Method and system for determining compensation coefficient of speed sensor

Abstract

This application proposes a method and system for determining a compensation coefficient for a speed sensor. The method obtains a speed reference value and a speed measurement value of the speed sensor; obtains multiple operating parameters associated with at least one operating environment of the speed sensor; determines a relationship between the compensation coefficient and the operating parameters based on the speed difference between the speed measurement value and the speed reference value; and, based on this relationship, determines the compensation coefficient for the speed sensor under the set operating parameters. This method and system can improve sensor measurement accuracy, reduce development and labor costs, and increase sensor calibration and testing efficiency.

Description

Technical Field

[0001] The present application relates to sensor calibration and, more particularly, to methods, systems, and computer storage media for determining compensation coefficients for calibrating a speed sensor. Background Art

[0002] Speed ​​sensors include angular velocity sensors, wheel speed sensors, and linear velocity sensors. For example, wheel speed sensors are widely used to measure the wheel speed of a vehicle and thus evaluate the vehicle's power.

[0003] Before using a speed sensor, its errors must be calibrated. Speed ​​sensors typically use a speed compensation coefficient as a calibration parameter. Existing compensation coefficient algorithms are based on a mathematical expression for the sensor's acquisition interval. However, calculating the compensation coefficient based solely on the acquisition interval does not fully calibrate sensor errors, resulting in inaccurate speed sensor measurements.

[0004] Therefore, there is a need to improve the calculation of compensation parameters of speed sensors. Summary of the Invention

[0005] The present application aims to provide a method and system for more accurately determining a compensation coefficient of a speed sensor.

[0006] According to one aspect of the present application, a method for determining a compensation coefficient of a speed sensor is proposed, comprising:

[0007] Obtain the speed reference value and speed measurement value of the speed sensor;

[0008] Acquiring a plurality of operating parameters of the speed sensor, wherein the operating parameters are at least associated with a use environment of the speed sensor;

[0009] determining a relationship between a compensation coefficient and an operating condition parameter based on a speed difference between a speed measurement value and a speed reference value; and

[0010] Based on the above relationship, the compensation coefficient of the speed sensor under the set operating parameters is determined.

[0011] According to another aspect of the present application, a system for determining a compensation coefficient of a speed sensor is proposed, comprising a calibration test bench including a rotating device to be measured, a reference speed sensor, and the speed sensor, wherein the reference speed sensor and the speed sensor are both used to measure the rotational speed of the rotating device to be measured to obtain a speed reference value and a speed measurement value, respectively; and a processing device configured to implement the above-mentioned method for determining the compensation coefficient of the speed sensor based on information obtained from the calibration test bench.

[0012] According to another aspect of the present application, a computer-readable storage medium is provided, on which a computer program is stored. The computer program includes executable instructions. When the executable instructions are executed by a processor, the method described above is implemented.

[0013] According to another aspect of the present application, an electronic device is provided, including a processor; and a memory for storing executable instructions of the processor, wherein the processor is configured to execute the executable instructions to implement the method described above.

[0014] By applying the proposed solution, we can determine the relationship between the speed sensor's measurement error and various operating parameters, taking into account factors related to the sensor's inherent characteristics and operating environment, such as sensor temperature and the degree of speed variation, on top of the acquisition interval. This overcomes the problem of a single source for calculating the sensor's compensation coefficient, enabling more accurate determination of the speed sensor's compensation coefficient. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The above and other features and advantages of the present application will become more apparent by describing in detail exemplary embodiments thereof with reference to the attached drawings.

[0016] Figure 1 The flowchart of the method for determining the compensation coefficient of the speed sensor according to one embodiment of the present application is shown in FIG.

[0017] Figure 2 The present invention provides a detailed process for determining a calibrated compensation coefficient in a method for determining a compensation coefficient of a speed sensor according to an embodiment of the present application.

[0018] Figure 3 4 is a schematic structural block diagram of a system for determining a compensation coefficient of a speed sensor according to an embodiment of the present application.

[0019] Figure 4 1 is a schematic structural block diagram of an electronic device for determining a compensation coefficient of a speed sensor according to an embodiment of the present application. DETAILED DESCRIPTION

[0020] The exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, the exemplary embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that the disclosure of this application will be thorough and complete and will fully convey the concepts of the exemplary embodiments to those skilled in the art. In the drawings, the dimensions of some elements may be exaggerated or distorted for clarity. Identical reference numerals in the drawings represent identical or similar structures, and thus their detailed descriptions will be omitted.

[0021] In addition, described feature, structure or characteristic can be combined in one or more embodiments in any suitable manner.In the following description, many specific details are provided so as to provide a full understanding of the embodiments of the present application. However, it will be appreciated by those skilled in the art that the technical scheme of the present application can be put into practice without one or more of the specific details, or other methods, elements etc. can be adopted. In other cases, known structures, methods or operations are not shown or described in detail to avoid blurring the various aspects of the application.

