CN118129586A - Serial detection method for acquiring linear absolute position by adopting array reluctance Hall - Google Patents
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Abstract
The invention relates to the technical field of magnetic suspension, and particularly discloses a serial detection method for acquiring a linear absolute position by adopting array reluctance Hall, wherein 12 magnetic Hall convert magnetic field signals into electric signals, gating is carried out through a high-speed switch, and after the high-speed switch is switched on to a corresponding sensor, a magnetic field- > voltage conversion signal of the sensor is acquired; converting the demodulated voltage signals into standard sine and cosine signals, performing arctangent operation on the sine and cosine signals of each magnetic Hall sensor to obtain corresponding angles, and performing square sum operation on the sine and cosine signals to evaluate the linearity of the sine and cosine signals; judging the rough region where the current magnetic pole is located through the linear region, judging the subdivided position region according to the current specific angle value of each magnetic Hall, and finally fusing the linear region data and the subdivided position data to obtain the specific position of the magnetic pole. The absolute position of the moving object loaded with the magnetic pole can be obtained at low cost, small volume and high speed.
Description
Technical Field
The invention relates to the technical field of magnetic suspension, in particular to a serial detection method for acquiring a linear absolute position by adopting an array reluctance Hall.
Background
Along with the improvement of the industrial automation degree, the requirements on the responsiveness, the precision, the reliability and the carrying capacity of the linear transportation technology are higher and higher. For example, a linear motor module used on a high-precision machine tool and a magnetic suspension conveying device used on a high-speed high-flexibility conveying line are not separated from a servo motor and a position feedback sensor, and particularly the position feedback sensor determines the precision and stability of the linear conveying technology;
The application of the conventional linear motor scheme in the linear conveying technology is mature, and particularly the permanent magnet synchronous linear motor is mainly characterized by simple structure, small volume, high efficiency, high power factor and the like. However, whether the traditional moving coil linear motor or the moving magnetic flexible spliced linear motor which is more and more popular at present, the basic principle of the moving magnetic flexible spliced linear motor is that the motor coil is accurately controlled to generate a vector magnetic field through feedback of a position sensor and calculation of a digital processor, so that the moving magnetic field acts with a permanent magnet to control the movement of an object;
In the prior art, a parallel acquisition scheme of array AMR magneto-resistive sensors is adopted, each AMR magneto-resistive sensor is required to be provided with a plurality of paths of high-precision analog-digital conversion sensors, the type of sensors are relatively expensive, and meanwhile, a high-performance digital processor synchronously performs data processing, so that the cost is high, the devices are more, and the size is large. The other is a scheme of adopting two AMR magnetic resistance sensors, and the scheme has lower cost, but the method can not directly read the position as soon as the equipment is electrified, and the method is only performed by adding an uninterrupted power supply or manually calibrating each time of electrifying;
In summary, the prior art has the following disadvantages:
(1) The linear Hall and the proximity switch which are used at present have low cost, but have low precision and are extremely easy to lose positions, so that absolute position reading cannot be realized;
(2) The currently used two-point AMR magneto-resistance sensor has low precision and cannot read absolute positions;
(3) The current array is low in cost, but the current position of the active cell cannot be directly read after power-on, all active cells are required to be manually operated in each power-on, the flow is complex, and the operation difficulty is high;
(4) The currently used magnetic grating or grating has high cost, must work in a clean environment and has high requirements on the environment.
Therefore, a position sensor with low cost, excellent performance and small volume is a key for determining the performance of the linear motor.
Disclosure of Invention
The invention aims to provide a serial detection method for acquiring a linear absolute position by adopting an array reluctance Hall, so as to solve the problems in the background technology.
In order to achieve the above purpose, the present invention provides the following technical solutions: a serial detection method for acquiring linear absolute position by array reluctance Hall, detecting magnetic field change by 12 magnetic Hall of array, and obtaining specific position of magnetic pole by resolving magnetic field signal, thereby judging absolute position of object with magnetic pole, comprising the following steps:
Firstly, converting magnetic field signals into electric signals in a high-speed serial data acquisition module by 12 magnetic Hall sensors, gating the electric signals through a high-speed switch, acquiring magnetic field- > voltage conversion signals of the sensor after the high-speed switch is switched on to the corresponding sensor, and filtering and demodulating the voltage signals;
Converting the demodulated voltage signal into a standard sine and cosine signal in an original signal processing module, performing arctangent operation on the sine and cosine signal of each magnetic Hall sensor to obtain a corresponding angle, and performing square sum operation on the sine and cosine signal to evaluate the linearity of the sine and cosine signal;
And thirdly, judging the approximate area where the current magnetic pole is located through the linear area in the position resolving module, judging the subdivided position area according to the current specific angle value of each magnetic Hall on the other hand, and finally fusing the linear area data and the subdivided position data to obtain the specific position of the magnetic pole.
