Angle Compensation Method, Device and Magnetic Angle Encoder of Magnetic Angle Encoder

Abstract

The present invention provides an angle compensation method, device and magnetic angle encoder for a magnetic angle encoder, relating to the technical field of magnetic sensors. The method includes: performing segmentation processing on the original angle curves corresponding to the respective original angles output by the magnetic angle encoder to obtain a plurality of segmented intervals; determining a deviation value calculation formula corresponding to a target segmented interval among the plurality of segmented intervals; based on the deviation value calculation formula corresponding to the target segmented interval, determining the deviation values between the respective original angles in the target segmented interval and the rotation angles corresponding to the respective original angles; respectively compensating the respective original angles in the target segmented interval based on the respective deviation values. By performing segmentation processing on the non-linear original angle curve and compensating the respective original angles in each segment based on the respective corresponding deviation value calculation formula, the linearization of the output angle of the magnetic angle encoder is enhanced.

Description

Technical Field

[0001] The present invention relates to the technical field of magnetic sensors, and in particular to an angle compensation method, device and magnetic angle encoder for a magnetic angle encoder. Background Art

[0002] In recent years, with the rapid development of instruments, magnetic encoders have played a great role in production and are mainly widely used in modern industrial fields such as robots, elevators, wind power generation, numerical control machine tools, construction machinery, tobacco machinery, printing machinery, oil and gas, packaging machinery, textile machinery, food machinery, automotive parts production lines, precision inkjet printing, welding, and precision position control industrial automation control production lines. Magnetic encoders mainly include magnetic angle encoders and magnetic rotary encoders. Among them, magnetic rotary encoders are used to detect the rotation direction and rotation speed of the measured object, while magnetic rotary encoders can not only determine the rotation direction and rotation speed of the measured object, but also determine the current position of the measured object. For example, when it is necessary to determine the state at which the motor stops, a magnetic angle encoder is required.

[0003] However, when actually installing a magnetic angle encoder, due to reasons such as temperature, concentricity, inclination angle, and uneven magnetization of the magnet itself, the magnetic field is uneven, resulting in poor linearity of the angle actually detected by the magnetic angle encoder. In this way, it will increase the difficulty and time for the backend host computer to read, resulting in inaccurate detection of the current position. Summary of the Invention

[0004] Aiming at the problems existing in the prior art, the present invention provides an angle compensation method, device and magnetic angle encoder for a magnetic angle encoder.

[0005] In a first aspect, the present invention provides an angle compensation method for a magnetic angle encoder, including:

[0006] Performing segmentation processing on the original angle curve corresponding to each original angle output by the magnetic angle encoder to obtain a plurality of segmented intervals;

[0007] Determining a deviation value calculation formula corresponding to a target segmented interval among the plurality of segmented intervals, where the deviation value calculation formula is used to characterize the deviation between each original angle in the target segmented interval and the rotation angle corresponding to each original angle, and the target segmented interval is any one of the plurality of segmented intervals;

[0008] Based on the deviation value calculation formula corresponding to the target segmented interval, determining the deviation value between each original angle in the target segmented interval and the rotation angle corresponding to each original angle;

[0009] Compensating each original angle in the target segmented interval respectively based on each deviation value.

[0010] Optionally, for an angle compensation method of a magnetic angle encoder provided by the present invention, the formula for determining the deviation value corresponding to the target segmentation interval among the multiple segmentation intervals includes:

[0011] Determine the first original angle corresponding to the starting point of the target segmentation interval, and the first rotation angle corresponding to the first original angle, and determine the second original angle corresponding to the ending point of the target segmentation interval, and the second rotation angle corresponding to the second original angle;

[0012] Based on the first original angle, the first rotation angle, the second original angle, and the second rotation angle, determine the formula for the deviation value corresponding to the target segmentation interval.

[0013] Optionally, for an angle compensation method of a magnetic angle encoder provided by the present invention, the determining the formula for the deviation value corresponding to the target segmentation interval based on the first original angle, the first rotation angle, the second original angle, and the second rotation angle includes:

[0014] Determine the first deviation value between the first original angle and the first rotation angle, and determine the second deviation value between the second original angle and the second rotation angle;

[0015] Based on the first original angle, the first deviation value, the second original angle, and the second deviation value, determine the formula for the deviation value corresponding to the target segmentation interval.

[0016] Optionally, for an angle compensation method of a magnetic angle encoder provided by the present invention, the formula for the deviation value corresponding to the target segmentation interval is:

[0017]

[0018] where, θ represents the original angle within the target segmentation interval; Δ represents the deviation value between the original angle θ within the target segmentation interval and the rotation angle corresponding to θ; θ N-1 represents the first original angle; θ N represents the second original angle; Δ N-1 represents the first deviation value; Δ N represents the second deviation value; N represents the index number of the target segmentation interval.

[0019] Optionally, for an angle compensation method of a magnetic angle encoder provided by the present invention, before performing the segmentation processing on the original angle curve corresponding to each original angle output by the magnetic angle encoder to obtain multiple segmentation intervals, the method further includes:

[0020] Obtain the sine signal and cosine signal formed by the rotating magnetic field corresponding to the magnetic angle encoder;

[0021] Obtain the digital signals corresponding to the sine signal and the cosine signal respectively;

[0022] Perform arctangent processing on the digital signals corresponding to the sine signal and the cosine signal respectively to obtain the original angle output by the magnetic angle encoder.

[0023] Optionally, according to an angle compensation method of a magnetic angle encoder provided by the present invention, the obtaining the sine signal and cosine signal formed by the rotating magnetic field corresponding to the magnetic angle encoder includes:

[0024] Use at least two Hall elements to respectively detect the change of the rotating magnetic field, and obtain a first Hall voltage signal and a second Hall voltage signal;

[0025] Use a preprocessing circuit to respectively preprocess the first Hall voltage signal and the second Hall voltage signal to obtain the sine signal and cosine signal formed by the rotating magnetic field corresponding to the magnetic angle encoder.

[0026] Optionally, according to an angle compensation method of a magnetic angle encoder provided by the present invention, the segmenting the original angle curve corresponding to each original angle output by the magnetic angle encoder to obtain a plurality of segmented intervals includes:

[0027] Obtain a rotation angle curve corresponding to the original angle curve;

[0028] Perform equal division processing on the rotation angle curve to obtain the angle values corresponding to each segmentation point on the rotation angle curve after the equal division processing;

[0029] Based on the angle values corresponding to each segmentation point on the rotation angle curve, segment the original angle curve to obtain the plurality of segmented intervals.