[0022] This application takes the wheel speed sensor used to measure the wheel speed in a vehicle as an example to introduce a method and system for determining the compensation coefficient used in the calibration process of the speed sensor. The method and system can be used in a signal observation module for calibrating the power of a test vehicle. In addition to the wheel speed sensor, the signal observation module can also include other speed-related sensors such as angular velocity sensors and acceleration sensors. However, the scheme for determining the compensation coefficient of the speed sensor proposed in this application is not limited to the wheel speed sensor. The rotational speed sensor is used to measure the rotational speed of a rotating device such as a rotating shaft (it can also be regarded as an angular velocity sensor). According to the relationship between angular velocity and linear velocity, the linear velocity of the measured rotating device can be calculated based on the angular velocity, so the determination of the compensation coefficient is also applicable to various types of speed sensors including linear velocity sensors.

[0023] Wheel speed sensors can use either magnetoelectric or Hall-effect sensors. They detect the periodic magnetic field variations generated by the teeth and gaps of a sprocket fixed to a rotating device (such as a vehicle axle) passing through the sensor's sensor head. The sensor then calculates the number of pulses collected per unit time (e.g., seconds or milliseconds). The number of pulses is the reciprocal of the period of the periodic magnetic field variations between adjacent teeth. This information, combined with other parameters such as the number of teeth on the sprocket, can be used to calculate the angular velocity of the rotating device.

[0024] The speed sensor's compensation coefficient is used to calibrate the error between the speed measurement value collected by the speed sensor and the actual speed value. This error can be affected by the sensor's sampling settings. The sampling settings generally include the speed sensor's sampling interval. A shorter sampling interval better reflects instantaneous speed changes, but this results in a larger sampling and computational workload, increasing the computational and storage load on the processing device. A longer sampling interval reduces the sampling and computational workload, but this comes at the cost of the speed sensor's measurement not being able to respond promptly to speed changes, resulting in reduced measurement accuracy. Therefore, the length of the sampling interval can lead to an error between the speed sensor's measured value and the actual value, making the sampling interval a factor in determining the accuracy of the speed sensor's measurement. Existing compensation coefficient calculation methods use a mathematical expression representing the relationship between a pre-calibrated sampling interval and the speed sensor's compensation coefficient. However, this compensation coefficient calculation method only considers a single source of error, stemming from the sampling setting parameters.

[0025] In addition to factors related to sensor acquisition settings, other factors also influence the speed sensor's measurement accuracy in its operating environment. For example, the sensor's measurement accuracy is affected by the temperature of its operating environment, which is known as temperature drift. The speed sensor's measurement value must also track instantaneous or short-term changes in speed in real time, so measurement accuracy is also related to the speed of the object being measured. The acquisition interval, sensor temperature, and speed variation can be considered operating parameters associated with the speed sensor's operating environment.

[0026] The speed change can be characterized, for example, by a speed change gradient. In this application, the speed change gradient represents the speed and degree of change in speed over time. It can be calculated using the quotient of the speed change within a sampling interval and the length of the sampling interval, or it can be calculated using the derivative of the speed change and the sampling interval. In the calculation, the first-order derivative of the speed change and the sampling interval is generally used, but higher-order derivatives can also be calculated as needed. Other parameters that characterize the speed change can also be used.

[0027] These speed sensor operating parameters characterize the state and environment of the speed sensor during measurement. Those skilled in the art will appreciate that these parameters include not only those listed herein but also other parameters related to the sensor's operating environment or the sensor's inherent characteristics.

[0028] The following combination Figure 1 and Figure 2 The method flow and some details thereof for determining the compensation coefficient of the speed sensor are shown. Figure 3A system for determining a compensation coefficient of a speed sensor is shown to introduce the principles and exemplary embodiments of the present application.

[0029] The method of the present application mainly includes step S110 of obtaining a speed reference value and a speed measurement value of a speed sensor, step S120 of obtaining multiple operating parameters of the speed sensor, step S130 of determining the relationship between the compensation coefficient and these operating parameters based on the speed difference between the speed measurement value and the reference value, and step S140 of generating a compensation coefficient of the speed sensor under any other operating parameters different from the above-mentioned operating parameters based on the determined relationship.

[0030] Specifically, step S110 may include a sub-step S111 of building a calibration test bench, a sub-step S112 of selecting a reference speed sensor, and a sub-step S113 of using the calibration test bench to collect the speed signal 101 to obtain a speed reference value and a measurement value.

