Orthogonally mounted magnetic encoder coupling error calibration compensation method and system

Abstract

The present invention provides a method and system for calibrating and compensating coupling errors of orthogonally mounted magnetic encoders, the method comprising: determining the coupling coefficient between the rotation angle of each other output shaft and the any output shaft according to the magnetic encoder corresponding to the any output shaft detecting the direction of the magnetic field generated by the magnet on the any output shaft and the direction of the magnetic field superimposed on the any output shaft by the magnet on the other output shafts; determining the final deflection angle of the any output shaft according to the current deflection angle of the output shaft output by each magnetic encoder and the coupling coefficient between the rotation angle of each other output shaft and the rotation angle of the any output shaft. The present invention realizes compensation for the coupling error of the output shaft and improves the measurement accuracy of the magnetic encoder.

Description

Technical Field

[0001] The present invention relates to the technical field of angle measurement, and in particular to a method and system for calibrating and compensating coupling errors of an orthogonally mounted magnetic encoder. Background Art

[0002] The magnetic encoder is an angular position sensor with small size and high resolution. It can be installed non-contactly and is easy to integrate with the motor to realize servo control. The magnetic encoder measures the deflection angle of the output shaft where the magnet is located by detecting the different magnetic induction strengths of the magnet or using the giant magnetoresistance effect.

[0003] Since magnetic encoders work based on the sensitivity of magnetic induction materials to changes in the direction of the magnetic field, when multiple magnetic encoders work in close proximity, there is a superposition of magnetic fields, which affects the measurement accuracy of the magnetic encoders.

[0004] like Figure 1 The figure shows the assembly diagram of four orthogonally mounted magnetic encoders. Four output shafts 101 are orthogonally mounted, magnets 102 are respectively mounted on the output shafts 101, and magnetic encoders 103 measure the deflection angles of the output shafts 101 respectively.

[0005] Since the four magnets are installed orthogonally and the distance between each two is relatively close, the remaining three magnets will couple the magnetic field into the magnetic field of the fourth magnet, so that the magnetic field of any magnet has the magnetic field component of the remaining three magnets, which is then coupled to the input of the magnetic encoder to generate coupled output, causing interference to the output shaft in dynamic and static processes, resulting in coupling errors and reducing the output shaft angle measurement accuracy of the magnetic encoder. Summary of the invention

[0006] The present invention provides a method and system for calibrating and compensating coupling errors of an orthogonally mounted magnetic encoder, which are used to solve the defects in the prior art that magnetic field superposition causes coupling output of the magnetic encoder and inaccurate angle measurement, and realizes compensation for the coupling error measured by the magnetic encoder, thereby improving the measurement accuracy of the magnetic encoder.

[0007] The present invention provides a method for calibrating and compensating coupling errors of an orthogonally mounted magnetic encoder, comprising:

[0008] Detecting the direction of the magnetic field generated by the magnet on any output shaft and the direction of the magnetic field superimposed on the any output shaft by the magnet on other output shafts according to the magnetic encoder corresponding to any output shaft, and determining the coupling coefficient between each other output shaft and the rotation angle of any output shaft;

[0009] The final deflection angle of any output shaft is determined according to the current deflection angle of the output shaft output by each magnetic encoder and the coupling coefficient between the rotation angle of each other output shaft and any output shaft.

[0010] According to a method for calibrating and compensating coupling errors of orthogonally mounted magnetic encoders provided by the present invention, the step of detecting the direction of the magnetic field generated by the magnet on any output shaft and the direction of the magnetic field superimposed on any output shaft by the magnet on other output shafts according to the magnetic encoder corresponding to any output shaft, and determining the coupling coefficient between each other output shaft and the rotation angle of any output shaft comprises:

[0011] When any of the output shafts rotates and each of the other output shafts is stationary, an output value of a magnetic encoder corresponding to the any of the output shafts and each of the other stationary output shafts is obtained;

[0012] Performing a linear fit between the output value corresponding to each other stationary output shaft and the output value corresponding to any output shaft to obtain a fitting curve corresponding to any output shaft;

[0013] The coefficients in the fitting curve are used as coupling coefficients between each other output shaft and the rotation angle of any output shaft.

