WO2021114419A1

WO2021114419A1 - Calibration method, apparatus and device for rotary magnetoelectric encoder

Info

Publication number: WO2021114419A1
Application number: PCT/CN2019/129078
Authority: WO
Inventors: 夏一帆
Original assignee: 浙江禾川科技股份有限公司
Priority date: 2019-12-13
Filing date: 2019-12-27
Publication date: 2021-06-17
Also published as: CN110940371B; CN110940371A

Abstract

A calibration method and calibration apparatus for a rotary magnetoelectric encoder. On the basis of two groups of voltage signal values, which are obtained by means of sampling, output within at least one period by a Hall sensor in an encoder to be calibrated, a function expression of a correlation between two voltage signal values of the Hall sensor and the rotation angle of a magnetic coded disk is fitted. Since the function expression expresses the real correlation between the two voltage signal values of the Hall sensor and the rotation angle of the magnetic coded disk, compared with preset idealized sine and cosine curves, the rotation angle of a rotary shaft can be calculated more accurately according to the fitted accurate function expression, thereby improving the measurement accuracy of the rotary magnetoelectric encoder.

Description

Method, device and equipment for calibrating rotary magnetoelectric encoder

This application claims the priority of the Chinese patent application filed to the Chinese Patent Office on December 13, 2019 with the application number 201911283773.4 and the invention title "A calibration method, device and equipment for a rotary magnetic encoder", all of which The content is incorporated in this application by reference.

Technical field

The present invention relates to the field of rotary magnetoelectric encoders, in particular to a method for calibrating a rotating magnetoelectric encoder. The invention also relates to a calibration device and equipment of a rotating magnetoelectric encoder.

Background technique

The rotary magnetic encoder can detect the rotation angle of the measured shaft, and calculate the position and speed of the object connected to the shaft (such as the shaft of the motor) based on the rotation angle. When measuring the rotation angle, Huo The Er sensor can output two sinusoidal voltage signals with a phase difference of 90° with the rotation of the magnetic code disc. We consider the sinusoidal signal with a phase lead of 90° as a sin signal, and a sinusoidal signal with a phase lag of 90° as a cos signal. We perform analog-to-digital conversion according to the two voltage signals to obtain a digital signal, and then decode the angle value of the encoder's magnetic code disc (the measured shaft) according to the two digital signals.

However, due to mechanical installation, chip design, circuit interference and other reasons, there are differences in amplitude and offset between the two sinusoidal voltage signals, and the phase difference may not be the standard 90°. As a result, there is a deviation in the final decoded angle value, which affects the measurement accuracy of the entire rotary magnetoelectric encoder.

Therefore, how to provide a solution to the above technical problems is a problem that needs to be solved by those skilled in the art at present.

Summary of the invention

The purpose of the present invention is to provide a method for calibrating a rotary magnetoelectric encoder. According to the accurate function expression fitted in this application, the rotation angle of the rotating shaft can be calculated more accurately, which improves the measurement accuracy of the rotary magnetoelectric encoder. Another object of the present invention is to provide a calibration device and equipment for a rotary magnetoelectric encoder, which can calculate the rotation angle of the rotating shaft more accurately according to the accurate function expression fitted in this application, which improves the rotating magnetoelectricity The measurement accuracy of the encoder.

In order to solve the above technical problems, the present invention provides a method for calibrating a rotary magnetoelectric encoder, which includes:

Sampling at least one cycle of the two sets of voltage signal values output by the Hall sensor in the encoder to be calibrated;

Acquiring an accurate rotation angle value corresponding to each sampled voltage signal value of the rotating shaft where the encoder to be calibrated is located;

According to the multiple sampled voltage signal values and the precise rotation angle value corresponding to each sampled voltage signal value, a preset fitting algorithm is used to calculate the two voltage signal values of the Hall sensor and the value of the magnetic code disc. The functional expression of the corresponding relationship of the rotation angle;

According to the function expression and the two voltage signal values output by the Hall sensor in the encoder to be calibrated, the rotation angle of the rotating shaft where the encoder to be calibrated is located is calculated.

