CN110567363A - angle detection device and detection method thereof - Google Patents
angle detection device and detection method thereof Download PDFInfo
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- CN110567363A CN110567363A CN201910986580.9A CN201910986580A CN110567363A CN 110567363 A CN110567363 A CN 110567363A CN 201910986580 A CN201910986580 A CN 201910986580A CN 110567363 A CN110567363 A CN 110567363A
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- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
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Abstract
the invention relates to the technical field of angle detection, in particular to an angle detection device and a detection method thereof.A circuit board is fixedly provided with four Hall elements which are arranged around a magnetic ring, the four Hall elements are respectively positioned on quartering points of the same virtual circle, and the center of the virtual circle is positioned on the central line of the magnetic ring, so that the mechanical assembly error of a signal generation part and the signal error of a sensor caused by the decentration of the magnetic ring and the excircle of the Hall element can be avoided; the angle detection device designed by the scheme can develop a novel magnetic angle sensor with high resolution and high precision and suitable for severe working conditions.
Description
Technical Field
the invention relates to the technical field of angle detection, in particular to an angle detection device and a detection method thereof.
Background
the angle measurement detection technology is a basic technology of modern measurement, and with the continuous development of scientific technology, industrial automation and national defense technology, the requirements of large-scale scientific and technological exploration activities such as aerospace and the like on an angle sensor are higher and higher, such as how to realize reliable measurement of an angle in the environments of strong impact, strong vibration and space temperature alternation in the launching process of a missile and a satellite. The development of angle sensors has been spread closely around high accuracy, high resolution, high reliability, multifunction, microminiature, and low cost. The angle sensor with high precision, high resolution and miniaturization is developed, and has great significance in solving the detection of the rotary motion under the conditions of severe environment and special requirements. At present, an angle sensor applied in the industrial control field is mainly a photoelectric angle sensor, the technology is mature, the precision and the resolution are high, but the cost is high (especially an absolute output type), and the impact resistance and the vibration performance of the sensor are not strong; the lifetime of the optical device is limited; the photoelectric sensor has complex structure and processing and assembling; and is easily affected by oil stains, dust and dewing environment; the grating disk groove width is limited and small and high resolution implementations are very difficult.
the photoelectric angle sensor has high measurement resolution and precision and high response speed, but the photoelectric angle sensor also has a plurality of defects:
1) The manufacturing process of the grating is complex, the processes of blank cleaning, chromium plating, glue coating, pre-baking, exposure, development, post-baking, corrosion, photoresist removal and the like are required for manufacturing the code disc and the circular grating, the processing period is very long, the requirement on the cleanliness of the working environment is very high, and the uniformity of the grating can be influenced if any one process is improperly processed. Because the distance between the grating lines is limited, the diameter of the code disc must be increased to improve the resolution (digit), and the realization of a small-sized structure and high resolution are difficult.
2) the sensor is complex to assemble, and the accurate position relation among all parts must be ensured by high assembly precision to ensure accurate measurement. The higher the accuracy of the sensor, the more difficult it is to ensure, the more difficult it is to improve the production efficiency, resulting in the very expensive price of the sensor, especially the absolute output type.
3) The sensor has weak impact resistance and vibration capacity; is easily influenced by the environment such as dust, oil stain, dewing and the like; the working temperature range is not wide and is generally-10-60 ℃ and can reach-20-85 ℃ through special treatment, and the high-precision measurement of angular displacement in severe working environment is difficult to meet. The light source has a limited service life and needs to be replaced at intervals in occasions with high safety requirements.
the magnetoelectric angle sensor has been developed in response to the shortage of the photoelectric type. It is difficult for receiving dust and dewfall environment influence, and anti-vibration and impact ability are extremely strong to the integration of magnetoelectric angle sensor and controller is favorable to simplifying control system structure, reduces the component number and system physics occupation space, and the application in measurement and control field is constantly increased in recent years, has become its indispensable component part, and market demand also progressively increases. Under the requirements of high speed, high reliability, miniaturization and long service life, the magnetoelectric angle sensor has unique advantages due to the outstanding characteristics and becomes one of the keys for developing high-technology products. In japan, 50 or more enterprises participate in the development of multi-stage angle sensors, and are oriented to industrial markets such as ac and dc servomotors, industrial robots, machine tools, steel, wood, rubber, and semiconductors. Several companies in the united states are developing and producing multipolar magnetoelectric angle sensors, and the main service target is the military field.
