CN106921325A - A kind of high speed angular position sensing system and method - Google Patents
A kind of high speed angular position sensing system and method Download PDFInfo
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- CN106921325A CN106921325A CN201710269457.6A CN201710269457A CN106921325A CN 106921325 A CN106921325 A CN 106921325A CN 201710269457 A CN201710269457 A CN 201710269457A CN 106921325 A CN106921325 A CN 106921325A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0085—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for high speeds, e.g. above nominal speed
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Abstract
The invention belongs to angular position pick up technical field, and in particular to a kind of high speed angular position sensing system and method, system include：Signal generating unit, signal processing unit, communication module and controller；Detection method includes：In the kth cycle, controller communicates with angular position pick up, and controller communication show that k-th angle feed-back value is θ(k)；The angle value θ that the cycle of kth 1 is drawn after A/D modular converters carry out analog-to-digital conversion and computing module is calculatedk‑1It is the cycle T of kth+1k+1Will be communicated the angle feed-back value θ for sending(k+1)Assignment；Carry out TkThe sampling in cycle is calculated, and obtains angle value θk, θkIn Tk+1After periodic communication terminates, the cycle T of kth+2 is assigned tok+2Angle feed-back value θ(k+2), i.e. θ(k+2)=θk.The present invention effectively eliminates influence of the velocity variations to angle feedback frequency signal, efficiently solves the problems, such as sampling lag between front and rear signal.
Description
Technical field
The invention belongs to angular position pick up technical field, and in particular to a kind of high speed angular position sensing system and method.
Background technology
High-speed electric expreess locomotive or electro spindle have special application in the fields such as industry, military affairs.It is straight with high-speed electric expreess locomotive or electro spindle
Load can save mechanical driving device at a high speed to connect driving, it is to avoid loss, mechanical oscillation and noise that transmission device causes, from
And reduce equipment volume, improve operational efficiency and running precision.High-speed electric expreess locomotive or electro spindle using vector controlled have efficiency
The advantages of high, reliable, power factor is high, energy index is good, control characteristic is good.
However, the reason for realizing the control to high-speed electric expreess locomotive or electro spindle using vector controlled hardly possible is, its rotating speed pair high
High frequency electric waveform is answered, this requires that control system has superior current control performance.On the one hand control performance to electric current takes
Certainly in current control frequency, on the other hand depending on the precision of voltage vector.Vector controlled needs motor or electro spindle rotor magnetic
The accurate angle of field, accurate position control is also required to the high precision position feedback of rotor.Current position feedback device is not
Can normal outgoing position signal at high speeds, be difficult to realize the detection to rotor-position, or even cannot normal work.Cause
This, is difficult to take real SERVO CONTROL to high-speed electric expreess locomotive or electro spindle, more using position sensorless control or VFC etc.
Mode, output control characteristic is not good.
In automatic field, rotating speed high generally refers to tens thousand of ranges of speeds for going to hundreds thousand of turns per minute per minute.Increase
The position signalling of amount formula angular position pick up output is square-wave signal, and under rotating speed high, signal frequency is of a relatively high, and signal transmission can
Can be raised with frequency by property and reduced, under many rotating speed applicable cases high, to reduce increment type angular position pick up resolution ratio (single
Ring signal quantity) reduce signal frequency.Typically in more than 10,000 turns per minute, the increment type angular position pick up that can be applied
Resolution ratio typically only have thousands of lines often enclose.By taking the photoelectric encoder for generally using at present as an example, the position of degree of precision is realized
Control is put, 16 resolution ratio of (every turn of 65536 lines) are generally required.Photoelectric encoder is with the real-time output rotor of pulse signal form
Displacement signal, when motor speed is 10000r/min, the frequency for 65536 line coding device output signals is about 10.92MHz,
The response frequency of general light-sensitive device only has 250kHz, even if ensureing photoelectricity using special light-sensitive device and other electronic devices
Encoder can export the position feed back signal of such high frequency, and servo controller also is difficult to collect.From current high-speed electric expreess locomotive
From the point of view of development, rotating speed runs far deeper than 10000r/min.Therefore photoelectric encoder from from the perspective of signal frequency not
It is adapted to High-speed Control occasion.For photoelectric encoder and synchronous inductor, the aspect such as sensor construction, sensing element response time
Limitation also constrain utilization in high speed situation.
