CN109855668A - Method for self-calibrating, device, magnetic degree sensor and the system of magnetic degree sensor - Google Patents
Method for self-calibrating, device, magnetic degree sensor and the system of magnetic degree sensor Download PDFInfo
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Abstract
The present invention relates to magnetic degree sensor technical fields, specifically disclose a kind of method for self-calibrating of magnetic degree sensor, wherein include: to obtain first group of magnetic degree data；Obtain second group of magnetic degree data；First group of magnetic degree data and second group of magnetic degree data processing are obtained into angle value to be calibrated；Calibrate magnetic degree sensor；Wherein, obtaining first group of magnetic degree data and obtaining second group of magnetic degree data includes: to obtain the current two-way magnetic degree signal value of magnetic degree sensor；Decide whether output motor slow rotation driving signal according to the relationship of current two-way magnetic degree signal value and first threshold range；Decided whether to export two-way magnetic degree signal value according to the relationship of current two-way magnetic degree signal value and second threshold range.The invention also discloses a kind of self-calibrating device of magnetic degree sensor, magnetic degree sensor and magnetic degree sensing systems.Prover time is greatly reduced in the method for self-calibrating of magnetic degree sensor provided by the invention, improves production efficiency.
Description
Technical field
The present invention relates to magnetic degree sensor technical field more particularly to a kind of method for self-calibrating of magnetic degree sensor,
The magnetic degree sensor and packet of a kind of self-calibrating device of magnetic degree sensor, self-calibrating device including the magnetic degree sensor
Include the magnetic degree sensing system of the magnetic degree sensor.
Background technique
In the actual production process of magnetic degree sensor, due to many reasons such as sensor, magnet, assembly, cause every
MaxX, minX, maxY, minY of a complete machine are different, it is therefore desirable to calibrate one by one.At present calibration method be mainly MCU from
Compare maximizing or left by host computer calculated after all data within one week maximin return to again MCU progress
Subsequent calculating, both method drawbacks are in 360 ° that each angle points will be tested, and as client is to precision
It is required that increase, the point of test can be closer and closer, and calibration consumes a large amount of time, reduce production efficiency also add test at
This.
Summary of the invention
The present invention is directed at least solve one of the technical problems existing in the prior art, a kind of magnetic degree sensor is provided
Method for self-calibrating, a kind of self-calibrating device of magnetic degree sensor, self-calibrating device including the magnetic degree sensor magnetic deviation
Sensor and the magnetic degree sensing system including the magnetic degree sensor are spent, to solve the problems of the prior art.
As the first aspect of the invention, a kind of method for self-calibrating of magnetic degree sensor is provided, wherein the magnetic deviation
Degree sensor method for self-calibrating include:
Obtain first group of magnetic degree data；
Obtain second group of magnetic degree data；
First group of magnetic degree data and second group of magnetic degree data are normalized to obtain angle to be calibrated
Value；
According to the angle value calibration magnetic degree sensor to be calibrated；
Wherein, second group of magnetic degree data of first group of magnetic degree data of the acquisition and the acquisition include:
Obtain two-way magnetic degree signal value of the magnetic degree sensor under motor quick rotation；
Decide whether output motor according to the relationship of the two-way magnetic degree signal value under motor quick rotation and first threshold range
Slow rotation driving signal；
After output motor slow rotation driving signal, two-way magnetic degree of the magnetic degree sensor under motor slow rotation is obtained
Signal value；
Decide whether to export two-way according to the relationship of two-way magnetic degree signal value and second threshold range under motor slow rotation
Magnetic degree signal value；
When two-way magnetic degree signal value, which exports, to be finished, first group of magnetic degree data/the second group magnetic degree data is obtained.
Preferably, the relationship of the two-way magnetic degree signal value under the quick rotation according to motor and first threshold range is determined
It is fixed that whether output motor slow rotation driving signal includes:
Judge the two-way magnetic degree signal value under motor quick rotation wherein all the way magnetic degree signal value whether in first threshold
In range；
If two-way magnetic degree signal value under motor quick rotation wherein all the way magnetic degree signal value in first threshold range,
Then output motor slow rotation driving signal；
If the two-way magnetic degree signal value in two-way magnetic degree signal value under motor quick rotation is not in first threshold range
It is interior, then output motor quick rotation driving signal, and return to two for executing and obtaining magnetic degree sensor under motor quick rotation
Road magnetic degree signal value.