[0031] The speed reference value and the measured value can be obtained by building a calibration test bench for determining the compensation coefficient of the speed sensor. Figure 3 Shown in. Figure 3 The test bench structure shown is used to measure and calibrate the compensation coefficient of the wheel speed sensor. It mainly includes a mounting plate or base 301, a drive device 302 (e.g., a drive motor) for driving a rotating device 304 (e.g., a vehicle axle), a connecting device 303 (e.g., a flange connection plate) for rigidly or flexibly connecting the drive device 302 to the rotating device 304, and a support device 305 (e.g., a support bearing seat) for fixing and supporting the other side of the rotating device 304. A wheel speed sensor 307 is disposed below the rotating device 304 and is used to measure the rotational speed of the rotating device 304 and calibrate the compensation coefficient of the wheel speed sensor 307 under the operating parameters measured by the calibration test bench. Therefore, the wheel speed sensor 307 serves as the speed sensor to be calibrated in the calibration test bench. A high-precision wheel speed sensor 306, also disposed below the rotating device 304 and used to calibrate the wheel speed sensor 307, is used to provide the actual rotational speed of the rotating device 304 as a reference standard.

[0032] During the calibration test, the driving device 302 rotates at a constant speed, driving the rotating device 304 via the connecting device 303. The high-precision wheel speed sensor 306 and the wheel speed sensor to be calibrated 307 respectively measure and acquire the rotational speed of the rotating device 304 through a signal acquisition unit within or in conjunction with the sensor, generating a rotational speed signal 101. The speed reference value and speed measurement value acquired in step S110 come from the reference speed sensor (high-precision rotation speed sensor 306), while the speed measurement value comes from the speed sensor to be calibrated (rotation speed sensor 307).

[0033] The high-precision wheel speed sensor 306 selected in sub-step S112 as the reference speed sensor should have higher accuracy than the wheel speed sensor 307 to be calibrated. The calibration test bench uses the rotational speed measured by the high-precision wheel speed sensor 306 as the accurate value of the actual rotational speed for subsequent calculation of the speed difference between the sensor's measured value and the reference value. This speed difference is then used to adjust the compensation coefficient value for the current operating parameters to complete the compensation coefficient calibration.

[0034] Next, in step S120 , various operating parameters of the speed sensor are acquired. In addition to the sampling interval 102 , these operating parameters may also include other operating parameters associated with the use environment, such as sensor temperature 103 and speed change gradient 104 .

[0035] The speed change gradient 104 is calculated using the method described above based on the rotational speed signal 101 collected in step S110 (specifically, sub-step S113) and the sampling interval 102 collected in step S120. The speed change gradient 104 represents the real-time or short-term speed change of the rotating device 304. Therefore, the rotational speed signal measured by the high-precision wheel speed sensor 306, which serves as a reference speed sensor, is preferably used for calculation. The sampling interval 102 can be collected based on a timer or system clock of the calibration test bench. In addition to obtaining the sampling interval 102 and the speed change gradient 104, the step S120 of collecting operating condition parameters also includes obtaining the sensor temperature 103. According to an embodiment of the present application, the rotational speed sensor 307 to be calibrated may include a temperature sensor within, on its surface, or in a component used in conjunction with it, for providing the sensor temperature 103 of the rotational speed sensor 307. Alternatively, a temperature sensor capable of collecting the sensor temperature 103 of the rotational speed sensor 307 may be provided adjacent to the rotational speed sensor 307 on the calibration test bench.

[0036] In sub-step S113, the speed measurement signal (speed measurement value) collected by the wheel speed sensor 307 and the speed reference signal (speed reference value) collected by the high-precision wheel speed sensor 306, as well as the operating condition parameters 102, 103 and 104 collected in step S120, are transmitted to the system's processing device 308 for further calculation.

[0037] After obtaining the speed signal 101 (including the speed reference value and the speed measurement value), sampling interval 102, sensor temperature 103 and speed change gradient 104 through the calibration test bench, the sensor compensation coefficient corresponding to the working condition parameters is calibrated. The calibration function can be used in Figure 3 is completed in the processing device 308.

[0038] In step S130, a relationship between a compensation coefficient and a corresponding operating condition parameter is determined based on the speed difference between the speed measurement value and the speed reference value. Step S130 specifically includes a sub-step S131 of determining a calibration compensation coefficient corresponding to the operating condition parameter based on the speed difference between the speed measurement value and the reference value, and a sub-step S132 of determining a relationship between the compensation coefficient and the operating condition parameter based on the determined calibration compensation coefficient.

[0039] Since the operating parameters include at least a sampling interval 102, sensor temperature 103, and speed gradient 104, a controlled variable approach is used during the calibration process to facilitate calculation. Specifically, when calibrating the speed sensor compensation coefficient as it varies with one operating parameter, the other operating parameters are set to a constant state, thereby determining an independent relationship between the compensation coefficient and each operating parameter. Thus, calibration of the compensation coefficient can include calibration based on the relationship between the sampling interval and the compensation coefficient, calibration based on the relationship between the sensor temperature and the compensation coefficient, and calibration based on the relationship between the speed gradient and the compensation coefficient. These calibration processes can be performed sequentially or in parallel.