for the traditional multi-pair polar angle sensor, the manufacturing process is complex and high in cost, and only incremental output can be realized. The existing signal subdivision method has certain limitation on improving the resolution ratio due to the reasons of process, physical space, magnetic leakage distribution, higher harmonic contained in a magnetic field signal and the like, and the conventional signal subdivision method is high in product price and large in size, so that equipment is difficult to assemble in common application occasions.
with the rapid development of national economy and the continuous deepening of modernization construction of each field, the demand of the traditional application industry for the sensor is steadily increased, and the continuous emergence of new industries such as metallurgy, wind power and rail transit becomes a new growth point of the angle detection sensor market. Foreign technologies have always monopolized the middle and high-end markets and locked our country on the high-end technologies. Although the production time of the photoelectric angle sensor is relatively early in China, the product performance and the technical strength cannot compete with the foreign high-end technology, and the requirement of the middle-end and low-end is mainly met; the starting point on the magnetoelectric angle sensor is lower, and only a few families carry out low-end incremental product production. At present, various manufacturers of wide-angle sensors in the world, such as Heidenhan, Danachh and the like, develop production bases in China in a dispute, and accelerate pace penetration to various fields of national economy in China. The development of high-resolution and high-precision angle sensors with independent intellectual property rights is accelerated, which is very reluctant and urgent.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: provided are an angle detection device and a detection method thereof, which can improve angle detection accuracy.
in order to solve the above technical problems, a first technical solution adopted by the present invention is:
the angle detection device comprises a shell and a circuit board, wherein the circuit board is fixedly arranged on the outer surface of one side of the shell, a rotating shaft is arranged in the shell, one end of the rotating shaft is fixedly sleeved with a magnetic ring, the other end, opposite to one end of the rotating shaft, of the rotating shaft sequentially penetrates through the circuit board and the shell, the rotating shaft is rotatably connected with the shell, four Hall elements are fixedly arranged on the circuit board and surround the magnetic ring, the four Hall elements are respectively positioned on quartering points of the same virtual circle, and the circle center of the virtual circle is positioned on the central line of the magnetic ring.
the second technical scheme adopted by the invention is as follows:
A detection method of an angle detection device comprises the following steps:
step S1, dividing the angle of the magnetic ring rotating for a circle around the rotation center into four successive equal-angle intervals;
Step S2, when the magnetic ring is located at the initial position, acquiring first voltage values of the four Hall elements;
step S3, subtracting the first voltage value of the Hall element with the lagging phase from the first voltage value of the Hall element with the preceding phase in the two Hall elements with the 180-degree phase difference in the four collected Hall elements to obtain two voltage difference values;
step S4, analyzing the current angle interval of the magnetic ring according to the positive and negative conditions of the two voltage difference values;
Step S5, taking an absolute value of one of the two voltage difference values to obtain a voltage absolute value;
step S6, calculating to obtain a first angle of the magnetic ring according to the voltage absolute value and the analyzed angle interval where the magnetic ring is located currently;
step S7, when the magnetic ring rotates to a preset position, collecting second voltage values of the four Hall elements, taking the second voltage values as first voltage values, returning to the step S3, executing the steps S3-S6, and calculating to obtain a second angle of the magnetic ring;
And step S8, subtracting the first angle from the second angle obtained by calculation to obtain the rotation angle of the magnetic ring from the initial position to the preset position.
the invention has the beneficial effects that:
the circuit board is fixedly provided with the four Hall elements which are arranged around the magnetic ring, the four Hall elements are respectively positioned on quartering points of the same virtual circle, and the center of the virtual circle is positioned on the central line of the magnetic ring, so that the mechanical assembly error of a signal generation part and the signal error of a sensor caused by the non-concentricity of the magnetic ring and the excircle of the Hall element can be avoided; the angle detection device designed by the scheme can develop a novel magnetic angle sensor with high resolution, high precision and suitability for severe working conditions.