Preferably, the relationship of the two-way magnetic degree signal value under the slow rotation according to motor and second threshold range is determined
Whether exporting two-way magnetic degree signal value calmly includes:
Judge the two-way magnetic degree signal value under motor slow rotation wherein all the way magnetic degree signal value whether in second threshold
In range；
If the two-way magnetic degree signal value under motor slow rotation within the scope of second threshold, exports the road magnetic degree signal
Value.
Preferably, the method for self-calibrating of the magnetic degree sensor further includes described when two-way magnetic degree signal value is defeated
When finishing out, carried out before the step of obtaining first group of magnetic degree data/the second group magnetic degree data:
Judge whether output finishes two-way magnetic degree signal value；
If at least magnetic degree signal value is not exported and finished all the way in two-way magnetic degree signal value, output motor quick rotation is driven
Dynamic signal, and return to the step of executing the two-way magnetic degree signal value for obtaining magnetic degree sensor under motor quick rotation.
Preferably, described that first group of magnetic degree data and second group of magnetic degree data are normalized
Obtaining angle value to be calibrated includes:
First group of magnetic degree data and second group of magnetic degree data are subjected to gain error calibration and offset error school
Cosine value and sine value that will definitely be required；
Angle value to be calibrated is calculated by arctan according to cosine value and sine value.
As the second aspect of the invention, a kind of self-calibrating device of magnetic degree sensor is provided, wherein the magnetic deviation
The self-calibrating device for spending sensor includes: the first data obtaining module, the second data obtaining module, data processing module and calibration
Module, first data obtaining module is for obtaining first group of magnetic degree data, and second data obtaining module is for obtaining
Second group of magnetic degree data is obtained, the data processing module is used for first group of magnetic degree data and second group of magnetic deviation
Degree evidence is normalized to obtain angle value to be calibrated, and the calibration module is used for according to the angle value calibration to be calibrated
Magnetic degree sensor；
Wherein, first data obtaining module and second data obtaining module include:
First acquisition unit, the first acquisition unit is for obtaining two-way magnetic of the magnetic degree sensor under motor quick rotation
Angle signal value；
Driving signal output unit, the driving signal output unit are used to be believed according to the two-way magnetic degree under motor quick rotation
The relationship of number value and first threshold range decides whether output motor slow rotation driving signal；
Second acquisition unit, the second acquisition unit are used for after output motor slow rotation driving signal, obtain magnetic degree
Two-way magnetic degree signal value of the sensor under motor slow rotation；
Magnetic degree signal value output unit, the magnetic degree signal value output unit are used for according to the two-way under motor slow rotation
The relationship of magnetic degree signal value and second threshold range decides whether to export two-way magnetic degree signal value；
Data acquiring unit, first group of data acquiring unit are used for when two-way magnetic degree signal value is exported and finished, obtain
Obtain first group of magnetic degree data/the second group magnetic degree data.
As the third aspect of the invention, a kind of magnetic degree sensor is provided, wherein the magnetic degree sensor includes
The self-calibrating device of magnet, angular transducer and previously described magnetic degree sensor, the magnet and the sensor are magnetic
The self-calibrating device of connection, the angular transducer and the magnetic degree sensor communicates to connect, and the angular transducer is in institute
Magnetic degree signal value can be exported when stating magnet rotation, the self-calibrating device of magnetic degree sensor can pass through the angle sensor
Device obtains the magnetic degree signal value.
Preferably, the self-calibrating device of the magnetic degree sensor includes MCU controller.
As the fourth aspect of the invention, a kind of magnetic degree sensing system is provided, wherein the magnetic degree sensor
System includes driving motor and previously described magnetic degree sensor, and the driving motor is connect with the magnet, the driving
Motor and the magnetic degree sensor communicate to connect, and the driving motor is used under the driving signal of the magnetic degree sensor
Rotation is rotated with drive magnet.
Preferably, the magnetic degree sensing system further includes host computer, the driving motor and magnetic degree sensing
Device is communicated to connect with the host computer, and the driving motor obtains the driving of the magnetic degree sensor by the host computer
Signal, the host computer are used to show the self calibration result of the magnetic degree sensor.
