CN111578970A - Angle precision division method and device for multi-pair-electrode magnetoelectric encoder based on nucleic acid sequence comparison idea - Google Patents

Angle precision division method and device for multi-pair-electrode magnetoelectric encoder based on nucleic acid sequence comparison idea Download PDF

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CN111578970A
CN111578970A CN202010440838.8A CN202010440838A CN111578970A CN 111578970 A CN111578970 A CN 111578970A CN 202010440838 A CN202010440838 A CN 202010440838A CN 111578970 A CN111578970 A CN 111578970A
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angle value
pair
polar
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theta
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CN111578970B (en
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王磊
曾璇
肖磊
谢欣悦
潘巍
姜金刚
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Harbin University of Science and Technology
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
    • G01D5/245—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains using a variable number of pulses in a train
    • G01D5/2451—Incremental encoders
    • G01D5/2452—Incremental encoders incorporating two or more tracks having an (n, n+1, ...) relationship
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
    • G01D5/24419—Interpolation not coverd by groups G01D5/24404, G01D5/24409 or G01D5/24414

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Abstract

The invention discloses a method and a device for accurately dividing angles of a multi-pair-electrode magnetoelectric encoder based on a nucleic acid sequence comparison idea, and relates to the technical field of magnetoelectric encoder manufacturing. Firstly, signal acquisition is carried out through a magnetoelectric encoder, then a measurement angle of the magnetoelectric encoder is calculated by utilizing a partitioned arc tangent table look-up algorithm, a multi-pair polar angle value subdivision sequence reference group is designed to be used as a reference object, the multi-pair polar magnetoelectric encoding and the current condition detected under the actual working condition are used as a referenced object, the multi-pair polar angle value subdivision sequence reference group and the reference object are compared with an initially set sequence reference group, a group of multi-pair polar angle value sequence encoding is searched out and corrected, and finally a magnetoelectric encoder precision measurement value is obtained.

Description

Angle precision division method and device for multi-pair-electrode magnetoelectric encoder based on nucleic acid sequence comparison idea
The technical field is as follows:
the invention relates to a method and a device for accurately dividing angles of a multi-pair-electrode magnetoelectric encoder based on a nucleic acid sequence comparison idea, belonging to the technical field of magnetoelectric encoder manufacturing.
Background art:
the encoder is used for measuring angles, is a core element for realizing motor control, is widely applied to the high-tech fields of mechanical engineering, robots, aviation, precise optical instruments and the like, and plays a vital role in modern industry. With the accelerated development of the industrialization process, the requirements on indexes such as resolution, precision and the like of the angular displacement sensor are higher. The angular displacement sensor widely adopted by the high-precision servo platform in the field of industrial control at present comprises a rotary transformer, a photoelectric encoder and a magnetoelectric encoder.
The optical devices of the photoelectric encoder are sensitive to environmental conditions such as pollution, vibration and temperature. The resolver structure includes an excitation winding and an output winding, which causes the volume and weight of the resolver to be key factors that restrict miniaturization thereof. In addition, the angle value of the rotary transformer has limited measuring range, relatively complex manufacturing process, high cost and poor real-time performance. Compared with the prior art, the magnetoelectric encoder has the advantages of simple structure, high temperature resistance, oil stain resistance, impact resistance, small volume, low cost and the like, and has unique advantages in the application places of miniaturization and severe environmental conditions.
For example, FIG. 1 is an exemplary Hall element distribution diagram for a multi-pair pole magnetoelectric encoder. In the figure, 4 Hall elements A +, B +, A-, B-, wherein the single-pole Hall elements A +, A-are distributed at 90 DEG intervals around the circumference of the stator. Under the action of the single-pair-pole magnetic steel, voltage signals with the phase difference of 90 degrees are generated on the 2 Hall elements. Under the action of the multi-pair-pole magnetic steel, voltage signals with the phase difference of 90 degrees are generated on the 2 Hall elements, and then the current single-pair-pole angle value and the multi-pair-pole angle value are obtained through angle value resolving processing.
