WO2021114419A1 - Procédé, appareil et dispositif d'étalonnage pour codeur magnétoélectrique rotatif - Google Patents

Procédé, appareil et dispositif d'étalonnage pour codeur magnétoélectrique rotatif Download PDF

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Publication number
WO2021114419A1
WO2021114419A1 PCT/CN2019/129078 CN2019129078W WO2021114419A1 WO 2021114419 A1 WO2021114419 A1 WO 2021114419A1 CN 2019129078 W CN2019129078 W CN 2019129078W WO 2021114419 A1 WO2021114419 A1 WO 2021114419A1
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Prior art keywords
encoder
voltage signal
rotation angle
signal values
hall sensor
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PCT/CN2019/129078
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English (en)
Chinese (zh)
Inventor
夏一帆
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浙江禾川科技股份有限公司
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Publication of WO2021114419A1 publication Critical patent/WO2021114419A1/fr

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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
    • G01D18/00—Testing or calibrating apparatus or arrangements provided for in groups G01D1/00 - G01D15/00
    • 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
    • G01D5/14—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 the magnitude of a current or voltage
    • G01D5/142—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 the magnitude of a current or voltage using Hall-effect devices
    • G01D5/147—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 the magnitude of a current or voltage using Hall-effect devices influenced by the movement of a third element, the position of Hall device and the source of magnetic field being fixed in respect to each other

