A parameter correction method and device for a Hall torque sensor, and a storage medium

Abstract

The present application discloses a parameter correction method of a Hall torque sensor, an electronic device, and a storage medium. The method includes: obtaining a number of actual parameter values ​​of the parameters to be corrected of the Hall torque sensor, wherein the several actual parameter values ​​are parameter values ​​of the parameters to be corrected when the corresponding influencing factors are in several different states, and the parameters to be corrected include at least one of voltage and torque compensation, the influencing factor corresponding to the voltage is torque, and the influencing factor corresponding to the torque compensation is temperature; based on the several actual parameter values ​​of the parameters to be corrected and the standard parameter values ​​of the parameters to be corrected, the parameters to be corrected are corrected. The above scheme can correct the voltage and / or torque of the Hall torque sensor to improve the accuracy and reliability of the Hall torque sensor measurement.

Description

Technical Field

[0001] The present application relates to the field of sensor technology, and in particular to a parameter correction method of a Hall torque sensor, an electronic device, and a storage medium. Background Art

[0002] The torque sensor is an important safety component in the Electric Power Steering (EPS) system. The measurement accuracy and reliability of the torque sensor in the EPS have a decisive influence on steering. Measurement errors can lead to motor operation errors, loss of control of the steering process, and cause major accidents.

[0003] The mainstream torque sensor currently used in EPS on the market is the Hall torque sensor. The Hall torque sensor generates a magnetic field by a magnetic ring. The Hall torque sensor that measures the magnetic field change signal is fixed to the housing, and the magnetic ring and the Hall torque sensor are coupled through a soft magnetic conductor. When the Hall torque sensor is running in the EPS system, the torsion bar is affected by the steering wheel torque, the position of the magnetic ring in the Hall torque sensor relative to the soft magnetic conductor changes, the magnetic flux density of the soft magnetic conductor changes accordingly, and the magnetic flux density measured by the Hall torque sensor also changes. This method measures the magnetic field strength and the absolute value of the magnetic flux density through the magnetic ring, but because the Hall torque sensor is easily affected by various factors such as temperature, manufacturing and installation errors, etc., the relevant measurement parameters of the Hall torque sensor may be biased, which affects the accuracy of the Hall torque sensor measurement, and then affects the EPS's power assistance sensitivity and reliability. Summary of the invention

[0004] The present application at least provides a parameter correction method of a Hall torque sensor, an electronic device, and a storage medium, which can correct the parameters of the Hall torque sensor to improve the accuracy and reliability of its measurement.

[0005] In a first aspect, the present application provides a parameter correction method for a Hall torque sensor, the method comprising: obtaining a number of actual parameter values ​​of the parameters to be corrected of the Hall torque sensor, wherein the number of actual parameter values ​​are parameter values ​​of the parameters to be corrected when the corresponding influencing factors are in a number of different states, the parameters to be corrected include at least one of voltage and torque compensation, the influencing factor corresponding to the voltage is torque, and the influencing factor corresponding to the torque compensation is temperature; based on the number of actual parameter values ​​of the parameters to be corrected and the standard parameter values ​​of the parameters to be corrected, correcting the parameters to be corrected.

[0006] Among them, the parameters to be corrected include voltage, and several actual parameter values ​​of the parameters to be corrected of the Hall torque sensor are obtained, including: measuring the actual voltage values ​​corresponding to the Hall torque sensor under different torques; correcting the parameters to be corrected based on the several actual parameter values ​​of the parameters to be corrected and the standard parameter values ​​of the parameters to be corrected, including: using the actual voltage values ​​corresponding to different torques, determining the current voltage sensitivity coefficient, wherein the current voltage sensitivity coefficient is the slope of the torque-voltage curve of the Hall torque sensor before correction; obtaining a corrected voltage sensitivity coefficient based on the actual voltage values ​​corresponding to at least two target torques, the standard voltage values ​​corresponding to at least two target torques, and the current voltage sensitivity coefficient, wherein the corrected voltage sensitivity coefficient represents the slope of the corrected torque-voltage curve.

[0007] Among them, the current voltage sensitivity coefficient is determined by using the actual voltage values ​​corresponding to different torques, including: generating a torque-voltage curve before correction by using the actual voltage values ​​corresponding to different torques; taking the slope of the torque-voltage curve before correction as the current voltage sensitivity coefficient; obtaining a corrected voltage sensitivity coefficient based on the actual voltage values ​​corresponding to at least two target torques, the standard voltage values ​​corresponding to at least two target torques, and the current voltage sensitivity coefficient, including: obtaining a first voltage difference between the standard voltage values ​​corresponding to the two target torques, and a second voltage difference between the actual voltage values ​​corresponding to the two target torques, and taking the product of the ratio of the first voltage difference to the second voltage difference and the current voltage sensitivity coefficient as the corrected voltage sensitivity coefficient.