[0030] In a second aspect, the present invention also provides an angle compensation device for a magnetic angle encoder, including:

[0031] An obtaining module, configured to segment the original angle curve corresponding to each original angle output by the magnetic angle encoder to obtain a plurality of segmented intervals;

[0032] A first determination module, connected to the acquisition module, is configured to determine a deviation value calculation formula corresponding to a target segmentation interval among the multiple segmentation intervals, where the deviation value calculation formula is used to characterize the deviation between the sum of the original angles within the target segmentation interval and the rotation angles corresponding to the original angles, and the target segmentation interval is any one of the multiple segmentation intervals;

[0033] A second determination module, connected to the first determination module, is configured to determine the deviation value between the sum of the original angles within the target segmentation interval and the rotation angles corresponding to the original angles based on the deviation value calculation formula corresponding to the target segmentation interval;

[0034] A compensation module, connected to the second determination module, is configured to compensate each of the original angles within the target segmentation interval respectively based on each of the deviation values.

[0035] Optionally, according to an angle compensation device of a magnetic angle encoder provided by the present invention, the first determination module includes:

[0036] A first sub-module, configured to determine a first original angle corresponding to the starting point of the target segmentation interval, and a first rotation angle corresponding to the first original angle, and determine a second original angle corresponding to the ending point of the target segmentation interval, and a second rotation angle corresponding to the second original angle;

[0037] A second sub-module, connected to the first sub-module, is configured to determine the deviation value calculation formula corresponding to the target segmentation interval based on the first original angle, the first rotation angle, the second original angle, and the second rotation angle.

[0038] In a third aspect, the present invention further provides a magnetic angle encoder, including a magnetic code disk, a Hall element, and a signal processing circuit, where the signal processing circuit is configured to execute the angle compensation method of the magnetic angle encoder as described in the first aspect.

[0039] In a fourth aspect, the present invention further provides a non-transitory computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it implements the angle compensation method of the magnetic angle encoder as described in the first aspect.

[0040] In a fifth aspect, the present invention further provides a computer program product, including a computer program, and when the computer program is executed by a processor, it implements the angle compensation method of the magnetic angle encoder as described in the first aspect.

[0041] The angle compensation method, device and magnetic angle encoder provided by the present invention segment a non-linear original angle curve to obtain multiple segmented intervals, and determine deviation value calculation formulas respectively corresponding to the segmented intervals. Then, within each segmented interval, based on the deviation value calculation formula corresponding to the segmented interval, the deviation values corresponding to the original angles within the segmented interval are determined, and the original angles within the segment are compensated based on the deviation values, enhancing the linearization of the output angle of the magnetic angle encoder. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0043] Figure 1 is a schematic flowchart of the angle compensation method for the magnetic angle encoder provided by the present invention;

[0044] Figure 2 is a schematic flowchart of determining the deviation value calculation formula corresponding to the target segmented interval among multiple segmented intervals provided by the present invention;

[0045] Figure 3 is a schematic flowchart of determining the deviation value calculation formula based on the original angle and the deviation value between the original angle and the rotation angle provided by the present invention;

[0046] Figure 4 is a schematic flowchart of obtaining the original angle output by the magnetic angle encoder provided by the present invention;

[0047] Figure 5 is a schematic flowchart of obtaining the sine signal and cosine signal formed by the rotating magnetic field corresponding to the magnetic angle encoder provided by the present invention;

[0048] Figure 6 is a schematic diagram of the principle of generating the original angle output by the magnetic angle encoder provided by the present invention;

[0049] Figure 7 is a schematic flowchart of segmenting the original angle curve to obtain multiple segmented intervals provided by the present invention;

[0050] Figure 8 is a schematic diagram of the deviation between the original angle and the rotation angle when the original angle curve is greater than the rotation angle curve provided by the present invention;

[0051] Figure 9It is a schematic diagram of the deviation between the original angle and the rotation angle when the original angle curve provided by the present invention is smaller than the rotation angle curve;

[0052] Figure 10 It is a schematic diagram of the deviation between the original angle and the rotation angle when the original angle curve and the rotation angle curve provided by the present invention have more than one coincidence point;

[0053] Figure 11 It is a schematic structural diagram of the angle compensation device of the magnetic angle encoder provided by the present invention;

[0054] Figure 12 It is a schematic structural diagram of the first determination module in the angle compensation device of the magnetic angle encoder provided by the present invention;

[0055] Figure 13 It is a schematic physical structure diagram of the electronic device provided by the present invention. Specific embodiments

[0056] To make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below with reference to the accompanying drawings in the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present invention without making creative efforts fall within the protection scope of the present invention.

[0057] In the description of the embodiments of the present invention, it should be noted that the terms "first", "second", etc. are used to distinguish similar objects and are not used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present invention can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first", "second", etc. are usually of the same type and do not limit the number of objects. For example, the first object can be one or more.

[0058] The angle compensation method, device and magnetic angle encoder provided by the present invention will be described below with reference to the accompanying drawings.

[0059] Figure 1 It is a schematic flowchart of the angle compensation method of the magnetic angle encoder provided by the present invention. As Figure 1 shown, the method includes:

[0060] Step 100, perform segmentation processing on the original angle curve corresponding to each original angle output by the magnetic angle encoder to obtain a plurality of segmentation intervals;

[0061] Step 110, determine the deviation value calculation formula corresponding to the target segmented interval among the multiple segmented intervals, where the deviation value calculation formula is used to characterize the deviation between the sum of the original angles within the target segmented interval and the rotation angles corresponding to the original angles, and the target segmented interval is any one of the multiple segmented intervals;

[0062] Step 120, based on the deviation value calculation formula corresponding to the target segmented interval, determine the deviation value between the sum of the original angles within the target segmented interval and the rotation angles corresponding to the original angles;

[0063] Step 130, respectively based on each of the deviation values, compensate each of the original angles within the target segmented interval.