[0014] According to a method for calibrating and compensating coupling errors of an orthogonally mounted magnetic encoder provided by the present invention, the linear fitting angle range of each other output axis is [90°-a, 90°+a] or [-(90°+b), -(90°-b)], where a and b are positive numbers.

[0015] According to a method for calibrating and compensating coupling errors of orthogonally mounted magnetic encoders provided by the present invention, when any of the output shafts rotates and each of the other output shafts is stationary, before the step of obtaining the output value of the magnetic encoder corresponding to any of the output shafts and each of the other stationary output shafts, the method further includes:

[0016] Perform mechanical zero position calibration on each other output shaft according to the angular range of linear fitting of each other output shaft.

[0017] According to a method for calibrating and compensating coupling errors of orthogonally mounted magnetic encoders provided by the present invention, after the step of determining the final deflection angle of any output shaft according to the current deflection angle of the output shaft output by each magnetic encoder and the coupling coefficient between the rotation angle of each other output shaft and any output shaft, the method further comprises:

[0018] Rotate any one of the output shafts to the final deflection angle.

[0019] According to a method for calibrating and compensating coupling errors of an orthogonally mounted magnetic encoder provided by the present invention, the step of rotating any output shaft to the final deflection angle comprises:

[0020] Determine the difference between the current deflection angle and the final deflection angle corresponding to any one of the output shafts;

[0021] The driving circuit is triggered according to the difference to drive the motor of any output shaft to move, so as to drive any output shaft to rotate to the final deflection angle.

[0022] The present invention also provides an orthogonally mounted magnetic encoder coupling error calibration compensation system, comprising:

[0023] A calibration module, used for detecting the direction of the magnetic field generated by the magnet on any output shaft and the direction of the magnetic field superimposed on the any output shaft by the magnet on the other output shafts according to the magnetic encoder corresponding to the any output shaft, and determining the coupling coefficient between each other output shaft and the rotation angle of the any output shaft;

[0024] The compensation module is used to determine the final deflection angle of any output shaft according to the current deflection angle of the output shaft output by each magnetic encoder and the coupling coefficient between the rotation angle of each other output shaft and any output shaft.

[0025] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, a method for calibrating and compensating coupling errors of orthogonally mounted magnetic encoders as described in any one of the above methods is implemented.

[0026] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the calibration and compensation method for coupling errors of orthogonally mounted magnetic encoders as described in any one of the above.

[0027] The present invention also provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the method for calibrating and compensating coupling errors of orthogonally mounted magnetic encoders as described in any one of the above methods is implemented.

[0028] The orthogonally mounted magnetic encoder coupling error calibration and compensation method and system provided by the present invention determines the output value of the magnetic encoder after calibration and compensation for the coupling error of each output shaft based on the coupling coefficient between the rotation angle of other output shafts and each output shaft angle and the output value of the magnetic encoder corresponding to each output shaft, thereby compensating for the coupling error of the output shaft and improving the measurement accuracy of the magnetic encoder. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0030] Figure 1It is a schematic diagram of orthogonal installation of magnetic encoder provided by the prior art;

[0031] Figure 2 It is one of the flow charts of the magnetic encoder coupling error compensation method provided by the present invention;

[0032] Figure 3 It is a schematic diagram of the coupling effect of the dynamic output shaft on the static output shaft in the magnetic encoder coupling error compensation method provided by the present invention;

[0033] Figure 4 It is a schematic diagram of a linear coupling curve within the range of +(90°±12°) in the magnetic encoder coupling error compensation method provided by the present invention;

[0034] Figure 5 It is a linear coupling curve within the range of -(90°±12°) in the magnetic encoder coupling error compensation method provided by the present invention;

[0035] Figure 6 This is the second flow chart of the magnetic encoder coupling error compensation method provided by the present invention;

[0036] Figure 7 It is a structural schematic diagram of the encoder coupling error compensation system provided by the present invention;

[0037] Figure 8 It is a structural schematic diagram of the electronic device provided by the present invention.