Preferably, the two voltage signal values of the Hall sensor are calculated using a preset fitting algorithm according to the plurality of sampled voltage signal values and the precise rotation angle value corresponding to each sampled voltage signal value The functional expression corresponding to the rotation angle of the magnetic code disc is specifically:

According to the plurality of sampled voltage signal values, a preset fitting algorithm is used to fit the function waveform of the correspondence between the two voltage signal values of the Hall sensor and the rotation angle of the magnetic code disc;

Using inverse trigonometric calculation to determine the zero point in the function waveform;

According to the zero point and the precise rotation angle value corresponding to each sampled voltage signal value, a functional expression of the correspondence relationship between the two voltage signal values of the Hall sensor and the rotation angle of the magnetic code disc is determined.

Preferably, the obtaining the precise rotation angle value corresponding to each sampled voltage signal value of the rotating shaft of the encoder to be calibrated is specifically:

Acquiring the rotation angle of the rotation shaft that is synchronously measured by a precision encoder during the rotation of the rotation shaft;

Wherein, the accuracy of the precision encoder is a preset multiple of the accuracy of the encoder to be calibrated.

Preferably, the preset fitting algorithm is a Fourier series interpolation fitting method.

Preferably, the two sets of voltage signal values output by the Hall sensor in the encoder to be calibrated sampling at least one cycle are specifically:

Sampling at least one cycle of the two sets of voltage signal values output by the Hall sensor in the encoder to be calibrated at a preset sampling frequency;

Wherein, the preset sampling frequency is greater than 1/16 of the resolution of the encoder to be calibrated.

Preferably, after calculating the rotation angle of the shaft where the encoder to be calibrated is located according to the function expression and the two voltage signal values output by the Hall sensor in the encoder to be calibrated, the rotary magnetoelectric encoder The calibration method also includes:

After the preset period, return to the step of sampling at least one period of the two sets of voltage signal values output by the Hall sensor in the encoder to be calibrated.

In order to solve the above technical problems, the present invention also provides a calibration device for a rotary magnetoelectric encoder, which includes:

The sampling module is used to sample at least one cycle of the two sets of voltage signal values output by the Hall sensor in the encoder to be calibrated;

An obtaining module, configured to obtain the precise rotation angle value corresponding to each sampled voltage signal value of the rotating shaft where the encoder to be calibrated is located;

The first calculation module is used to calculate the two voltages of the Hall sensor by using a preset fitting algorithm according to the plurality of sampled voltage signal values and the precise rotation angle value corresponding to each sampled voltage signal value The functional expression of the corresponding relationship between the signal value and the rotation angle of the magnetic code disc;

The second calculation module is configured to calculate the rotation angle of the rotating shaft where the encoder to be calibrated is located according to the function expression and the two voltage signal values output by the Hall sensor in the encoder to be calibrated.

Preferably, the first calculation module includes:

The fitting module is used to fit the function waveform of the correspondence between the two voltage signal values of the Hall sensor and the rotation angle of the magnetic code disc by using a preset fitting algorithm according to the sampled multiple voltage signal values;

The third calculation module is used to determine the zero point in the function waveform by using inverse triangulation calculation;

The determination module is used to determine the function expression of the correspondence between the two voltage signal values of the Hall sensor and the rotation angle of the magnetic code disk according to the zero point and the precise rotation angle value corresponding to each sampled voltage signal value formula.

Preferably, the calibration device of the rotary magnetoelectric encoder further includes:

The return module is used to return to the step of sampling at least one cycle of the two sets of voltage signal values output by the Hall sensor in the encoder to be calibrated after the preset period.

Memory, used to store computer programs;

The processor is used to implement the steps of the method for calibrating the rotary magneto-electric encoder as described in any one of the preceding items when the computer program is executed.

The present invention provides a method for calibrating a rotary magnetoelectric encoder. The embodiment of the present invention can fit the two sets of voltage signal values output by the Hall sensor in the encoder to be calibrated for at least one cycle obtained by sampling. The function expression of the corresponding relationship between the two voltage signal values of the magnetic code disk and the rotation angle of the magnetic code disk, because the function expression expresses the true corresponding relationship between the two voltage signal values of the Hall sensor and the rotation angle of the magnetic code disk Therefore, compared with the preset idealized sine-cosine curve, the accurate function expression fitted in this application can calculate the rotation angle of the rotating shaft more accurately, which improves the measurement accuracy of the rotary magnetoelectric encoder.