Absolute type angular position pick up is to export absolute position data with certain data protocol, the position data institute of its output
The corresponding moment is some moment before communication starts, and the time between two moment is generally several microseconds, rotating speed high
In the case of, the angle value corresponding to this short several microsecond is possible to that control accuracy reduction even control failure can be caused.General
, similarly there is signal frequency in the problems such as magnetism encoder is the impact resistance of solution and resistance to dust.And synchronously sense original
The position detection device of reason, the induced electromotive force that it is produced can increase as speed increases, and change too greatly will impact position
Feedback accuracy, therefore be also not suitable for being used in High-speed Control.
In sum, existing Angle Position detection method has following defect：1. rotor angle can not be detected accurately at high speeds
Position；2. angle feedback signal frequency can change with speed；3. complex structure, installation requirement is high, lower at a high speed easily to produce
Abrasion；4. cause output angle resolution ratio and precision not high due to the problem of signals transmission and sampling lag under high speed.
The content of the invention
The angle that angular position pick up is detected when the purpose of the present invention is the high speed for overcoming prior art to exist easily has
Deviation, the low problem of precision, and propose a kind of high speed angular position sensing system and method.
To solve technical problem, the technical solution adopted by the present invention is：
A kind of high speed angular position sensing system, it is characterised in that including：Signal generating unit, signal processing unit, communication
Module and controller, the signal processing unit include A/D modular converters and computing module, and the signal generating unit will change
Magnetic field signal change into data signal is changed into by A/D modular converters after analog voltage signal, data signal passes through computing
Module converter is into corresponding angle value θkController is sent to by communication module afterwards, the controller receives θkPass through after value
Timing Synchronization serial communication protocol is communicated with communication module, and the communication module triggering A/D modular converters are sampled again.
Further, the signal generating unit includes Hall magnetic induction part and rotor magnetic steel ring, and what is rotated at a high speed turns
The sub synchronous magnetic field signal for driving rotor magnetic steel ring to produce change around, Hall element magnetic field sensor signal simultaneously changes into simulation
Voltage signal is exported.
Further, the signal generating unit is arranged on high-speed electric main shaft, and the signal generating unit includes rotor
Magnet steel ring and stator assembly, the rotor magnetic steel ring set on the high-speed electric main shaft, pacify by the stator assembly positioning
On the bearing block of the high-speed electric main shaft.
Further, the rotor magnetic steel ring and stator assembly are two separating components.
Further, the stator assembly includes stator support, shielding steel loop, Hall magnetic induction part and PCB circuits
Plate, the stator support inside has position the annular groove of the shielding steel loop for installing and for PCB described in location and installation
The alignment pin of circuit board, the Hall magnetic induction part is arranged in the square groove inside the stator support, the shielding steel
Ring, Hall magnetic induction part and PCB are sealed by embedding colloid in stator support.
Further, the radial center face of the rotor magnetic steel ring, Hall magnetic induction part and shielding steel loop is in same
In plane.
Further, there is gap between the rotor magnetic steel ring and the centre bore of stator support.
Further, the computing module employs the signal processing algorithm based on lookup table mode.