[0064] Specifically, in order to overcome the defect that in the prior art when actually installing a magnetic angle encoder, due to reasons such as temperature, concentricity, inclination angle, and uneven magnetization of the magnet itself, the magnetic field is uneven, resulting in poor linearity of the angle actually detected by the magnetic angle encoder, the present invention performs segmented processing on the non-linear original angle curve, obtains multiple segmented intervals, and determines the deviation value calculation formula corresponding to each segmented interval. Furthermore, within each segmented interval, based on the deviation value calculation formula corresponding to the segmented interval, determine the deviation value corresponding to each original angle within the segmented interval, and compensate each original angle within the segment based on each deviation value, enhancing the linearization of the output angle of the magnetic angle encoder.

[0065] Optionally, in the embodiment of the present invention, each original angle output by the magnetic angle encoder can be obtained first, and then the obtained original angles are subjected to analog processing to obtain the original angle curve corresponding to each discrete original angle.

[0066] Optionally, after obtaining the original angle curve, the original angle curve can be segmented to obtain multiple segmented intervals, and then determine the deviation value calculation formula corresponding to each of the multiple segmented intervals, where the deviation value calculation formula corresponding to the target segmented interval among the multiple segmented intervals is used to characterize the deviation between the sum of the original angles within the target segmented interval and the rotation angles corresponding to the original angles, and the target segmented interval is any one of the multiple segmented intervals.

[0067] It can be understood that in the embodiment of the present invention, the rotation angle refers to the rotation angle of the measured object corresponding to the magnetic angle encoder.

[0068] It can be understood that the original angle output by the magnetic angle encoder should theoretically be the same as the rotation angle of the measured object corresponding to the magnetic angle encoder. However, due to reasons such as temperature, concentricity, inclination, and uneven magnetization of the magnet itself, the magnetic field is uneven, resulting in a deviation between the angle actually detected by the magnetic angle encoder and the rotation angle of the measured object.

[0069] Therefore, in the embodiments of the present invention, by performing segmented compensation on each original angle output by the magnetic angle encoder, each original angle output by the magnetic angle encoder can be made closer to the rotation angle of the measured object.

[0070] It can be understood that in the embodiments of the present invention, the target segmented interval is any one of the multiple segmented intervals.

[0071] Optionally, after determining the deviation value calculation formulas corresponding to each segmented interval, based on the deviation value calculation formulas corresponding to each segmented interval, the deviation values between each original angle in each segmented interval and the rotation angle corresponding to each original angle can be determined respectively.

[0072] Optionally, after determining the deviation values corresponding to each original angle in each segmented interval, based on the calculated deviation values, each original angle in each segmented interval can be compensated.

[0073] The angle compensation method of the magnetic angle encoder provided by the present invention segments the non-linear original angle curve to obtain multiple segmented intervals, determines the deviation value calculation formulas respectively corresponding to each segmented interval, and then in each segmented interval, based on the deviation value calculation formula corresponding to the segmented interval, determines the deviation values corresponding to each original angle in the segmented interval, and compensates each original angle in the segment based on each deviation value, enhancing the linearization of the angle output by the magnetic angle encoder.

[0074] Optionally, Figure 2 is a schematic flow chart of determining the deviation value calculation formula corresponding to the target segmented interval among multiple segmented intervals. As Figure 2 shown, determining the deviation value calculation formula corresponding to the target segmented interval among the multiple segmented intervals includes:

[0075] Step 200, determine the first original angle corresponding to the starting point of the target segmented interval, and the first rotation angle corresponding to the first original angle, and determine the second original angle corresponding to the ending point of the target segmented interval, and the second rotation angle corresponding to the second original angle;

[0076] Step 210: Determine the deviation value calculation formula corresponding to the target segmented interval based on the first original angle, the first rotation angle, the second original angle, and the second rotation angle.

[0077] Specifically, in the embodiment of the present invention, for the target segmented interval among multiple segmented intervals, the first original angle corresponding to the starting point of the target segmented interval, and the first rotation angle corresponding to the first original angle can be first determined, and the second original angle corresponding to the ending point of the target segmented interval, and the second rotation angle corresponding to the second original angle can be determined. Then, based on the first original angle, the first rotation angle, the second original angle, and the second rotation angle, the deviation value calculation formula corresponding to the target segmented interval is determined.

[0078] It can be understood that in the embodiment of the present invention, by determining the deviation value calculation formula corresponding to each segmented interval based on the first original angle corresponding to the starting point of each segmented interval, the first rotation angle corresponding to the first original angle, the second original angle corresponding to the ending point of each segmented interval, and the second rotation angle corresponding to the second original angle; that is, by determining the deviation value calculation formula corresponding to each segmented interval respectively based on the linear correlation between the original angle and the rotation angle within each segmented interval, and then determining the deviation value corresponding to each original angle within each segmented interval based on the deviation value calculation formula corresponding to each segmented interval, the accuracy of the deviation value calculation can be improved, and thus the precise compensation for each original angle can be realized, enhancing the linearization of the output angle of the magnetic angle encoder.

[0079] Optionally, Figure 3 is a schematic flowchart of the process for determining the deviation value calculation formula based on the original angle and the deviation value between the original angle and the rotation angle provided by the present invention. As Figure 3 shown, the determining the deviation value calculation formula corresponding to the target segmented interval based on the first original angle, the first rotation angle, the second original angle, and the second rotation angle includes:

[0080] Step 300: Determine the first deviation value between the first original angle and the first rotation angle, and determine the second deviation value between the second original angle and the second rotation angle;

[0081] Step 310: Determine the deviation value calculation formula corresponding to the target segmented interval based on the first original angle, the first deviation value, the second original angle, and the second deviation value.

[0082] Specifically, in the embodiments of the present invention, after determining the first original angle of the target segmentation interval and the first rotation angle corresponding to the first original angle, the first deviation value between the first original angle and the first rotation angle can be determined. And after determining the second original angle of the target segmentation interval and the second rotation angle corresponding to the second original angle, the second deviation value between the second original angle and the second rotation angle can be determined. Furthermore, based on the first original angle, the first deviation value, the second original angle, and the second deviation value, a deviation value calculation formula corresponding to the target segmentation interval is determined.

[0083] Optionally, the deviation value calculation formula corresponding to the target segmentation interval is:

[0084]

[0085] where θ represents the original angle within the target segmentation interval; Δ represents the deviation value between the original angle θ within the target segmentation interval and the rotation angle corresponding to θ; θ N-1 represents the first original angle; θ N represents the second original angle; Δ N-1 represents the first deviation value; Δ N represents the second deviation value; N represents the index number of the target segmentation interval.