Preferably, the specific function of the high-speed serial data acquisition module is as follows:
The magnetic hall adopts a magnetic resistance sensor AMR3001 or a linear hall sensor TMR2151, and the data output channels of the magnetic hall of 12 arrays are switched by 2 high-speed selection switches TMR2415, so that data acquisition can be carried out in series at a frequency of up to 12 MHz.
After the high-speed selection switch is used for gating, the magnetic Hall can be connected with the analog-to-digital converter, so that a magnetic field signal is periodically converted into a digital signal which can be processed;
after the digital signal is collected, on one hand, filtering and modulating processing are required to be performed on the digital signal, and on the other hand, calibration is required to be performed on the digital signal according to calibration data in the storage device.
Preferably, the filtering and debugging process adopts a first-order filtering algorithm, so that the complexity of the algorithm is reduced: Wherein: omega c represents the filter cut-off angular frequency, T s represents the sampling time, Y (n) represents the current filtering value, Y (n-1) represents the last filtering value, and X (n) represents the current sampling value;
the calibration of the digital signal is to read and collect the current real-time power supply voltage by the calibration value stored in the storage device in advance, and then add the two data into the digital signal of the sensor, so as to correct the deviation of the digital signal.
Preferably, the number of the array magnetic hall is 12, the distance is equal to 12mm, one end of the high-speed selector switch is connected with the magnetic hall, and the other end of the high-speed selector switch is connected with the ADC analog-to-digital sensor for serially converting magnetic field signals into digital signals, and the ADC mode sensor transmits the digital signals to the digital processor with a storage function to finish the subsequent processing of the digital signals.
Preferably, the specific function of the original signal processing module is as follows:
After the digital signals are processed by the digital processor, the digital signals are directly converted into sine and cosine distribution;
The digital signals distributed by sine and cosine are subjected to arctangent operation, so that the angle value of the corresponding magnetic pole of each magnetic Hall can be obtained, and the angle value can reflect the position of each magnetic pole relative to the Hall: Wherein: sin theta represents a sine-distributed digital signal obtained from the high-speed serial data acquisition module, cos theta represents a cosine-distributed digital signal obtained from the high-speed serial data acquisition module, and theta represents a specific angle value finally obtained by arctangent.
Preferably, linearity of the position of the magnetic pole is detected by means of square sum operation: Wherein: r represents linearity, sin (theta) represents a sine-distributed digital signal acquired from the high-speed serial data acquisition module, and Cos (theta) represents a cosine-distributed digital signal acquired from the high-speed serial data acquisition module;
When the R value is near 1, indicating that the magnetic hall detects an active pole, the digital signal is now available for further processing.
Preferably, the specific function of the position resolving module is as follows:
Comparing the linearity values of the magnetic Hall of the 12 arrays with standard linearity values, if the absolute value is within a threshold value range, leading the magnetic poles on the surface to enter the linear detection range of the magnetic Hall, and recording the linear zone mark of each magnetic Hall: Wherein: SH (n) represents linear region flag data of the magnetic Hall; 1 is in a linear region, 0 is not in the linear region, R (n) represents currently calculated linearity data, and Rstd represents standard linearity data;
After the linear region mark of each Hall is obtained, the linear regions of 12 Hall are combined in a weighting mode to obtain comprehensive linear region judgment data: wherein: SHA represents data from a combination of 12 magnetic hall linear signatures, SH (0)..sh (n) -represents a linear signature of 12 magnetic hall.
Preferably, in order to obtain a more accurate position, the subdivision angle is obtained through arctangent calculation, and fitting of the final position is performed; Wherein: finalPos denotes the absolute position after final fitting, FINEANGLE denotes the subdivision angle by arctangent, and Ln denotes the preliminary position by linear region judgment.
The serial detection method for acquiring the linear absolute position by adopting the array reluctance Hall provided by the invention has the beneficial effects that:
1. The magnetic Hall of the array realizes serial sampling through a high-speed selection switch, so that the cost of a sampling device can be saved under the condition of ensuring sufficient sampling speed;
2. The calibration value can be stored in advance through the digital processor and the storage device, and the digital signal can be read out and calibrated when the digital signal processing is carried out;
3. position fitting is carried out through magnetic Hall of the array, and absolute positions can be directly obtained without any special operation during power-on;
4. the magnetic Hall type selected by the method has the advantages of strong anti-interference capability and wide detection range, so that the method has strong environmental adaptability.
