CN112215403A - Method and device for determining angle - Google Patents
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Abstract
The embodiment of the application discloses a method and a device for determining an angle, and belongs to the technical field of intelligent equipment. The device includes: the device comprises a first operation module, a second operation module, a deviation determination module and a compensation module; the first operation module is used for determining angle difference information based on first sine information and first cosine information output by the equipment to be detected and a first prediction angle fed back by the second operation module, wherein the first prediction angle is the angle predicted last time; the second operation module is used for determining a second prediction angle based on the angle difference information, and the deviation determination module is used for determining the angle deviation based on the angle difference information; the compensation module is used for outputting the angle of the device to be detected based on the angle deviation and the second prediction angle. This application can accurately determine the angle of waiting to examine equipment.
Description
Technical Field
The embodiment of the application relates to the technical field of intelligent equipment, in particular to a method and a device for determining an angle.
Background
Some devices, such as motors, have a certain angle when they are running, and in some scenarios, there is usually a need to determine the current angle of the motor.
At present, under the condition that an encoder of a motor is a sine and cosine encoder, the motor generally outputs a sine value and a cosine value of an angle, so that the sine value and the cosine value output by the motor can be generally obtained, a tangent value is determined based on the sine value and the cosine value, and then an arc tangent value is determined, so that the angle of the motor is obtained.
However, if a phase error exists between the sine value and the cosine value output by the motor or a direct current offset exists, a large error exists in the angle obtained in the above manner, and the determined angle is inaccurate.
Disclosure of Invention
The embodiment of the application provides a method and a device for determining an angle, which can solve the problem that the determined angle in the related art is inaccurate. The technical scheme is as follows:
in a first aspect, the apparatus comprises: the device comprises a first operation module, a second operation module, a deviation determination module and a compensation module;
the input end of the first operation module is connected with the output end of the equipment to be detected, and the output end of the first operation module is respectively connected with the input end of the second operation module and the input end of the deviation determination module;
the output end of the second operation module is connected with the first input end of the compensation module, and the output end of the second operation module is connected with the feedback end of the first operation module;
The output end of the deviation determining module is connected with the second input end of the compensating module;
the first operation module is used for determining angle difference information based on first sine information and first cosine information output by the equipment to be detected and a first prediction angle fed back by the second operation module, wherein the first prediction angle is an angle predicted last time; the second operation module is used for determining a second prediction angle based on the angle difference information, and the deviation determination module is used for determining an angle deviation based on the angle difference information; and the compensation module is used for outputting the angle of the equipment to be detected based on the angle deviation and the second prediction angle.
The device determines the angle deviation, and because the angle deviation is the deviation between the real angle and the predicted angle of the equipment to be detected, the angle determined based on the second predicted angle and the angle deviation is closer to the real angle of the equipment to be detected, so that the accuracy of determining the angle is improved.
The first sine information can be a standard sine value of an angle of the device to be detected, and can also be a non-standard sine value.
Similarly, the first cosine information may be a standard cosine value of an angle of the device to be detected, or may be a non-standard cosine value.
In one possible implementation manner of the present application, the first operation module includes a sine operation unit, a cosine operation unit, a first product unit, a second product unit, and a subtraction operation unit;
the sine operation unit is used for determining the sine of the first prediction angle to obtain second sine information;
the cosine operation unit is used for determining the cosine of the first prediction angle to obtain second cosine information;
the first product unit is used for determining the product of the first sine information and the second cosine information to obtain a first product;
the second product unit is used for determining the product of the first cosine information and the second sine information to obtain a second product;
the subtraction operation unit is used for subtracting the first product and the second product to obtain the angle difference information.
Based on the above calculation, it is understood that the first operation module may determine the sine of the angle difference between the first predicted angle and the true angle of the device to be detected, to obtain the angle difference information.
In a possible implementation manner of the present application, the deviation determining module is an arcsine calculating module, and the arcsine calculating module is configured to determine an arcsine of the angle difference information to obtain the angle deviation.
Based on the above calculation, it can be known that the angle difference information is actually sinusoidal information, so that the arcsine of the angle difference information can be determined here, so as to obtain the angle deviation between the first predicted angle and the real angle of the device to be detected, so that the predicted second predicted angle can be compensated based on the angle deviation subsequently.