The method for self-calibrating of magnetic degree sensor provided by the invention passes through setting first when obtaining magnetic degree data
Threshold range judges driving motor revolving speed, and when wherein magnetic degree signal value is in first threshold range all the way, driving motor is fast
Speed rotation, when two-way magnetic degree signal value not in first threshold range when, then driving motor slow rotation is needed, by setting
Second threshold range is set, judges whether the magnetic degree signal value of output is zero, when within the scope of second threshold, then output should
Otherwise magnetic degree signal value returns and continues driving motor rotation, the self calibration side of this magnetic degree sensor provided by the invention
The purposive searching of method it needs to be determined that zero, be not that the region of zero can quickly turn over, because the inside does not have certainly
The parameter needed；And it can appropriate de-spin in the region close to zero, it is believed that there is required parameter in this region, thus
Prover time is greatly decreased, and then improve production efficiency to reduce testing cost.
Detailed description of the invention
The drawings are intended to provide a further understanding of the invention, and constitutes part of specification, with following tool
Body embodiment is used to explain the present invention together, but is not construed as limiting the invention.In the accompanying drawings:
Fig. 1 is the schematic diagram of internal structure of magnetic degree sensor provided by the invention.
Fig. 2 is operation schematic diagram of the angular transducer provided by the invention under magnetic field.
Fig. 3 is magnetic degree sensor ideal curve of output provided by the invention.
Fig. 4 is the image schematic diagram obtained after differential analog signal provided by the invention makes the difference.
Fig. 5 is the corresponding Lisaru circle figure of Fig. 4.
Fig. 6 is the flow chart of the method for self-calibrating of magnetic degree sensor provided by the invention.
Fig. 7 is the specific embodiment provided by the invention for obtaining first group of magnetic degree data/the second group magnetic degree data
Flow chart.
Fig. 8 is the structural block diagram of the self-calibrating device of magnetic degree sensor provided by the invention.
Specific embodiment
Below in conjunction with attached drawing, detailed description of the preferred embodiments.It should be understood that this place is retouched
The specific embodiment stated is merely to illustrate and explain the present invention, and is not intended to restrict the invention.
It should be noted that magnetic degree sensor is using the induction orthogonal favour stone full bridge structure in direction, output two
Group differential analog signal SIN+, SIN-, COS+, COS-, make the difference to obtain X(COS) and Y(SIN).As shown in Figure 1, being passed for magnetic degree
The schematic diagram of internal structure of sensor.Fig. 2 is operation schematic diagram of the angular transducer under magnetic field.Fig. 3 is magnetic degree sensor reason
Think curve of output.Fig. 4 and Fig. 5 is respectively the image and corresponding Lisaru circle obtained after making the difference:
X (COS)=(COS+)-(COS-), Y (SIN)=(SIN+)-(SIN-).
By rotary magnet at a slow speed, the analog measurement that each angle in one week obtains is obtained into X (COS) and Y later
(SIN) it is at normalization that maximum value and minimum value maxX, minX, maxY, minY, which carries out gain error and offset error calibration,
The X'(COS for managing to need to the end), Y'(SIN), corresponding absolute angle angle value θ is calculated eventually by arctan:
X peak-to-peak value: XPP=max X-minX,
Y peak-to-peak value: YPP=max Y-minY,
X drift: Xoffset=(maxX+minX)/2,
Y drift: Yoffset=(maxY+minY)/2,
X'(COS)=(X (COS)-Xoffset)/(XPP/2),
Y'(SIN)=(Y (SIN)-Yoffset)/(YPP/2),
θ=arctan(Y' (SIN)/ X' (COS))。
Therefore, by above-mentioned principle it is found that current urgent need to resolve is how quickly to measure maxX, minX, maxY, minY
Four parameters.
It should be noted that as shown in figure 4, according to trigonometric function characteristic it is found that corresponding to Y when X (COS) is equal to 0
(SIN) value is exactly maxY or minY, and 0 > minY of maxY >；When similarly Y (SIN) is equal to 0, corresponding X (COS's)
Being worth is exactly maxX or minX, and 0 > minX of maxX >.Therefore the unknown value of the minimax of searching X (COS) and Y (SIN)
It is converted into the value for finding this determination of the zero of X (COS) and Y (SIN).