The present invention also provides a calibration device and equipment for the rotary magnetic encoder, which has the same beneficial effects as the calibration method of the rotary magnetic encoder.

Description of the drawings

In order to more clearly describe the technical solutions in the embodiments of the present invention, the following will briefly introduce the prior art and the drawings needed in the embodiments. Obviously, the drawings in the following description are only some of the present invention. Embodiments, for those of ordinary skill in the art, without creative work, other drawings can be obtained based on these drawings.

Fig. 1 is a schematic flowchart of a calibration method of a rotary magnetic encoder provided by the present invention;

Figure 2 is a schematic structural diagram of a calibration device for a rotary magnetic encoder provided by the present invention;

Fig. 3 is a schematic structural diagram of a calibration device for a rotary magnetic encoder provided by the present invention.

Detailed ways

The core of the present invention is to provide a method for calibrating a rotary magnetoelectric encoder. According to the accurate function expression fitted in this application, the rotation angle of the rotating shaft can be calculated more accurately, which improves the measurement accuracy of the rotary magnetoelectric encoder. ; Another core of the present invention is to provide a calibration device and equipment for a rotating magnetoelectric encoder. According to the accurate function expression fitted in this application, the rotation angle of the rotating shaft can be calculated more accurately, which improves the rotating magnetoelectricity The measurement accuracy of the encoder.

In order to make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments These are a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

Please refer to FIG. 1. FIG. 1 is a schematic flowchart of a method for calibrating a rotary magneto-electric encoder provided by the present invention, including:

Step S1: Sampling at least one cycle of the two sets of voltage signal values output by the Hall sensor in the encoder to be calibrated;

Specifically, the two sets of voltage signal values output by the Hall sensor obtained by sampling in the embodiment of the present invention can be used as the data basis in the subsequent steps, so that the two voltage signal values of the Hall sensor and the rotation of the magnetic code disc can be obtained in the subsequent steps. The functional expression of the corresponding relationship of the angle.

Among them, in order to achieve accurate fitting of the functional expression of the correspondence between the two voltage signal values of the Hall sensor and the rotation angle of the magnetic code disc, in the embodiment of the present invention, during the rotation of the shaft where the encoder to be calibrated is located, The voltage signal value of at least one cycle of the Hall sensor in the encoder to be calibrated arranged on the rotating shaft is sampled. Of course, the sampling amount here may not be at least one cycle, for example, less than one cycle, etc. This embodiment of the present invention does not do it here. limited.

Step S2: Obtain the precise rotation angle value corresponding to each sampled voltage signal value of the rotating shaft where the encoder to be calibrated is located;

A variety of measuring instruments can be used to obtain the precise rotation angle value. For example, a high-precision rotary magnetic encoder can be used for measurement. Here, the precise rotation angle value is required to correspond to the voltage signal value output by the Hall sensor on the time axis. .

Specifically, in order to accurately fit the function expression of the corresponding relationship between the voltage signal value of the Hall sensor and the rotation angle of the magnetic code disc, it is also necessary to use a related measuring instrument to synchronously measure the precise rotation angle value of the shaft in order to determine The rotation angle value of the shaft corresponding to the voltage signal value output by the Hall sensor at each tick, and the function expression of the corresponding relationship between the voltage signal value of the Hall sensor and the rotation angle of the magnetic code disc is obtained.

Wherein, the rotating shaft where the encoder to be calibrated is located may be of multiple types, for example, it may be a rotating shaft of a motor, etc., which is not limited in the embodiment of the present invention.

Step S3: According to the sampled multiple voltage signal values and the precise rotation angle value corresponding to each sampled voltage signal value, use a preset fitting algorithm to calculate the two voltage signal values of the Hall sensor and the rotation of the magnetic code disc The functional expression of the corresponding relationship of the angle;

Among them, according to the data basis obtained in the above steps, since it includes the voltage signal value output by the Hall sensor at each sampling moment in at least one cycle and the rotation angle value of the shaft corresponding to the voltage signal value, the Hole sensor can be fitted. The function expression of the corresponding relationship between the two voltage signal values of the Er sensor and the rotation angle of the magnetic code disc. This function expression is more true and accurate because it is fitted according to the actual collected data.