Drawings
FIG. 1 is a schematic structural diagram of an angle detecting device according to the present invention;
FIG. 2 is a schematic structural diagram of an angle detecting device according to the present invention;
FIG. 3 is a flow chart illustrating the steps of a method for detecting an angle detecting device according to the present invention;
FIG. 4 is a waveform diagram of voltage analog signal variation according to a detection method of the angle detection apparatus of the present invention;
FIG. 5 is a waveform diagram illustrating voltage value variation according to a detection method of the angle detection apparatus of the present invention;
FIG. 6 is a waveform diagram illustrating voltage value variation according to a detection method of the angle detection apparatus of the present invention;
FIG. 7 is a waveform diagram illustrating voltage value variation according to a detection method of the angle detection apparatus of the present invention;
FIG. 8 is a waveform diagram illustrating voltage value variation according to a detection method of the angle detection apparatus of the present invention;
FIG. 9 is a waveform diagram illustrating voltage value variation according to a detecting method of the angle detecting apparatus of the present invention;
Description of reference numerals:
1. A housing; 101. a rotating shaft; 102. a magnetic ring;
2. A circuit board; 201. a Hall element;
Detailed Description
In order to explain technical contents, achieved objects, and effects of the present invention in detail, the following description is made with reference to the accompanying drawings in combination with the embodiments.
referring to fig. 1, a technical solution provided by the present invention:
the angle detection device comprises a shell and a circuit board, wherein the circuit board is fixedly arranged on the outer surface of one side of the shell, a rotating shaft is arranged in the shell, one end of the rotating shaft is fixedly sleeved with a magnetic ring, the other end, opposite to one end of the rotating shaft, of the rotating shaft sequentially penetrates through the circuit board and the shell, the rotating shaft is rotatably connected with the shell, four Hall elements are fixedly arranged on the circuit board and surround the magnetic ring, the four Hall elements are respectively positioned on quartering points of the same virtual circle, and the circle center of the virtual circle is positioned on the central line of the magnetic ring.
from the above description, the beneficial effects of the present invention are:
The circuit board is fixedly provided with the four Hall elements which are arranged around the magnetic ring, the four Hall elements are respectively positioned on quartering points of the same virtual circle, and the center of the virtual circle is positioned on the central line of the magnetic ring, so that the mechanical assembly error of a signal generation part and the signal error of a sensor caused by the non-concentricity of the magnetic ring and the excircle of the Hall element can be avoided; the angle detection device designed by the scheme can develop a novel magnetic angle sensor with high resolution, high precision and suitability for severe working conditions.
furthermore, a bearing is fixedly arranged in the shell, the other end, opposite to one end of the rotating shaft, is inserted in the bearing, and the rotating shaft is rotatably connected with the bearing.
according to the above description, the bearing is arranged in the shell, the other end, opposite to one end of the rotating shaft, of the rotating shaft is inserted into the bearing, the rotating shaft is rotatably connected with the bearing, the rotating shaft can be guaranteed to rotate stably, the magnetic ring can rotate stably, voltage signals generated on the Hall element are more stable, and the angle detection precision is further improved.
Furthermore, the magnetic ring is a multi-pole magnetic ring, and the magnetic ring is composed of more than two north poles and south poles which are distributed at equal intervals.
referring to fig. 3, another technical solution provided by the present invention:
a detection method of an angle detection device comprises the following steps:
Step S1, dividing the angle of the magnetic ring rotating for a circle around the rotation center into four successive equal-angle intervals;
step S2, when the magnetic ring is located at the initial position, acquiring first voltage values of the four Hall elements;
step S3, subtracting the first voltage value of the Hall element with the lagging phase from the first voltage value of the Hall element with the preceding phase in the two Hall elements with the 180-degree phase difference in the four collected Hall elements to obtain two voltage difference values;
step S4, analyzing the current angle interval of the magnetic ring according to the positive and negative conditions of the two voltage difference values;
Step S5, taking an absolute value of one of the two voltage difference values to obtain a voltage absolute value;
step S6, calculating to obtain a first angle of the magnetic ring according to the voltage absolute value and the analyzed angle interval where the magnetic ring is located currently;
Step S7, when the magnetic ring rotates to a preset position, collecting second voltage values of the four Hall elements, taking the second voltage values as first voltage values, returning to the step S3, executing the steps S3-S6, and calculating to obtain a second angle of the magnetic ring;
and step S8, subtracting the first angle from the second angle obtained by calculation to obtain the rotation angle of the magnetic ring from the initial position to the preset position.