[0040] Sub-step S131 may further include a sub-step S1311 of selecting a compensation coefficient to calculate the speed difference between the speed compensation value of the compensated speed measurement value and the speed reference value, a sub-step S1312 of adjusting the compensation coefficient under the constraint of the speed difference restriction condition, and a sub-step S1313 of determining the adjusted compensation coefficient as a calibration compensation coefficient corresponding to the operating condition parameter.

[0041] The following is combined with Figure 2 The logic flow shown in more detail in FIG. 1 describes the calibration process of sub-step S131.

[0042] In sub-step S1311, the type of operating condition parameter is first selected. For example, the sensor temperature 103 is selected and the other two operating condition parameters are set to constant to examine the relationship between the sensor temperature 103 and the compensation coefficient, as shown in 201. Then, the initial value of the compensation coefficient of the speed sensor under the operating condition parameter that mainly examines the sensor temperature 103 is set, as shown in 202. The process of selecting the sampling time interval 102 and the speed change gradient 104 is similar. The initial value of the compensation coefficient needs to meet the compensation coefficient constraint condition, that is, fall within the compensation coefficient threshold range. The compensation coefficient threshold range is characterized by a minimum compensation coefficient and a maximum compensation coefficient. The above compensation coefficient constraint condition can be expressed by the following formula:

[0043] Offset min ≤Offset Int ≤Offset max

[0044] Among them, Offset min Offset is the minimum compensation coefficient of the speed sensor under certain working parameters or all working parameters. max Offset is the maximum compensation coefficient of the speed sensor under certain working parameters or all working parameters. Int The initial value of the selected compensation coefficient is . The minimum compensation coefficient and the maximum compensation coefficient can be set in advance. In the subsequent adjustment of the compensation coefficient, the compensation coefficient constraint condition must always be satisfied.

[0045] Then, in sub-step S1312, the compensation coefficient is adjusted. The constraint condition for the compensation coefficient adjustment is that the absolute value of the difference between the speed compensation value obtained after the speed measurement value of the speed sensor is compensated by the compensation coefficient and the speed reference value must meet the speed difference constraint condition.

[0046] First, the speed compensation value after compensation coefficient compensation is calculated, as shown in 203. The relationship between the speed measurement value before and after compensation coefficient compensation and the compensation coefficient is expressed by formula (1):

[0047] N offset =N current *Offset (1)

[0048] Among them, N offset is the speed measurement value of the speed sensor after compensation coefficient compensation, that is, the speed compensation value, N current is the speed measurement value of the sensor before compensation by the compensation coefficient, and Offset is the current compensation coefficient.

[0049] Next, the speed difference between the speed compensation value obtained in 203 and the speed reference value is calculated according to formula (2), as shown in 204.

[0050] N Diff =N refer -N offset (2)

[0051] Among them, N Diff The speed difference between the speed reference value and the speed compensation value, N refer is the speed reference value from the high-precision wheel speed sensor 306, N offset is the speed compensation value calculated in formula (1).

[0052] The adjusted compensation coefficient should make the speed difference satisfy the speed difference constraint condition. The speed difference constraint condition includes that the speed difference calculated in formula (2) should fall within the speed difference threshold range, as shown in the logical judgment of the speed difference in 205. The speed difference threshold range can be characterized by the minimum speed difference absolute value and the maximum speed difference absolute value. The above speed difference constraint condition can be expressed by the following formula:

[0053] N Difmin ≤AbsN Dif ≤N Difmax

[0054] Among them, N Difmin is the absolute value of the minimum speed difference, N Difmax is the absolute value of the maximum speed difference, AbsN Dif The absolute value of the speed difference between the current speed compensation value and the speed reference value. The minimum speed difference absolute value and the maximum speed difference absolute value can be pre-set.

[0055] The speed difference restriction condition (speed difference threshold range) is used as the target and condition for determining whether the calibration and adjustment of the compensation coefficient is completed. If the adjusted compensation coefficient makes the speed difference meet the speed difference restriction condition (the judgment result of 205 is "yes"), the calibration of the compensation coefficient is completed. In sub-step S1313, the adjusted current compensation coefficient is determined as the calibration compensation coefficient corresponding to the working condition parameter and output, such as Figure 2 If the speed difference does not meet the speed difference constraint condition (the judgment result of 205 is "no"), it is necessary to further adjust the compensation parameter. It should be noted that the calculation of the speed compensation value and the speed difference value are both performed on the speed signal and data at the same time.