Among them, the function expression of the corresponding relationship between the voltage signal value of the Hall sensor and the rotation angle of the magnetic code disc basically conforms to the function expression of the sine-cosine waveform curve of the trigonometric function, but it is relative to the standard sine-cosine curve. There are some offset errors, gain errors or phase errors. The function expression of the corresponding relationship between the two voltage signal values of the Hall sensor and the rotation angle of the magnetic code disc can basically conform to:

Step S4: Calculate the rotation angle of the rotating shaft where the encoder to be calibrated is located according to the function expression and the two voltage signal values output by the Hall sensor in the encoder to be calibrated.

Specifically, after obtaining the function expression of the correspondence between the two voltage signal values of the Hall sensor and the rotation angle of the magnetic code disc according to the curve fitting method, the measured function expression can be combined with the code to be calibrated. The two voltage signal values output by the Hall sensor in the device calculate the rotation angle of the shaft where the encoder to be calibrated is located. For example, at the current moment, you can combine the two function expressions and the two voltage signal values currently output by the Hall sensor to calculate Get the rotation angle of the shaft at the current moment.

Specifically, we need to clarify the principle of the output angle of the rotary magnetoelectric encoder applicable to the present invention. According to the change of the magnetic field, the rotary magnetic encoder will sample the current position through the sampling points of the two Hall resistors with a difference of 90° when the magnetic code disc rotates one circle, and output two phase differences. A complete cycle of the sine voltage waveform curve of 90°, usually we call the sinθ curve that is 90° ahead, and the cosθ curve that is 90° behind (θ is the current rotation angle value of the shaft). Then by reading the current two voltage signal values, use the arctangent function to solve the current angle value of the encoder. The principle is as follows:

make:

x=sinθ, y=cosθ;

then:

θ=arctan(x/y);

Among them, due to the deviation of the relative position of the sampling point of the Hall sensor, the installation position deviation of the encoder disk and the circuit board, and the magnetic field itself is susceptible to external interference, the output waveform signal may not be the ideal sinθ, cosθ curve waveform. Cause the output waveform curve to have offset error A, B, gain error α, β and phase error

The function expression of the original signal waveform curve of the actual output of the Hall sensor can be as follows:

Specifically, from the principle of the encoder, it can be known that the waveform curve x and the waveform curve y have the same period, θ∈[0, 2*π), so ω1=ω2=1; the zero position of the angle value θ is relative, so we can Make squiggles

Substituting into (1) and (2), we can get:

y=β*cosθ+B; (4)

Organize (3) formula and expand it to get:

After finishing and transforming the two formulas (4) and (5), we can get:

β*cosθ=y-B; (6)

Also know:

θ=arctan(tanθ)=arctan[(β*sinθ)/(β*cosθ)]; (8)

Therefore, we only require the ideal (β*sinθ) value and the ideal (β*cosθ) value, that is, as long as the unknown quantities A, B,

as well as

The value of, the current ideal angular position value θ can be obtained, and these unknown quantities can be known according to the two function expressions of the Hall sensor obtained in the above steps, so that the accurate rotation axis can be solved Rotation angle value θ.

The present invention provides a method for calibrating a rotary magnetoelectric encoder. The embodiment of the present invention can fit the two sets of voltage signal values output by the Hall sensor in the encoder to be calibrated for at least one cycle obtained by sampling. The function expression of the corresponding relationship between the two voltage signal values and the rotation angle of the magnetic code disc, because the function expression expresses the true correspondence between the two voltage signal values of the Hall sensor and the rotation angle of the magnetic code disc Therefore, compared with the preset idealized sine-cosine curve, the accurate function expression fitted in this application can calculate the rotation angle of the rotating shaft more accurately, which improves the measurement accuracy of the rotary magnetoelectric encoder.

On the basis of the above embodiment:

As a preferred embodiment, according to the sampled multiple voltage signal values and the precise rotation angle value corresponding to each sampled voltage signal value, a preset fitting algorithm is used to calculate the two voltage signal values of the Hall sensor and The functional expression of the corresponding relation of the rotation angle of the magnetic code disc is specifically as follows:

According to the sampled multiple voltage signal values, a preset fitting algorithm is used to fit the function waveform of the corresponding relationship between the two voltage signal values of the Hall sensor and the rotation angle of the magnetic code disc;

Use inverse triangle calculation to determine the zero point in the function waveform;

According to the zero point and the precise rotation angle value corresponding to each sampled voltage signal value, the functional expression of the corresponding relationship between the two voltage signal values of the Hall sensor and the rotation angle of the magnetic code disc is determined.