[0008] Among them, after obtaining the corrected voltage sensitivity coefficient, the method also includes: using the third voltage difference between the standard voltage value and the actual voltage value of the midpoint voltage to obtain the corrected voltage value of the midpoint voltage, wherein the midpoint voltage represents the voltage corresponding to the Hall torque sensor when the torque is zero, and the corrected voltage value is used to represent the translation amount of the torque voltage curve before and after correction.

[0009] Among them, after obtaining the corrected voltage value of the midpoint voltage by utilizing the difference between the standard voltage value and the actual voltage value of the midpoint voltage, the method also includes any one or more of the following steps: in response to the corrected voltage sensitivity coefficient meeting the sensitivity coefficient requirement, writing the corrected voltage sensitivity coefficient into the memory of the Hall torque sensor; in response to the corrected voltage value of the midpoint voltage meeting the midpoint voltage requirement, writing the corrected voltage value of the midpoint voltage into the memory of the Hall torque sensor; utilizing the current torque of the Hall torque sensor and the corrected torque voltage curve to obtain the corrected output voltage of the Hall torque sensor, using the ratio between the power supply voltage and the reference voltage of the Hall torque sensor as the amplification factor, and amplifying the corrected output voltage using the amplification factor to obtain the current output voltage of the Hall torque sensor.

[0010] Among them, the parameters to be corrected include torque compensation, and several actual parameter values ​​of the parameters to be corrected of the Hall torque sensor are obtained, including: measuring the actual torque compensation values ​​corresponding to the Hall torque sensor at different temperatures; correcting the parameters to be corrected based on the several actual parameter values ​​of the parameters to be corrected and the standard parameter values ​​of the parameters to be corrected, including: obtaining a standard torque compensation range; in response to the existence of the measured actual torque compensation value exceeding the standard torque compensation range, selecting a group of target compensation correction parameters from at least one group of candidate compensation correction parameters, wherein the target compensation correction parameters can make the corrected torque compensation values ​​at different temperatures all within the standard torque compensation range, and the target compensation correction parameters are used to compensate for the torque of the Hall torque sensor at different temperatures.

[0011] Wherein, each group of candidate compensation correction parameters includes a first candidate correction parameter and a second candidate correction parameter, and a group of target compensation correction parameters is selected from at least one group of candidate compensation correction parameters, including: for each group of candidate compensation correction parameters, obtaining the temperature difference between each temperature and the reference temperature, and using the temperature difference corresponding to each temperature, the first candidate correction parameter and the second candidate correction parameter to respectively calculate the corrected torque compensation value at each temperature; in response to the corrected torque compensation values ​​corresponding to the candidate compensation correction parameters being all within the standard torque compensation range, the candidate compensation correction parameters are determined as the target compensation correction parameters.

[0012] Among them, after selecting a set of target compensation correction parameters from at least one set of candidate compensation correction parameters, the method also includes any one or more of the following steps: writing the target compensation correction parameters into the memory of the Hall torque sensor; obtaining the current temperature of the Hall torque sensor, obtaining the current temperature difference between the current temperature and the reference temperature, using the current temperature difference and the target compensation correction parameters to calculate the target torque compensation value at the current temperature, and using the target torque compensation value to compensate for the current torque of the Hall torque sensor.

[0013] A second aspect of the present application provides an electronic device, comprising a memory and a processor coupled to each other, the processor being used to execute program instructions stored in the memory to implement the parameter correction method of the Hall torque sensor of any one of the above-mentioned first aspects.

[0014] A third aspect of the present application provides a computer-readable storage medium having program instructions stored thereon, and when the program instructions are executed by a processor, the parameter correction method of the Hall torque sensor in the first aspect described above is implemented.

[0015] The above scheme uses the voltage and / or torque compensation of the Hall torque sensor as the parameters to be corrected, and uses the parameter values ​​of the parameters to be corrected of the Hall torque sensor when the corresponding influencing factors are in several different states and their standard parameter values ​​to correct the parameters to be corrected, thereby realizing the correction of the voltage and / or torque compensation of the Hall torque sensor, thereby improving the accuracy and reliability of the Hall torque sensor measurement.

[0016] Specifically, for voltage correction, the actual voltage value of the Hall torque sensor at different torques is measured, and the voltage sensitivity coefficient is corrected using the standard voltage value corresponding to the actual voltage value at different torques. This can solve the problem of deviation between the actual measured voltage and the design voltage of the Hall torque sensor, and improve the accuracy and reliability of the Hall torque sensor measurement. For torque compensation correction, the actual torque compensation value of the Hall torque sensor at different temperatures is measured. When the actual torque compensation value at different temperatures exceeds the standard torque compensation range, the compensation correction parameters that can make the actual torque compensation value at different temperatures after correction fall within the standard torque compensation range are determined to achieve torque compensation correction, thereby reducing the impact of temperature on the Hall torque sensor measurement and improving the accuracy and reliability of the Hall torque sensor measurement.

