Magnetic encoder and its calibration method and calibration device, motor and unmanned aerial vehicle

Abstract

The embodiment of the present invention provides a magnetic encoder, its calibration method and calibration device, a motor, and an unmanned aerial vehicle, belonging to the field of electronic control. The calibration method includes: obtaining the detection angle detected by the magnetic encoder; adjusting the electrical angle of the rotor of the three-phase symmetrical motor based on the space vector pulse width modulation according to the difference between the detection angle and the given mechanical angle to be calibrated, so as to Make the difference be within the preset threshold range; when the difference is within the preset threshold range, store the current electrical angle as the first electrical angle calibration value corresponding to the given mechanical angle to the corresponding storage unit to complete the calibration of the given mechanical angle. In this way, the calibration between the detection angle of the side-type magnetic encoder and the electrical angle of the three-phase symmetrical motor can be completed, so that the side-type magnetic encoding can be applied to the angle detection of the three-phase symmetrical motor, so as to realize the The purpose of miniaturization design.

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 connecti...

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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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