As the first aspect of the invention, a kind of method for self-calibrating of magnetic degree sensor is provided, wherein such as Fig. 6 institute
Show, the method for self-calibrating of the magnetic degree sensor includes:
S110, first group of magnetic degree data is obtained；
S120, second group of magnetic degree data is obtained；
S130, first group of magnetic degree data with second group of magnetic degree data are normalized to obtain it is to be calibrated
Angle value；
S140, according to the angle value calibration magnetic degree sensor to be calibrated；
Wherein, second group of magnetic degree data of first group of magnetic degree data of the acquisition and the acquisition include:
S111, two-way magnetic degree signal value of the magnetic degree sensor under motor quick rotation is obtained；
S112, decide whether to export according to the relationship of the two-way magnetic degree signal value under motor quick rotation and first threshold range
Motor slow rotation driving signal；
S113, after output motor slow rotation driving signal, obtain two-way of the magnetic degree sensor under motor slow rotation
Magnetic degree signal value；
S114, decide whether to export according to the relationship of two-way magnetic degree signal value and second threshold range under motor slow rotation
Two-way magnetic degree signal value；
S115, when two-way magnetic degree signal value is exported and is finished, obtain first group of magnetic degree data/the second group magnetic deviation degree
According to.
The method for self-calibrating of magnetic degree sensor provided by the invention passes through setting first when obtaining magnetic degree data
Threshold range judges driving motor revolving speed, and when wherein magnetic degree signal value is in first threshold range all the way, driving motor is fast
Speed rotation, when two-way magnetic degree signal value not in first threshold range when, then driving motor slow rotation is needed, by setting
Second threshold range is set, judges whether the magnetic degree signal value of output is zero, when within the scope of second threshold, then output should
Otherwise magnetic degree signal value returns and continues driving motor rotation, the self calibration side of this magnetic degree sensor provided by the invention
The purposive searching of method it needs to be determined that zero, be not that the region of zero can quickly turn over, because the inside does not have certainly
The parameter needed；And it can appropriate de-spin in the region close to zero, it is believed that there is required parameter in this region, thus
Prover time is greatly decreased, and then improve production efficiency to reduce testing cost.
It should be understood that every group of magnetic degree data are analogue data in the two-way magnetic degree signal value being originally taken,
After analog-to-digital conversion, corresponding digital quantity is obtained, then by the corresponding digital quantity of magnetic degree signal value and first threshold model
It encloses and is compared with second threshold range, obtained corresponding as a result, it is to be further understood that first threshold range and second threshold
Range is digital quantity.
Specifically, as shown in fig. 7, two-way magnetic degree signal value (X and Y) and first under the quick rotation according to motor
The relationship of threshold range decides whether that output motor slow rotation driving signal includes:
Judge the two-way magnetic degree signal value (X and Y) under motor quick rotation wherein magnetic degree signal value (X or Y) is all the way
It is no in first threshold range；
If two-way magnetic degree signal value (X and Y) under motor quick rotation wherein all the way magnetic degree signal value (X or Y)
In one threshold range, then output motor slow rotation driving signal；
If the two-way magnetic degree signal value (X and Y) in the two-way magnetic degree signal value under motor quick rotation is not in the first threshold
It is worth in range, then output motor quick rotation driving signal, and returns to execution and obtain magnetic degree sensor in motor quick rotation
Under two-way magnetic degree signal value.
Further specifically, the two-way magnetic degree signal value under the slow rotation according to motor and second threshold range
Relationship decides whether that exporting two-way magnetic degree signal value includes:
Judge the two-way magnetic degree signal value under motor slow rotation wherein all the way magnetic degree signal value (X or Y) whether
In two threshold ranges；
If the two-way magnetic degree signal value under motor slow rotation within the scope of second threshold, exports the road magnetic degree signal
Value.
Specifically, the method for self-calibrating of the magnetic degree sensor further includes described when two-way magnetic degree signal value is defeated
When finishing out, carried out before the step of obtaining first group of magnetic degree data:
Judge whether output finishes two-way magnetic degree signal value；
If two-way magnetic degree signal value is finished without output, output motor quick rotation driving signal, and is returned to execution and obtained
The step of taking two-way magnetic degree signal value of the magnetic degree sensor under motor quick rotation.
Specifically, described that first group of magnetic degree data and second group of magnetic degree data are normalized
Obtaining angle value to be calibrated includes:
First group of magnetic degree data and second group of magnetic degree data are subjected to gain error calibration and offset error school
Cosine value and sine value that will definitely be required；
Angle value to be calibrated is calculated by arctan according to cosine value and sine value.