[0017] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings herein are incorporated into the specification and constitute a part of the specification. These drawings illustrate embodiments consistent with the present application and are used together with the specification to illustrate the technical solution of the present application.

[0019] Figure 1 It is a flow chart of an embodiment of a parameter correction method of a Hall torque sensor of the present application;

[0020] Figure 2 It is a flow chart of an embodiment of a voltage correction method for a Hall torque sensor of the present application;

[0021] Figure 3It is a flow chart of another embodiment of the voltage correction method of the Hall torque sensor of the present application;

[0022] Figure 4 is a curve diagram of an embodiment of the present application showing output torque and sensor output voltage;

[0023] Figure 5 It is a flow chart of an embodiment of a torque compensation correction method of a Hall torque sensor of the present application;

[0024] Figure 6 It is a flow chart of another embodiment of the torque compensation correction method of the Hall torque sensor of the present application;

[0025] Figure 7 is a curve diagram of output temperature and boost gain in one embodiment of the present application;

[0026] Figure 8 It is a schematic diagram of the framework of an embodiment of the electronic device of the present application;

[0027] Fig. 9 It is a schematic diagram of a framework of an embodiment of a computer-readable storage medium of the present application. DETAILED DESCRIPTION

[0028] The scheme of the embodiment of the present application is described in detail below in conjunction with the drawings of the specification.

[0029] In the following description, for the purpose of explanation rather than limitation, specific details such as specific system structures, interfaces, and technologies are provided to facilitate a thorough understanding of the present application.

[0030] The term "at least one" herein means any combination of at least two of any one or more of a plurality of types, for example, including at least one of A, B, and C, and may mean any one or more elements selected from the set consisting of A, B, and C.

[0031] See also Figure 1 , Figure 1 This is a flow chart of an embodiment of a parameter calibration method for a Hall torque sensor of the present application. The specific steps are as follows:

[0032] Step S110: obtaining a plurality of actual parameter values ​​of parameters to be calibrated of the Hall torque sensor.

[0033] Among them, several actual parameter values ​​are parameter values ​​of the parameters to be corrected when the corresponding influencing factors are in several different states. The parameters to be corrected include at least one of voltage and torque compensation. The influencing factor corresponding to voltage is torque, and the influencing factor corresponding to torque compensation is temperature.

[0034] The Hall torque sensor mentioned in this article usually includes: a torsion shaft, a permanent magnet block and a Hall element. A permanent magnet block is installed on the torsion shaft, and a Hall element is installed at a certain angle to the permanent magnet block. When the Hall torque sensor is subjected to a torque, the torsion shaft will rotate an angle, causing the permanent magnet block to change position, thereby changing the distance between the permanent magnet block and the Hall element, so that the voltage output by the Hall element changes. In this process, the Hall torque sensor converts the change in torque into a change in voltage output. Therefore, the actual voltage value measured by the Hall torque sensor is easily affected by torque. The Hall torque sensor can be used in the automotive industry, and can also be used in the control and monitoring of oil extraction and refining processes. It can be understood that the parameter correction method of the Hall torque sensor in this article can also be applied to a variety of fields, which are not specifically limited here.

[0035] In addition, the Hall torque sensor can output a corresponding torque compensation signal according to its temperature. The torque compensation signal will be sent to auxiliary power equipment such as servo motors or steering motors, and the auxiliary power equipment will generate a corresponding torque compensation value according to the torque compensation signal. Among them, if the actual torque provided by the auxiliary power equipment is not equal to the standard torque, the difference in torque is the torque compensation value. For example, in EPS, the actual torque output by the steering motor according to the signal is 5.2N·m, and the standard torque of the signal is 5N·m, then 0.2N·m is the torque compensation value, that is, the power gain value.

[0036] In a specific embodiment, a temperature sensor may be provided in the Hall torque sensor to measure the temperature of the Hall torque sensor itself or the temperature of the environment in which the Hall torque sensor is located.

[0037] Step S120: calibrating the parameter to be calibrated based on a number of actual parameter values ​​of the parameter to be calibrated and a standard parameter value of the parameter to be calibrated.

[0038] In some embodiments, the actual voltage value and the standard voltage value of the Hall torque sensor under different torques are obtained, and the actual voltage value is corrected based on the standard voltage value so that the actual voltage value approaches the standard voltage value or is equal to the standard voltage value. It can be understood that the selection or setting of the standard voltage value can be determined according to the specific situation and is not specifically limited here.

[0039] In some embodiments, the torque compensation signal of the Hall torque sensor at different temperatures is obtained, and the motor can calculate the corresponding actual torque compensation value based on the torque compensation signal, and then obtain the standard torque compensation value at the corresponding temperature. The actual torque compensation value is corrected based on the standard torque compensation value so that the actual torque compensation value approaches the standard torque compensation value, or is equal to the standard torque compensation value. The torque compensation signal is then corrected based on the corrected actual torque compensation value. It can be understood that the selection or setting of the standard torque compensation value can be determined according to the specific situation and is not specifically limited here.