[0086] Specifically, in the embodiments of the present invention, within the target segmentation interval, based on the deviation value calculation formula the deviation value Δ corresponding to each original angle within the target segmentation interval can be calculated, and then the original angle is compensated based on the calculated deviation value Δ.

[0087] Optionally, Figure 4 is a schematic flow chart of obtaining the original angle output by the magnetic angle encoder provided by the present invention. As Figure 4 shown, before segmenting the original angle curve corresponding to each original angle output by the magnetic angle encoder to obtain multiple segmentation intervals, the method further includes:

[0088] Step 400, obtaining the sine signal and cosine signal formed by the rotating magnetic field corresponding to the magnetic angle encoder;

[0089] Step 410, obtaining the digital signals corresponding to the sine signal and the cosine signal respectively;

[0090] Step 420, performing an arctangent process on the digital signals corresponding to the sine signal and the cosine signal respectively to obtain the original angle output by the magnetic angle encoder.

[0091] Specifically, in the embodiments of the present invention, before segmenting the original angle curves corresponding to the original angles output by the magnetic angle encoder to obtain multiple segmented intervals, the original angles output by the magnetic angle encoder can be obtained through the following steps first:

[0092] Step 1: Obtain the sine signal and cosine signal formed by the rotating magnetic field corresponding to the magnetic angle encoder;

[0093] Step 2: Obtain the digital signals corresponding to the sine signal and cosine signal respectively;

[0094] Step 3: Perform arctangent processing on the digital signals corresponding to the obtained sine signal and cosine signal respectively to obtain the original angles output by the magnetic angle encoder.

[0095] Optionally, in the embodiments of the present invention, the sine signal and cosine signal can be respectively converted into digital signals by an analog-to-digital converter (ADC).

[0096] It can be understood that after obtaining the original angles output by the magnetic angle encoder through the above method, the obtained original angles can be further analogized to obtain the original angle curves corresponding to the discrete original angles.

[0097] Optionally, Figure 5 is a schematic flow chart of obtaining the sine signal and cosine signal formed by the rotating magnetic field corresponding to the magnetic angle encoder provided by the present invention. As Figure 5 shown, the obtaining of the sine signal and cosine signal formed by the rotating magnetic field corresponding to the magnetic angle encoder includes:

[0098] Step 500, use at least two Hall elements to respectively detect the change of the rotating magnetic field to obtain a first Hall voltage signal and a second Hall voltage signal;

[0099] Step 510, use a preprocessing circuit to respectively preprocess the first Hall voltage signal and the second Hall voltage signal to obtain the sine signal and cosine signal formed by the rotating magnetic field corresponding to the magnetic angle encoder.

[0100] Specifically, in the embodiments of the present invention, at least two Hall elements can be used to respectively detect the change of the rotating magnetic field corresponding to the magnetic angle encoder, thereby obtaining a first Hall voltage signal and a second Hall voltage signal, and then using a preprocessing circuit to preprocess the first Hall voltage signal and the second Hall voltage signal, so as to obtain the sine signal and cosine signal formed by the rotating magnetic field corresponding to the magnetic angle encoder.

[0101] It can be understood that the Hall voltage signals directly obtained by the Hall element are weak sine and cosine signals. In the embodiments of the present invention, the Hall voltage signals can be amplified by a preprocessing circuit and the Hall offset voltage signals can be eliminated to obtain relatively ideal sine and cosine signals.

[0102] Optionally, Figure 6 is a schematic diagram of the original angle generation principle output by the magnetic angle encoder provided by the present invention. As Figure 6 shown, two Hall (Hall element) 610 output weak sine and cosine signals by detecting the change of the rotating magnetic field, and then the Hall signals are amplified by the preprocessing circuit 620 and the Hall offset voltage is eliminated to obtain relatively ideal sine and cosine signals. Then, the sine and cosine signals are converted into digital signals by an ADC (analog-to-digital converter) 630. Finally, the digital signals are subjected to an arctangent operation by an arctan circuit (inverse tangent circuit) 640 to obtain the original angle θ output by the magnetic angle encoder.

[0103] Optionally, Figure 7 is a schematic diagram of the process of segmenting the original angle curve to obtain multiple segmented intervals provided by the present invention. As Figure 7 shown, segmenting the original angle curve corresponding to each original angle output by the magnetic angle encoder to obtain multiple segmented intervals includes:

[0104] Step 700, obtaining a rotation angle curve corresponding to the original angle curve;

[0105] Step 710, performing an equal division process on the rotation angle curve to obtain the angle values corresponding to each segmentation point on the rotation angle curve after the equal division process;

[0106] Step 720, based on the angle values corresponding to each segmentation point on the rotation angle curve, segmenting the original angle curve to obtain the multiple segmented intervals.

[0107] Specifically, in the embodiments of the present invention, in order to segment the original angle curve corresponding to each original angle output by the magnetic angle encoder to obtain multiple segmented intervals, after obtaining the original angle curve corresponding to each original angle output by the magnetic angle encoder, a rotation angle curve corresponding to the original angle curve can be obtained, and then the rotation angle curve is subjected to an equal division process to obtain the angle values corresponding to each segmentation point on the rotation angle curve after the equal division process. Further, based on the angle values corresponding to each segmentation point on the rotation angle curve, the original angle curve is segmented to obtain multiple segmented intervals.

[0108] It can be understood that in the embodiments of the present invention, after the rotation angle curve is evenly divided, the rotation angle values corresponding to each segmentation point on the rotation angle curve after the even division processing can be obtained. Then, based on the rotation angle values corresponding to each segmentation point on the rotation angle curve, the original angle values corresponding to each segmentation point are determined. Furthermore, based on the original angle values corresponding to each segmentation point, the original angle curve is segmented to obtain multiple segmented intervals.