In summary, the invention adopts the magnetic hall of the array, each magnetic hall can detect the position of the magnetic pole, the magnetic pole position detected by each magnetic hall is collected in series through the high-speed change-over switch, and then all data are fused through the digital processor, so that the absolute position of the moving object loaded with the magnetic pole can be obtained under the conditions of low cost, small volume and high speed.
Drawings
FIG. 1 is a flow chart of the serial detection of the absolute position of the array magnetic Hall of the present invention;
FIG. 2 is a diagram showing the structure of the position detecting device and the position relationship between the position detecting device and the induction magnetic poles;
FIG. 3 is a diagram of a converted digital signal with sine and cosine distribution according to the present invention;
FIG. 4 is a schematic diagram of an arctangent processing module of the present invention;
FIG. 5 is a graph of arctangent data of the present invention;
fig. 6 is a block diagram illustrating the original signal processing according to the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-6, the present invention provides a technical solution: a serial detection method for acquiring linear absolute position by array reluctance Hall, detecting magnetic field change by 12 magnetic Hall of array, and obtaining specific position of magnetic pole by resolving magnetic field signal, thereby judging absolute position of object with magnetic pole, comprising the following steps:
Firstly, converting magnetic field signals into electric signals in a high-speed serial data acquisition module by 12 magnetic Hall sensors, gating the electric signals through a high-speed switch, acquiring magnetic field- > voltage conversion signals of the sensor after the high-speed switch is switched on to the corresponding sensor, and filtering and demodulating the voltage signals;
Converting the demodulated voltage signal into a standard sine and cosine signal in an original signal processing module, performing arctangent operation on the sine and cosine signal of each magnetic Hall sensor to obtain a corresponding angle, and performing square sum operation on the sine and cosine signal to evaluate the linearity of the sine and cosine signal;
And thirdly, judging the approximate area where the current magnetic pole is located through the linear area in the position resolving module, judging the subdivided position area according to the current specific angle value of each magnetic Hall on the other hand, and finally fusing the linear area data and the subdivided position data to obtain the specific position of the magnetic pole.
The high-speed serial data acquisition module has the following specific functions:
The magnetic hall adopts a magnetic resistance sensor AMR3001 or a linear hall sensor TMR2151, and the data output channels of the magnetic hall of 12 arrays are switched by 2 high-speed selection switches TMR2415, so that data acquisition can be carried out in series at a frequency of up to 12 MHz.
After the high-speed selection switch is used for gating, the magnetic Hall can be connected with the analog-to-digital converter, so that magnetic field signals can be periodically converted into digital signals which can be processed, and only one 8-channel analog-to-digital converter is needed due to the periodic serial processing, so that the advantage of a low-cost scheme is maintained;
after the digital signal is collected, on one hand, filtering and modulating processing are required to be performed on the digital signal, and on the other hand, calibration is required to be performed on the digital signal according to calibration data in the storage device.
The filtering and debugging process adopts a first-order filtering algorithm, so that the complexity of the algorithm is reduced: Wherein: omega c represents the filter cut-off angular frequency, T s represents the sampling time, Y (n) represents the current filtering value, Y (n-1) represents the last filtering value, and X (n) represents the current sampling value;
the calibration of the digital signal is to read and collect the current real-time power supply voltage by the calibration value stored in the storage device in advance, and then add the two data into the digital signal of the sensor, so as to correct the deviation of the digital signal.
As shown in fig. 2, the position detection device structure diagram integrating the array magnetic hall, the high-speed selection switch, the ADC analog-digital sensor and the digital processor and the position relation diagram of the induction magnetic pole are shown; the number of the array magnetic Hall is 12, the distance is equal to 12mm, one end of the high-speed selection switch is connected with the magnetic Hall, and the other end of the high-speed selection switch is connected with the ADC analog-digital sensor for serially converting magnetic field signals into digital signals, and the ADC mode sensor transmits the digital signals to the digital processor with a storage function to finish the subsequent processing of the digital signals.
The specific function of the original signal processing module is as follows:
as shown in fig. 3: after the digital signals are processed by the digital processor, the digital signals are directly converted into sine and cosine distribution;
The digital signals distributed by sine and cosine are subjected to arctangent operation, so that the angle value of the corresponding magnetic pole of each magnetic Hall can be obtained, and the angle value can reflect the position of each magnetic pole relative to the Hall: Wherein: sin theta represents a sine-distributed digital signal obtained from the high-speed serial data acquisition module, cos theta represents a cosine-distributed digital signal obtained from the high-speed serial data acquisition module, and theta represents a specific angle value finally obtained by arctangent.