A kind of high speed Angle Position detection method, it is characterised in that comprise the following steps：
S1, in kth cycle TkStart, controller communicates with high speed angular position sensing system, controller communication draws k-th
Angle feed-back value is θ(k)；
S2、TkAfter periodic communication terminates, in the cycle of kth -1 by A/D modular converters carry out analog-to-digital conversion and by meter
Calculate the angle value θ drawn after module is calculatedk-1It is the cycle T of kth+1k+1Will be communicated the angle feed-back value θ for sending(k+1)Assignment；
S3 and then carry out TkThe sampling in cycle is calculated, and obtains angle value θk, θkIn the cycle T of kth+1k+1After sign off, assign
It is worth and gives the cycle T of kth+2k+2Angle feed-back value θ(k+2), i.e. θ(k+2)=θk。
Relative to prior art, the present invention apparently has the advantages that：
1st, the angle of rotor can be normally detected at high speed, reduced due to the inspection that signal transmission and sampling lag bring
Error is surveyed, with resolution ratio and precision higher.
2nd, communicated using synchronous serial interface, feedback frequency signal is not with velocity variations.
3rd, stator and rotor are isolating construction, between completely contactless, Fast Wearing when can avoid rotating at a high speed.
4th, the Processing Algorithm of angle of the angular position pick up proposed by the present invention under speed conditions high, can accurately export
Corresponding data communication start time or the Angle Position absolute coding at certain specified moment, contain in this computational methods and effectively disappear
Influence except velocity variations to angle feedback frequency signal, efficiently solves the problems, such as sampling lag between front and rear signal.
Brief description of the drawings
The present invention is further detailed explanation with reference to the accompanying drawings and detailed description.
Fig. 1 is a kind of structure chart of high speed angular position sensing system of the invention；
Fig. 2 is the work schedule of high speed Angle Position detection method of the present invention；
Fig. 3 is that angular position pick up is connected explosive view with high-speed main spindle；
Fig. 4 is that angular position pick up is connected stereogram with high-speed main spindle；
Fig. 5 is angular position pick up explosive view；
Fig. 6 is angular position pick up right view；
Fig. 7 is the sectional view that high speed angular position pick up of the present invention installs application on high-speed electric main shaft.
In figure：1st, signal generating unit, 11, rotor magnetic steel ring, 12, stator assembly, 121, stator support, 1211, ring
Shape groove, 1222, inner ring boss, 1223, outer shroud boss, 1224, square groove, 1225, alignment pin, 1226, centre bore, 122, shielding
Steel loop, 123, Hall magnetic induction part, 124, PCB, 125, tapping screw, 126, encapsulating body, 2, signal processing unit,
21st, A/D modular converters, 22, computing module, 3, communication module, 4, controller, 5, high-speed electric main shaft, 6, high-speed electric main shaft bearing
Seat, 7, locking nut.
Specific embodiment
In conjunction with the accompanying drawings, the present invention is further explained in detail.These accompanying drawings are simplified schematic diagram, only with
Illustration illustrates basic structure of the invention, therefore it only shows the composition relevant with the present invention.
In the description of the invention, it is necessary to explanation, unless otherwise clearly defined and limited, term " installation ", " sets
Put ", " connection " should be interpreted broadly, for example, it may be being fixedly connected, or being detachably connected, or be integrally connected；Can
Being to be joined directly together, it is also possible to be indirectly connected to by intermediary.For the ordinary skill in the art, can basis
Concrete condition understands above-mentioned term concrete meaning in the present invention.
High speed angular position sensing system as shown in Figure 1, including：Signal generating unit 1, signal processing unit 2, communicate mould
Block 3 and controller 4, signal processing unit 2 include A/D modular converters 21 and computing module 22, signal generating unit 1 by change
Magnetic field signal changes into data signal after changing into analog voltage signal by A/D modular converters 21, and data signal passes through computing
Module 22 changes into corresponding angle value θkController 4 is sent to by communication module 3 afterwards, controller 4 receives θkPass through after value
Timing Synchronization serial communication protocol is communicated with communication module 3, and the triggering A/D of communication module 3 modular converters 21 are sampled again.