[0109] Specifically, the angle compensation method of the magnetic angle encoder provided by the embodiments of the present invention may include the following steps:

[0110] Step 1: Obtain each original angle output by the magnetic angle encoder through the Figure 6 circuit shown, and further obtain the original angle curve corresponding to each original angle;

[0111] Step 2: Obtain the rotation angle curve corresponding to the original angle curve, and evenly divide the rotation angle curve into N segments. The segmentation points are denoted as α 1 α 2 …α N-1 α N ; where the original angle output by the magnetic angle encoder corresponding to α N is denoted as θ N ;

[0112] It can be understood that after the rotation angle curve is evenly divided into N segments, the corresponding original angle curve is also divided into N segments. The segmentation points are denoted as θ 1 θ 2 …θ N-1 θ N , where θ 1 θ 2 …θ N-1 θ N correspond to α 1 α 2 …α N-1 α N one by one.

[0113] Step 3: Calculate the deviation value between the original angle and the rotation angle at each segmentation point, where Δ N = θ N - α N ;

[0114] Step 4: For any one of the original angles output by the magnetic angle encoder, determine the segmented interval to which the original angle belongs, calculate the angle error corresponding to the original angle based on the deviation value calculation formula corresponding to the segmented interval, and compensate the original angle based on the calculated angle error. Among them, the deviation value calculation formula for the target segmented interval is:

[0115]

[0116] Based on the formula θ out compensate the original angle θ according to θ = θ - Δ, and the compensated angle is θ out .

[0117] It can be understood that in the embodiments of the present invention, as N increases, the linearity of the compensated angle output curve becomes stronger, but at the same time, the required computational amount also becomes larger.

[0118] Figure 8 is a schematic diagram of the deviation between the original angle and the rotation angle when the original angle curve provided by the present invention is greater than the rotation angle curve, as Figure 8 shown, the abscissa of the coordinate axis represents the rotation angle value, and the ordinate represents the original angle value obtained by the magnetic angle encoder through the arctangent algorithm. Ideally, the rotation angle value and the original angle value should be the same, but due to reasons such as temperature, concentricity, inclination angle, and uneven magnetization of the magnet itself during actual installation, the magnetic field is uneven, resulting in a deviation between the angle value actually detected by the magnetic angle encoder and the rotation angle value.

[0119] Therefore, in order to overcome the above defects, in the embodiments of the present invention, first evenly divide the rotation angle value into N segments, denoted as α 1 , α 2 …α N-1 , α N ; where the original angle output by the magnetic angle encoder corresponding to α N is denoted as θ N , and denote the difference between the original output angle θ N and the rotation angle α N as Δ N ; where Δ N = θ N - α N , N is a positive integer (for example: Δ 1 = θ 1 - α 1 , Δ 2 = θ 2 - α 2 ); assume that the measured original angle is θ, and the corresponding rotation angle value at this time is α, and the difference Δ = θ - α; therefore, the finally compensated output angle is θ out , where θ out = θ - Δ.

[0120] As Figure 8 shown, in the curve, in addition to the points α 1 , α 2 …α N-1 , α N corresponding difference Δ 1 , Δ2 …Δ N-1 ,Δ N is known, and the differences corresponding to each point within each interval are unknown. Therefore, a formula is needed to calculate the differences at each point.

[0121] Assume to calculate θ 1 to θ 2 For the differences at each point within the interval, first, Δ 1 ,Δ 2 is known, and the angular difference between θ 1 ,θ 2 is θ 2 -θ 1 , and the change between the differences is Δ 2 -Δ 1 ; assume that the change between the differences is linear. Then, within the interval from θ 1 to θ 2 , for every one-degree change in the angle, the difference corresponding to that angle will change by degrees. Therefore, the difference Δ corresponding to each point θ within the interval from θ 1 to θ 2 can be deduced from the following formula:

[0122]

[0123] Similarly, it can be proven that the difference Δ corresponding to each point θ within the interval from θ 2 to θ 3 conforms to the following formula:

[0124]

[0125] Therefore, for any interval from θ N-1 to θ N , the error Δ corresponding to each point can be calculated from the following formula:

[0126]

[0127] Therefore, the output value θ of each point after linearizing the non-linear angular curve out is calculated from the following formula:

[0128] θ out = θ - Δ

[0129] Figure 9 is a schematic diagram of the deviation between the original angle and the rotation angle when the original angle curve provided by the present invention is less than the rotation angle curve. As Figure 9 shown, when the original angle curve is less than the rotation angle curve, the error value Δ of each point is less than zero (for example: Δ 1 = θ 1 - α1 , Δ 2 = θ 2 - α 2 , Δ N = θ N - α N ), indicating that the angle output after the arctangent algorithm of the magnetic angle encoder is smaller than the true rotation angle value. Therefore, Δ is negative. At this time, according to the formula θ out = θ - Δ, it can be known that the finally output angle value θ out will become larger.

[0130] Figure 10 is a schematic diagram of the deviation between the original angle and the rotation angle when there is more than one coincidence point between the original angle curve and the rotation angle curve provided by the present invention. As Figure 10 shown, for the case where adjacent error values Δ have different polarities, the angle compensation method of the magnetic angle encoder provided by the embodiments of the present invention is equally applicable, and the error values of each point within this interval can also be calculated by the formula calculated.

[0131] It can be understood that in the embodiments of the present invention, the difference Δ can be positive or negative; when Δ is positive, it indicates that the original output angle is too large and a negative angle needs to be compensated for it; when Δ is negative, it indicates that the original output angle is too small and a positive angle needs to be compensated for it to make the output angle larger.

[0132] It can be understood that the specific principle of the angle compensation method of the magnetic angle encoder provided by the embodiments of the present invention is: two groups of linear Hall elements are used to collect the sine and cosine signals formed by the rotating magnetic field corresponding to the magnetic angle encoder, and the collected sine and cosine signals are converted into digital signals through ADC, and then through digital arctangent processing, the original angle is output; then, by segmenting the original angle curve corresponding to the original angle, within each segment, first calculate the deviation between the original angle and the rotation angle value at the segmentation point, and then predict the deviation between any original angle and the rotation angle value within this segment, so as to realize the compensation of the non-linear angle, and solve the problem that in the actual installation of the magnetic angle encoder, due to reasons such as temperature, concentricity, inclination, and uneven magnetization of the magnet itself, the magnetic field is uneven, resulting in poor linearity of the angle actually detected by the magnetic angle encoder.

[0133] It can be understood that the angle compensation method of the magnetic angle encoder provided by the embodiments of the present invention is simple to implement at the user end, requires fewer parameters to be adjusted, has a good correction effect on the non-linear output curve, and the method has strong expandability and portability, and is applicable to any scenario for correcting non-linear curves.

