnitude of the magnetic field of the first track (TR1), the first track (TR1) a first correction angle value calculating step (SB10) of calculating a first correction angle value obtained by removing the interference signal component of the magnetic field with respect to the second track (TR2); A second correction angle obtained by removing the interference signal component of the magnetic field with respect to the first track TR1 of the second track TR2 from the output of the second Hall sensor H2 that measures the magnitude of the magnetic field of the second track TR2 a second correction angle value calculation step of calculating a value (SB20); A first correction signal generating step SB30 of generating a first correction signal for removing an interference signal component of a magnetic field with respect to the second track TR2 of the first track TR1 from the output of the first Hall sensor H1 ); A second correction signal generating step SB40 of generating, from the output of the second Hall sensor H2, a second correction signal for removing the interference signal component of the magnetic field with respect to the first track TR1 of the second track TR2 ); and an absolute angle value calculation step (SB50) of calculating a rotation angle value of the magnet by using the first corrected angle value and the second corrected angle value.

In addition, the first correction angle value calculating step SB10 includes: a first correction step SB11 of removing the first correction signal from the output of the first Hall sensor H1 and outputting the first corrected Hall sensor signal; a 1-1 angle value conversion step of converting the first corrected Hall sensor signal into a 1-1 angle value (SB12); and a 1-2 angular value conversion step SB13 of converting the output of the first Hall sensor H1 into a 1-2 angular value.

In addition, the calculating of the second corrected angle value (SB20) may include: a second correction step (SB21) of outputting a second corrected Hall sensor signal from the output of the second Hall sensor (H2); a 2-1 angle value conversion step (SB22) of converting the second corrected Hall sensor signal into a 2-1 angle value; and a 2-2 angular value conversion step (SB23) of converting the output of the second Hall sensor H2 into a 2-2 nd angular value.

In the first correction signal generating step SB30, the first sine function gain value G1 and the 2-2 angular value set in advance are received, and the first sine function gain value G1 and the 2-2 angular value are obtained. The first correction signal is generated by multiplying the sine function value.

In addition, in the second correction signal generating step (SB40), the preset second sine function gain value (G2) and the 1-2 angle value are received, and the second sine function gain value (G2) and the 1-2 angle value are received. and generating a first correction signal by multiplying the value by a sine function value.

In addition, the first sine function gain value G1 is a value obtained by converting the output of the second Hall sensor H2 expected in an ideal situation without interference by the magnetic field of the first track TR1 into an angular value and the first It may be set using a difference value of a value obtained by converting the output of the second Hall sensor H2 measured in a situation where there is interference by the magnetic field of the track TR1 into an angular value. That is, the first sine function gain value G1 may be set as the maximum value of the difference value.

In addition, the second sine function gain value G2 is a value obtained by converting the output of the first Hall sensor H1 expected in an ideal situation without interference by the magnetic field of the second track TR2 into an angular value and the second It may be set using a difference value of a value obtained by converting the output of the first Hall sensor H1 measured in a situation where there is interference by the magnetic field of the track TR2 into an angular value. That is, the second sine function gain value G2 may be set as the maximum value of the difference value.

As described above, according to the angle measuring system 2000 using the magnetic encoder of the present invention, the measuring method and the parameter setting method of the angle measuring system 2000, the two-track magnetization bands TR1 and TR2 are provided. It can be seen that an accurate rotation angle can be measured by removing an interference component of a magnetic field between the two tracks TR1 and TR2 while using a magnet.

1000, 2000: angle measuring system
H1: first hall sensor H2: second hall sensor
100, 200: angle measuring device
110, 210: first amplifier 120, 220: second amplifier
130: first angle value converter 140: second angle value converter
230: first correction angle value calculator 240: second correction angle value calculator
250: first correction signal generator 260: second correction signal generator
170, 270: absolute angle value calculator 231: first compensator
232: 1-1 angle value converter 233: 1-2 angle value converter
TR1: magnetization band of the first track TR2: magnetization band of the second track

Claims (13)