In a possible implementation manner of the present application, the second operation module includes a coefficient adjustment unit and an integration unit;
the coefficient adjusting unit is used for determining the revolution of the equipment to be detected based on the angle difference information;
the integration unit is configured to determine the second predicted angle based on the number of rotations.
In a second aspect, there is provided a method for determining an angle, which can be applied to the apparatus in the first aspect, and the method includes:
determining angle difference information based on first sine information and first cosine information output by the device to be detected and a first prediction angle, wherein the first prediction angle is an angle predicted last time;
determining a second predicted angle based on the angle difference information;
determining an angular deviation based on the angular difference information;
And outputting the angle of the equipment to be detected based on the angle deviation and the second prediction angle.
In a possible implementation manner of the present application, the determining the angle difference information based on the first sine information and the first cosine information output by the device to be detected and the first prediction angle includes:
determining the sine of the first prediction angle to obtain second sine information;
determining the cosine of the first prediction angle to obtain second cosine information;
determining a product of the first sine information and the second cosine information to obtain a first product;
determining a product of the first cosine information and the first sine information to obtain a second product;
and subtracting the second product from the first product to obtain the angular difference information.
In a possible implementation manner of the present application, the determining an angle deviation based on the angle difference information includes:
and determining the arcsine of the angle difference information to obtain the angle deviation.
In a possible implementation manner of the present application, outputting the angle of the device to be tested based on the angle deviation and the second prediction angle includes:
determining a sum of the second predicted angle and the angular deviation;
And outputting the sum of the second prediction angle and the angle deviation to obtain the angle of the equipment to be detected.
It is understood that the beneficial effects of the second aspect can be referred to the related description of the first aspect, and are not described herein again.
The technical scheme provided by the embodiment of the application has the following beneficial effects:
the angle determining device can predict the angle of the equipment to be detected based on first sine information and first cosine information output by the equipment to be detected, namely determine a second predicted angle, and determine an angle deviation based on the first sine information, the first cosine information and a first predicted angle obtained by last prediction, wherein the angle deviation can be understood as the deviation between the real angle and the predicted angle of the equipment to be detected. Therefore, the angle of the device to be detected can be accurately determined based on the second prediction angle and the angle deviation.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic diagram illustrating an apparatus for determining an angle in accordance with an exemplary embodiment;
FIG. 2 is a schematic view of an apparatus for determining an angle according to another exemplary embodiment;
FIG. 3 is a flow chart illustrating a method of determining an angle in accordance with an exemplary embodiment.
Detailed Description
To make the objects, technical solutions and advantages of the present application more clear, embodiments of the present application will be described in further detail below with reference to the accompanying drawings.
It should be understood that reference to "a plurality" in this application means two or more. In the description of the present application, "/" indicates an OR meaning, for example, A/B may indicate A or B; "and/or" herein is merely an association describing an associated object, and means that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, for the convenience of clearly describing the technical solutions of the present application, the terms "first", "second", and the like are used to distinguish the same items or similar items having substantially the same functions and actions. Those skilled in the art will appreciate that the terms "first," "second," etc. do not denote any order or quantity, nor do the terms "first," "second," etc. denote any order or importance.
Referring to fig. 1, fig. 1 illustrates an apparatus for determining an angle according to an exemplary embodiment, which may include a first operation module 110, a second operation module 120, a deviation determination module 130, and a compensation module 140.
The input end of the first operation module 110 is connected to the output end of the device to be tested, and the output end of the first operation module 110 is connected to the input end of the second operation module 120 and the input end of the deviation determination module 130, respectively. The output end of the second operation module 120 is connected to the first input end of the compensation module 140, the output end of the second operation module 120 is connected to the feedback end of the first operation module 110, and the output end of the deviation determination module 130 is connected to the second input end of the compensation module 140.
The device to be detected comprises a sine and cosine encoder, and sine and cosine information is output through the sine and cosine encoder. As an example, the device to be detected may be a motor, or the device to be detected may also be other devices that need to determine an angle similar to an operation principle of the motor, which is not limited in this embodiment of the application.
Taking the device to be detected as a motor as an example, an encoder in the motor is a sine and cosine encoder, so that the motor outputs first sine information and first cosine information, and the first operation module determines angle difference information based on the first sine information and the first cosine information and a first predicted angle fed back by the second operation module, wherein the first predicted angle is an angle predicted last time. The first operation module inputs the angle difference information to the second operation module and the deviation determination module respectively. The second operation module determines a second predicted angle based on the angle difference information and inputs the second predicted angle to the compensation module, and the deviation determination module determines an angle deviation based on the angle difference information and inputs the angle deviation to the compensation module. Therefore, the compensation module can output the angle of the device to be detected based on the angle deviation and the second prediction angle.