[0134] The angle compensation method of the magnetic angle encoder provided by the present invention segments the non-linear original angle curve to obtain multiple segmented intervals, determines the deviation value calculation formula corresponding to each segmented interval, and then within each segmented interval, determines the deviation value corresponding to each original angle in the segmented interval based on the deviation value calculation formula corresponding to the segmented interval, and compensates each original angle in the segment based on each deviation value, enhancing the linearization of the output angle of the magnetic angle encoder.

[0135] The angle compensation device of the magnetic angle encoder provided by the present invention will be described below. The angle compensation device of the magnetic angle encoder described below can be correspondingly referred to the angle compensation method of the magnetic angle encoder described above.

[0136] Figure 11 is a schematic structural diagram of the angle compensation device of the magnetic angle encoder provided by the present invention, as Figure 11 shown, the device includes: an acquisition module 1110, a first determination module 1120, a second determination module 1130, and a compensation module 1140; where:

[0137] The acquisition module 1110 is configured to segment the original angle curve corresponding to each original angle output by the magnetic angle encoder to obtain multiple segmented intervals;

[0138] The first determination module 1120 is connected to the acquisition module 1110 and is configured to determine the deviation value calculation formula corresponding to the target segmented interval among the multiple segmented intervals. The deviation value calculation formula is used to represent the deviation between each original angle in the target segmented interval and the rotation angle corresponding to each original angle. The target segmented interval is any one of the multiple segmented intervals;

[0139] The second determination module 1130 is connected to the first determination module 1120 and is configured to determine the deviation value between each original angle in the target segmented interval and the rotation angle corresponding to each original angle based on the deviation value calculation formula corresponding to the target segmented interval;

[0140] The compensation module 1140 is connected to the second determination module 1130 and is configured to compensate each of the original angles in the target segmented interval respectively based on each of the deviation values.

[0141] The angle compensation device of the magnetic angle encoder provided by the present invention segments the non-linear original angle curve to obtain multiple segmented intervals, determines the deviation value calculation formula corresponding to each segmented interval, and then within each segmented interval, determines the deviation value corresponding to each original angle within the segmented interval based on the deviation value calculation formula corresponding to the segmented interval, and compensates each original angle within the segment based on each deviation value, enhancing the linearity of the output angle of the magnetic angle encoder.

[0142] Optionally, Figure 12 is a schematic structural diagram of the first determination module in the angle compensation device of the magnetic angle encoder provided by the present invention, as Figure 12 shown, the first determination module 1120 includes:

[0143] A first sub-module 1210, configured to determine a first original angle corresponding to the starting point of the target segmented interval, and a first rotation angle corresponding to the first original angle, and determine a second original angle corresponding to the ending point of the target segmented interval, and a second rotation angle corresponding to the second original angle;

[0144] A second sub-module 1220, connected to the first sub-module 1210, and configured to determine the deviation value calculation formula corresponding to the target segmented interval based on the first original angle, the first rotation angle, the second original angle, and the second rotation angle.

[0145] Optionally, the second sub-module 1220 includes:

[0146] A deviation value determination module, configured to determine a first deviation value between the first original angle and the first rotation angle, and determine a second deviation value between the second original angle and the second rotation angle;

[0147] A deviation value calculation formula determination module, connected to the deviation value determination module, and configured to determine the deviation value calculation formula corresponding to the target segmented interval based on the first original angle, the first deviation value, the second original angle, and the second deviation value.

[0148] Optionally, the deviation value calculation formula corresponding to the target segmented interval is:

[0149]

[0150] where, θ represents the original angle within the target segmented interval; Δ represents the deviation value between the original angle θ within the target segmented interval and the rotation angle corresponding to θ; θ N-1 represents the first original angle; θ N represents the second original angle; Δ N-1represents the first deviation value; Δ N represents the second deviation value; N represents the index number of the target segmentation interval.

[0151] Optionally, the device further includes:

[0152] Sine and cosine signal acquisition module: configured to acquire the sine signal and cosine signal formed by the rotating magnetic field corresponding to the magnetic angle encoder before segmenting the original angle curve corresponding to each original angle output by the magnetic angle encoder to obtain multiple segmentation intervals;

[0153] Digital signal acquisition module, connected to the sine and cosine signal acquisition module, configured to acquire the digital signals corresponding to the sine signal and the cosine signal respectively;

[0154] Arctangent processing module, connected to the digital signal acquisition module, configured to perform arctangent processing on the digital signals corresponding to the sine signal and the cosine signal respectively to obtain the original angle output by the magnetic angle encoder.

[0155] Optionally, the sine and cosine signal acquisition module includes:

[0156] Hall detection module, configured to respectively detect the change of the rotating magnetic field by using at least two Hall elements to obtain a first Hall voltage signal and a second Hall voltage signal;

[0157] Preprocessing module, connected to the Hall detection module, configured to respectively perform preprocessing on the first Hall voltage signal and the second Hall voltage signal by using a preprocessing circuit to obtain the sine signal and cosine signal formed by the rotating magnetic field corresponding to the magnetic angle encoder.

[0158] Optionally, the acquisition module 1110 includes:

[0159] Rotating angle curve acquisition module, configured to acquire a rotating angle curve corresponding to the original angle curve;

[0160] Equal division processing module, connected to the rotating angle curve acquisition module, configured to perform equal division processing on the rotating angle curve to obtain the angle values corresponding to each segmentation point on the rotated angle curve after equal division processing;

[0161] Segmentation processing module, connected to the equal division processing module, configured to segment the original angle curve based on the angle values corresponding to each segmentation point on the rotating angle curve to obtain the multiple segmentation intervals.

[0162] The angle compensation device of the magnetic angle encoder provided by the present invention segments the non-linear original angle curve to obtain multiple segmented intervals, determines the deviation value calculation formulas corresponding to each segmented interval, and then in each segmented interval, determines the deviation values corresponding to each original angle in the segmented interval based on the deviation value calculation formula corresponding to the segmented interval, and compensates each original angle in the segment based on the deviation values, enhancing the linearity of the output angle of the magnetic angle encoder.

