Magnetic encoder, calibration method and device for magnetic encoder, motor and unmanned aerial vehicle

Abstract

An embodiment of the invention provides a magnetic encoder, a calibration method and device for the magnetic encoder, a motor and an unmanned aerial vehicle, and belongs to the field of electronic control. The calibration method herein comprises: controlling a rotor of a three-phase symmetric motor to rotate stepwise under a preset electrical angle increment on the basis of space vector pulse width modulation, so that a magnet on a mechanical shaft is driven to rotate; acquiring detection angles detected by the magnetic encoder when the rotor is at different first electrical angles when rotating stepwise under the preset electrical angle increment; storing a correspondence between the detection angles and the first electrical angles so as to calibrate the magnetic encoder. Therefore, by making use of the characteristic that the electrical angle of the three-phase symmetric motor can be accurately controlled through space vector pulse width modulation, calibration between the detectionangle of a lateral magnetic encoder and the electrical angle of the three-phase symmetric motor can be completed; the lateral magnetic encoder is applicable to the detection of the angle of the three-phase symmetric motor; therefore, miniature design of the devices, such as a head, is achieved.

Description

technical field [0001] The invention relates to the field of electronic control, in particular to a magnetic encoder, its calibration method and calibration device, a motor and an unmanned aerial vehicle. Background technique [0002] Magnetic encoders are widely used as sensors in angle and position detection due to their non-contact, small size, low cost, simple structure and high reliability. In applications involving motor positioning, such as gimbals, magnetic encoding schemes are usually used to detect the angle and position of the motor. Such as figure 1 As shown, in the current magnetic encoder, the magnetic sensor is usually used facing the magnet. The advantage of this is that the magnetic field generated by the magnet is evenly distributed at the magnetic sensor, and the angular output of the magnetic sensor is linear to the actual mechanical angle of the motor. In this way, the magnetic encoder can basically not be calibrated, or it can be calibrated by connect...

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Problems solved by technology

[0003] However, when the magnetic encoder is used in scenarios such as the gimbal of an unmanned aerial vehicle, a miniaturized design is often required

The existing installation method of the magnetic sensor and the magnet facing each other usually requires a space of about 1.5-3mm for installation, which is not conducive to the miniaturization design of the gimbal

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