However, in the technical field of application of magnetoelectric encoders, the angle value of the magnetoelectric encoder can still bounce back and forth within a certain range due to vibration, temperature change, magnetic field change and other reasons. The phenomenon can cause that the position of the zero-crossing point of the magnetoelectric encoder is difficult to accurately judge, the angle value of the previous period and the current period can reciprocally bounce when the angle value crosses the zero point, so that the angle of a plurality of pairs of polar angle values at the position of the zero-crossing point bounces, and the current angle position cannot be accurately judged. The invention provides a method for accurately dividing the angle value of a multi-pair-pole magnetoelectric encoder by using the thought.
The invention content is as follows:
aiming at the problems, the invention provides a scheme aiming at eliminating the jumping point error of the magnetoelectric encoder, so that the magnetoelectric encoder has no angle value jumping point in the normal-temperature working process, even if the temperature changes, the measuring result is still smooth, and the measuring precision of the magnetoelectric encoder is improved.
The invention is conceived as follows:
the method for precisely dividing the angle values of the multi-pair polar encoder based on the idea of nucleic acid sequence inspection comprises the following steps:
(1) collecting single-antipodal angle value signals A +, A-, and multi-antipodal angle value signals B + and B-;
(2) performing analog-to-digital conversion on the single pair polar angle value signals A +, A-and the multiple pair polar angle value signals B + and B-, so as to obtain single pair polar angle value digital signals HA +, HA-and multiple pair polar angle value digital signals HB + and HB-;
(3) solving the single-pole angle value theta according to the single-pole angle value digital signals HA +, HA-and the multi-pole angle value digital signals HB + and HB-1And a plurality of pairs of polar angle values theta2；
(4) Obtaining the single-antipodal angle value theta1And a plurality of pairs of polar angle values theta2According to the multiple pairs of polar angle values theta2The sector division is carried out on the angle value to obtain the number of sectors; according to the multi-pair polar angle value theta2Obtaining a plurality of pairs of polar angle value pole values at the zero crossing point position; according to a single-dipole angle value theta1High 9 position [0,511]512 interval values of (a) are abscissa values and single-antipodal angle values theta1Establishing a table by taking a plurality of pairs of polar angle value polar values and sector numbers corresponding to the 512 interval values with 9 high bits as vertical coordinates;
(5) a single-pole angle value theta obtained according to the current calculation period1The high 9-digit numerical value obtained in the step (4) is inquired to obtain a plurality of pairs of polar angle value polar numerical values Pcheck(k)Number of sectors Fcheck(k)(ii) a A plurality of pairs of polar angle values theta are obtained according to the current calculation period2Obtaining the actual sector number Fack(k)；
(6) The sector number F of the multi-pair polar angle values obtained by table lookupcheck(k)As a reference sequence group, a plurality of pairs of polar angle values theta are calculated according to the current calculation period2The obtained actual number of sectors Fack(k)As a set of referenced nucleic acid sequences; number of sectors Fcheck(k)And number of sectors Fack(k)Screening, detecting and comparing, and adjusting the final polar value P of the polar angle values according to the detection resultfinal(k)；
(7) According to the final multi-pair polar angle value polar value Pfinal(k)To obtain the final multi-pair polar angle value thetaseg(k)。
Preferably, in the step (1), the single-pair hall sensor is used to obtain the single-pair angle value signals a +, a-, and the multi-pair hall sensor is used to obtain the multi-pair angle value signals B +, B-.
Preferably, in the step (2), the single-pair polar angle value signals A +, A-and the multi-pair polar angle value signals B +, B-are subjected to analog-to-digital conversion through an analog-to-digital converter to obtain single-pair polar angle value digital signals HA +, HA-and multi-pair polar angle value digital signals HB +, HB-.