It is worth mentioning that the device determines the angle deviation, and because the angle deviation is the deviation between the real angle and the predicted angle of the equipment to be detected, the angle determined based on the second predicted angle and the angle deviation is closer to the real angle of the equipment to be detected, thereby improving the accuracy of determining the angle.
For example, if the real angle of the device to be detected is θ, the first sine information may be sin (θ), and further, for example, the first sine information may be Asin (θ).
Similarly, the first cosine information may be a standard cosine value of an angle of the device under test, or may be a non-standard cosine value, for example, if the real angle of the device under test is θ, the first cosine information may be cos (θ), and for example, the first sine information may also be Acos (θ).
The process of determining the angle by the device will be described in detail below.
In one embodiment, referring to fig. 2, the first operation module includes a sine operation unit, a cosine operation unit, a first product unit, a second product unit and a subtraction operation unit.
As shown in fig. 2, the output end of the cosine operation unit is connected to the first product unit, and the first sine information output by the device to be detected is input to the first product unit; in addition, the output end of the sine arithmetic unit is connected with the second product unit, and the first cosine information output by the equipment to be detected is input into the second product unit. The output end of the first product unit is connected with the first input end of the subtraction operation unit, and the output end of the second product unit is connected with the second input end of the subtraction operation unit.
In implementation, the first prediction angle output by the second operation module is input into the sine operation unit and the cosine operation unit respectively, the sine operation unit determines the sine of the first prediction angle to obtain the second sine information, and the cosine operation unit determines the cosine of the first prediction angle to obtain the second cosine information. The first product unit determines a product of the first sine information and the second cosine information to obtain a first product, and the second product unit determines a product of the first cosine information and the second sine information to obtain a second product. The subtraction operation unit subtracts the first product and the second product to obtain angle difference information.
For example, assuming that the first predicted angle is θ ', the first sine information is sin (θ), the first cosine information is cos (θ), the sine operation unit determines the sine of the first predicted angle to obtain the second sine information as sin (θ '), and the cosine operation unit determines the cosine of the first predicted angle to obtain the second cosine information as cos (θ '). The first product unit determines the product of the first sine information and the second cosine information to obtain a first product sin (theta) cos (theta '), and the second product unit determines the product of the first cosine information and the second sine information to obtain a second product cos (theta) sin (theta'). Then, the subtraction operation unit subtracts the first product and the second product to obtain the angular difference information of sin (θ) cos (θ ') -cos (θ) sin (θ '), i.e., the angular difference information of sin (θ - θ ').
Thereafter, a second operation module determines a second predicted angle based on the angle difference information. With continued reference to fig. 2, in an embodiment, the second operation module includes a coefficient adjustment unit and an integration unit, the coefficient adjustment unit determines the number of rotations of the device to be tested based on the angle difference information, and the integration unit determines the second prediction angle based on the number of rotations.
In one embodiment, the angle difference information is sin (θ - θ '), and the coefficient adjustment unit may determine an arcsine of the angle difference information to obtain θ - θ', and then may obtain the angle difference information by a formula 
The number of revolutions of the device to be tested is determined, here denoted PI, wherein,
representing an integration operation. The coefficient adjusting unit outputs the rotation number PI to the integrating unit, and the integrating unit performs an integration operation on the rotation number PI to obtain a second predicted angle, for example, the second predicted angle is θ ".
It should be noted that the coefficient adjusting unit may adjust the reference proportional coefficient or the reference integral coefficient according to an error between the fed back first prediction information and the true angle θ of the device under test, so that a deviation between the evaluation result of the apparatus and the true angle is reduced. For example, if the difference between the first prediction information and the real angle θ of the device to be detected is large, the reference scaling factor may be adjusted, and if the difference between the first prediction information and the real angle θ of the device to be detected is small, the reference integral factor may be adjusted.
As shown in fig. 2, the angular difference information output by the first arithmetic block is transmitted to a deviation determination block, which determines the angular deviation based on the angular difference information, in addition to the second arithmetic block.