Signal generating unit 1 can be angular position pick up, and this angular position pick up can be arranged on high-speed electric main shaft 5, therefore
It is referred to as high speed angular position pick up in the present invention, as shown in Fig. 3, Fig. 4 and Fig. 7, high speed angular position pick up includes：Rotor magnetic steel
The geomery of ring 11 and stator assembly 12, rotor magnetic steel ring 11 and stator assembly 12 can be according to the motor of installation to be coordinated
Flexible structure is designed.Rotor magnetic steel ring 11 can be that single pair of pole is magnetized, or multipair pole is magnetized；Can be parallel magnetization,
It can also be radial magnetizing.As shown in figure 3, the sensor that high speed Angle Position detection of the present invention is used, its He of rotor magnetic steel ring 11
Stator assembly 12 is two separating components, and installing/dismounting can be realized independently.Fig. 4 show sensor and is arranged at a high speed
Stereogram on electro spindle 5, it can be seen that high speed angular position pick up small volume of the present invention, simple and compact for structure, rotor magnetic steel
Ring 11 is sleeved on the mandrel of high-speed electric main shaft 5, and with magnetic steel special glue, so as to be revolved with the synchronous high-speed of high-speed electric main shaft 5
Turn；The location and installation of stator assembly 12 is on high-speed electric main shaft bearing block 6.Therefore, in the structure of existing high-speed electric main shaft 5, it goes without doing
Under conditions of any processing adjustment, internally easy installation and removal can be also realized in narrow space.
As shown in figure 5, the stator assembly 12 of high speed angular position pick up of the present invention is by stator support 121, shielding steel loop
122nd, Hall magnetic induction part 123, PCB 124, tapping screw 125, encapsulating body 126 are constituted.Stator support 121 is used for
Stator other assemblies are installed, and are fixed on high-speed electric main shaft 5；Shielding steel loop 122 is used to shield external interference magnetic field, and protection turns
The magnetic field that sub- magnet steel ring 11 is produced；Hall magnetic induction part 123 is used for the magnetic field that inductiopn rotor magnet steel ring 11 is produced, and magnetic is believed
Number it is converted into analog voltage signal output, the quantity of Hall magnetic induction part 123 in the case of 4 to be evenly distributed on circumference
On, the road signal of A+, A-, B+, B- tetra- is exported respectively, wherein two Hall magnetic induction parts 123 vis-a-vis are output as A+ and A-
Or B+ and B- signals；PCB 124 is used to be filtered the analog voltage signal of the output of Hall magnetic induction part 123
Or the treatment such as difference amplifier, and effective A, B two-phase simulation voltage signal is exported by signaling interface；Tapping screw 125 is used for
PCB 124 is fixed on stator support 121；Encapsulating body 126 is used for the embedding of stator assembly 12, so that improve can
By property and service life.
As shown in fig. 6, stator support 121 is toroidal, can be fitted close with the inner space of high-speed electric main shaft 5.Annular
Groove 12111 is used for location and installation and shields steel loop 122, and inner ring boss 1222 collectively forms inner ring connected in star knot with outer shroud boss 1223
Structure is used for embedding colloid, and square groove 1224 is used for location and installation Hall magnetic induction part 123, and alignment pin 1225 is used for location and installation
PCB 124, outer shroud boss 1223 is used to install stator assembly 12, center with the Internal hole positioning of high-speed electric main shaft bearing block 6
Hole 1226 is used for the mandrel through high-speed electric main shaft 5.
It is illustrated in figure 7 the sectional view that high speed angular position pick up of the present invention installs application on high-speed electric main shaft 5.Rotor
Magnet steel ring 11 is sleeved on the mandrel of high-speed electric main shaft 5, by bearing lock nut erecting bed terrace axially position, stator support
121 by circular orientation boss and the Internal hole positioning of high-speed electric main shaft bearing block 6, collateral security rotor magnetic steel ring 11 and stator support
121 axiality.As shown in FIG., rotor magnetic steel ring 11, Hall magnetic induction part 123, the radial center face of shielding steel loop 122
It is in the same plane, the Hall magnetic induction part energy magnetic field that fully inductiopn rotor magnet steel ring 11 is produced, and shield steel loop 122 then
The outside interference to magnetic field can be effectively shielded, so that it is guaranteed that the exported analog voltage signal quality of work.PCB 124
On Hall magnetic induction part 123 processed with the embedding of encapsulating body 126, rotor magnetic steel ring 11 and the centre bore 1226 of stator support 121
Between have gap, in contactless state, therefore rotation or temperature change are big at a high speed, have dust greasy dirt etc. in high-speed electric main shaft 5
Abrasion mechanically is there will not be under adverse circumstances, so as to improve reliability and service life.