[0040] In other embodiments, the output value of the Hall torque sensor at different temperatures is a torque compensation value, and after the motor receives the torque compensation value, the actual torque compensation value output is the torque compensation value. Then the standard torque compensation value at the corresponding temperature is obtained. Based on the standard torque compensation value, the actual torque compensation value is corrected so that the actual torque compensation value approaches the standard torque compensation value, or is equal to the standard torque compensation value.

[0041] See also Figure 2 , Figure 2 This is a flow chart of an embodiment of a voltage calibration method for a Hall torque sensor of the present application. The specific calibration steps are as follows:

[0042] Step S210: measuring the actual voltage values ​​of the Hall torque sensor corresponding to different torques.

[0043] In some embodiments, a torque can be applied to the torsion shaft of the Hall torque sensor to drive the permanent magnet block to change its position, so as to change the magnetic flux density of the Hall torque sensor, thereby causing the Hall torque sensor to generate a corresponding actual voltage value. By repeatedly applying multiple sets of different torques and recording the corresponding actual voltage values, the actual voltage values ​​corresponding to the Hall torque sensor under different torques can be obtained. It can be understood that the method of measuring the actual voltage values ​​corresponding to the Hall torque sensor under different torques can be determined according to the situation and is not specifically limited here.

[0044] Step S220: Determine the current voltage sensitivity coefficient using the actual voltage values ​​corresponding to different torques.

[0045] The current voltage sensitivity coefficient is the slope of the torque voltage curve of the Hall torque sensor before correction.

[0046] In some embodiments, the slope between any two sets of torque voltage data can be calculated using the general formula of the slope, and the slope is used as the voltage sensitivity coefficient of the two sets of torque voltage data. It is understood that the calculation method for the slope of the curve can be other methods besides the general formula, which is not specifically limited here.

[0047] In some other embodiments, the calculation method of the voltage sensitivity coefficient is as follows:

[0048] Step S221: Generate a torque-voltage curve before correction by using actual voltage values ​​corresponding to different torques.

[0049] In some embodiments, the actual voltage values ​​corresponding to different torques can be input into a rectangular coordinate system, where the torque can be used as the horizontal coordinate and the voltage can be used as the vertical coordinate, so as to generate a torque-voltage curve before correction. It can be understood that the method for generating the torque-voltage curve before correction is not specifically limited here.

[0050] Step S222: taking the slope of the torque-voltage curve before correction as the current voltage sensitivity coefficient.

[0051] Step S230: Obtain a calibrated voltage sensitivity coefficient based on actual voltage values ​​corresponding to at least two target torques, standard voltage values ​​corresponding to at least two target torques, and a current voltage sensitivity coefficient.

[0052] The corrected voltage sensitivity coefficient represents the slope of the corrected torque-voltage curve.

[0053] In some embodiments, actual voltage values ​​corresponding to two target torques are selected from the torque-voltage curve before correction, and the slope between the two target torques is calculated as the current voltage sensitivity coefficient, and standard voltage values ​​corresponding to two same target torques are selected from the standard torque-voltage curve, and the corrected voltage sensitivity coefficient is obtained using the actual voltage value, the standard voltage value and the current voltage sensitivity coefficient.

[0054] Specifically, a first voltage difference between the standard voltage values ​​corresponding to the two target torques and a second voltage difference between the actual voltage values ​​corresponding to the two target torques are obtained, and a product of a ratio of the first voltage difference to the second voltage difference and a current voltage sensitivity coefficient is used as the corrected voltage sensitivity coefficient, as described in Formula 1:

[0055]

[0056] Among them, S′ is the current voltage sensitivity coefficient, S is the calibrated voltage sensitivity coefficient, A[V] and B[V] are the standard voltage values ​​corresponding to the two target torques respectively, and A′[V] and B′[ ] are the actual voltage values ​​corresponding to the two target torques respectively.

[0057] Step S240: obtaining a corrected voltage value of the midpoint voltage by using a third voltage difference between the standard voltage value and the actual voltage value of the midpoint voltage.

[0058] The midpoint voltage represents the voltage corresponding to the Hall torque sensor when the torque is zero, and the correction voltage value is used to represent the translation amount of the torque voltage curve before and after correction.

[0059] In some embodiments, after the slope of the torque voltage curve is corrected, the corrected torque voltage curve may be parallel to the standard torque voltage curve. In order to correct the torque voltage curve to the standard torque voltage curve, the midpoint voltage of the torque voltage curve needs to be corrected. Specifically, Formula 2 can be used:

[0060] V oq =V m ′[V]+V o ' q (2)

[0061] Among them, V o ' q is the actual voltage value of the midpoint voltage, V oq is the standard voltage value of the midpoint voltage, V m ′[V] is the correction voltage value.