An angle measuring system using a magnet having a magnetization band of a first track and a second track, the system comprising:
The angle measurement system,
an angle measuring device;
The angle measuring device,
A first correction angle value for calculating a first correction angle value obtained by removing an interference signal component of a magnetic field with respect to the second track of the first track from the output of the first Hall sensor for measuring the magnitude of the magnetic field of the first track calculator;
A second correction angle value for calculating a second correction angle value obtained by removing the interference signal component of the magnetic field with respect to the first track of the second track from the output of the second Hall sensor for measuring the magnitude of the magnetic field of the second track calculator; and
and an absolute angle value calculator for calculating a rotation angle value of the magnet by using the first corrected angle value and the second corrected angle value. According to claim 1,
The angle measuring device,
a first correction signal generator for generating, from an output of the first Hall sensor, a first correction signal for removing an interference signal component of a magnetic field with respect to the second track of the first track; and
a second correction signal generator for generating, from the output of the second Hall sensor, a second correction signal for removing an interference signal component of a magnetic field with respect to the first track of the second track; angle measurement system. 3. The method of claim 2,
The first correction angle value calculator,
a first compensator for outputting a first corrected Hall sensor signal by removing the first correction signal from the output of the first Hall sensor;
a 1-1 angle value converter for converting the first corrected Hall sensor signal into a 1-1 angle value; and
Including;
The second correction angle value calculator,
a second compensator for outputting the second corrected Hall sensor signal from the output of the second Hall sensor;
a 2-1 angle value converter for converting the second corrected Hall sensor signal into a 2-1 angle value; and
and a 2-2 second angle value converter converting the output of the second Hall sensor into a 2-2 second angle value. 4. The method of claim 3,
The first correction signal generator,
The first correction signal is obtained by receiving a preset first sine function gain value and the 2-2 angle value, and multiplying the first sine function gain value and the sine function value of the 2-2 angle value. An angle measurement system, characterized in that it generates. 5. The method of claim 4,
The first sine function gain value is,
The value obtained by converting the output of the second Hall sensor, which is expected in an ideal situation in which there is no interference by the magnetic field of the first track, into an angular value, and the second hole measured in a situation where there is interference by the magnetic field of the first track An angle measurement system, characterized in that it is set using a difference value of a value converted from an output of a sensor into an angle value. A method for measuring an angle using a magnet having a magnetization band of a first track and a second track, the method comprising:
A first correction angle value for calculating a first correction angle value obtained by removing an interference signal component of a magnetic field with respect to the second track of the first track from the output of the first Hall sensor for measuring the magnitude of the magnetic field of the first track calculation step;
A second correction angle value for calculating a second correction angle value obtained by removing the interference signal component of the magnetic field with respect to the first track of the second track from the output of the second Hall sensor for measuring the magnitude of the magnetic field of the second track calculation step; and
and an absolute angle value calculation step of calculating a rotation angle value of the magnet by using the first corrected angle value and the second corrected angle value. 7. The method of claim 6,
The angle measurement method is,
a first correction signal generating step of generating, from the output of the first Hall sensor, a first correction signal for removing an interference signal component of a magnetic field with respect to the second track of the first track; and
A second correction signal generating step of generating, from the output of the second Hall sensor, a second correction signal for removing an interference signal component of a magnetic field with respect to the first track of the second track; How to measure the angle. 8. The method of claim 7,
The first correction angle value calculation step,
a first correction step of outputting a first corrected Hall sensor signal by removing the first correction signal from the output of the first Hall sensor;
a 1-1 angle value conversion step of converting the first corrected Hall sensor signal into a 1-1 angle value; and
Containing; a first 1-2 angle value conversion step of converting the output of the first Hall sensor into a first 1-2 angle value;
The second correction angle value calculation step,
a second calibration step of outputting the second corrected Hall sensor signal from the output of the second Hall sensor;
a 2-1 angle value conversion step of converting the second corrected Hall sensor signal into a 2-1 angle value; and
and a 2-2 angle value conversion step of converting the output of the second Hall sensor into a 2-2 angle value. 9. The method of claim 8,
The step of generating the first correction signal,
The first correction signal is obtained by receiving a preset first sine function gain value and the 2-2 angle value, and multiplying the first sine function gain value and the sine function value of the 2-2 angle value. A method of measuring an angle, characterized in that it generates. 10. The method of claim 9,
The first sine function gain value is,
The value obtained by converting the output of the second Hall sensor, which is expected in an ideal situation in which there is no interference by the magnetic field of the first track, into an angular value, and the second hole measured in a situation where there is interference by the magnetic field of the first track An angle measurement method, characterized in that it is set using a difference value of a value converted from a sensor output into an angle value. A method for setting parameters for an angle measuring system using a magnet having a magnetization strip of a first track and a second track, the method comprising:
(a) the rotation angle of the magnet from a first point where there is no interference of the magnetic field between the first track and the second track to a second point where there is no interference of the magnetic field between the first track and the second track and extracting an ideal rotation angle value for the rotation of the magnet by using the value. 12. The method of claim 11,
The setting method is
(b) calculating a value obtained by converting the output of the first Hall sensor into an angle value, which is expected in an ideal situation in which there is no interference by the magnetic field of the second track, using the ideal rotation angle value; and
(c) using the ideal rotation angle value, calculating a value obtained by converting the output of the second Hall sensor expected in an ideal situation without interference by the magnetic field of the first track into an angle value; ,
The first Hall sensor measures the magnitude of the magnetic field of the first track,
The second Hall sensor, setting method, characterized in that for measuring the magnitude of the magnetic field of the second track. 13. The method of claim 12,
The setting method is
(d) a value obtained by converting the output of the first Hall sensor measured in a situation where there is interference by the magnetic field of the second track into an angular value, and the first hole expected in the ideal situation calculated in step (b) setting a second parameter by using a difference value of a value obtained by converting an output of a sensor into an angle value; and
(e) a value obtained by converting the output of the second Hall sensor measured in a situation where there is interference by the magnetic field of the first track into an angular value, and the second hole expected in the ideal situation calculated in step (c) Setting the first parameter by using a difference value of a value obtained by converting the output of the sensor into an angle value;

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