With reference to Fig. 1 and Fig. 2, signal generation point is that rotor magnetic steel ring 11 is produced can be reflected by magnetoelectric effect principle
With the magnetic field that high speed rotor rotates together, it is defeated that Hall magnetic induction part 123 changes into analog voltage signal to magnetic field signal sensing
Go out；Signal processing is sent out signal after A/D modular converters 21 receive the triggering sample command sent by communication module 3
The analog voltage signal of first portion output carries out being sampled and transformed into data signal being supplied to computing module 22, computing module 22 pairs
Data signal is analyzed, and according to ployphase voltages signal and the corresponding relation of magnetic field position, obtains high speed rotor (high speed rotary magnetic
) absolute position angle value output in a circumference；On the one hand communication module 3 receives the communication protocols that controller 4 sends
After view, triggering sampling is sent to A/D modular converters 21 in signal processing, on the other hand receive computing in signal processing
The angle value of the output of module 22, and send angle value to controller 4.When being communicated with controller 4, using synchronous serial
Communication reporting high speed rotor position angle angle value, while being entered by A/D modular converters 21 in the trigger signal process part of communication module 3
The sampling of the analog voltage signal that row is produced to signal generation point next time.
Rotor magnetic steel ring 11 in above-mentioned signal generation point is single pair of magnetic pole, therefore rotation is turned around, changes of magnetic field one
Cycle, each Hall magnetic induction part 123 exports the voltage signal of a cycle, same using multiple Hall magnetic induction parts 123
When the magnetic field signal of inductiopn rotor magnet steel ring 11, then in a circumference (0~360 °), any high speed rotor position is simulated with multiphase
The unique correspondence of voltage signal combination.
It can be seen that, as long as the response frequency of Hall magnetic induction part 123 can reach high speed rotor speed, angle of the present invention
Position-detection sensor can effective Feedback rotor-position at high speeds.The response of currently common Hall magnetic induction part 123 is frequently
, up to more than 200kHz, corresponding rotating speed can be more than 10,000,000r/min for rate.In view of signal lag problem, to ensure to examine
Survey precision and limit its actually used rotating speed, Angle Position detection sensor of the invention can also normally detect angle at high speeds
Degree.
To obtain faster processing speed and precision, Angle Position detection sensor of the present invention is employed in computing module 22
Signal processing algorithm based on lookup table mode.First by calibration system, by high speed rotor mechanical angle (0 °~360 °), and suddenly
One-to-one relation between the ployphase voltages signal of your output of magnetic induction part 123 is made tables of data and stores.Work
When making, signal processing only needs to receive the multiphase analog voltage signal of signal generation point output, just can be in tables of data
Find its corresponding high speed rotor absolute angle angle value.As can be seen that Angle Position detection sensor of the present invention, to mechanical precision, magnetic
The linearity of field and analog signal is not high, improves Angle Position by improving signal quality and improvement calibration system and detects
The potentiality of sensor accuracy are very huge.
Knowable to operation principle, the such real-time report angle of Angle Position detection sensor photoelectric encoder unlike of the present invention
Degree, but report angle in the form of passive Timing Synchronization serial communication.Rotated at a high speed for controlled motor or electro spindle
Controller 4 by communication obtained by feedback angle, be a period of time before sampling processing result.At high speed, this
The rotor-position signal that the section time produces is delayed particularly evident, directly carries out vector control using this feedback angle as current angular
System, can make current phasor deviate correct direction, and control can be caused to fail when serious.Therefore, it is necessary to accurate compensation hysteresis, delayed
Time will be obtained by analyzing Angle Position detection sensor work schedule.