[0062] In some embodiments, in response to the corrected voltage sensitivity coefficient meeting the sensitivity coefficient requirement, the corrected voltage sensitivity coefficient is written into the memory of the Hall torque sensor. Specifically, the corrected voltage sensitivity coefficient can be verified, and if it meets the sensitivity coefficient requirement, the corrected voltage sensitivity coefficient can be written into the memory of the Hall torque sensor; if it does not meet the requirement, the corrected voltage sensitivity coefficient is recalculated. Among them, the setting of the sensitivity coefficient requirement can be: calculating the similarity between the corrected voltage sensitivity coefficient and the standard voltage sensitivity coefficient, if the similarity reaches a certain threshold, it can be regarded that the corrected voltage sensitivity coefficient meets the sensitivity coefficient requirement. It can be understood that the setting of the sensitivity coefficient requirement can depend on the specific situation and is not specifically limited here.

[0063] In some embodiments, in response to the corrected voltage value of the midpoint voltage meeting the midpoint voltage requirement, the corrected voltage value of the midpoint voltage is written into the memory of the Hall torque sensor. Specifically, the corrected voltage value of the midpoint voltage can be verified, and if it meets the midpoint voltage requirement, the corrected voltage value of the midpoint voltage can be written into the memory of the Hall torque sensor; if it does not meet the requirement, the corrected voltage value of the midpoint voltage is recalculated. Among them, the setting of the midpoint voltage requirement can be: judging whether the actual voltage value of the midpoint voltage plus the corrected voltage value is equal to the standard voltage value of the midpoint voltage. It can be understood that the setting of the midpoint voltage requirement can depend on the specific situation and is not specifically limited here.

[0064] In some embodiments, the current torque of the Hall torque sensor and the corrected torque voltage curve are used to obtain the corrected output voltage of the Hall torque sensor, and the ratio between the power supply voltage and the reference voltage of the Hall torque sensor is used as the amplification factor. The corrected output voltage is amplified using the amplification factor to obtain the current output voltage of the Hall torque sensor.

[0065] Formula 3:

[0066]

[0067] Among them, V T is the current output voltage of the Hall torque sensor, a is the calibrated voltage sensitivity coefficient of the Hall torque sensor, θ is the torque, V i is the standard voltage value of the midpoint voltage, V CC is the power supply voltage of the Hall torque sensor, V ref It is the reference voltage of the Hall torque sensor.

[0068] In a specific application scenario, the Hall torque sensor voltage calibration method is used to calibrate the Hall torque sensor in EPS. For specific steps, please refer to Figure 3 Step 1: Apply multiple torques to the steering system torsion bar through the steering wheel and record the corresponding actual voltage values ​​generated by the Hall torque sensor. The multiple torques and their corresponding actual voltage values ​​form a torque voltage curve, which can be combined with reference to Figure 4 , where the corrected curve is a standard torque-voltage curve, with torque as the horizontal axis and voltage as the vertical axis. Due to the working characteristics of the Hall sensor, voltage correction can be divided into sensitivity coefficient correction and midpoint voltage correction.

[0069] Step 2: When correcting the voltage sensitivity coefficient, select the actual voltage value when the target torque is ±4.9N·m, calculate the slope of the two points of the actual voltage value corresponding to ±4.9N·m, and use the slope as the current voltage sensitivity coefficient. The voltage sensitivity coefficients of these two points in the standard torque-voltage curve are known. Correct the current voltage sensitivity coefficient to the standard voltage sensitivity coefficient using formula 1.

[0070]

[0071] Among them, A[V] is the standard voltage value at 4.9 N·m, B[V] is the standard voltage value at -4.9 N·m, A′[V] is the actual voltage value at 4.9 N·m, and B′[] is the actual voltage value at -4.9 N·m.

[0072] Step 3: When calibrating the midpoint voltage, the voltage of the Hall torque sensor when it is unloaded is 2.5V, that is, the voltage when the torque is 0. By using Formula 2, the actual voltage value of the midpoint voltage is calibrated to the standard voltage value to obtain the calibrated voltage value of the midpoint voltage.

[0073] V oq =2.5V=V m ′[V]+ o ' q

[0074] Step 4: Determine the corrected voltage sensitivity coefficient and the corrected voltage value of the midpoint voltage. Check whether the corrected voltage sensitivity coefficient is the standard voltage sensitivity coefficient, and check whether the actual voltage value of the midpoint voltage plus the corrected voltage value is the standard voltage value of the midpoint voltage. If so, write the corrected voltage sensitivity coefficient and the corrected voltage value of the midpoint voltage into the Hall IC, and lock the voltage sensitivity coefficient and the voltage correction program, and the voltage correction is completed; if the voltage sensitivity coefficient is not, repeat the above second, third, and fourth steps until the judgment process passes; if the actual voltage value of the midpoint voltage plus the corrected voltage value is not equal to the standard voltage value of the midpoint voltage, repeat the above third and fourth steps until the judgment process passes.

[0075] See also Figure 5 , Figure 5 1 is a flow chart of an embodiment of a torque compensation calibration method for a Hall torque sensor of the present application. The specific calibration steps of torque compensation are as follows:

[0076] Step S310: measuring actual torque compensation values ​​corresponding to the Hall torque sensor at different temperatures.