[0056] If the result of the determination at 205 is negative, the process continues by determining the magnitude of the speed difference. In logical decision 207, the speed difference (the speed reference minus the speed compensation value) is compared with 0, and different compensation coefficient adjustment strategies are adopted based on the comparison result. If the speed difference is greater than 0 (the result of the determination at 207 is "yes"), it indicates that the speed compensation value is less than the speed reference value, and the compensation coefficient needs to be increased to more quickly increase the speed compensation value to near the speed reference value, as shown in 208. Conversely, if the speed difference is less than 0 (the result of the determination at 207 is "no"), it indicates that the speed compensation value is greater than the speed reference value, and the compensation coefficient needs to be decreased to more quickly decrease the speed compensation value to near the speed reference value, as shown in 209. In 207, the speed difference is generally not zero. In this case, the speed compensation value is equal to the speed reference value, and the absolute value of the speed difference is 0, which inevitably leads to a "yes" determination at 205. The compensation coefficient can be adjusted (i.e., increased or decreased) using, for example, a uniform step size (equal gradient) or a non-uniform step size. Depending on the needs, the adjustment step size can also be determined using other methods.

[0057] The adjusted compensation coefficient is used again in 203 to calculate a speed compensation value of the current speed measurement value, and further in 204 to calculate a speed difference between the speed compensation value and the speed reference value. Figure 2 The above logic is looped until all the selected operating condition parameter types of the calibration test operating conditions and all the operating condition parameters in the operating condition parameters of the type are calibrated to obtain corresponding calibration compensation parameters.

[0058] The completion of sub-step S131 indicates that the speed sensor compensation coefficient calibration test has been completed. Depending on the requirements, the calibration test must ensure that the compensation coefficients for a certain number of operating conditions are obtained. The calibrated compensation coefficients can be stored in an initial calibration compensation coefficient data table or initial calibration compensation coefficient database.

[0059] In sub-step S132, data processing for calibrating the compensation coefficient continues. This involves determining, based on the calibrated compensation coefficient, the relationship between the compensation coefficient and the selected operating condition parameter, particularly a functional relationship, to lay the foundation for determining the compensation coefficient under any given operating condition parameter. In this document, the term "relationship" refers to the correlation or dependency between two or more objects. A relationship can be represented and embodied in the form of a data set, such as a function, curve, data table, or database, comprising two or more variables or parameters. For example, the relationship between the compensation coefficient and sensor temperature can be represented as a function or curve showing the compensation coefficient as a function of sensor temperature, or more conveniently, as a table or database containing data items for the compensation coefficient and sensor temperature. Determining this relationship can also employ the control variable approach described in sub-step S131. Specifically, while calibrating the speed sensor's compensation coefficient as a function of one operating condition parameter, the other operating condition parameters are set constant, thereby determining independent relationships between the compensation coefficient and each operating condition parameter. Determining the relationships between these operating condition parameters and the compensation coefficient can be performed sequentially or in parallel.

[0060] Sub-step S132 may include sub-step S1321 of screening the calibration compensation coefficient based on the selected numerical range of the operating condition parameter, sub-step S1322 of determining the resolution of the operating condition parameter, and sub-step S1323 of determining the relationship between the calibration compensation coefficient and the selected operating condition parameter.

[0061] In sub-step S1321, the data ranges of interest for the three operating parameters of the speed sensor, namely, the acquisition time interval 102, the sensor temperature 103, and the speed change gradient 104, are set respectively, and data (noise data) that is irrelevant to the application scenario of the speed sensor or affects the accuracy of the relationship determination is filtered out.

[0062] In sub-step S1322, the resolutions of the three operating parameters are set to adjust the calculation accuracy and amount of calculation based on the calibration compensation coefficient to fit the (functional) relationship between the operating parameters and the compensation coefficient.

[0063] In sub-step S1323, the relationship between the compensation coefficient and the selected operating condition parameter is determined based on the screened calibration compensation coefficient and the corresponding numerical value of the selected operating condition parameter. The relationship can be represented by a function expression, preferably a linear function. The relationship determination process is the function fitting process. Optionally, the function fitting process can, for example, use an interpolation method to generate a compensation coefficient at other operating condition parameter values ​​that are different from the numerical value of the selected operating condition parameter corresponding to the determined calibration compensation coefficient. The compensation coefficient is called an extended compensation coefficient. The linear interpolation method can effectively reduce the amount of calculation while meeting the fitting accuracy. The order of linear interpolation can be pre-set. The higher the order, the more accurate the functional relationship fitted by the interpolation method, and the more accurate the linear interpolation values ​​of other operating condition parameters generated based on the functional relationship.