Specifically, the corresponding relationship between the two voltage signal values of the Hall sensor and the rotation angle of the magnetic code disc can be fitted according to the sampled multiple voltage signal values (without corresponding to the exact rotation angle value of the shaft at the same time) The function waveform of the function waveform, but the zero point of the abscissa of the function waveform cannot be known at this time. Theoretically, the position of the abscissa zero point should be at the abscissa of the maximum y value of the curve waveform, but we cannot use the directly read voltage signal value The abscissa of the maximum point is used as the abscissa zero point. This is because even if we sample a sufficient number of data points of the voltage signal value, the maximum y value can only be infinitely close to the maximum point in terms of probability, and cannot reach the maximum accurately. The value point, and the consistency of the magnetic encoder is poor, so the maximum probability of the maximum point of the y value in the voltage signal value obtained by sampling is not the maximum point in the function expression after our fitting. So here we use the direct calculation method to directly calculate the angle value of the maximum point of the fitted function waveform by using inverse trigonometric calculation to determine the zero point of the function waveform, and then we can get the function waveform and each of the function waveforms. The precise rotation angle value corresponding to the voltage signal value.

As a preferred embodiment, obtaining the precise rotation angle value corresponding to each sampled voltage signal value of the rotating shaft where the encoder to be calibrated is located is specifically:

Obtain the rotation angle of the rotation shaft measured synchronously by the precision encoder during the rotation of the rotation shaft;

Among them, the precision of the precision encoder is a preset multiple of the precision of the encoder to be calibrated.

Specifically, the preset multiple can be independently set, for example, it can be 10 times, etc., which is not limited in the embodiment of the present invention.

Specifically, we need a high-precision measuring device as a reference for the abscissa θ value, and consider it as an ideal angular position. The first is to collect data. When we collect the data of the dual-channel ADC (Analog-to-Digital Converter) corresponding to the magnetic encoder Hall sensor, we appropriately use single-point trigger and dual-channel simultaneous sampling, and at the same time we need to synchronize Sampling the angle value of high-precision measuring equipment. What we need to ensure is the dual-channel ADC and high-precision device angle synchronous sampling, so that the phase error can be minimized. The collected data points should be distributed in at least one complete cycle, and they should be properly and evenly distributed on the abscissa θ, and the number should be sufficient. Only in this way can we ensure that the fitted function waveform is as close as possible to the ideal curve waveform.

Specifically, the precision encoder has the advantages of high precision and convenient use.

Of course, in addition to the precision encoder, other methods and devices may also be used to measure the precise rotation angle value of the rotating shaft, which is not limited in the embodiment of the present invention.

As a preferred embodiment, the preset fitting algorithm is a Fourier series interpolation fitting method.

Specifically, due to the above-mentioned function expression format of the waveform curve x and the waveform curve y and the first-order expansion of the Fourier series (f(x)=a0+a1*cos(x*ω)+a2*(x* ω)) are exactly the same, so here we can use the Fourier series interpolation fitting method to fit the function expressions of the waveform curve x and the waveform curve y to calculate the function expressions of the two curves, which is fast and accurate The advantages of high degrees.

Of course, in addition to the Fourier series interpolation fitting method, the preset fitting algorithm may also be of other types, which is not limited in the embodiment of the present invention.

As a preferred embodiment, the two sets of voltage signal values output by the Hall sensor in the encoder to be calibrated sampling at least one cycle are specifically:

Among them, the preset sampling frequency is greater than 1/16 of the resolution of the encoder to be calibrated.

Specifically, in order to make the fitted waveform curve have qualified accuracy, the sampling frequency can be set to a value greater than 1/16 of the resolution of the encoder to be calibrated. In this case, the number of data points sampled It is sufficient to simulate an accurate waveform curve, and the more data points are sampled, that is, the higher the sampling frequency, the more accurate the simulated waveform curve.