The magnetic degree signal of sensor output is acquired as shown in fig. 7, can specifically divide ADC mouthfuls using 16 potential differences,
Zero is 215, threshold alpha, β are set, and α is for judging motor speed, and when magnetic degree signal value is outside threshold alpha, driving motor is quick
It rotates, otherwise slow rotation；β is for judging whether output valve is zero, when magnetic degree signal value is in threshold value beta, exports magnetic
Angle signal value.
It should be understood that first threshold range can be expressed as (2 for threshold alpha, β is arranged15- α, 215+ α), the
Two threshold ranges can be expressed as (215- β, 215+ β), wherein the size of α, β can be specifically configured according to demand, herein not
It limits.
It should be noted that first group of magnetic degree signal value, i.e. X1, Y1 can be obtained by flow chart shown in Fig. 7,
Continue to repeat the process, obtains second group of magnetic degree signal value, i.e. X2, Y2.By compare X1 and X2, obtain maxX,
MinX compares Y1 and Y2, obtains maxY, minY.
If should be noted after compared with second threshold range, in two-way magnetic degree signal value at least all the way
It does not export, then needs driving motor rotation at least m angle value, it is preferable that m is between 10 ° ~ 80 °, it is further preferred that m can
With 45 ° of selection, the region of required parameter can be entered faster in this way.
It therefore, be not that the region of zero can quickly turn over, because the inside is affirmed by above-mentioned purposive searching
Do not have parameter in need；And it can appropriate de-spin in the region close to zero, it is believed that there is required parameter in this region,
To which prover time be greatly decreased.
As the second aspect of the invention, a kind of self-calibrating device of magnetic degree sensor is provided, wherein such as Fig. 8 institute
Show, the self-calibrating device 100 of the magnetic degree sensor includes: the first data obtaining module 110, the second data obtaining module
120, data processing module 130 and calibration module 140, first data obtaining module 110 is for obtaining first group of magnetic degree
Data, second data obtaining module 120 are used for for obtaining second group of magnetic degree data, the data processing module 130
First group of magnetic degree data and second group of magnetic degree data are normalized to obtain angle value to be calibrated, institute
Calibration module 140 is stated for according to the angle value calibration magnetic degree sensor to be calibrated；
Wherein, first data obtaining module 110 and second data obtaining module 120 include:
First acquisition unit 111, the first acquisition unit 111 is for obtaining magnetic degree sensor under motor quick rotation
Two-way magnetic degree signal value；
Driving signal output unit 112, the driving signal output unit 112 are used for according to the two-way magnetic under motor quick rotation
The relationship of angle signal value and first threshold range decides whether output motor slow rotation driving signal；
Second acquisition unit 113, the second acquisition unit 113 are used for after output motor slow rotation driving signal, are obtained
Two-way magnetic degree signal value of the magnetic degree sensor under motor slow rotation；
Magnetic degree signal value output unit 114, the magnetic degree signal value output unit 114 are used for according under motor slow rotation
Two-way magnetic degree signal value and second threshold range relationship decide whether export two-way magnetic degree signal value；
Data acquiring unit 115, first group of data acquiring unit 115 are used to finish when two-way magnetic degree signal value exports
When, obtain first group of magnetic degree data/the second group magnetic degree data.
The self-calibrating device of magnetic degree sensor provided by the invention passes through setting first when obtaining magnetic degree data
Threshold range judges driving motor revolving speed, and when wherein magnetic degree signal value is in first threshold range all the way, driving motor is fast
Speed rotation, when two-way magnetic degree signal value not in first threshold range when, then driving motor slow rotation is needed, by setting
Second threshold range is set, judges whether the magnetic degree signal value of output is zero, when within the scope of second threshold, then output should
Otherwise magnetic degree signal value returns and continues driving motor rotation, the self calibration dress of this magnetic degree sensor provided by the invention
Be equipped with the searching of purpose it needs to be determined that zero, be not that the region of zero can quickly turn over, because the inside does not have certainly
The parameter needed；And it can appropriate de-spin in the region close to zero, it is believed that there is required parameter in this region, thus
Prover time is greatly decreased, and then improve production efficiency to reduce testing cost.