Preferably, the step (3) is performed by solving the single pair polar angle value digital signals HA +, HA-and the multi pair polar angle value digital signals HB +, HB-diagonal values obtained in the step (2) to obtain the single pair polar angle value theta1Angle of multiple pairs of poles theta2The calculation formula is shown as formula (1):
Figure BDA0002502233320000031
preferably, the step (4) is performed by the following method:
according to a single-dipole angle value theta1Angle of multiple pairs of poles theta2The single-to-polar angle value theta1And a plurality of pairs of polar angle values theta2The range of measured angle values is 16-bit integer data [0,65535 ]]According to the multi-pair polar angle value theta2Magnitude, the angle value theta of multiple pairs of poles2The angle value of each sector is measured in a large range by dividing the sector into 16 sectors4096(65536/16) in size; the object is a 16-pair multi-pair-pole magnetoelectric encoder, a rotor of the magnetoelectric encoder rotates for one circle, and the angle value theta of a single pair of poles1Change from 0 to 65535 once, and multiple pairs of polar angle values theta2The angle value of the multi-pair pole magnetoelectric encoder is changed from 0 to 65535 sixteen times, the pole number value of the multi-pair pole magnetoelectric encoder is added with 1 at the position of each zero-crossing point, and the change range of the pole number of the multi-pair pole angle value is [1,16 ]]；
According to a single-dipole angle value theta1High 9 position [0,511]512 interval values of (a) are abscissa values and single-antipodal angle values theta1Establishing a table by taking a plurality of pairs of polar angle value polar values and sector numbers corresponding to the 512 interval values with 9 high bits as vertical coordinates;
preferably, the step (5) is realized by the following method:
a single-pole angle value theta obtained according to the current calculation period1High 9 digit value of [0,511 ]]Inquiring the table obtained in the step (4) to obtain a plurality of pairs of polar angle value polar values Pcheck(k)∈[1,16]Number of sectors Fcheck(k)∈[1,16](ii) a A plurality of pairs of polar angle values theta are obtained according to the current calculation period2The magnitude of (2) is judged, and a plurality of pairs of polar angle values theta in the current calculation period are judged2The value of the sector where the sector is located, the range of the angle value of each sector is 4096, and the actual sector number F is obtainedack(k)，Fack(k)∈[1,16]。
Preferably, the step (6) is realized by the following method:
the sector number F of the multi-pair polar angle values obtained by table lookupcheck(k)As a reference sequence group, a plurality of pairs of polar angle values theta are calculated according to the current calculation period2The actual sector number F obtainedack(k)As a set of referenced nucleic acid sequences; number of sectors Fcheck(k)And number of sectors Fack(k)Screening, detecting and comparing, and adjusting the final polar value P of the polar angle values according to the detection resultfinal(k)；
When F is presentcheck(k)-Fact(k)When more than 8, the polar number P of the multi-pair polar angle valuefinal(k)As shown in the following formula (2):
Pfinal(k)＝Pcheck(k)-2 (2)
when F is presentcheck(k)-Fact(k)When less than-8, the number of poles P is multiple pairs of pole angle valuesfinal(k)As shown in the following formula (3):
Pfinal(k)＝Pcheck(k)(3)
when-8 is less than or equal to Fcheck(k)-Fact(k)When the angle is less than or equal to 8, the number of poles P is the value of multiple pairs of polar anglesfinal(k)As shown in the following formula (4):
Pfinal(k)＝Pcheck(k)-1 (4)。
preferably, the step (7) is realized by the following method:
obtaining the final polar value P of the polar angle values of a plurality of pairs according to the step (6)final(k)To obtain the final multi-pair polar angle value thetaseg(k)As shown in formula (5):
θseg(k)＝65535Pfinal(k)+θ2(5)
at this time, the obtained plurality of pairs of polar angle values θ after the fine divisionseg∈[0,65535*16]And the resolution of the magnetoelectric encoder is effectively improved.