In order to accurately judge whether the magnetic pole is in the linear range of the magnetic Hall, the sine and cosine degrees of the acquired digital signals are required to be detected, and only when the linearity of the magnetic pole meets certain requirements, the magnetic pole angle and the magnetic pole position information acquired through arctangent operation are effective; the linearity of the position of the magnetic pole is detected by a square sum operation mode: Wherein: r represents linearity, sin (theta) represents a sine-distributed digital signal acquired from the high-speed serial data acquisition module, and Cos (theta) represents a cosine-distributed digital signal acquired from the high-speed serial data acquisition module;
When the R value is near 1, indicating that the magnetic hall detects an active pole, the digital signal is now available for further processing.
The position calculation module has the following specific functions:
Comparing the linearity values of the magnetic Hall of the 12 arrays with standard linearity values, if the absolute value is within a threshold value range, leading the magnetic poles on the surface to enter the linear detection range of the magnetic Hall, and recording the linear zone mark of each magnetic Hall: Wherein: SH (n) represents linear region flag data of the magnetic Hall; 1 is in a linear region, 0 is not in the linear region, R (n) represents currently calculated linearity data, and Rstd represents standard linearity data;
After the linear region mark of each Hall is obtained, the linear regions of 12 Hall are combined in a weighting mode to obtain comprehensive linear region judgment data: Wherein: SHA represents data from a combination of 12 magnetic hall linear signatures, SH (0)..sh (n) -represents a linear signature of 12 magnetic hall;
and (5) looking up the integrated linear region data to obtain the preliminary range of the current magnetic pole. The following table is the preliminary positions of the magnetic poles corresponding to the linear region judgment data:
magnetic pole positioning reference table:
| Linear area data (SHA) | Preliminary location (Ln) | Number of entering poles (n) |
| 1 | 360 | 1 |
| 3 | 720 | 2 |
| 7 | 1080 | 3 |
| 15 | 1440 | 4 |
| 31 | 1800 | 5 |
| 63 | 2160 | 6 |
| 127 | 2520 | 7 |
| 255 | 2880 | 8 |
| 511 | 3240 | 9 |
| 1023 | 3600 | 10 |
| 2047 | 3960 | 11 |
| 4095 | 4320 | 12 |
| 4094 | 4680 | 13 |
| 4092 | 5040 | 14 |
| 4088 | 5400 | 15 |
| 4080 | 5760 | 16 |
| 4064 | 6120 | 17 |
| 4032 | 6480 | 18 |
| 3968 | 6840 | 19 |
| 3840 | 7200 | 20 |
| 3072 | 7560 | 21 |
| 2048 | 7920 | 22 |
The initial position of the magnetic pole obtained through linearity processing can roughly judge which part of the 12 magnetic Hall is positioned on the magnetic pole, but a more accurate position cannot be obtained, and in order to obtain the more accurate position, the subdivision angle is obtained through arctangent calculation, and fitting of the final position is carried out; Wherein: finalPos denotes the absolute position after final fitting, FINEANGLE denotes the subdivision angle by arctangent, and Ln denotes the preliminary position by linear region judgment.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. A serial detection method for acquiring a linear absolute position by adopting an array reluctance Hall is characterized in that: the change of the magnetic field is detected through 12 magnetic Hall of the array, and the specific position of the magnetic pole is obtained through the calculation of the magnetic field signal, so that the absolute position of the object with the magnetic pole is judged, and the method specifically comprises the following steps:
Firstly, converting magnetic field signals into electric signals in a high-speed serial data acquisition module by 12 magnetic Hall sensors, gating the electric signals through a high-speed switch, acquiring magnetic field- > voltage conversion signals of the sensor after the high-speed switch is switched on to the corresponding sensor, and filtering and demodulating the voltage signals;
Converting the demodulated voltage signal into a standard sine and cosine signal in an original signal processing module, performing arctangent operation on the sine and cosine signal of each magnetic Hall sensor to obtain a corresponding angle, and performing square sum operation on the sine and cosine signal to evaluate the linearity of the sine and cosine signal;
And thirdly, judging the approximate area where the current magnetic pole is located through the linear area in the position resolving module, judging the subdivided position area according to the current specific angle value of each magnetic Hall on the other hand, and finally fusing the linear area data and the subdivided position data to obtain the specific position of the magnetic pole.