Definitions

  • the present invention relates to the field of rotary magnetoelectric encoders, in particular to a method for calibrating a rotating magnetoelectric encoder.
  • the invention also relates to a calibration device and equipment of a rotating magnetoelectric encoder.
  • the rotary magnetic encoder can detect the rotation angle of the measured shaft, and calculate the position and speed of the object connected to the shaft (such as the shaft of the motor) based on the rotation angle.
  • Huo The Er sensor can output two sinusoidal voltage signals with a phase difference of 90° with the rotation of the magnetic code disc.
  • the present invention provides a method for calibrating a rotary magnetoelectric encoder, which includes:
  • a preset fitting algorithm is used to calculate the two voltage signal values of the Hall sensor and the value of the magnetic code disc.
  • the rotation angle of the rotating shaft where the encoder to be calibrated is located is calculated.
  • the two voltage signal values of the Hall sensor are calculated using a preset fitting algorithm according to the plurality of sampled voltage signal values and the precise rotation angle value corresponding to each sampled voltage signal value
  • the functional expression corresponding to the rotation angle of the magnetic code disc is specifically:
  • a preset fitting algorithm is used to fit the function waveform of the correspondence between the two voltage signal values of the Hall sensor and the rotation angle of the magnetic code disc;
  • the obtaining the precise rotation angle value corresponding to each sampled voltage signal value of the rotating shaft of the encoder to be calibrated is specifically:
  • the accuracy of the precision encoder is a preset multiple of the accuracy of the encoder to be calibrated.
  • the preset fitting algorithm is a Fourier series interpolation fitting method.
  • the two sets of voltage signal values output by the Hall sensor in the encoder to be calibrated sampling at least one cycle are specifically:
  • the preset sampling frequency is greater than 1/16 of the resolution of the encoder to be calibrated.
  • the rotary magnetoelectric encoder After calculating the rotation angle of the shaft where the encoder to be calibrated is located according to the function expression and the two voltage signal values output by the Hall sensor in the encoder to be calibrated, the rotary magnetoelectric encoder
  • the calibration method also includes:
  • the present invention also provides a calibration device for a rotary magnetoelectric encoder, which includes:
  • the sampling module is used to sample at least one cycle of the two sets of voltage signal values output by the Hall sensor in the encoder to be calibrated;
  • An obtaining module configured to obtain the precise rotation angle value corresponding to each sampled voltage signal value of the rotating shaft where the encoder to be calibrated is located;
  • the first calculation module is used to calculate the two voltages of the Hall sensor by using a preset fitting algorithm according to the plurality of sampled voltage signal values and the precise rotation angle value corresponding to each sampled voltage signal value
  • the second calculation module is configured to calculate the rotation angle of the rotating shaft where the encoder to be calibrated is located according to the function expression and the two voltage signal values output by the Hall sensor in the encoder to be calibrated.
  • the first calculation module includes:
  • the fitting module is used to fit the function waveform of the correspondence between the two voltage signal values of the Hall sensor and the rotation angle of the magnetic code disc by using a preset fitting algorithm according to the sampled multiple voltage signal values;
  • the third calculation module is used to determine the zero point in the function waveform by using inverse triangulation calculation
  • the determination module is used to determine the function expression of the correspondence between the two voltage signal values of the Hall sensor and the rotation angle of the magnetic code disk according to the zero point and the precise rotation angle value corresponding to each sampled voltage signal value formula.
  • the calibration device of the rotary magnetoelectric encoder further includes:
  • the return module is used to return to the step of sampling at least one cycle of the two sets of voltage signal values output by the Hall sensor in the encoder to be calibrated after the preset period.
  • the present invention also provides a calibration device for a rotary magnetoelectric encoder, which includes:
  • Memory used to store computer programs
  • the processor is used to implement the steps of the method for calibrating the rotary magneto-electric encoder as described in any one of the preceding items when the computer program is executed.
  • the present invention provides a method for calibrating a rotary magnetoelectric encoder.
  • the embodiment of the present invention can fit the two sets of voltage signal values output by the Hall sensor in the encoder to be calibrated for at least one cycle obtained by sampling.
  • the function expression of the corresponding relationship between the two voltage signal values of the magnetic code disk and the rotation angle of the magnetic code disk because the function expression expresses the true corresponding relationship between the two voltage signal values of the Hall sensor and the rotation angle of the magnetic code disk Therefore, compared with the preset idealized sine-cosine curve, the accurate function expression fitted in this application can calculate the rotation angle of the rotating shaft more accurately, which improves the measurement accuracy of the rotary magnetoelectric encoder.
  • the present invention also provides a calibration device and equipment for the rotary magnetic encoder, which has the same beneficial effects as the calibration method of the rotary magnetic encoder.
  • Fig. 1 is a schematic flowchart of a calibration method of a rotary magnetic encoder provided by the present invention
  • Figure 2 is a schematic structural diagram of a calibration device for a rotary magnetic encoder provided by the present invention
  • Fig. 3 is a schematic structural diagram of a calibration device for a rotary magnetic encoder provided by the present invention.
  • FIG. 1 is a schematic flowchart of a method for calibrating a rotary magneto-electric encoder provided by the present invention, including:
  • Step S1 Sampling at least one cycle of the two sets of voltage signal values output by the Hall sensor in the encoder to be calibrated;
  • the two sets of voltage signal values output by the Hall sensor obtained by sampling in the embodiment of the present invention can be used as the data basis in the subsequent steps, so that the two voltage signal values of the Hall sensor and the rotation of the magnetic code disc can be obtained in the subsequent steps.
  • the functional expression of the corresponding relationship of the angle can be used as the data basis in the subsequent steps, so that the two voltage signal values of the Hall sensor and the rotation of the magnetic code disc can be obtained in the subsequent steps.
  • the embodiment of the present invention in order to achieve accurate fitting of the functional expression of the correspondence between the two voltage signal values of the Hall sensor and the rotation angle of the magnetic code disc, in the embodiment of the present invention, during the rotation of the shaft where the encoder to be calibrated is located, The voltage signal value of at least one cycle of the Hall sensor in the encoder to be calibrated arranged on the rotating shaft is sampled.
  • the sampling amount here may not be at least one cycle, for example, less than one cycle, etc.
  • This embodiment of the present invention does not do it here. limited.
  • Step S2 Obtain the precise rotation angle value corresponding to each sampled voltage signal value of the rotating shaft where the encoder to be calibrated is located;
  • a variety of measuring instruments can be used to obtain the precise rotation angle value.
  • a high-precision rotary magnetic encoder can be used for measurement.
  • the precise rotation angle value is required to correspond to the voltage signal value output by the Hall sensor on the time axis. .
  • the rotating shaft where the encoder to be calibrated is located may be of multiple types, for example, it may be a rotating shaft of a motor, etc., which is not limited in the embodiment of the present invention.
  • Step S3 According to the sampled multiple voltage signal values and the precise rotation angle value corresponding to each sampled voltage signal value, use a preset fitting algorithm to calculate the two voltage signal values of the Hall sensor and the rotation of the magnetic code disc The functional expression of the corresponding relationship of the angle;
  • the Hole sensor can be fitted.