As another aspect of the invention, an apparatus for a method for angle refinement of a multi-pair-pole magnetoelectric encoder based on the idea of nucleic acid sequence alignment comprises:
the single-antipode Hall sensor is used for acquiring a magnetic field signal generated by the single-antipode magnetic steel and converting the magnetic field signal into a voltage signal to obtain single-antipode angle value signals A & lt + & gt and A & lt- & gt;
the multi-pair-pole Hall sensor is used for acquiring magnetic field signals generated by the multi-pair-pole magnetic steel and converting the magnetic field signals into voltage signals to obtain multi-pair-pole angle value signals B & lt + & gt and B & lt- & gt;
the analog-to-digital converter is used for converting the single-antipodal angle value signals A + and A-into single-antipodal angle value digital signals HA + and HA-, and converting the multi-antipodal angle value signals B + and B-into multi-antipodal angle value digital signals HB + and HB-;
a single-dipole angle calculation module for converting the obtained digital value into a single-dipole angle value theta1；
A multi-pair polar angle calculation module for converting the obtained digital quantity into multi-pair polar angle valuesθ2；
An angle value pole number and sector tabulation module for determining a single-pole angle value theta1Mapping relation between high 9 digit value and multiple pairs of polar angle values, polar number and sector;
comparing the reference sequence group with the referenced nucleic acid sequence group in sector, and calculating multiple pairs of polar angle values theta according to the current solution2For the sector where the multi-pair polar angle value is located and according to the single-pair polar angle value theta1Comparing the sector values obtained by the high 9-bit numerical value table lookup, and obtaining the final polar values of the multi-pair polar angle values according to the comparison result;
and the angle precision processing module is used for carrying out angle value precision division processing according to the final multiple-pair polar angle polar values output by the reference sequence group and the referenced nucleic acid sequence group sector comparison module to obtain final multiple-pair polar angle values after precision division.
The invention has the beneficial effects that:
1. the comparison process of the reference nucleic acid sequence group and the referenced nucleic acid sequence group is carried out according to an ideal multi-pair polar angle value extreme value and a sector table, and cannot be changed due to the change of an external working environment, so that the reliability of judging the number of poles of the angle value of the multi-pair polar magnetoelectric encoder is improved.
2. The method can effectively realize the wrong monitoring of the judgment of the extreme value of the angle value caused by the change of the external working environment (the change of the temperature and the magnetic field environment), the power supply noise and the like, and carry out the pole number compensation according to the comparison result of the reference nucleic acid sequence group and the referenced nucleic acid sequence group.
3. The sector value comparison and screening process adopts a table look-up mode, the table look-up is rapidly carried out according to the single-pair polar angle value, the algorithm is simple, and the implementation is easy.
Description of the drawings:
FIG. 1 is a diagram of an exemplary Hall element distribution for a multi-pair pole magnetoelectric encoder;
FIG. 2 illustrates the operation of the encoder of the present invention;
FIG. 3 is a table of nucleic acid sequences groups;
FIG. 4 is a map of a sector alignment of reference and referenced nucleic acid sequences;
FIG. 5 shows the angle values of the multi-pair magnetoelectric encoders after fine separation;
the specific implementation mode is as follows:
the following detailed description of embodiments of the invention refers to the accompanying drawings.
The embodiments/examples described herein are specific embodiments of the present invention, are intended to be illustrative of the concepts of the present invention, are intended to be illustrative and exemplary, and should not be construed as limiting the embodiments and scope of the invention. In addition to the embodiments described herein, those skilled in the art will be able to employ other technical solutions which are obvious based on the disclosure of the claims and the specification of the present application, and these technical solutions include those which make any obvious replacement or modification of the embodiments described herein, and all of which are within the scope of the present invention.
In order that the objects, aspects and advantages of the invention will become more apparent, the invention will be described by way of example only, and in connection with the accompanying drawings. It is to be understood that such description is merely illustrative and not intended to limit the scope of the present invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.
As shown in fig. 1, fig. 2, fig. 3, fig. 4, and fig. 5, the following technical solutions are adopted in the present embodiment:
fig. 2 is a schematic structural diagram of an angle value fine-dividing process according to an embodiment of the present invention, which includes:
the single-dipole Hall sensor 101 is used for collecting a magnetic field signal generated by the single-dipole magnetic steel and converting the magnetic field signal into a voltage signal to obtain a single-dipole angle value signal A + and A-.
The multi-pair hall sensor 102 is used for collecting magnetic field signals generated by the multi-pair magnetic steel and converting the magnetic field signals into voltage signals to obtain multi-pair angle value signals B + and B-.