[0077] Step S320: Obtaining a standard torque compensation range.

[0078] Under ideal conditions, the actual torque compensation value signal output by the Hall torque sensor is 0. In actual use, the actual torque compensation value signal output by the Hall torque sensor will only tend to 0, and will not be equal to 0. Therefore, a standard torque compensation range is set. When the actual torque compensation value signal output by the Hall torque sensor is within the standard torque compensation range, the torque compensation value corresponding to the actual torque compensation value signal will not affect normal use.

[0079] In some embodiments, the standard torque compensation range may be preset or set based on experience, and is not specifically limited herein.

[0080] Step S330: In response to the measured actual torque compensation value exceeding the standard torque compensation range, a set of target compensation correction parameters is selected from at least one set of candidate compensation correction parameters.

[0081] The target compensation correction parameter can make the corrected torque compensation values ​​at different temperatures all fall within the standard torque compensation range, and the target compensation correction parameter is used to compensate the torque of the Hall torque sensor at different temperatures.

[0082] In some embodiments, each temperature of the Hall torque sensor corresponds to at least one set of candidate compensation correction parameters, and the candidate compensation correction parameters corresponding to each temperature may be the same or different. If the actual torque compensation value measured at a certain temperature exceeds the standard torque compensation range, a set of target compensation correction parameters is selected from the candidate compensation correction parameters at the temperature to correct the actual torque compensation value at the temperature.

[0083] In other embodiments, each temperature of the Hall torque sensor corresponds to at least one set of candidate compensation correction parameters. If the actual torque compensation value measured at a certain temperature exceeds the standard torque compensation range, a set of target compensation correction parameters is selected from the candidate compensation correction parameters to correct the actual torque compensation values ​​at all temperatures.

[0084] Specifically, the following steps can be combined:

[0085] Step S331: For each set of candidate compensation correction parameters, obtain the temperature difference between each temperature and the reference temperature, and use the temperature difference corresponding to each temperature, the first candidate correction parameter and the second candidate correction parameter to respectively calculate the corrected torque compensation value at each temperature.

[0086] In some embodiments, the current temperature of the Hall torque sensor is obtained, the current temperature difference between the current temperature and the reference temperature is obtained, the target torque compensation value at the current temperature is calculated using the current temperature difference and the target compensation correction parameter, and the current torque of the Hall torque sensor is compensated using the target torque compensation value. Specifically, as shown in Formula 4:

[0087] S TC =TC1×(T-T0)+TC2×(T-T0) 2 (4)

[0088] Among them, S TC is the torque compensation value after correction, TC1 is the first candidate correction parameter, TC2 is the second candidate correction parameter, and T0 is the reference temperature.

[0089] Step S332: In response to the fact that the corrected torque compensation values ​​corresponding to the candidate compensation correction parameters are all within the standard torque compensation range, the candidate compensation correction parameters are determined as target compensation correction parameters.

[0090] In some embodiments, the target compensation correction parameters are verified. If the corrected torque compensation values ​​are all within the standard torque compensation range, the candidate compensation correction parameters are determined as the target compensation correction parameters, and the target compensation correction parameters are written into the memory of the Hall torque sensor. If the corrected torque compensation values ​​are still beyond the standard torque compensation range, the target compensation correction parameters are recalculated or selected.

[0091] In a specific application scenario, the Hall torque sensor torque compensation correction method is used to calibrate the Hall torque sensor in EPS. Please refer to Figure 6 and Figure 7 Step 1: Under the condition that the other working parameters remain unchanged, the boost gain signal of the Hall torque sensor at different working temperatures (high and low temperatures) is measured, the corresponding boost gain (i.e. torque compensation) is obtained according to the boost gain signal, and the curve of the boost gain changing with temperature is obtained, wherein the judgment range of the boost gain is set within ±0.3N·m.

[0092] Step 2: According to the judgment range of the boost gain (i.e., the torque compensation value), the boost gain versus temperature curve in this embodiment has exceeded the judgment range of the boost gain, so a set of target compensation correction parameters needs to be selected from the candidate compensation correction parameters, and the set of target compensation correction parameters is input into Formula 4. Among them, the straight line with a boost gain of 0 is selected as the standard boost gain curve. Formula 4 is used to correct the boost gain-temperature curve to the standard boost gain curve, thereby completing the correction of the boost gain signal of the Hall torque sensor.

[0093] The third step: judge the group of target compensation correction parameters, and input the power assist gain measured by the Hall torque sensor into Formula 4 of the target compensation correction parameter group. If the recalculated power assist gain-temperature curve is within the judgment range of the power assist gain, write the group of target compensation correction parameters into the Hall IC and lock the torque compensation correction program; otherwise, repeat the above steps until the corrected power assist gain-temperature curve is within the judgment range of the power assist gain.