  • the function expression of the corresponding relationship between the two voltage signal values of the Er sensor and the rotation angle of the magnetic code disc is more true and accurate because it is fitted according to the actual collected data.
  • the function expression of the corresponding relationship between the voltage signal value of the Hall sensor and the rotation angle of the magnetic code disc basically conforms to the function expression of the sine-cosine waveform curve of the trigonometric function, but it is relative to the standard sine-cosine curve. There are some offset errors, gain errors or phase errors.
  • the function expression of the corresponding relationship between the two voltage signal values of the Hall sensor and the rotation angle of the magnetic code disc can basically conform to:
  • Step S4 Calculate the rotation angle of the rotating shaft where the encoder to be calibrated is located according to the function expression and the two voltage signal values output by the Hall sensor in the encoder to be calibrated.
  • the measured function expression can be combined with the code to be calibrated.
  • the two voltage signal values output by the Hall sensor in the device calculate the rotation angle of the shaft where the encoder to be calibrated is located. For example, at the current moment, you can combine the two function expressions and the two voltage signal values currently output by the Hall sensor to calculate Get the rotation angle of the shaft at the current moment.
  • the rotary magnetic encoder will sample the current position through the sampling points of the two Hall resistors with a difference of 90° when the magnetic code disc rotates one circle, and output two phase differences.
  • a complete cycle of the sine voltage waveform curve of 90° usually we call the sin ⁇ curve that is 90° ahead, and the cos ⁇ curve that is 90° behind ( ⁇ is the current rotation angle value of the shaft). Then by reading the current two voltage signal values, use the arctangent function to solve the current angle value of the encoder.
  • the principle is as follows:
  • the output waveform signal may not be the ideal sin ⁇ , cos ⁇ curve waveform.
  • the output waveform curve may not be the ideal sin ⁇ , cos ⁇ curve waveform.
  • the present invention provides a method for calibrating a rotary magnetoelectric encoder.
  • the embodiment of the present invention can fit the two sets of voltage signal values output by the Hall sensor in the encoder to be calibrated for at least one cycle obtained by sampling.
  • the function expression of the corresponding relationship between the two voltage signal values and the rotation angle of the magnetic code disc because the function expression expresses the true correspondence between the two voltage signal values of the Hall sensor and the rotation angle of the magnetic code disc Therefore, compared with the preset idealized sine-cosine curve, the accurate function expression fitted in this application can calculate the rotation angle of the rotating shaft more accurately, which improves the measurement accuracy of the rotary magnetoelectric encoder.
  • a preset fitting algorithm is used to calculate the two voltage signal values of the Hall sensor and the functional expression of the corresponding relation of the rotation angle of the magnetic code disc is specifically as follows:
  • a preset fitting algorithm is used to fit the function waveform of the corresponding relationship between the two voltage signal values of the Hall sensor and the rotation angle of the magnetic code disc;
  • the functional expression of the corresponding relationship between the two voltage signal values of the Hall sensor and the rotation angle of the magnetic code disc is determined.
  • the corresponding relationship between the two voltage signal values of the Hall sensor and the rotation angle of the magnetic code disc can be fitted according to the sampled multiple voltage signal values (without corresponding to the exact rotation angle value of the shaft at the same time)
  • the position of the abscissa zero point should be at the abscissa of the maximum y value of the curve waveform, but we cannot use the directly read voltage signal value
  • the abscissa of the maximum point is used as the abscissa zero point.
  • obtaining the precise rotation angle value corresponding to each sampled voltage signal value of the rotating shaft where the encoder to be calibrated is located is specifically:
  • the precision of the precision encoder is a preset multiple of the precision of the encoder to be calibrated.
  • the preset multiple can be independently set, for example, it can be 10 times, etc., which is not limited in the embodiment of the present invention.
  • a high-precision measuring device as a reference for the abscissa ⁇ value, and consider it as an ideal angular position.
  • the first is to collect data.
  • the dual-channel ADC Analog-to-Digital Converter
  • we appropriately use single-point trigger and dual-channel simultaneous sampling and at the same time we need to synchronize Sampling the angle value of high-precision measuring equipment.
  • What we need to ensure is the dual-channel ADC and high-precision device angle synchronous sampling, so that the phase error can be minimized.
  • the collected data points should be distributed in at least one complete cycle, and they should be properly and evenly distributed on the abscissa ⁇ , and the number should be sufficient. Only in this way can we ensure that the fitted function waveform is as close as possible to the ideal curve waveform.
  • the precision encoder has the advantages of high precision and convenient use.
  • the preset fitting algorithm is a Fourier series interpolation fitting method.
  • the preset fitting algorithm may also be of other types, which is not limited in the embodiment of the present invention.
  • the two sets of voltage signal values output by the Hall sensor in the encoder to be calibrated sampling at least one cycle are specifically:
  • the preset sampling frequency is greater than 1/16 of the resolution of the encoder to be calibrated.
  • the sampling frequency can be set to a value greater than 1/16 of the resolution of the encoder to be calibrated. In this case, the number of data points sampled It is sufficient to simulate an accurate waveform curve, and the more data points are sampled, that is, the higher the sampling frequency, the more accurate the simulated waveform curve.
  • the calibration method of the rotary magnetoelectric encoder also includes:
  • the function expression of the waveform curve simulated last time will deviate greatly from the actual one. Therefore, in the embodiment of the present invention, it can be returned after a preset period.
  • the step of sampling at least one cycle of the two sets of voltage signal values output by the Hall sensor in the encoder to be calibrated, so as to re-determine the function expression of the correspondence between the two voltage signal values of the Hall sensor and the rotation angle of the magnetic code disc It realizes the automatic calibration of the encoder to be calibrated every preset period.
  • the preset period can be independently set according to actual conditions, for example, can be set to 1 month, etc., which is not limited in the embodiment of the present invention.
  • Figure 2 is a schematic structural diagram of a calibration device for a rotary magnetic encoder provided by the present invention, including:
  • Sampling module for sampling at least one cycle of two sets of voltage signal values output by the Hall sensor in the encoder to be calibrated
  • the second calculation module 4 is used to calculate the rotation angle of the rotating shaft where the encoder to be calibrated is located according to the function expression and the two voltage signal values output by the Hall sensor in the encoder to be calibrated.
  • the first calculation module includes:
  • the fitting module is used to fit the function waveform of the corresponding relationship between the two voltage signal values of the Hall sensor and the rotation angle of the magnetic code disc by using a preset fitting algorithm according to the sampled multiple voltage signal values;
  • the third calculation module is used to determine the zero point in the function waveform by using inverse triangulation calculation
  • the determination module is used to determine the function expression of the correspondence between the two voltage signal values of the Hall sensor and the rotation angle of the magnetic code disc according to the zero point and the precise rotation angle value corresponding to each sampled voltage signal value.
  • the return module is used to return to the step of sampling at least one cycle of the two sets of voltage signal values output by the Hall sensor in the encoder to be calibrated after the preset period.
  • FIG. 3 is a schematic structural diagram of a calibration device for a rotary magnetic encoder provided by the present invention, including:
  • the memory 5 is used to store computer programs
  • the processor 6 is used to implement the steps of any one of the calibration methods of the rotary magnetoelectric encoder when executing the computer program.