The analog-to-digital converter 103 is used for converting the single-antipodal voltage signals A +, A-into single-antipodal angle value digital signals HA +, HA-, and converting the multi-antipodal voltage signals B +, B-into multi-antipodal angle value digital signals HB +, HB-.
A single-dipole angle calculation module 104 for converting the obtained digital quantity into a single-dipole angle value theta1The phase angle deviation of the digital signal HA + and HA-of the single-pair polar angle value is 90 degrees, and the single-pair polar angle value theta is solved through an arc tangent formula (1)1：
Figure BDA0002502233320000061
A multi-pair polar angle calculation module 105 for converting the obtained digital quantity into a multi-pair polar angle value θ2The phase angle deviation between the digital signals HB + and HB-of the multi-pair polar angle value is 90 DEG, and the multi-pair polar angle value theta is solved by an arc tangent formula (2)2：
Figure BDA0002502233320000062
An angle value pole number and sector tabulation module 106 for determining a single-pole angle value theta1Mapping relation between high 9 digit value and multiple pairs of polar angle values, polar number and sector;
a reference sequence group and referenced nucleic acid sequence group sector comparison module 107 for calculating a multi-pair polar angle value theta according to the current solution2For the sector where the multi-pair polar angle value is located and according to the single-pair polar angle value theta1Comparing the sector values obtained by the high 9-bit numerical value table lookup, as shown in fig. 4, obtaining the final polar values of the polar angle values of the plurality of pairs according to the comparison result, wherein the specific implementation process is as follows:
the sector number F of the multi-pair polar angle values obtained by table lookupcheck(k)As a reference sequence group, a plurality of pairs of polar angle values theta are calculated according to the current calculation period2The actual sector number F obtainedack(k)As a set of referenced nucleic acid sequences; number of sectors Fcheck(k)And number of sectors Fack(k)Screening, detecting and comparing, and adjusting the final polar value P of the polar angle values according to the detection resultfinal(k)；
When F is presentcheck(k)-Fact(k)When more than 8, the polar number P of the multi-pair polar angle valuefinal(k)As follows (2)Shown in the figure:
Pfinal(k)＝Pcheck(k)-2 (2)
when F is presentcheck(k)-Fact(k)When less than-8, the number of poles P is multiple pairs of pole angle valuesfinal(k)As shown in the following formula (3):
Pfinal(k)＝Pcheck(k)(3)
when-8 is less than or equal to Fcheck(k)-Fact(k)When the angle is less than or equal to 8, the number of poles P is the value of multiple pairs of polar anglesfinal(k)As shown in the following formula (4):
Pfinal(k)＝Pcheck(k)-1 (4)。
the angle subdivision processing module 108 is used for obtaining the final polar value P of the multi-pair polar angle values according to the step (6)final(k)To obtain the final multi-pair polar angle value thetaseg(k)As shown in formula (5):
θseg(k)＝65535Pfinal(k)+θ2(5)
at this time, the obtained plurality of pairs of polar angle values θ after the fine divisionseg∈[0,65535*16]And the resolution of the magnetoelectric encoder is effectively improved.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims (9)

1. The angle precision division method of the multi-pair-electrode magnetoelectric encoder based on the idea of nucleic acid sequence comparison is characterized by comprising the following steps of: the method comprises the following concrete implementation processes:
(1) collecting single-antipodal angle value signals A +, A-, and multi-antipodal angle value signals B + and B-;
(2) performing analog-to-digital conversion on the single pair polar angle value signals A +, A-and the multiple pair polar angle value signals B + and B-, so as to obtain single pair polar angle value digital signals HA +, HA-and multiple pair polar angle value digital signals HB + and HB-;
(3) solving the single-pole angle value theta according to the single-pole angle value digital signals HA +, HA-and the multi-pole angle value digital signals HB + and HB-1And a plurality of pairs of polar angle values theta2；