[0094] In the present application, the actual voltage values ​​corresponding to the Hall torque sensor at different torques are plotted into an actual torque-voltage curve. First, the voltage sensitivity coefficient (i.e., slope) of the actual torque-voltage curve is corrected to the voltage sensitivity coefficient of the standard torque-voltage curve. Then, the actual voltage value of the midpoint voltage of the actual torque-voltage curve is corrected to the standard voltage value, so that the actual torque-voltage curve coincides with the standard torque-voltage curve, thereby completing the correction of the output voltage of the Hall torque sensor, thereby improving the accuracy and reliability of the output voltage of the Hall torque sensor of the steering system. When correcting the temperature characteristics of the Hall torque sensor, the torque compensation signal of the Hall torque sensor at different temperatures is obtained, and the corresponding actual torque compensation value is calculated according to the torque compensation signal, and then the standard torque compensation value at the temperature is obtained. The actual torque compensation value is corrected based on the standard torque compensation value so that the actual torque compensation value approaches the standard torque compensation value, or is equal to the standard torque compensation value, and then the torque compensation signal is corrected according to the corrected actual torque compensation value, thereby improving the temperature characteristics of the Hall torque sensor of the steering system.

[0095] Those skilled in the art will appreciate that, in the above method of specific implementation, the order in which the steps are written does not imply a strict execution order and does not constitute any limitation on the implementation process. The specific execution order of the steps should be determined by their functions and possible internal logic.

[0096] See also Figure 8 , Figure 8 : is a schematic diagram of a framework of an embodiment of an electronic device 80 of the present application. The electronic device 80 includes a memory 81 and a processor 82 coupled to each other, and the processor 82 is used to execute program instructions stored in the memory 81 to implement the steps of any of the above-mentioned parameter correction method embodiments of the Hall torque sensor. In a specific implementation scenario, the electronic device 80 may include but is not limited to: a microcomputer, a server, and in addition, the electronic device 80 may also include a mobile device such as a laptop computer and a tablet computer, which is not limited here.

[0097] Specifically, the processor 82 is used to control itself and the memory 81 to implement the steps of any of the above-mentioned parameter correction method embodiments of the Hall torque sensor, or to implement the steps of any of the above-mentioned image detection method embodiments. The processor 82 can also be called a CPU (Central Processing Unit). The processor 82 may be an integrated circuit chip with signal processing capabilities. The processor 82 can also be a general-purpose processor, a digital signal processor (DigitalSignal Processor, DSP), an application-specific integrated circuit (Application Specific Integrated Circuit, ASIC), a field-programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. In addition, the processor 82 can be implemented by an integrated circuit chip.

[0098] See also Fig. 9 , Fig. 9 The schematic diagram of the framework of an embodiment of a computer-readable storage medium 90 of the present application. The computer-readable storage medium 90 stores program instructions 901 that can be executed by a processor, and the program instructions 901 are used to implement the steps in any of the above-mentioned embodiments of the parameter calibration method of the Hall torque sensor.

[0099] In some embodiments, the functions or modules included in the device provided by the embodiments of the present disclosure can be used to execute the method described in the above method embodiments. The specific implementation can refer to the description of the above method embodiments, and for the sake of brevity, it will not be repeated here.

[0100] The above description of various embodiments tends to emphasize the differences between the various embodiments. The same or similar aspects can be referenced to each other, and for the sake of brevity, they will not be repeated herein.

[0101] In the several embodiments provided in the present application, it should be understood that the disclosed methods and devices can be implemented in other ways. For example, the device implementation described above is only schematic. For example, the division of modules or units is only a logical function division. There may be other division methods in actual implementation, such as units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.

[0102] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0103] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) or a processor (processor) to perform all or part of the steps of each implementation method of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program code.

Claims

1. A parameter calibration method for a Hall torque sensor, characterized in that: include: Acquire several actual parameter values ​​of the to-be-corrected parameter of the Hall torque sensor, wherein the several actual parameter values ​​are parameter values ​​of the to-be-corrected parameter when the corresponding influencing factors are in several different states, the to-be-corrected parameter includes at least one of voltage and torque compensation, the influencing factor corresponding to the voltage is torque, and the influencing factor corresponding to the torque compensation is temperature; Correcting the parameter to be corrected based on a plurality of actual parameter values ​​of the parameter to be corrected and a standard parameter value of the parameter to be corrected; Wherein, the parameter to be corrected includes voltage, and the obtaining of several actual parameter values ​​of the parameter to be corrected of the Hall torque sensor includes: measuring the actual voltage values ​​corresponding to the Hall torque sensor at different torques; and, based on the several actual parameter values ​​of the parameter to be corrected and the standard parameter value of the parameter to be corrected, correcting the parameter to be corrected includes: determining a current voltage sensitivity coefficient using the actual voltage values ​​corresponding to different torques, wherein the current voltage sensitivity coefficient is the slope of the torque-voltage curve of the Hall torque sensor before correction; obtaining the corrected voltage sensitivity coefficient based on the actual voltage values ​​corresponding to at least two target torques, the standard voltage values ​​corresponding to the at least two target torques, and the current voltage sensitivity coefficient, wherein the corrected voltage sensitivity coefficient represents the slope of the corrected torque-voltage curve; And / or, the parameter to be corrected includes torque compensation, and the obtaining of several actual parameter values ​​of the parameter to be corrected of the Hall torque sensor includes: measuring the actual torque compensation values ​​corresponding to the Hall torque sensor at different temperatures; and, based on the several actual parameter values ​​of the parameter to be corrected and the standard parameter value of the parameter to be corrected, correcting the parameter to be corrected includes: obtaining a standard torque compensation range; in response to the fact that the measured actual torque compensation value exceeds the standard torque compensation range, selecting a group of target compensation correction parameters from at least one group of candidate compensation correction parameters, wherein the target compensation correction parameters can make the corrected torque compensation values ​​at different temperatures all fall within the standard torque compensation range, and the target compensation correction parameters are used to compensate for the torque of the Hall torque sensor at different temperatures.