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  • General Physics & Mathematics (AREA)
  • Transmission And Conversion Of Sensor Element Output (AREA)

Abstract

L'invention concerne un procédé d'étalonnage et un appareil d'étalonnage pour un codeur magnétoélectrique rotatif. Une expression de fonction d'une corrélation entre deux valeurs de signal de tension d'un capteur à effet Hall et l'angle de rotation d'un disque à codage magnétique est ajustée sur la base de deux groupes de valeurs de signal de tension, lesquelles sont obtenues par échantillonnage, délivrées en sortie au sein d'au moins une période par le capteur à effet Hall dans un codeur à étalonner. Du fait que l'expression de fonction exprime la corrélation réelle entre les deux valeurs de signal de tension du capteur à effet Hall et l'angle de rotation du disque à codage magnétique, par comparaison avec des courbes sinusoïdales et cosinusoïdales idéalisées prédéfinies, l'angle de rotation d'un arbre rotatif peut être calculé plus précisément conformément à l'expression de fonction précise ajustée, améliorant ainsi la précision de mesure du codeur magnétoélectrique rotatif.
PCT/CN2019/129078 2019-12-13 2019-12-27 Procédé, appareil et dispositif d'étalonnage pour codeur magnétoélectrique rotatif WO2021114419A1 (fr)

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CN201911283773.4A CN110940371B (zh) 2019-12-13 2019-12-13 一种旋转磁电编码器的校准方法、装置及设备
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CN107449460A (zh) * 2017-07-07 2017-12-08 银弗（北京）科技有限公司 一种旋转编码器的补偿方法和补偿***
CN107655511A (zh) * 2017-11-03 2018-02-02 常州寻心电子科技有限公司 一种磁性编码器校准装置及方法
WO2019142875A1 (fr) * 2018-01-19 2019-07-25 日本精工株式会社 Dispositif de direction assistée électrique et procédé de détection d'angle de rotation
CN109163752A (zh) * 2018-09-18 2019-01-08 张明辉 最小二乘法曲线拟合校正磁编码器的初值算法
CN109708681A (zh) * 2019-02-19 2019-05-03 深圳市盛泰奇科技有限公司 编码器校准方法及装置

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