From the above description, the beneficial effects of the present invention are:
The four Hall elements are fixedly arranged on the circuit board and arranged around the magnetic ring, the four Hall elements are respectively positioned on quartering points of the same virtual circle, the center of the virtual circle is positioned on the central line of the magnetic ring, in the operation process, the magnetic ring rotates for a circle around the rotation center of the magnetic ring, the four Hall elements output a group of voltage signals with different phases, the voltage signals are subjected to signal conversion and analog-to-digital conversion and then are subjected to digital processing, and finally, the angle of the magnetic ring rotating from the initial position to the preset position is obtained, so that the mechanical assembly error of a signal generation part and the signal error of a sensor caused by the fact that the excircle of the magnetic ring and the Hall elements are not concentric can be; through the angle detection device of this scheme design, can develop high resolution, high accuracy and be applicable to the novel magnetism angle sensor of abominable operating mode, realize the absolute angle output more than 26 bit resolution ratios.
Further, the method also comprises the following steps:
acquiring a correction value;
The corrected rotation angle is obtained by adding the rotation angle obtained in step S8 to the correction value.
as can be seen from the above description, by obtaining the correction value, and adding the correction value to the angle at which the magnetic ring is rotated from the initial position to the preset position, a highly accurate rotation angle can be obtained.
further, the four sequentially continuous equal-angle intervals comprise a first angle interval, a second angle interval, a third angle interval and a fourth angle interval, wherein the angle range of the first angle interval is 0-90 degrees, the angle range of the second angle interval is 90-180 degrees, the angle range of the third angle interval is 180-270 degrees, and the angle range of the fourth angle interval is 270-360 degrees;
step S5 specifically includes:
substituting the voltage absolute value into a preset negation function, and calculating to obtain the angle of the angle interval where the magnetic ring is located currently;
When the magnetic ring is located in a first angle interval, the first angle of the magnetic ring is equal to the angle of the angle interval where the magnetic ring is located currently;
When the magnetic ring is located in the second angle interval, the first angle of the magnetic ring is equal to the angle of the current angle interval of the magnetic ring plus 90 degrees;
When the magnetic ring is located in the third angle interval, the first angle of the magnetic ring is equal to the angle of the angle interval where the magnetic ring is located plus 180 degrees;
when the magnetic ring is located in the fourth angle interval, the first angle of the magnetic ring is equal to the angle of the angle interval in which the magnetic ring is currently located plus 270 degrees.
From the above description, the voltage absolute value is brought into the preset negation function, so that the uniform incremental or decremental change can be realized, the phenomenon of jumping among all angle intervals is avoided, and the accurate rotation angle is obtained.
further, step S1 specifically includes:
in the process that the magnetic ring rotates around the rotation center for one circle, the voltage values of the four Hall elements are collected in real time, and the voltage value sets of the four Hall elements are obtained;
subtracting the voltage value set of the Hall element with the lagging phase from the voltage value set of the Hall element with the front phase in the collected voltage value sets of the two Hall elements with the 180-degree phase difference to obtain a first voltage difference value set and a second voltage difference value set;
and dividing the angle of the magnetic ring rotating for one circle around the rotation center of the magnetic ring into four sequentially continuous equal-angle intervals according to the voltage values of the magnetic ring rotating to the same position in the first voltage difference value set and the second voltage difference value set.
Furthermore, the four sequentially continuous equal-angle intervals comprise a first angle interval, a second angle interval, a third angle interval and a fourth angle interval;
the voltage value in the first voltage difference value set and the voltage difference value in the second voltage difference value set of the first angle interval are both larger than zero;
the voltage difference value in the first voltage difference value set of the second angle interval is greater than zero, and the voltage difference value in the second voltage difference value set is less than zero;
the voltage value in the first voltage difference value set and the voltage difference value in the second voltage difference value set of the third angle interval are both smaller than zero;
and the voltage difference value in the first voltage difference value set of the fourth angle interval is smaller than zero, and the voltage difference value in the second voltage difference value set is larger than zero.
referring to fig. 1 and fig. 2, a first embodiment of the present invention is:
an angle detection device comprises a shell 1 and a circuit board 2, wherein the circuit board 2 is fixedly arranged on the outer surface of one side of the shell 1, a rotating shaft 101 is arranged in the shell 1, one end of the rotating shaft 101 is fixedly sleeved with a magnetic ring 102, the other end, opposite to one end of the rotating shaft 101, of the rotating shaft 101 sequentially penetrates through the circuit board 2 and the shell 1, the rotating shaft 101 is rotatably connected with the shell 1, four Hall elements 201 are fixedly arranged on the circuit board 2, the Hall elements 201 surround the magnetic ring 102 and are arranged around, the Hall elements 201 are respectively located on quartering points of the same virtual circle, and the center of the virtual circle is located on the central line of the magnetic ring 102.