2. The serial detection method for acquiring the linear absolute position by adopting the array reluctance hall according to claim 1, wherein the serial detection method is characterized in that: the high-speed serial data acquisition module has the following specific functions:
The magnetic Hall adopts a magnetic resistance sensor AMR3001 or a linear Hall sensor TMR2151, and the data output channels of the magnetic Hall of 12 arrays are switched by 2 high-speed selection switches TMR2415, so that data acquisition can be carried out in series at the frequency of up to 12 MHZ;
after the high-speed selection switch is used for gating, the magnetic Hall can be connected with the analog-to-digital converter, so that a magnetic field signal is periodically converted into a digital signal which can be processed;
after the digital signal is collected, on one hand, filtering and modulating processing are required to be performed on the digital signal, and on the other hand, calibration is required to be performed on the digital signal according to calibration data in the storage device.
3. The serial detection method for acquiring the linear absolute position by adopting the array reluctance hall according to claim 2, wherein the serial detection method is characterized in that: the filtering and debugging process adopts a first-order filtering algorithm, so that the complexity of the algorithm is reduced: Wherein: omega c represents the filter cut-off angular frequency, T s represents the sampling time, Y (n) represents the current filtering value, Y (n-1) represents the last filtering value, and X (n) represents the current sampling value;
the calibration of the digital signal is to read and collect the current real-time power supply voltage by the calibration value stored in the storage device in advance, and then add the two data into the digital signal of the sensor, so as to correct the deviation of the digital signal.
4. A serial detection method for acquiring an absolute position of a straight line by using an array reluctance hall according to claim 3, wherein: the number of the array magnetic Hall is 12, the distance is equal to 12mm, one end of the high-speed selection switch is connected with the magnetic Hall, and the other end of the high-speed selection switch is connected with the ADC analog-digital sensor for serially converting magnetic field signals into digital signals, and the ADC mode sensor transmits the digital signals to the digital processor with a storage function to finish the subsequent processing of the digital signals.
5. The serial detection method for acquiring the linear absolute position by using the array reluctance hall according to claim 4, wherein the serial detection method comprises the following steps: the specific function of the original signal processing module is as follows:
After the digital signals are processed by the digital processor, the digital signals are directly converted into sine and cosine distribution;
The digital signals distributed by sine and cosine are subjected to arctangent operation, so that the angle value of the corresponding magnetic pole of each magnetic Hall can be obtained, and the angle value can reflect the position of each magnetic pole relative to the Hall: Wherein: sin theta represents a sine-distributed digital signal obtained from the high-speed serial data acquisition module, cos theta represents a cosine-distributed digital signal obtained from the high-speed serial data acquisition module, and theta represents a specific angle value finally obtained by arctangent.
6. The serial detection method for acquiring the linear absolute position by using the array reluctance hall according to claim 5, wherein the serial detection method comprises the following steps: the linearity of the position of the magnetic pole is detected by a square sum operation mode: Wherein: r represents linearity, sin (theta) represents a sine-distributed digital signal acquired from the high-speed serial data acquisition module, and Cos (theta) represents a cosine-distributed digital signal acquired from the high-speed serial data acquisition module;
When the R value is near 1, indicating that the magnetic hall detects an active pole, the digital signal is now available for further processing.
7. The serial detection method for acquiring the linear absolute position by using the array reluctance hall according to claim 6, wherein the serial detection method comprises the following steps: the position calculation module has the following specific functions:
Comparing the linearity values of the magnetic Hall of the 12 arrays with standard linearity values, if the absolute value is within a threshold value range, leading the magnetic poles on the surface to enter the linear detection range of the magnetic Hall, and recording the linear zone mark of each magnetic Hall: Wherein: SH (n) represents linear region flag data of the magnetic Hall; 1 is in a linear region, 0 is not in the linear region, R (n) represents currently calculated linearity data, and Rstd represents standard linearity data;
After the linear region mark of each Hall is obtained, the linear regions of 12 Hall are combined in a weighting mode to obtain comprehensive linear region judgment data: wherein: SHA represents data from a combination of 12 magnetic hall linear signatures, SH (0)..sh (n) -represents a linear signature of 12 magnetic hall.
8. The serial detection method for acquiring the linear absolute position by using the array reluctance hall according to claim 7, wherein the serial detection method comprises the following steps: in order to obtain a more accurate position, obtaining a subdivision angle through arctangent calculation, and fitting a final position; Wherein: finalPos denotes the absolute position after final fitting, FINEANGLE denotes the subdivision angle by arctangent, and Ln denotes the preliminary position by linear region judgment.
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