In one embodiment, the deviation determining module is an arcsine calculating module, and the arcsine calculating module determines an arcsine of the angle difference information to obtain the angle deviation. For example, the arcsin calculation module may determine arcsin (θ - θ'), which is an angular deviation, and obtain θ - θ 
The compensation module outputs the angle of the device to be detected based on the angle deviation and the second prediction angle. In one embodiment, the specific implementation thereof may include: and determining the sum of the second prediction angle and the angle deviation, and outputting the sum of the second prediction angle and the angle deviation to obtain the angle of the device to be detected.
Continuing with the above example, the second predicted angle is θ ", and the angular deviation is
The compensation module compares the theta ″, and
the sum of θ "and θ" is then output, and the angle of the output can be determined as the angle of the device under test.
It should be noted that since the rotation speed of the motor is usually fast, and the angle difference between two adjacent time points is usually small, in the embodiment of the present application, θ - θ' may be determined as an error between the actual angle and the predicted angle.
In the embodiment of the application, an angle determining device is provided, which can predict the angle of the device to be detected, that is, determine a second predicted angle, based on first sine information and first cosine information output by the device to be detected, and determine an angle deviation based on the first sine information, the first cosine information and a first predicted angle obtained by last prediction, where the angle deviation can be understood as a deviation between a true angle and a predicted angle of the device to be detected. Therefore, the angle of the device to be detected can be accurately determined based on the second prediction angle and the angle deviation.
It should be noted that, for the information interaction, execution process, and other contents between the above-mentioned devices/units, the specific functions and technical effects thereof are based on the same concept as those of the embodiment of the method of the present application, and specific reference may be made to the part of the embodiment of the method, which is not described herein again.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
Referring to fig. 3, fig. 3 is a flowchart of a method for determining an angle according to an embodiment of the present application, where the method may be applied to the apparatuses according to the above embodiments, and the method for determining an angle may include the following steps:
step 301: and determining angle difference information based on the first sine information and the first cosine information output by the equipment to be detected and a first predicted angle, wherein the first predicted angle is the angle predicted last time.
For example, if the real angle of the device to be detected is θ, the first sine information may be sin (θ), and further, for example, the first sine information may be Asin (θ).
Similarly, the first cosine information may be a standard cosine value of an angle of the device under test, or may be a non-standard cosine value, for example, if the real angle of the device under test is θ, the first cosine information may be cos (θ), and for example, the first sine information may also be Acos (θ).
In one embodiment, the sine of the first prediction angle is determined to obtain the second sine information, and the cosine of the first prediction angle is determined to obtain the second cosine information. And determining the product of the first sine information and the second cosine information to obtain a first product, and determining the product of the first cosine information and the first sine information to obtain a second product. And subtracting the first product from the second product to obtain the angle difference information.
For example, assuming that the first predicted angle is θ ', the first sine information is sin (θ), the first cosine information is cos (θ), the sine of the first predicted angle is determined, the second sine information is sin (θ '), the cosine of the first predicted angle is determined, and the second cosine information is cos (θ '). And determining the product of the first sine information and the second cosine information to obtain a first product sin (theta) cos (theta '), and determining the product of the first cosine information and the second sine information to obtain a second product cos (theta) sin (theta'). Then, the first product and the second product are subtracted to obtain the angular difference information sin (theta) cos (theta ') -cos (theta) sin (theta '), i.e. the angular difference information sin (theta-theta ').
Step 302: based on the angle difference information, a second predicted angle is determined.
In one embodiment, the number of revolutions of the device under test is determined based on the angular difference information, and the second predicted angle is determined based on the number of revolutions.
Illustratively, the angular difference information is sin (θ - θ '), and the arcsine of the angular difference information can be determined to obtain θ - θ', which can then be represented by formula KP*(θ-θ')+Ki(theta-theta') determines the number of revolutions of the device to be detected, here denoted PI. The integral operation is performed on the rotation number PI to obtain a second predicted angle, for example, the second predicted angle is θ ".
Step 303: based on the angular difference information, an angular deviation is determined.
In one embodiment, if the angle difference information is sinusoidal information, the specific implementation of determining the angle deviation based on the angle difference information may include: determining the arcsine of the angle difference information to obtain the angle deviation.
It should be noted that, the step 302 and the step 303 are not executed in sequence.
Step 304: and outputting the angle of the equipment to be detected based on the angle deviation and the second prediction angle.