A bearing is further fixedly arranged in the shell 1, the other end, opposite to one end of the rotating shaft 101, is inserted in the bearing, and the rotating shaft 101 is rotatably connected with the bearing.
the magnetic ring 102 is a multi-pole magnetic ring 102, and the magnetic ring 102 is composed of more than two north and south poles distributed at equal intervals.
referring to fig. 3 to 9, a second embodiment of the present invention is:
referring to fig. 3, a detection method of an angle detection apparatus includes the following steps:
Step S1, dividing the angle of the magnetic ring 102 rotating for a circle around the rotation center into four successive equal-angle intervals;
step S2, when the magnetic ring 102 is located at the initial position, acquiring first voltage values of the four Hall elements 201;
step S3, subtracting the first voltage value of the hall element 201 with the lagging phase from the first voltage value of the hall element 201 with the preceding phase in the two hall elements 201 with the 180 ° phase difference in the four collected hall elements 201, to obtain two voltage difference values;
step S4, analyzing the current angle interval of the magnetic ring 102 according to the positive and negative conditions of the two voltage difference values;
Step S5, taking an absolute value of one of the two voltage difference values to obtain a voltage absolute value;
Step S6, calculating to obtain a first angle of the magnetic ring 102 according to the voltage absolute value and the analyzed angle interval where the magnetic ring 102 is located currently;
step S7, when the magnetic ring 102 rotates to the preset position, collecting second voltage values of the four Hall elements 201, taking the second voltage values as first voltage values, returning to the step S3, executing the steps S3-S6, and calculating to obtain a second angle of the magnetic ring 102;
Step S8, subtracting the first angle from the second angle obtained by calculation, to obtain a rotation angle of the magnetic ring 102 from the initial position to the preset position.
further comprising the steps of:
Acquiring a correction value;
the corrected rotation angle is obtained by adding the rotation angle obtained in step S8 to the correction value.
the four sequentially continuous equal-angle intervals comprise a first angle interval, a second angle interval, a third angle interval and a fourth angle interval, wherein the angle range of the first angle interval is 0-90 degrees, the angle range of the second angle interval is 90-180 degrees, the angle range of the third angle interval is 180-270 degrees, and the angle range of the fourth angle interval is 270-360 degrees;
step S5 specifically includes:
Substituting the voltage absolute value into a preset negation function, and calculating to obtain the angle of the angle interval where the magnetic ring 102 is located currently;
When the magnetic ring 102 is located in a first angle interval, the first angle of the magnetic ring 102 is equal to the angle of the angle interval in which the magnetic ring 102 is currently located;
When the magnetic ring 102 is located in the second angle interval, the first angle of the magnetic ring 102 is equal to the angle of the current angle interval of the magnetic ring 102 plus 90 degrees;
when the magnetic ring 102 is located in the third angle interval, the first angle of the magnetic ring 102 is equal to the angle of the angle interval where the magnetic ring 102 is currently located plus 180 degrees;
when the magnetic ring 102 is located in the fourth angular interval, the first angle of the magnetic ring 102 is equal to the angle of the angular interval in which the magnetic ring 102 is currently located plus 270 °.
Step S1 specifically includes:
In the process that the magnetic ring 102 rotates around the rotation center for a circle, the voltage values of the four Hall elements 201 are collected in real time, and the voltage value sets of the four Hall elements 201 are obtained;
subtracting the voltage value set of the hall element 201 with the lagging phase from the voltage value set of the hall element 201 with the preceding phase in the collected voltage value sets of the two hall elements 201 with the 180-degree phase difference among the four hall elements 201 to obtain a first voltage difference value set and a second voltage difference value set;
and dividing the angle of one rotation of the magnetic ring 102 around the rotation center thereof into four sequentially continuous equal-angle intervals according to the voltage values of the magnetic ring 102 in the first voltage difference value set and the second voltage difference value set when the magnetic ring 102 rotates to the same position.