The work schedule of high speed Angle Position detection method of the present invention as shown in Figure 2, in kth cycle TkStart, controller 4
Communicated with high speed angular position sensing system, the communication of controller 4 show that k-th angle feed-back value is θ(k)；Kth cycle TkCommunication knot
Shu Hou, carrying out analog-to-digital conversion and the angle that draws after computing module is calculated by A/D modular converters 21 in the cycle of kth -1
Value θk-1It is the cycle T of kth+1k+1Will be communicated the angle feed-back value θ for sending(k+1)Assignment；Then kth cycle T is carried outkSampling meter
Calculate, obtain angle value θk, θkIn the cycle T of kth+1k+1After sign off, the cycle T of kth+2 is assigned tok+2Angle feed-back value
θ(k+2),+2 cycle Ts of kthk+2The angle feed-back value θ that communication is obtained(k+2), it is kth cycle TkSampling result of calculation θk, i.e.,
θ(k+2)=θk.From kth cycle TkSampling calculates angle value θkAt the beginning of carve, to the cycle T of kth+2k+2At the beginning of carve (controller
4 will communicate obtains angle feed-back value θ(k+2)), this period is angle feed-back value θ(k+2)Lag time.
In Fig. 2, a cycle is the controlling cycle of controller 4, is set to Ts, if call duration time is tc, after sign off
Assignment and the time for entering sampling calculating interruption are te, i.e., sampled after the tc+te times in each cycle.Then, angle reports stagnant
Time afterwards is Tdelay=2Ts-(tc+te)
High speed Angle Position detection method of the invention uses above-mentioned work schedule, when accurately having calculated angle and reporting delayed
Between, solve the problems, such as at high speed because call duration time produces rotor-position signal delayed.
It should be appreciated that specific embodiment described above is only used for explaining the present invention, it is not intended to limit the present invention.By
Obvious change that spirit of the invention is extended out or among changing still in protection scope of the present invention.
Claims (9)
1. a kind of high speed angular position sensing system, it is characterised in that including：Signal generating unit (1), signal processing unit (2),
Communication module (3) and controller (4), the signal processing unit (2) include A/D modular converters (21) and computing module (22),
The signal generating unit (1) is turned after the magnetic field signal of change is changed into analog voltage signal by A/D modular converters (21)
Chemical conversion data signal, data signal changes into corresponding angle value θ by computing module (22)kSent out by communication module (3) afterwards
Controller (4) is given, the controller (4) receives θkBy Timing Synchronization serial communication protocol and communication module (3) after value
Communication, the communication module (3) is triggered A/D modular converters (21) and is sampled again.
2. high speed angular position sensing system according to claim 1, it is characterised in that signal generating unit (1) bag
Hall magnetic induction part (123) and rotor magnetic steel ring (11) are included, the rotor of rotation synchronously drives rotor magnetic steel ring (11) to exist at a high speed
Around produce the magnetic field signal of change, Hall magnetic induction part (123) magnetic field sensor signal and to change into analog voltage signal defeated
Go out.
3. high speed angular position sensing system according to claim 1 and 2, it is characterised in that the signal generating unit (1)
On high-speed electric main shaft (5), the signal generating unit (1) includes rotor magnetic steel ring (11) and stator assembly (12),
The rotor magnetic steel ring (11) is sleeved on the high-speed electric main shaft (5), and stator assembly (12) location and installation is described
On the bearing block of high-speed electric main shaft (5).
4. high speed angular position sensing system according to claim 3, it is characterised in that the rotor magnetic steel ring (11) and fixed
Subgroup zoarium (12) is two separating components.