As the third aspect of the invention, a kind of magnetic degree sensor is provided, wherein the magnetic degree sensor includes
The self-calibrating device of magnet, angular transducer and previously described magnetic degree sensor, the magnet and the angular transducer
The self-calibrating device of magnetism connection, the angular transducer and the magnetic degree sensor communicates to connect, the angular transducer
Magnetic degree signal value can be exported in magnet rotation, the self-calibrating device of magnetic degree sensor can pass through the angle
Sensor obtains the magnetic degree signal value.
Magnetic degree sensor provided by the invention, using the self-calibrating device of magnetic degree sensor above, Neng Goushi
The searching of existing purpose it needs to be determined that zero, be not that the region of zero can quickly turn over, because the inside does not have certainly
The parameter needed；And it can appropriate de-spin in the region close to zero, it is believed that there is required parameter in this region, thus
Prover time is greatly decreased, and then improve production efficiency to reduce testing cost.
Preferably, the self-calibrating device of the magnetic degree sensor includes MCU controller.
As the fourth aspect of the invention, a kind of magnetic degree sensing system is provided, wherein the magnetic degree sensor
System includes driving motor and previously described magnetic degree sensor, and the driving motor is connect with the magnet, the driving
Motor and the magnetic degree sensor communicate to connect, and the driving motor is used under the driving signal of the magnetic degree sensor
Rotation is rotated with drive magnet.
Magnetic degree sensing system provided by the invention can be realized mesh by using magnetic degree sensor above
Property searching it needs to be determined that zero, be not that the region of zero can quickly turn over, because the inside is certainly not in need
Parameter；It and can appropriate de-spin in the region close to zero, it is believed that there is required parameter in this region, to substantially subtract
Few prover time, and then raising production efficiency reduces testing cost.
Specifically, the magnetic degree sensing system further includes host computer, the driving motor and magnetic degree sensing
Device is communicated to connect with the host computer, and the driving motor obtains the driving of the magnetic degree sensor by the host computer
Signal, the host computer are used to show the self calibration result of the magnetic degree sensor.
It is understood that the principle that embodiment of above is intended to be merely illustrative of the present and the exemplary implementation that uses
Mode, however the present invention is not limited thereto.For those skilled in the art, essence of the invention is not being departed from
In the case where mind and essence, various changes and modifications can be made therein, these variations and modifications are also considered as protection scope of the present invention.
Claims (10)
1. a kind of method for self-calibrating of magnetic degree sensor, which is characterized in that the method for self-calibrating packet of the magnetic degree sensor
It includes:
Obtain first group of magnetic degree data；
Obtain second group of magnetic degree data；
First group of magnetic degree data and second group of magnetic degree data are normalized to obtain angle to be calibrated
Value；
According to the angle value calibration magnetic degree sensor to be calibrated；
Wherein, second group of magnetic degree data of first group of magnetic degree data of the acquisition and the acquisition include:
Obtain two-way magnetic degree signal value of the magnetic degree sensor under motor quick rotation；
Decide whether output motor according to the relationship of the two-way magnetic degree signal value under motor quick rotation and first threshold range
Slow rotation driving signal；
After output motor slow rotation driving signal, two-way magnetic degree of the magnetic degree sensor under motor slow rotation is obtained
Signal value；
Decide whether to export two-way according to the relationship of two-way magnetic degree signal value and second threshold range under motor slow rotation
Magnetic degree signal value；
When two-way magnetic degree signal value, which exports, to be finished, first group of magnetic degree data/the second group magnetic degree data is obtained.
2. the method for self-calibrating of magnetic degree sensor according to claim 1, which is characterized in that described quick according to motor
The relationship of two-way magnetic degree signal value and first threshold range under rotation decides whether output motor slow rotation driving signal
Include:
Judge the two-way magnetic degree signal value under motor quick rotation wherein all the way magnetic degree signal value whether in first threshold
In range；
If two-way magnetic degree signal value under motor quick rotation wherein all the way magnetic degree signal value in first threshold range,
Then output motor slow rotation driving signal；
If the two-way magnetic degree signal value in two-way magnetic degree signal value under motor quick rotation is not in first threshold range
It is interior, then output motor quick rotation driving signal, and return to two for executing and obtaining magnetic degree sensor under motor quick rotation
Road magnetic degree signal value.
3. the method for self-calibrating of magnetic degree sensor according to claim 2, which is characterized in that it is described according to motor at a slow speed
The relationship of two-way magnetic degree signal value and second threshold range under rotation decides whether that exporting two-way magnetic degree signal value includes:
Judge the two-way magnetic degree signal value under motor slow rotation wherein all the way magnetic degree signal value whether in second threshold
In range；
If the two-way magnetic degree signal value under motor slow rotation within the scope of second threshold, exports the road magnetic degree signal
Value.