(4) Obtaining the single-antipodal angle value theta1And a plurality of pairs of polar angle values theta2According to the multiple pairs of polar angle values theta2The sector division is carried out on the angle value to obtain the number of sectors; according to the multi-pair polar angle value theta2Obtaining a plurality of pairs of polar angle value pole values at the zero crossing point position; according to a single-dipole angle value theta1High 9 position [0,511]512 interval values of (a) are abscissa values and single-antipodal angle values theta1Establishing a table by taking a plurality of pairs of polar angle value polar values and sector numbers corresponding to the 512 interval values with 9 high bits as vertical coordinates;
(5) a single-pole angle value theta obtained according to the current calculation period1The high 9-digit numerical value obtained in the step (4) is inquired to obtain a plurality of pairs of polar angle value polar numerical values Pcheck(k)Number of sectors Fcheck(k)(ii) a A plurality of pairs of polar angle values theta are obtained according to the current calculation period2Obtaining the actual sector number Fack(k)；
(6) The sector number F of the multi-pair polar angle values obtained by table lookupcheck(k)As a reference sequence group, a plurality of pairs of polar angle values theta are calculated according to the current calculation period2The actual sector number F obtainedack(k)As a set of referenced nucleic acid sequences; number of sectors Fcheck(k)And number of sectors Fack(k)Screening, detecting and comparing, and adjusting the final polar value P of the polar angle values according to the detection resultfinal(k)；
(7) According to the final multi-pair polar angle value polar value Pfinal(k)To obtain the final multi-pair polar angle value thetaseg(k)。
2. The method for finely dividing the angles of a plurality of pairs of electrode magnetoelectric encoders based on the idea of nucleic acid sequence alignment according to claim 1, characterized in that: in the step (1), the single-antipodal angle value signals A + and A-are obtained through the single-antipodal Hall sensor, and the multi-antipodal angle value signals B + and B-are obtained through the multi-antipodal Hall sensor.
3. The method for finely dividing the angles of a plurality of pairs of electrode magnetoelectric encoders based on the idea of nucleic acid sequence alignment according to claim 1, characterized in that: and (2) performing analog-to-digital conversion on the single-antipodal angle value signals A +, A-and the multi-antipodal angle value signals B +, B-through an analog-to-digital converter to obtain single-antipodal angle value digital signals HA +, HA-and multi-antipodal angle value digital signals HB +, HB-.
4. The method for finely dividing the angles of a plurality of pairs of electrode magnetoelectric encoders based on the idea of nucleic acid sequence alignment according to claim 1, characterized in that: and (3) resolving the single pair polar angle value digital signals HA +, HA-and the multiple pair polar angle value digital signals HB + and HB-diagonal values obtained in the step (2) to obtain a single pair polar angle value theta1Angle of multiple pairs of poles theta2The calculation formula is shown as formula (1):
Figure FDA0002502233310000021
5. the method for finely dividing the angles of a plurality of pairs of electrode magnetoelectric encoders based on the idea of nucleic acid sequence alignment according to claim 1, characterized in that: the step (4) is implemented by adopting the following method:
according to a single-dipole angle value theta1Angle of multiple pairs of poles theta2The single-to-polar angle value theta1And a plurality of pairs of polar angle values theta2The range of measured angle values is 16-bit integer data [0,65535 ]]According to the multi-pair polar angle value theta2Magnitude, the angle value theta of multiple pairs of poles2Dividing the angle value measuring range into 16 sectors, wherein the angle value measuring range of each sector has the size of 4096 (65536/16); the object is a 16-pair multi-pair-pole magnetoelectric encoder, a rotor of the magnetoelectric encoder rotates for one circle, and the angle value theta of a single pair of poles1Change from 0 to 65535 once, and multiple pairs of polar angle values theta2Change from 065535 sixteen times, the pole number of the multi-pair pole magnetoelectric encoder at each zero-crossing position is added with 1, the change range of the pole number of the multi-pair pole angle is [1,16 ]]；
According to a single-dipole angle value theta1High 9 position [0,511]512 interval values of (a) are abscissa values and single-antipodal angle values theta1And establishing a table by taking a plurality of pairs of polar angle value polar values and sector numbers corresponding to the 512 interval values with 9 high bits as vertical coordinates.