5. high speed angular position sensing system according to claim 4, it is characterised in that the stator assembly (12) includes
Stator support (121), shielding steel loop (122), Hall magnetic induction part (123) and PCB (124), the stator support
(121) it is internal to have for the annular groove (1211) of the installation positioning shielding steel loop (122) and for PCB described in location and installation
The alignment pin (1225) of circuit board (124), the Hall magnetic induction part (123) is internal installed in the stator support (121)
Square groove (1224) in, shielding steel loop (122), Hall magnetic induction part (123) and PCB (124) by
The interior embedding colloid sealing of stator support (121).
6. high speed angular position sensing system according to claim 5, it is characterised in that the rotor magnetic steel ring (11), suddenly
The radial center face of that magnetic induction part (123) and shielding steel loop (122) is in the same plane.
7. high speed angular position sensing system according to claim 5, it is characterised in that the rotor magnetic steel ring (11) with it is fixed
There is gap between the centre bore (1226) of submounts (121).
8. high speed angular position sensing system according to claim 1, it is characterised in that the computing module (22) uses base
In the signal processing algorithm of lookup table mode.
9. a kind of high speed Angle Position detection method, it is characterised in that comprise the following steps：
S1, in kth cycle TkStart, controller (4) communicates with high speed angular position sensing system, controller (4) communication draws kth
Individual angle feed-back value is θ(k)；
S2、TkAfter periodic communication terminates, in the cycle of kth -1 by A/D modular converters (21) carry out analog-to-digital conversion and by calculate
The angle value θ that module draws after calculatingk-1It is the cycle T of kth+1k+1Will be communicated the angle feed-back value θ for sending(k+1)Assignment；
S3 and then carry out TkThe sampling in cycle is calculated, and obtains angle value θk, θkIn the cycle T of kth+1k+1After sign off, it is assigned to
The cycle T of kth+2k+2Angle feed-back value θ(k+2), i.e. θ(k+2)=θk。
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| CN107655511A (en) * | 2017-11-03 | 2018-02-02 | 常州寻心电子科技有限公司 | A kind of magnetic encoder calibrating installation and method |
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| CN110892613A (en) * | 2017-07-14 | 2020-03-17 | 三菱电机株式会社 | Rotating electrical machine |
| CN111937282A (en) * | 2018-04-12 | 2020-11-13 | 伦策驱动有限公司 | Motor with integrated encoder |
| CN114659543A (en) * | 2022-05-20 | 2022-06-24 | 唐山工业职业技术学院 | High-precision multi-pair-electrode magnetoelectric encoder |
| CN115833491A (en) * | 2021-12-30 | 2023-03-21 | 深圳市速腾聚创科技有限公司 | Angle calculation method and device, storage medium and electronic equipment |
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2017
- 2017-04-24 CN CN201710269457.6A patent/CN106921325A/en not_active Withdrawn
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| CN110892613A (en) * | 2017-07-14 | 2020-03-17 | 三菱电机株式会社 | Rotating electrical machine |
| CN110892613B (en) * | 2017-07-14 | 2022-02-11 | 三菱电机株式会社 | Rotating electrical machine |
| CN107655511A (en) * | 2017-11-03 | 2018-02-02 | 常州寻心电子科技有限公司 | A kind of magnetic encoder calibrating installation and method |
| CN107809196A (en) * | 2017-12-08 | 2018-03-16 | 常州寻心电子科技有限公司 | A kind of switch magnetic resistance driving system and control method |
| CN111937282A (en) * | 2018-04-12 | 2020-11-13 | 伦策驱动有限公司 | Motor with integrated encoder |
| CN115833491A (en) * | 2021-12-30 | 2023-03-21 | 深圳市速腾聚创科技有限公司 | Angle calculation method and device, storage medium and electronic equipment |
| CN115833491B (en) * | 2021-12-30 | 2023-08-25 | 深圳市速腾聚创科技有限公司 | Angle calculation method and device, storage medium and electronic equipment |
| CN114659543A (en) * | 2022-05-20 | 2022-06-24 | 唐山工业职业技术学院 | High-precision multi-pair-electrode magnetoelectric encoder |
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Application publication date: 20170704 |