4. the method for self-calibrating of magnetic degree sensor according to claim 1, which is characterized in that the magnetic degree sensor
Method for self-calibrating further include described when two-way magnetic degree signal value is exported and is finished, obtain first group of magnetic degree data/
It was carried out before the step of second group of magnetic degree data:
Judge whether output finishes two-way magnetic degree signal value；
If at least magnetic degree signal value is not exported and finished all the way in two-way magnetic degree signal value, output motor quick rotation is driven
Dynamic signal, and return to the step of executing the two-way magnetic degree signal value for obtaining magnetic degree sensor under motor quick rotation.
5. the method for self-calibrating of magnetic degree sensor according to claim 1, which is characterized in that described by described first group
Magnetic degree data are normalized to obtain angle value to be calibrated with second group of magnetic degree data
First group of magnetic degree data and second group of magnetic degree data are subjected to gain error calibration and offset error school
Cosine value and sine value that will definitely be required；
Angle value to be calibrated is calculated by arctan according to cosine value and sine value.
6. a kind of self-calibrating device of magnetic degree sensor, which is characterized in that the self-calibrating device packet of the magnetic degree sensor
Include: the first data obtaining module, the second data obtaining module, data processing module and calibration module, first data obtain
Module is for obtaining first group of magnetic degree data, and second data obtaining module is for obtaining second group of magnetic degree data, institute
Data processing module is stated for first group of magnetic degree data and second group of magnetic degree data to be normalized
Angle value to be calibrated is obtained, the calibration module is used for according to the angle value calibration magnetic degree sensor to be calibrated；
Wherein, first data obtaining module and second data obtaining module include:
First acquisition unit, the first acquisition unit is for obtaining two-way magnetic of the magnetic degree sensor under motor quick rotation
Angle signal value；
Driving signal output unit, the driving signal output unit are used to be believed according to the two-way magnetic degree under motor quick rotation
The relationship of number value and first threshold range decides whether output motor slow rotation driving signal；
Second acquisition unit, the second acquisition unit are used for after output motor slow rotation driving signal, obtain magnetic degree
Two-way magnetic degree signal value of the sensor under motor slow rotation；
Magnetic degree signal value output unit, the magnetic degree signal value output unit are used for according to the two-way under motor slow rotation
The relationship of magnetic degree signal value and second threshold range decides whether to export two-way magnetic degree signal value；
Data acquiring unit, first group of data acquiring unit are used for when two-way magnetic degree signal value is exported and finished, obtain
Obtain first group of magnetic degree data/the second group magnetic degree data.
7. a kind of magnetic degree sensor, which is characterized in that the magnetic degree sensor includes that magnet, angular transducer and right are wanted
The self-calibrating device of magnetic degree sensor described in asking 6, the magnet are connect with the sensor magnetism, the angular transducer
It is communicated to connect with the self-calibrating device of the magnetic degree sensor, the angular transducer can be exported when the magnet rotates
The self-calibrating device of magnetic degree signal value, magnetic degree sensor can obtain the magnetic degree signal by the angular transducer
Value.
8. magnetic degree sensor according to claim 7, which is characterized in that the self-calibrating device of the magnetic degree sensor
Including MCU controller.
9. a kind of magnetic degree sensing system, which is characterized in that the magnetic degree sensing system includes driving motor and right
It is required that magnetic degree sensor described in 7 or 8, the driving motor are connect with the magnet, the driving motor and the magnetic deviation
Sensor communication connection is spent, the driving motor is used to rotate under the driving signal of the magnetic degree sensor with drive magnet
Rotation.
10. magnetic degree sensing system according to claim 9, which is characterized in that the magnetic degree sensing system is also
Including host computer, the driving motor and the magnetic degree sensor are communicated to connect with the host computer, the driving motor
The driving signal of the magnetic degree sensor is obtained by the host computer, the host computer is for showing the magnetic degree sensing
The self calibration result of device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910181392.9A CN109855668B (en) | 2019-03-11 | 2019-03-11 | Self-calibration method and device of magnetic angle sensor, magnetic angle sensor and system |
Applications Claiming Priority (1)
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