[0064] Then, based on the calibration compensation coefficients obtained during the calibration test and the extended compensation coefficients obtained during the function fitting process, as well as the values ​​of the selected operating parameters corresponding to these compensation coefficients, a more accurate and complete (functional) relationship between the compensation coefficients and the selected operating parameters is generated. The data of the selected operating parameters and the corresponding compensation coefficients can be stored in a final calibration compensation coefficient data table or database. The data table or database includes more or arbitrarily set operating parameters than those in the calibration test, or can more quickly, simply and accurately determine the compensation coefficients under arbitrarily set operating parameters. According to an embodiment of the present application, the relationship in the form of the fitted function expression can also be stored in the data table or database so that the compensation coefficients under arbitrarily set operating parameters can be determined through simple calculations.

[0065] In step S140, based on the above-mentioned data table / database and / or function expression information representing the relationship between the compensation coefficient and the operating condition parameter obtained in step S130, the compensation coefficient under the arbitrarily set operating condition parameter is determined so as to calibrate the speed measurement value of the speed sensor and use the speed compensation value of the speed measurement value compensated by the compensation coefficient as the accurate true speed value. For example, by querying the data table or database, the corresponding compensation coefficient in the data item including the current operating condition parameter can be determined. If the data table or database does not include the data item of the current operating condition parameter, the corresponding compensation coefficient of the current operating condition parameter can be obtained by interpolating the data item including the operating condition parameter associated with (e.g., close to) the current operating condition parameter. The compensation coefficient corresponding to the current operating condition parameter can also be calculated based on the obtained function expression.

[0066] At least one of the above steps S130 and S140, and at least one sub-step thereof, may be performed in Figure 3 The system for determining the compensation coefficient of the speed sensor is shown to be automatically executed by a script program in the processing device 308. Those skilled in the art will appreciate that one or more of these steps / sub-steps may also be executed in other processing devices located near or remote from the calibration test bench, or in other processing devices on a network or cloud.

[0067] By employing the above-described method and system for determining the compensation coefficient of a speed sensor, compared to solutions based on a single operating parameter (sampling interval), solutions based on multiple operating parameters (including at least three operating parameters: sampling interval, sensor temperature, and speed gradient) result in more accurate compensation coefficient values, thereby improving the accuracy of the speed measurement signal. This solution considers the sensor's inherent characteristics and the influence of the operating environment, and uses accurate calibration test data to obtain more accurate compensation coefficient data. This also increases the accuracy of the calculation results of the relevant software logic designed based on this solution. Furthermore, this system, which uses a universal calibration test bench and universal algorithms, can perform calibration tests for speed sensors of different projects and models, significantly reducing subsequent development costs. Furthermore, this calibration and calculation system has a high degree of automation, which can reduce labor costs. Specifically, the calibration test of the speed sensor's compensation coefficient and the processing of the calibration data are both implemented using a script program that automatically tests and processes the calibration data. The calibration test bench can automatically adjust the parameters and variables related to the calibration test according to the designed operating parameter requirements, and perform the relevant data calculation and analysis, record the calibration test data, and perform subsequent data processing. This significantly reduces labor requirements and improves efficiency throughout the entire process.

[0068] It should be noted that although several modules or units of the system for determining the compensation coefficient of the speed sensor are mentioned in the detailed description above, this division is not mandatory. In fact, according to the implementation mode of the present application, the features and functions of two or more modules or units described above can be concretized in one module or unit. Conversely, the features and functions of one module or unit described above can be further divided into multiple modules or units for concretization. The components displayed as modules or units may or may not be physical units, that is, they may be located in one place, or they may be distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the present application scheme. Those of ordinary skill in the art can understand and implement it without paying any creative work.

[0069] In exemplary embodiments of the present application, a computer-readable storage medium is further provided, storing a computer program thereon. The program includes executable instructions that, when executed by, for example, a processor, implement the steps of the method for determining the compensation coefficient of a speed sensor described in any of the aforementioned embodiments. In some possible implementations, various aspects of the present application may also be implemented in the form of a program product, including program code. When the program product is executed on a terminal device, the program code is configured to cause the terminal device to execute the steps described in the method for determining the compensation coefficient of a speed sensor according to various exemplary embodiments of the present application.

[0070] According to an embodiment of the present application, a program product for implementing the above method can be a portable compact disc read-only memory (CD-ROM) and include program code, and can be run on a terminal device, such as a personal computer. However, the program product of the present application is not limited thereto. In this document, a readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0071] The program product may be implemented in any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or component, or any combination thereof. More specific examples (a non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof.

[0072] The computer-readable storage medium may include a data signal propagated in baseband or as part of a carrier wave, wherein the readable program code is carried. The data signal propagated may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. The readable storage medium may also be any readable medium other than a readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, device, or component. The program code contained on the readable storage medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical cable, RF, etc., or any suitable combination thereof.