2. The method according to claim 1, characterized in that The method of determining the current voltage sensitivity coefficient by using the actual voltage values ​​corresponding to the different torques includes: Using the actual voltage values ​​corresponding to different torques, respectively, to generate the torque-voltage curve before correction; Using the slope of the torque voltage curve before correction as the current voltage sensitivity coefficient; The obtaining of the corrected voltage sensitivity coefficient based on the actual voltage values ​​respectively corresponding to at least two target torques, the standard voltage values ​​respectively corresponding to the at least two target torques, and the current voltage sensitivity coefficient comprises: Obtain a first voltage difference between the standard voltage values ​​corresponding to the two target torques, and a second voltage difference between the actual voltage values ​​corresponding to the two target torques, and take the product of the ratio of the first voltage difference to the second voltage difference and the current voltage sensitivity coefficient as the corrected voltage sensitivity coefficient.

3. The method according to claim 1, characterized in that After obtaining the corrected voltage sensitivity coefficient, the method further includes: The third voltage difference between the standard voltage value and the actual voltage value of the midpoint voltage is used to obtain the corrected voltage value of the midpoint voltage, wherein the midpoint voltage represents the voltage corresponding to the Hall torque sensor when the torque is zero, and the corrected voltage value is used to represent the translation amount of the torque voltage curve before and after correction.

4. The method according to claim 3, characterized in that After obtaining the corrected voltage value of the midpoint voltage by using the difference between the standard voltage value and the actual voltage value of the midpoint voltage, the method further includes any one or more of the following steps: In response to the corrected voltage sensitivity coefficient satisfying a sensitivity coefficient requirement, writing the corrected voltage sensitivity coefficient into a memory of the Hall torque sensor; In response to the correction voltage value of the midpoint voltage satisfying the midpoint voltage requirement, writing the correction voltage value of the midpoint voltage into a memory of the Hall torque sensor; The corrected output voltage of the Hall torque sensor is obtained by using the current torque of the Hall torque sensor and the corrected torque voltage curve, and the ratio between the power supply voltage and the reference voltage of the Hall torque sensor is used as the amplification factor. The corrected output voltage is amplified by using the amplification factor to obtain the current output voltage of the Hall torque sensor.

5. The method according to claim 1, characterized in that Each group of candidate compensation correction parameters includes a first candidate correction parameter and a second candidate correction parameter, and selecting a group of target compensation correction parameters from at least one group of candidate compensation correction parameters includes: For each group of the candidate compensation correction parameters, the temperature difference between each temperature and the reference temperature is obtained, and the corrected torque compensation value at each temperature is calculated by using the temperature difference corresponding to each temperature, the first candidate correction parameter and the second candidate correction parameter; In response to the fact that the corrected torque compensation values ​​corresponding to the candidate compensation correction parameters are all within the standard torque compensation range, the candidate compensation correction parameters are determined as the target compensation correction parameters.

6. The method according to claim 1, characterized in that After selecting a set of target compensation correction parameters from at least one set of candidate compensation correction parameters, the method further comprises any one or more of the following steps: Writing the target compensation correction parameter into the memory of the Hall torque sensor; The current temperature of the Hall torque sensor is obtained, the current temperature difference between the current temperature and the reference temperature is obtained, the target torque compensation value at the current temperature is calculated using the current temperature difference and the target compensation correction parameter, and the current torque of the Hall torque sensor is compensated using the target torque compensation value.

7. An electronic device, characterized in that: It comprises a memory and a processor coupled to each other, wherein the processor is used to execute program instructions stored in the memory to implement the parameter correction method of the Hall torque sensor according to any one of claims 1 to 6.

8. A computer-readable storage medium having program instructions stored thereon, characterized in that: When the program instructions are executed by a processor, the parameter correction method of the Hall torque sensor according to any one of claims 1 to 6 is implemented.

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