In one embodiment, the sum of the second prediction angle and the angle deviation is determined, and the sum of the second prediction angle and the angle deviation is output to obtain the angle of the device to be detected.
For example, assuming the second predicted angle is θ ", the angular deviation is
The compensation module compares the theta ″, and
the sum of θ "and θ" is then output, and the angle of the output can be determined as the angle of the device under test.
In the embodiment of the application, an angle determining device is provided, which can predict the angle of the device to be detected, that is, determine a second predicted angle, based on first sine information and first cosine information output by the device to be detected, and determine an angle deviation based on the first sine information, the first cosine information and a first predicted angle obtained by last prediction, where the angle deviation can be understood as a deviation between a true angle and a predicted angle of the device to be detected. Therefore, the angle of the device to be detected can be accurately determined based on the second prediction angle and the angle deviation.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (8)
1. An apparatus for determining an angle, the apparatus comprising: the device comprises a first operation module, a second operation module, a deviation determination module and a compensation module;
the input end of the first operation module is connected with the output end of the equipment to be detected, and the output end of the first operation module is respectively connected with the input end of the second operation module and the input end of the deviation determination module;
The output end of the second operation module is connected with the first input end of the compensation module, and the output end of the second operation module is connected with the feedback end of the first operation module;
the output end of the deviation determining module is connected with the second input end of the compensating module;
the first operation module is used for determining angle difference information based on first sine information and first cosine information output by the equipment to be detected and a first prediction angle fed back by the second operation module, wherein the first prediction angle is an angle predicted last time; the second operation module is used for determining a second prediction angle based on the angle difference information, and the deviation determination module is used for determining an angle deviation based on the angle difference information; and the compensation module is used for outputting the angle of the equipment to be detected based on the angle deviation and the second prediction angle.
2. The apparatus of claim 1, wherein the first operation module comprises a sine operation unit, a cosine operation unit, a first product unit, a second product unit, and a subtraction operation unit;
the sine operation unit is used for determining the sine of the first prediction angle to obtain second sine information;
The cosine operation unit is used for determining the cosine of the first prediction angle to obtain second cosine information;
the first product unit is used for determining the product of the first sine information and the second cosine information to obtain a first product;
the second product unit is used for determining the product of the first cosine information and the second sine information to obtain a second product;
the subtraction operation unit is used for subtracting the first product and the second product to obtain the angle difference information.
3. The apparatus of claim 2, wherein the deviation determining module is an arcsine calculating module, and the arcsine calculating module is configured to determine an arcsine of the angular difference information to obtain the angular deviation.
4. The apparatus of claim 1, wherein the second operation module comprises a coefficient adjustment unit and an integration unit;
the coefficient adjusting unit is used for determining the revolution of the equipment to be detected based on the angle difference information;
the integration unit is configured to determine the second predicted angle based on the number of rotations.
5. A method for determining an angle, the method being applied to the apparatus of any one of claims 1-4, the method comprising:
Determining angle difference information based on first sine information and first cosine information output by the device to be detected and a first prediction angle, wherein the first prediction angle is an angle predicted last time;
determining a second predicted angle based on the angle difference information;
determining an angular deviation based on the angular difference information;
and outputting the angle of the equipment to be detected based on the angle deviation and the second prediction angle.
6. The method of claim 5, wherein the determining the angle difference information based on the first sine information and the first cosine information output by the device under test and the first predicted angle comprises:
determining the sine of the first prediction angle to obtain second sine information;
determining the cosine of the first prediction angle to obtain second cosine information;
determining a product of the first sine information and the second cosine information to obtain a first product;
determining a product of the first cosine information and the first sine information to obtain a second product;
and subtracting the second product from the first product to obtain the angular difference information.
7. The method of claim 6, wherein determining an angular deviation based on the angular difference information comprises:
And determining the arcsine of the angle difference information to obtain the angle deviation.
8. The method of claim 5, wherein outputting the angle of the device under test based on the angular deviation and the second predicted angle comprises:
determining a sum of the second predicted angle and the angular deviation;
and outputting the sum of the second prediction angle and the angle deviation to obtain the angle of the equipment to be detected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010976611.5A CN112215403A (en) | 2020-09-16 | 2020-09-16 | Method and device for determining angle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114396967A (en) * | 2021-11-30 | 2022-04-26 | 浙江西子富沃德电机有限公司 | Sine and cosine encoder, signal processing method thereof and elevator control system |
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