The four sequentially continuous equal-angle intervals comprise a first angle interval, a second angle interval, a third angle interval and a fourth angle interval;
The voltage value in the first voltage difference value set and the voltage difference value in the second voltage difference value set of the first angle interval are both larger than zero;
the voltage difference value in the first voltage difference value set of the second angle interval is greater than zero, and the voltage difference value in the second voltage difference value set is less than zero;
The voltage value in the first voltage difference value set and the voltage difference value in the second voltage difference value set of the third angle interval are both smaller than zero;
And the voltage difference value in the first voltage difference value set of the fourth angle interval is smaller than zero, and the voltage difference value in the second voltage difference value set is larger than zero.
the specific embodiment of the detection method of the angle detection device is as follows:
when the angle detection device operates, the magnetic ring rotates along with the rotating shaft, and the four Hall elements respectively output four paths of sinusoidal voltage signals with the phase difference of 90 degrees; four independent sine wave-square wave-triangular wave conversion circuits are respectively designed on the circuit board to successfully convert sine wave voltage signals into triangular wave voltage signals, and the converted triangular wave voltage analog signals are shown in fig. 4 by taking the voltage signals of the hall elements a and B as an example. The magnetic ring rotates for a circle, triangular wave voltage analog signals of the Hall elements A and B in one period can be obtained, and the phase difference of the triangular wave voltage analog signals is 180 degrees.
After the triangular wave voltage with the phase difference of 180 degrees is subjected to analog-to-digital conversion, a processing chip performs digital differential processing on the triangular wave voltage (the analog-to-digital conversion result of the voltage signal of the Hall element A is subtracted from the analog-to-digital conversion result of the voltage signal of the Hall element B, the analog-to-digital conversion result of the voltage signal of the Hall element A and the analog-to-digital conversion result of the voltage signal of the Hall element B are shown in figure 5), and positive and negative triangular wave numerical values are obtained (a-B, a represents the voltage value of the Hall element A, B represents the voltage value of the Hall element B, wherein the phase of the Hall element B lags behind the phase of the Hall element A by 180 degrees, and the same is that if the phase of the Hall element A lags behind the phase of the Hall element B by 180 degrees; similarly, positive and negative triangular wave values (C-D, C represents the voltage value of the hall element C, D represents the voltage value of the hall element D, wherein the phase of the hall element C lags the phase of the hall element D by 180 °, and similarly, if the phase of the hall element D lags the phase of the hall element C by 180 °, the voltage difference between the hall element C and the hall element D is D-C) can also be obtained after the processing. The scheme adopts an analog-to-digital conversion chip with the resolution of n. The values of (a-b) and (c-d) change in one cycle of the shaft rotation as shown in FIG. 6.
the magnetic ring rotates for a circle, the processing chip (arranged on the circuit board) obtains original numerical values (a-b) and (c-d) after digital difference, and the waveform phase difference of the numerical values (a-b) and (c-d) is 90 degrees, and both the numerical values have positive and negative values; (a-b) and (c-d) jointly provide positive and negative information, which can be used for coding of angle intervals, dividing the angle of (0-360 degrees) into four equal angle intervals according to the positive and negative combinations of (a-b) and (c-d), and encoding is carried out, the angular interval range (0-90) is encoded as the subinterval of "11" (i.e. a-b >0, c-d >0), the angular interval range (90-180) is encoded as the subinterval of "10" (i.e. a-b >0, c-d <0), the angular interval range (180-270) is encoded as the subinterval of "00" (i.e. a-b <0, c-d <0), and the angular interval range (270-360) is encoded as the subinterval of "01" (i.e. a-b <0, c-d > 0).
after the encoding of the subintervals is realized, the absolute value of the triangular wave numerical value (a-b) in fig. 7 is processed, so that the numerical value of | (a-b) | in one period changes as shown in fig. 8 after the magnetic ring rotates for one circle.
As can be seen from FIG. 7, the significant digit of the analog-to-digital conversion chip is n, so the numerical value of | (a-b) | varies from (0-2)n). Divide one week (0-360) into four equal angle intervals, each angle interval can be subdivided into 2nand (5) small partitions. Thus, (0 ° -360 °) can be subdivided into 4 × 2nand (5) small partitions. Each small partition represents an angle value magnitude. When the magnetic ring rotates to a certain position, the current rotation angle can be accurately calculated as long as the corresponding small partition serial number is calculated after the current voltage acquisition and signal processing.