[0073] The program code for performing the operations of the present application can be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, C++, etc., and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code can be executed entirely on the user computing device, partially on the user device, as a separate software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server. In the case of a remote computing device, the remote computing device can be connected to the user computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0074] In an exemplary embodiment of the present application, an electronic device is further provided, which may include a processor and a memory for storing executable instructions of the processor, wherein the processor is configured to execute the steps of the method for determining a compensation coefficient of a speed sensor in any of the above embodiments by executing the executable instructions.

[0075] Those skilled in the art will appreciate that various aspects of the present application can be implemented as systems, methods, or program products. Therefore, various aspects of the present application can be specifically implemented in the following forms: a complete hardware implementation, a complete software implementation (including firmware, microcode, etc.), or an implementation that combines hardware and software aspects, which may be collectively referred to herein as a "circuit," "module," or "system."

[0076] Refer to the following Figure 4 4 to describe an electronic device 400 according to this embodiment of the present application. Figure 4 The electronic device 400 shown is merely an example and should not limit the functions and scope of use of the embodiments of the present application.

[0077] like Figure 4 As shown, electronic device 400 is implemented as a general-purpose computing device. Components of electronic device 400 may include, but are not limited to, at least one processing unit 410, at least one storage unit 420, a bus 430 connecting various system components (including storage unit 420 and processing unit 410), a display unit 440, and the like.

[0078] The storage unit stores a program code, which can be executed by the processing unit 410, so that the processing unit 410 performs the steps of various exemplary embodiments of the present application described in the method for determining the compensation coefficient of the speed sensor in this specification. For example, the processing unit 410 can perform the following steps: Figure 1 and Figure 2 Follow the steps shown in .

[0079] The storage unit 420 may include a readable medium in the form of a volatile storage unit, such as a random access memory unit (RAM) 4201 and / or a cache memory unit 4202 , and may further include a read-only memory unit (ROM) 4203 .

[0080] The storage unit 420 may also include a program / utility 4204 having a set (at least one) of program modules 4205, such program modules 4205 including but not limited to: an operating system, one or more application programs, other program modules and program data, each of which or some combination may include an implementation of a network environment.

[0081] Bus 430 may represent one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.

[0082] The electronic device 400 can also communicate with one or more external devices 500 (e.g., a keyboard, a pointing device, a Bluetooth device, etc.), one or more devices that enable a user to interact with the electronic device 400, and / or any device that enables the electronic device 400 to communicate with one or more other computing devices (e.g., a router, a modem, etc.). Such communication can occur via an input / output (I / O) interface 450. Furthermore, the electronic device 400 can communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network such as the Internet) via a network adapter 460. The network adapter 460 can communicate with other modules of the electronic device 400 via the bus 430. It should be understood that, although not shown in the figures, other hardware and / or software modules can be used in conjunction with the electronic device 400, including but not limited to microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0083] Through the description of the above embodiments, it is easy for those skilled in the art to understand that the example embodiments described herein can be implemented by software or by combining software with necessary hardware. Therefore, the technical solution according to the embodiments of the present application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, USB flash drive, mobile hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which can be a personal computer, server, or network device, etc.) to execute the method for determining the compensation coefficient of the speed sensor according to the embodiments of the present application.

[0084] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the contents disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present application that follow the general principles of the present application and include common knowledge or customary techniques in the art not disclosed herein. The description and examples are to be considered merely as exemplary, and the true scope and spirit of the present application are indicated by the appended claims.

Claims

1. A method for determining a compensation coefficient of a speed sensor, comprising: Obtaining a speed reference value and a speed measurement value of the speed sensor; Acquiring a plurality of operating parameters of the speed sensor, wherein the operating parameters are at least associated with a use environment of the speed sensor; determining a relationship between the compensation coefficient and the operating condition parameter based on a speed difference between the speed measurement value and the speed reference value; as well as determining a compensation coefficient of the speed sensor under set operating parameters based on the relationship; Wherein, determining the relationship between the compensation coefficient and the operating condition parameter based on the speed difference between the speed measurement value and the speed reference value includes: determining a calibration compensation coefficient corresponding to the operating condition parameter based on the speed difference between the speed measurement value and the speed reference value; and determining the relationship between the compensation coefficient and the operating condition parameter based on the calibration compensation coefficient; Wherein, determining the calibration compensation coefficient corresponding to the operating condition parameter further includes: selecting the compensation coefficient to calculate the speed difference between the speed compensation value of the compensated speed measurement value and the speed reference value; adjusting the compensation coefficient so that the speed difference between the speed compensation value and the speed reference value satisfies a speed difference constraint condition; and determining the adjusted compensation coefficient as the calibration compensation coefficient corresponding to the operating condition parameter.

2. The method according to claim 1, characterized in that The operating condition parameter includes at least one of a sampling interval of the speed sensor, a sensor temperature, and a speed change gradient, wherein the sensor temperature and the speed change gradient are associated with the use environment.