As a preferred embodiment, according to the function expression and the two voltage signal values output by the Hall sensor in the encoder to be calibrated, after calculating the rotation angle of the shaft where the encoder to be calibrated is located, the calibration method of the rotary magnetoelectric encoder Also includes:

Specifically, considering that as the use time of the encoder to be calibrated increases, the function expression of the waveform curve simulated last time will deviate greatly from the actual one. Therefore, in the embodiment of the present invention, it can be returned after a preset period. The step of sampling at least one cycle of the two sets of voltage signal values output by the Hall sensor in the encoder to be calibrated, so as to re-determine the function expression of the correspondence between the two voltage signal values of the Hall sensor and the rotation angle of the magnetic code disc , It realizes the automatic calibration of the encoder to be calibrated every preset period.

Wherein, the preset period can be independently set according to actual conditions, for example, can be set to 1 month, etc., which is not limited in the embodiment of the present invention.

Please refer to Figure 2. Figure 2 is a schematic structural diagram of a calibration device for a rotary magnetic encoder provided by the present invention, including:

Sampling module 1, for sampling at least one cycle of two sets of voltage signal values output by the Hall sensor in the encoder to be calibrated;

The acquiring module 2 is used to acquire the precise rotation angle value corresponding to each sampled voltage signal value of the rotating shaft where the encoder to be calibrated is located;

The first calculation module 3 is used to calculate the two voltage signal values of the Hall sensor and the exact rotation angle value corresponding to each sampled voltage signal value by using a preset fitting algorithm according to the sampled multiple voltage signal values The functional expression of the corresponding relation of the rotation angle of the magnetic code disc;

The second calculation module 4 is used to calculate the rotation angle of the rotating shaft where the encoder to be calibrated is located according to the function expression and the two voltage signal values output by the Hall sensor in the encoder to be calibrated.

As a preferred embodiment, the first calculation module includes:

The fitting module is used to fit the function waveform of the corresponding relationship between the two voltage signal values of the Hall sensor and the rotation angle of the magnetic code disc by using a preset fitting algorithm according to the sampled multiple voltage signal values;

The determination module is used to determine the function expression of the correspondence between the two voltage signal values of the Hall sensor and the rotation angle of the magnetic code disc according to the zero point and the precise rotation angle value corresponding to each sampled voltage signal value.

As a preferred embodiment, the calibration device of the rotary magnetic encoder further includes:

For the introduction of the calibration device of the rotary magnetoelectric encoder provided by the embodiment of the present invention, please refer to the foregoing embodiment of the calibration method of the rotary magnetoelectric encoder, and the embodiment of the present invention will not be repeated here.

Please refer to FIG. 3, which is a schematic structural diagram of a calibration device for a rotary magnetic encoder provided by the present invention, including:

The memory 5 is used to store computer programs;

The processor 6 is used to implement the steps of any one of the calibration methods of the rotary magnetoelectric encoder when executing the computer program.

For the introduction of the calibration equipment of the rotary magnetic encoder provided by the embodiment of the present invention, please refer to the foregoing embodiment of the calibration method of the rotary magnetic encoder, and the embodiment of the present invention will not be repeated here.

The various embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments, and the same or similar parts between the various embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the description of the method part.

It should also be noted that in this specification, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply these entities or operations. There is any such actual relationship or sequence between operations. Moreover, the terms "include", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes those that are not explicitly listed Other elements of, or also include elements inherent to this process, method, article or equipment. If there are no more restrictions, the element defined by the sentence "including a..." does not exclude the existence of other identical elements in the process, method, article, or equipment that includes the element.

The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown in this document, but should conform to the widest scope consistent with the principles and novel features disclosed in this document.

Claims

A method for calibrating a rotary magnetoelectric encoder, which is characterized in that it comprises:

Sampling at least one cycle of the two sets of voltage signal values output by the Hall sensor in the encoder to be calibrated;

Acquiring an accurate rotation angle value corresponding to each sampled voltage signal value of the rotating shaft where the encoder to be calibrated is located;

According to the multiple sampled voltage signal values and the precise rotation angle value corresponding to each sampled voltage signal value, a preset fitting algorithm is used to calculate the two voltage signal values of the Hall sensor and the value of the magnetic code disc. The functional expression of the corresponding relationship of the rotation angle;