in the above, although the subdivision of (0 ° -360 °) into 4 × 2 was successfulnthe small sub-areas can not be calculated by using the collected current voltage signals and the subsequent digital processing results when the magnetic ring rotates to a certain positionthe serial number, in the process that the magnetic ring rotates in the same direction, the value of | (a-b) | obtained by the processing chip does not uniformly increase or decrease in four equal angle intervals, which can cause the phenomenon that the serial number of each small partition jumps, and the serial number of each small partition is difficult to establish a one-to-one correspondence relation with the value of | (a-b) |. Therefore, the numerical value of the absolute value of (a-b) in the range of (0-360 degrees) is processed. The numerical values of | (a-b) | in the angle intervals numbered "10" and "01" are inverted. When the original numerical values (a-b) and (c-d) are in the angular intervals numbered "10" and "01", F (| (a-b) |) > 2n- | (a-b) | (F is a preset negation function), and when the original numerical values (a-b) and (c-d) are in the angle intervals numbered "11" and "10", F (| (a-b) | (a-b) |. The processed value F (| (a-b) |) changes as shown in fig. 9, and the processed value F (| (a-b) |) changes in a uniform increasing or decreasing manner in 4 angle intervals in the process of rotation of the magnetic ring in the same direction.
the method comprises the steps that a processing chip finishes current voltage signal acquisition and data processing once every 60 microseconds, a current corresponding angle is calculated in real time, when a magnetic ring is located at an initial position, the processing chip judges a current angle interval according to original numerical values (a-b) and (c-d), then, an F (| (a-b) |) value is acquired, a serial number value of a small partition is calculated, a first angle of the magnetic ring is further calculated, similarly, when the magnetic ring rotates to a preset position, a second angle of the magnetic ring is calculated through the same method, the first angle is subtracted from the calculated second angle, a rotating angle of the magnetic ring rotating from the initial position to the preset position is obtained, and the high-precision rotating angle can be obtained through superposition calculation of the magnetic ring and a correction value.
If the initial position of the magnetic ring is located at a certain position of the first angle interval and the preset position is located at a certain position of the third angle interval, the processing chip acquires and processes positive and negative values of (a-b) and (c-d) which are respectively plus and minus, and positive and negative values of (a '-b') and (c '-d') which are respectively minus and minus, so that the corresponding coding intervals are respectively 11 and 00, values of F (| (a-b) |) and F (| (a '-b') |) are acquired, that is, the current corresponding small partition numbers are judged to be respectively F (| (a-b) |) and F (| (a '-b') |), and F (| (a-b) |) and F (| (a '-b') |) are respectively substituted into an angle calculation function (namely, a reverse function) is acquired, two angles in the angle interval (assuming that one is 30 ° and the other is 25 °) are obtained, and finally, the first rotation angle is 30 ° (that is, the initial position of the magnetic ring is located at 30 °), and the second rotation angle is 25 ° +180 ° -205 ° (because 180 ° should be added by judging that the magnetic ring is located at a certain position in the third angle interval), so that the rotation angle of the final magnetic ring from the initial position to the preset position can be calculated: 205 ° -30 ° -175 °.
The angle detection device of this scheme design can be applicable to the novel magnetism angle sensor of abominable operating mode, can detect the angle of high accuracy through installing the other end that the one end is relative of pivot at the output shaft of motor and the rotation end of the equipment that needs to detect the angle etc..
in summary, according to the angle detection device and the angle detection method provided by the invention, four hall elements are fixedly arranged on a circuit board, the four hall elements are arranged around a magnetic ring, the four hall elements are respectively positioned on the quartering points of the same virtual circle, and the center of the virtual circle is positioned on the central line of the magnetic ring; through the angle detection device of this scheme design, can develop high resolution, high accuracy and be applicable to the novel magnetism angle sensor of abominable operating mode, realize the absolute angle output more than 26 bit resolution ratios.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all equivalent changes made by using the contents of the present specification and the drawings, or applied directly or indirectly to the related technical fields, are included in the scope of the present invention.
Claims (8)
1. the angle detection device is characterized by comprising a shell and a circuit board, wherein the circuit board is fixedly arranged on the outer surface of one side of the shell, a rotating shaft is arranged in the shell, one end of the rotating shaft is fixedly sleeved with a magnetic ring, the other end, opposite to one end of the rotating shaft, of the rotating shaft sequentially penetrates through the circuit board and the shell, the rotating shaft is rotatably connected with the shell, four Hall elements are fixedly arranged on the circuit board and surround the magnetic ring, the four Hall elements are respectively located on quartering points of the same virtual circle, and the center of the virtual circle is located on the central line of the magnetic ring.
2. the angle detecting device of claim 1, wherein a bearing is further fixed in the housing, and the other end of the rotating shaft opposite to one end of the rotating shaft is inserted into the bearing and is rotatably connected with the bearing.