3. The method according to claim 2, characterized in that The speed change gradient is calculated by the quotient of the speed change within the sampling interval and the sampling interval or the derivative of the speed change and the sampling interval.

4. The method according to claim 1, wherein The compensation coefficient is within a compensation coefficient threshold range.

5. The method according to claim 4, characterized in that The compensation coefficient is adjusted as follows: In the case where a speed difference between the speed reference value and the speed compensation value is greater than 0, increasing the compensation coefficient; and When the speed difference between the speed reference value and the speed compensation value is less than 0, reducing the compensation coefficient, The speed difference limiting condition includes that the speed difference between the speed compensation value and the speed reference value is within a speed difference threshold range.

6. The method according to claim 1, characterized in that Determining the relationship between the compensation coefficient and the operating condition parameter based on the calibrated compensation coefficient further includes: The relationship between the compensation coefficient and a selected operating condition parameter among the operating condition parameters is determined respectively, wherein other operating condition parameters among the operating condition parameters that are different from the selected operating condition parameter are kept fixed.

7. The method according to claim 6, characterized in that Determining the relationship between the compensation coefficient and a selected operating condition parameter of the operating condition parameters further includes: screening the calibration compensation coefficient based on a selected numerical range of the operating condition parameter; Setting the resolution of the working condition parameters; The relationship between the compensation coefficient and the selected operating condition parameter is determined based on the filtered calibrated compensation coefficient and the corresponding value of the selected operating condition parameter.

8. The method according to claim 7, characterized in that Determining the relationship between the compensation coefficient and the selected operating condition parameter further includes: Determining, by interpolation, an extended compensation coefficient at a value of another selected operating parameter that is different from the value of the selected operating parameter corresponding to the calibrated compensation coefficient; A relationship between the compensation coefficient and the selected operating condition parameter is generated based on the calibrated compensation coefficient and the expanded compensation coefficient and the values ​​of the selected operating condition parameter corresponding to these compensation coefficients.

9. The method according to claim 1 or 2, characterized in that The speed reference value is obtained by using a reference speed sensor, and the accuracy of the reference speed sensor is higher than the accuracy of the speed sensor.

10. The method according to claim 1 or 2, characterized in that The speed sensor includes at least one of a rotation speed sensor and a linear speed sensor.

11. A method for determining a compensation coefficient of a speed sensor, comprising: Obtaining a speed reference value and a speed measurement value of the speed sensor; Acquiring a plurality of operating parameters of the speed sensor, wherein the operating parameters are at least associated with a use environment of the speed sensor; determining a relationship between the compensation coefficient and the operating condition parameter based on a speed difference between the speed measurement value and the speed reference value; as well as determining a compensation coefficient of the speed sensor under set operating parameters based on the relationship; Wherein, determining the relationship between the compensation coefficient and the operating condition parameter based on the speed difference between the speed measurement value and the speed reference value includes: determining a calibration compensation coefficient corresponding to the operating condition parameter based on the speed difference between the speed measurement value and the speed reference value; and determining the relationship between the compensation coefficient and the operating condition parameter based on the calibration compensation coefficient; Wherein, determining the relationship between the compensation coefficient and the operating condition parameter based on the calibrated compensation coefficient further includes: respectively determining the relationship between the compensation coefficient and a selected operating condition parameter among the operating condition parameters, wherein other operating condition parameters among the operating condition parameters that are different from the selected operating condition parameter remain fixed.

12. The method according to claim 11, wherein Determining the relationship between the compensation coefficient and a selected operating condition parameter of the operating condition parameters further includes: screening the calibration compensation coefficient based on a selected numerical range of the operating condition parameter; Setting the resolution of the working condition parameters; The relationship between the compensation coefficient and the selected operating condition parameter is determined based on the filtered calibrated compensation coefficient and the corresponding value of the selected operating condition parameter.

13. A system for determining a compensation coefficient of a speed sensor, comprising: A calibration test bench comprising a rotating device to be measured, a reference speed sensor, and the speed sensor, wherein the reference speed sensor and the speed sensor are both used to measure the rotation speed of the rotating device to be measured to obtain a speed reference value and a speed measurement value, respectively; A processing device is configured to implement the method for determining a compensation coefficient of a speed sensor according to any one of claims 1 to 12 based on information obtained from the calibration test bench.

14. The system according to claim 13, wherein: The system includes a temperature sensor for acquiring a sensor temperature of the speed sensor. 15 . A computer-readable storage medium having a computer program stored thereon, the computer program comprising executable instructions, and when the executable instructions are executed by a processor, implementing the method according to claim 1 .

16. An electronic device, characterized in that: include: processor; as well as a memory for storing executable instructions of the processor; The processor is configured to execute the executable instructions to implement the method according to any one of claims 1 to 12.

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