[0163] Here it should be noted that the angle compensation device of the magnetic angle encoder provided by the embodiment of the present invention can implement all the method steps implemented by the angle compensation method embodiment of the above magnetic angle encoder, and can achieve the same technical effects. The same parts and beneficial effects as those in the method embodiment will not be specifically described in this embodiment.

[0164] The present invention also provides a magnetic angle encoder, which includes a magnetic code disk, Hall elements, and a signal processing circuit. The signal processing circuit is used to execute the angle compensation method of the magnetic angle encoder provided by the above various methods.

[0165] Specifically, the magnetic angle encoder is composed of a magnetic code disk, Hall elements, and a signal processing circuit. Among them, the magnetic code disk is a digital encoder for measuring angular displacement and is used for front-end display of the measured angle. It can receive the angle after compensating the original angle output by the signal processing circuit; the Hall elements are used to convert the changing magnetic field into a change in output voltage; the signal processing circuit is an integrated circuit containing the angle compensation device of the magnetic angle encoder, which can obtain the original angle output by the magnetic angle encoder according to the voltage change signals detected by the Hall elements and other magnetic induction elements in the magnetic angle encoder, and then perform angle compensation on the original angle.

[0166] The magnetic angle encoder provided by the present invention segments the non-linear original angle curve to obtain multiple segmented intervals, determines the deviation value calculation formulas corresponding to each segmented interval, and then in each segmented interval, determines the deviation values corresponding to each original angle in the segmented interval based on the deviation value calculation formula corresponding to the segmented interval, and compensates each original angle in the segment based on the deviation values, enhancing the linearity of the output angle of the magnetic angle encoder.

[0167] The present invention also provides an angle compensation system for a magnetic angle encoder. The system includes a controller and a magnetic angle encoder. The controller is used to execute the angle compensation method of the magnetic angle encoder provided by the above various methods to compensate the original angle output by the magnetic angle encoder. The angle compensation method of the magnetic angle encoder includes:

[0168] Perform segmented processing on the original angle curves corresponding to the original angles output by the magnetic angle encoder to obtain multiple segmented intervals;

[0169] Determine the deviation value calculation formula corresponding to the target segmented interval among the multiple segmented intervals. The deviation value calculation formula is used to characterize the deviation between the sum of the original angles within the target segmented interval and the rotation angles corresponding to the original angles. The target segmented interval is any one of the multiple segmented intervals;

[0170] Based on the deviation value calculation formula corresponding to the target segmented interval, determine the deviation values between the sum of the original angles within the target segmented interval and the rotation angles corresponding to the original angles;

[0171] Based on each of the deviation values, compensate each of the original angles within the target segmented interval.

[0172] It should be noted here that the controller in the above angle compensation system of the magnetic angle encoder provided by the embodiments of the present invention can implement all the method steps implemented by the angle compensation method embodiments of the above magnetic angle encoder, and can achieve the same technical effects. The same parts and beneficial effects as those in the method embodiments will not be specifically described in this embodiment.

[0173] The angle compensation system of the magnetic angle encoder provided by the present invention performs segmented processing on the non-linear original angle curve through the controller to obtain multiple segmented intervals, and determines the deviation value calculation formulas respectively corresponding to each segmented interval. Then, within each segmented interval, based on the deviation value calculation formula corresponding to the segmented interval, determine the deviation values corresponding to the original angles within the segmented interval, and compensate the original angles within the segmented interval output by the magnetic angle encoder based on each deviation value, enhancing the linearization of the output angle of the magnetic angle encoder.

[0174] Figure 13 It is a schematic physical structure diagram of the electronic device provided by the present invention, as Figure 13 shown. The electronic device may include: a processor 1310, a communication interface 1320, a memory 1330, and a communication bus 1340. Among them, the processor 1310, the communication interface 1320, and the memory 1330 complete mutual communication through the communication bus 1340. The processor 1310 can call the logical instructions in the memory 1330 to execute the angle compensation method of the magnetic angle encoder provided by the above methods. The method includes:

[0175] Perform segmented processing on the original angle curves corresponding to the original angles output by the magnetic angle encoder to obtain multiple segmented intervals;

[0176] Determine the deviation value calculation formula corresponding to the target segmentation interval among the multiple segmentation intervals. The deviation value calculation formula is used to characterize the deviation between the sum of the original angles within the target segmentation interval and the rotation angles corresponding to the original angles. The target segmentation interval is any one of the multiple segmentation intervals;

[0177] Based on the deviation value calculation formula corresponding to the target segmentation interval, determine the deviation value between the sum of the original angles within the target segmentation interval and the rotation angles corresponding to the original angles;

[0178] Compensate each of the original angles within the target segmentation interval respectively based on each of the deviation values.

[0179] In addition, when the logical instructions in the above-mentioned memory 1330 are implemented in the form of software functional units and sold or used as an independent product, they can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or a part of this technical solution can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. And the aforementioned storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical discs that can store program codes.

[0180] On the other hand, the present invention also provides a computer program product. The computer program product includes a computer program stored on a non-transitory computer-readable storage medium. The computer program includes program instructions. When the program instructions are executed by a computer, the computer can execute the angle compensation method of the magnetic angle encoder provided by the above-mentioned various methods. The method includes:

[0181] Perform segmentation processing on the original angle curve corresponding to each original angle output by the magnetic angle encoder to obtain multiple segmentation intervals;

[0182] Determine the deviation value calculation formula corresponding to the target segmentation interval among the multiple segmentation intervals. The deviation value calculation formula is used to characterize the deviation between the sum of the original angles within the target segmentation interval and the rotation angles corresponding to the original angles. The target segmentation interval is any one of the multiple segmentation intervals;

[0183] Based on the deviation value calculation formula corresponding to the target segmented interval, determine the deviation value between the sum of the original angles in the target segmented interval and the rotation angles corresponding to the original angles;

[0184] Based on each of the deviation values respectively, compensate each of the original angles in the target segmented interval.

[0185] In another aspect, the present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it is configured to execute the angle compensation method of the magnetic angle encoder provided above. The method includes:

[0186] Perform segmented processing on the original angle curves corresponding to the original angles output by the magnetic angle encoder to obtain a plurality of segmented intervals;

[0187] Determine the deviation value calculation formula corresponding to the target segmented interval among the plurality of segmented intervals. The deviation value calculation formula is used to characterize the deviation between the sum of the original angles in the target segmented interval and the rotation angles corresponding to the original angles. The target segmented interval is any one of the plurality of segmented intervals;

[0188] Based on the deviation value calculation formula corresponding to the target segmented interval, determine the deviation value between the sum of the original angles in the target segmented interval and the rotation angles corresponding to the original angles;

[0189] Based on each of the deviation values respectively, compensate each of the original angles in the target segmented interval.