3. The angle detecting device as claimed in claim 1, wherein the magnetic ring is a multi-pole magnetic ring, and the magnetic ring is composed of more than two equally spaced north and south poles.
4. A detection method of the angle detection apparatus according to any one of claims 1 to 3, characterized by comprising the steps of:
step S1, dividing the angle of the magnetic ring rotating for a circle around the rotation center into four successive equal-angle intervals;
step S2, when the magnetic ring is located at the initial position, acquiring first voltage values of the four Hall elements;
Step S3, subtracting the first voltage value of the Hall element with the lagging phase from the first voltage value of the Hall element with the preceding phase in the two Hall elements with the 180-degree phase difference in the four collected Hall elements to obtain two voltage difference values;
step S4, analyzing the current angle interval of the magnetic ring according to the positive and negative conditions of the two voltage difference values;
step S5, taking an absolute value of one of the two voltage difference values to obtain a voltage absolute value;
step S6, calculating to obtain a first angle of the magnetic ring according to the voltage absolute value and the analyzed angle interval where the magnetic ring is located currently;
step S7, when the magnetic ring rotates to a preset position, collecting second voltage values of the four Hall elements, taking the second voltage values as first voltage values, returning to the step S3, executing the steps S3-S6, and calculating to obtain a second angle of the magnetic ring;
and step S8, subtracting the first angle from the second angle obtained by calculation to obtain the rotation angle of the magnetic ring from the initial position to the preset position.
5. The detection method of the angle detection device according to claim 4, further comprising the steps of:
Acquiring a correction value;
the corrected rotation angle is obtained by adding the rotation angle obtained in step S8 to the correction value.
6. The detecting method of the angle detecting device according to claim 4, wherein four consecutive equal angle intervals include a first angle interval, a second angle interval, a third angle interval and a fourth angle interval, the angle range of the first angle interval is 0 ° to 90 °, the angle range of the second angle interval is 90 ° to 180 °, the angle range of the third angle interval is 180 ° to 270 °, and the angle range of the fourth angle interval is 270 ° to 360 °;
step S5 specifically includes:
substituting the voltage absolute value into a preset negation function, and calculating to obtain the angle of the angle interval where the magnetic ring is located currently;
When the magnetic ring is located in a first angle interval, the first angle of the magnetic ring is equal to the angle of the angle interval where the magnetic ring is located currently;
when the magnetic ring is located in the second angle interval, the first angle of the magnetic ring is equal to the angle of the current angle interval of the magnetic ring plus 90 degrees;
when the magnetic ring is located in the third angle interval, the first angle of the magnetic ring is equal to the angle of the angle interval where the magnetic ring is located plus 180 degrees;
when the magnetic ring is located in the fourth angle interval, the first angle of the magnetic ring is equal to the angle of the angle interval in which the magnetic ring is currently located plus 270 degrees.
7. The detection method of the angle detection device according to claim 4, wherein step S1 specifically includes:
in the process that the magnetic ring rotates around the rotation center for one circle, the voltage values of the four Hall elements are collected in real time, and the voltage value sets of the four Hall elements are obtained;
Subtracting the voltage value set of the Hall element with the lagging phase from the voltage value set of the Hall element with the front phase in the collected voltage value sets of the two Hall elements with the 180-degree phase difference to obtain a first voltage difference value set and a second voltage difference value set;
and dividing the angle of the magnetic ring rotating for one circle around the rotation center of the magnetic ring into four sequentially continuous equal-angle intervals according to the voltage values of the magnetic ring rotating to the same position in the first voltage difference value set and the second voltage difference value set.
8. the detection method of the angle detection device according to claim 7, wherein the four consecutive equal angle sections include a first angle section, a second angle section, a third angle section, and a fourth angle section;
the voltage value in the first voltage difference value set and the voltage difference value in the second voltage difference value set of the first angle interval are both larger than zero;
the voltage difference value in the first voltage difference value set of the second angle interval is greater than zero, and the voltage difference value in the second voltage difference value set is less than zero;
The voltage value in the first voltage difference value set and the voltage difference value in the second voltage difference value set of the third angle interval are both smaller than zero;
And the voltage difference value in the first voltage difference value set of the fourth angle interval is smaller than zero, and the voltage difference value in the second voltage difference value set is larger than zero.
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Application publication date: 20191213 |