6. The method for finely dividing the angles of a plurality of pairs of electrode magnetoelectric encoders based on the idea of nucleic acid sequence alignment according to claim 1, characterized in that: the step (5) is realized by the following method:
a single-pole angle value theta obtained according to the current calculation period1High 9 digit value of [0,511 ]]Inquiring the table obtained in the step (4) to obtain a plurality of pairs of polar angle value polar values Pcheck(k)∈[1,16]Number of sectors Fcheck(k)∈[1,16](ii) a A plurality of pairs of polar angle values theta are obtained according to the current calculation period2The magnitude of (2) is judged, and a plurality of pairs of polar angle values theta in the current calculation period are judged2The value of the sector where the sector is located, the range of the angle value of each sector is 4096, and the actual sector number F is obtainedack(k)，Fack(k)∈[1,16]。
7. The method for finely dividing the angles of a plurality of pairs of electrode magnetoelectric encoders based on the idea of nucleic acid sequence alignment according to claim 1, characterized in that: the step (6) is realized by the following method:
the sector number F of the multi-pair polar angle values obtained by table lookupcheck(k)As a reference sequence group, a plurality of pairs of polar angle values theta are calculated according to the current calculation period2The actual sector number F obtainedack(k)As a set of referenced nucleic acid sequences; number of sectors Fcheck(k)And number of sectors Fack(k)Screening, detecting and comparing, and adjusting the final polar value P of the polar angle values according to the detection resultfinal(k)；
When F is presentcheck(k)-Fact(k)When more than 8, the polar number P of the multi-pair polar angle valuefinal(k)As shown in the following formula (2):
Pfinal(k)＝Pcheck(k)-2 (2)
when F is presentcheck(k)-Fact(k)When less than-8, the number of poles P is multiple pairs of pole angle valuesfinal(k)As shown in the following formula (3):
Pfinal(k)＝Pcheck(k)(3)
when-8 is less than or equal to Fcheck(k)-Fact(k)When the angle is less than or equal to 8, the number of poles P is the value of multiple pairs of polar anglesfinal(k)As shown in the following formula (4):
Pfinal(k)＝Pcheck(k)-1 (4)。
8. the method for finely dividing the angles of a plurality of pairs of electrode magnetoelectric encoders based on the idea of nucleic acid sequence alignment according to claim 1, characterized in that: the step (7) is realized by the following method:
obtaining the final polar value P of the polar angle values of a plurality of pairs according to the step (6)final(k)To obtain the final multi-pair polar angle value thetaseg(k)As shown in formula (5):
θseg(k)＝65535Pfinal(k)+θ2(5)
at this time, the obtained plurality of pairs of polar angle values θ after the fine divisionseg∈[0,65535*16]And the resolution of the magnetoelectric encoder is effectively improved.
9. The device of the angle precision division method of the multi-pair-electrode magnetoelectric encoder based on the idea of nucleic acid sequence comparison is characterized in that: the device of the angle precision division method of the multi-pair-electrode magnetoelectric encoder based on the nucleic acid sequence comparison idea comprises the following steps:
a single-dipole angle calculation module for converting the obtained digital value into a single-dipole angle value theta1；
A multi-pair polar angle calculation module for converting the obtained digital quantity into a multi-pair polar angle value theta2；
An angle value pole number and sector tabulation module for determining a single-pole angle value theta1Mapping relation between high 9 digit value and multiple pairs of polar angle values, polar number and sector;
comparing the reference sequence group with the referenced nucleic acid sequence group in sector, and calculating multiple pairs of polar angle values theta according to the current solution2For the sector where the multi-pair polar angle value is located and according to the single-pair polar angle value theta1Comparing the sector values obtained by the high 9-bit numerical value table lookup, and obtaining the final polar values of the multi-pair polar angle values according to the comparison result;
and the angle precision processing module is used for carrying out angle value precision division processing according to the final multiple-pair polar angle polar values output by the reference sequence group and the referenced nucleic acid sequence group sector comparison module to obtain final multiple-pair polar angle values after precision division.
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