According to the function expression and the two voltage signal values output by the Hall sensor in the encoder to be calibrated, the rotation angle of the rotating shaft where the encoder to be calibrated is located is calculated.
The method for calibrating a rotary magneto-electric encoder according to claim 1, characterized in that, according to the plurality of sampled voltage signal values, the precise rotation angle value corresponding to each sampled voltage signal value, Using the preset fitting algorithm to calculate the corresponding relationship between the two voltage signal values of the Hall sensor and the rotation angle of the magnetic code disc, the specific function expression is:

According to the plurality of sampled voltage signal values, a preset fitting algorithm is used to fit the function waveform of the correspondence between the two voltage signal values of the Hall sensor and the rotation angle of the magnetic code disc;

Using inverse trigonometric calculation to determine the zero point in the function waveform;

According to the zero point and the precise rotation angle value corresponding to each sampled voltage signal value, a functional expression of the correspondence relationship between the two voltage signal values of the Hall sensor and the rotation angle of the magnetic code disc is determined.
The method for calibrating a rotary magnetic encoder according to claim 2, wherein the obtaining the precise rotation angle value corresponding to each sampled voltage signal value of the rotating shaft where the encoder to be calibrated is located is specifically :

Acquiring the rotation angle of the rotation shaft that is synchronously measured by a precision encoder during the rotation of the rotation shaft;

Wherein, the accuracy of the precision encoder is a preset multiple of the accuracy of the encoder to be calibrated.
The calibration method of a rotary magnetoelectric encoder according to claim 3, wherein the preset fitting algorithm is a Fourier series interpolation fitting method.
The method for calibrating a rotary magnetoelectric encoder according to claim 1, wherein the two sets of voltage signal values output by the Hall sensor in the encoder to be calibrated sampling at least one cycle are specifically:

Sampling at least one cycle of the two sets of voltage signal values output by the Hall sensor in the encoder to be calibrated at a preset sampling frequency;

Wherein, the preset sampling frequency is greater than 1/16 of the resolution of the encoder to be calibrated.
The method for calibrating a rotary magnetoelectric encoder according to any one of claims 1 to 5, wherein the two voltage signals output by the Hall sensor in the encoder to be calibrated are based on the function expression After calculating the rotation angle of the rotating shaft where the encoder to be calibrated is located, the calibration method of the rotary magnetic encoder further includes:

After the preset period, return to the step of sampling at least one period of the two sets of voltage signal values output by the Hall sensor in the encoder to be calibrated.
A calibration device for a rotary magnetoelectric encoder, which is characterized in that it comprises:

The sampling module is used to sample at least one cycle of the two sets of voltage signal values output by the Hall sensor in the encoder to be calibrated;

An obtaining module, configured to obtain the precise rotation angle value corresponding to each sampled voltage signal value of the rotating shaft where the encoder to be calibrated is located;

The first calculation module is used to calculate the two voltages of the Hall sensor by using a preset fitting algorithm according to the plurality of sampled voltage signal values and the precise rotation angle value corresponding to each sampled voltage signal value The functional expression of the corresponding relationship between the signal value and the rotation angle of the magnetic code disc;

The second calculation module is configured to calculate the rotation angle of the rotating shaft where the encoder to be calibrated is located according to the function expression and the two voltage signal values output by the Hall sensor in the encoder to be calibrated.
The calibration device for a rotary magnetic encoder according to claim 7, wherein the first calculation module comprises:

The fitting module is used to fit the function waveform of the correspondence between the two voltage signal values of the Hall sensor and the rotation angle of the magnetic code disc by using a preset fitting algorithm according to the sampled multiple voltage signal values;

The third calculation module is used to determine the zero point in the function waveform by using inverse triangulation calculation;

The determination module is used to determine the function expression of the correspondence between the two voltage signal values of the Hall sensor and the rotation angle of the magnetic code disk according to the zero point and the precise rotation angle value corresponding to each sampled voltage signal value formula.
The calibration device of a rotary magnetic-electric encoder according to claim 7 or 8, wherein the calibration device of the rotary magnetic-electric encoder further comprises:

The return module is used to return to the step of sampling at least one cycle of the two sets of voltage signal values output by the Hall sensor in the encoder to be calibrated after the preset period.
A calibration equipment for a rotary magnetoelectric encoder, which is characterized in that it comprises:

Memory, used to store computer programs;

The processor is configured to implement the steps of the method for calibrating the rotary magnetoelectric encoder according to any one of claims 1 to 6 when the computer program is executed.