[0190] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated. The components shown as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art can understand and implement it without creative labor.

[0191] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on such an understanding, the above technical solution, in essence, or the part that contributes to the prior art can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0192] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An angle compensation method for a magnetic angle encoder, characterized in that, it includes: Segment the original angle curve corresponding to each original angle output by the magnetic angle encoder to obtain multiple segmented intervals; Determine the deviation value calculation formula corresponding to the target segmented interval among the multiple segmented intervals, where the deviation value calculation formula is used to characterize the deviation between the sum of the original angles within the target segmented interval and the rotation angles corresponding to the original angles, and the target segmented interval is any one of the multiple segmented intervals; Based on the deviation value calculation formula corresponding to the target segmented interval, determine the deviation value between the sum of the original angles within the target segmented interval and the rotation angles corresponding to the original angles; Based on each of the deviation values, compensate each of the original angles within the target segmented interval; The determining the deviation value calculation formula corresponding to the target segmented interval among the multiple segmented intervals includes: Determine the first original angle corresponding to the starting point of the target segmented interval and the first rotation angle corresponding to the first original angle, and determine the second original angle corresponding to the ending point of the target segmented interval and the second rotation angle corresponding to the second original angle; Based on the first original angle, the first rotation angle, the second original angle, and the second rotation angle, determine the deviation value calculation formula corresponding to the target segmented interval.

2. The angle compensation method for a magnetic angle encoder according to claim 1, characterized in that, The determining the deviation value calculation formula corresponding to the target segmented interval based on the first original angle, the first rotation angle, the second original angle, and the second rotation angle includes: Determine the first deviation value between the first original angle and the first rotation angle, and determine the second deviation value between the second original angle and the second rotation angle; Based on the first original angle, the first deviation value, the second original angle, and the second deviation value, determine the deviation value calculation formula corresponding to the target segmented interval.

3. The angle compensation method for a magnetic angle encoder according to claim 2, characterized in that, The deviation value calculation formula corresponding to the target segmented interval is: Where, θ represents the original angle within the target segmented interval; Δ represents the deviation value between the original angle θ within the target segmented interval and the corresponding rotation angle; θ N-1 represents the first original angle; θ N represents the second original angle; Δ N-1 represents the first deviation value; Δ N represents the second deviation value; N represents the index number of the target segmented interval.

4. The angle compensation method for a magnetic angle encoder according to claim 1, characterized in that, Before the segmenting the original angle curve corresponding to each original angle output by the magnetic angle encoder to obtain multiple segmented intervals, the method further includes: Obtain the sine signal and cosine signal formed by the rotating magnetic field corresponding to the magnetic angle encoder; Obtain the digital signals corresponding to the sine signal and the cosine signal respectively; Perform an arctangent process on the digital signals corresponding to the sine signal and the cosine signal respectively to obtain the original angles output by the magnetic angle encoder.

5. The angle compensation method for a magnetic angle encoder according to claim 4, characterized in that, The obtaining the sine signal and cosine signal formed by the rotating magnetic field corresponding to the magnetic angle encoder includes: At least two Hall elements are used to respectively detect the change of the rotating magnetic field, and a first Hall voltage signal and a second Hall voltage signal are obtained; A preprocessing circuit is used to preprocess the first Hall voltage signal and the second Hall voltage signal respectively, and a sine signal and a cosine signal formed by the rotating magnetic field corresponding to the magnetic angle encoder are obtained.

6. The angle compensation method of the magnetic angle encoder according to any one of claims 1-5, characterized in that, the step of segmenting the original angle curve corresponding to each original angle output by the magnetic angle encoder to obtain a plurality of segmented intervals includes: obtaining a rotation angle curve corresponding to the original angle curve; performing an equalization process on the rotation angle curve to obtain the angle values corresponding to each segmentation point on the rotation angle curve after the equalization process; based on the angle values corresponding to each segmentation point on the rotation angle curve, segmenting the original angle curve to obtain the plurality of segmented intervals.

7. An angle compensation device for a magnetic angle encoder, characterized in that, comprising: an acquisition module, configured to segment the original angle curve corresponding to each original angle output by the magnetic angle encoder to obtain a plurality of segmented intervals; a first determination module, connected to the acquisition module, for determining a deviation value calculation formula corresponding to a target segmented interval among the plurality of segmented intervals, the deviation value calculation formula being used to characterize the deviation between each original angle in the target segmented interval and the rotation angle corresponding to each original angle, and the target segmented interval being any one of the plurality of segmented intervals; a second determination module, connected to the first determination module, for determining the deviation value between each original angle in the target segmented interval and the rotation angle corresponding to each original angle based on the deviation value calculation formula corresponding to the target segmented interval; a compensation module, connected to the second determination module, for respectively compensating each original angle in the target segmented interval based on each deviation value; the first determination module is specifically configured to: determine a first original angle corresponding to the starting point of the target segmented interval, and a first rotation angle corresponding to the first original angle, and determine a second original angle corresponding to the ending point of the target segmented interval, and a second rotation angle corresponding to the second original angle; based on the first original angle, the first rotation angle, the second original angle and the second rotation angle, determine the deviation value calculation formula corresponding to the target segmented interval.

8. The angle compensation device for a magnetic angle encoder according to claim 7, characterized in that, the first determination module includes: a first sub-module, configured to determine a first original angle corresponding to the starting point of the target segmented interval, and a first rotation angle corresponding to the first original angle, and determine a second original angle corresponding to the ending point of the target segmented interval, and a second rotation angle corresponding to the second original angle; A second sub-module, connected to the first sub-module, is configured to determine a deviation value calculation formula corresponding to the target segmentation interval based on the first original angle, the first rotation angle, the second original angle, and the second rotation angle.

9. A magnetic angle encoder, comprising a magnetic code disk, a Hall element, and a signal processing circuit, wherein, the signal processing circuit is configured to execute the angle compensation method of the magnetic angle encoder according to any one of claims 1 to 6.

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