[0038] Reference numerals:

[0039] 101: output shaft; 102: magnet; 103: magnetic encoder. DETAILED DESCRIPTION

[0040] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0041] Combine the following Figure 2 The present invention describes a method for calibrating and compensating coupling errors of an orthogonally mounted magnetic encoder, comprising:

[0042] Step 201, detecting the direction of the magnetic field generated by the magnet on any output shaft and the direction of the magnetic field superimposed on the any output shaft by the magnets on other output shafts according to the magnetic encoder corresponding to the any output shaft, and determining the coupling coefficient between each other output shaft and the rotation angle of the any output shaft;

[0043] The coupling coefficient of a certain output shaft to other output shafts reflects the degree of coupling influence of a certain output shaft on other output shafts.

[0044] Calibrate the i-th output shaft to obtain the coupling coefficient K of the i-th output shaft to the j-th output shaft ij .

[0045] For example, Figure 1 After the four output axes in are calibrated, the following matrix is ​​obtained:

[0046]

[0047] Step 202, determining the final deflection angle of any output shaft according to the current deflection angle of the output shaft output by each magnetic encoder and the coupling coefficient between the rotation angle of each other output shaft and any output shaft.

[0048] Using M i It represents the output value of the calibrated i-th output axis before coupling error compensation, that is, the original data of the output axis output by the i-th magnetic encoder.

[0049] The coupling coefficient K of the i-th output axis to the j-th output axis ij Multiply by M i Then add them together to get the output value M of the i-th output axis after coupling error compensation. ii , which is the final deflection angle of the i-th output shaft.

[0050] right Figure 1 The calculation formula for coupling error compensation of the four output axes is as follows:

[0051]

[0052] Among them, M 11 、M 22 、M 33 and M 44 They are the output values ​​of the four output axes after coupling compensation.

[0053] The coupling error calibration and compensation method provided in this embodiment is not only applicable to orthogonally installed magnetic encoders, but also applicable to other installation methods of magnetic encoders.

[0054] This embodiment determines the output value of the magnetic encoder after coupling error compensation for each output shaft based on the coupling coefficient between the rotation angles of other output shafts and each output shaft angle and the output value of the magnetic encoder corresponding to each output shaft, thereby compensating for the coupling error of the output shaft and improving the measurement accuracy of the magnetic encoder.

[0055] On the basis of the above embodiment, the step of detecting the direction of the magnetic field generated by the magnet on any output shaft and the direction of the magnetic field superimposed on any output shaft by the magnet on other output shafts according to the magnetic encoder corresponding to any output shaft in this embodiment, and determining the coupling coefficient between each other output shaft and the rotation angle of any output shaft comprises:

[0056] When any of the output shafts rotates and the other output shafts are stationary, the output values ​​of the magnetic encoders corresponding to the any of the output shafts and each of the other stationary output shafts are obtained;

[0057] It is known from experiments that when a certain output shaft drives the magnet to perform uniform rotational motion within the range of 0° to 360°, the angle range of the output of the magnetic encoder corresponding to the output shaft is -180° to +180°.

[0058] Based on the working principle of the magnetic encoder, any stationary output shaft will be affected by the coupling of the changing parallel magnetic field of the magnet on the rotating output shaft, which will cause the corresponding magnetic encoder to output a sinusoidal waveform of a certain amplitude, such as Figure 3 As shown. Figure 3 From the curve in , we can see that the fourth output shaft rotates and the other three output shafts are stationary.

[0059] In order to reduce the coupling effect between the four orthogonally mounted magnets, which causes the deflection error in the reading of the magnetic encoder, linear coupling compensation is required.

[0060] The rotation range of any output shaft is determined, and the output shaft is rotated at certain intervals within the rotation range, while other output shafts remain stationary, thereby realizing the calibration of the angular error of the output shaft.

[0061] Performing a linear fit between the output value corresponding to each other stationary output shaft and the output value corresponding to any output shaft to obtain a fitting curve corresponding to any output shaft;

[0062] The output value of the magnetic encoder in the range of [90°-a, 90°+a] or [-(90°+b, -(90°-b)] is used as the horizontal coordinate for each rotation of the rotating output shaft, and the output value of the magnetic encoder corresponding to each rotation of the stationary output shaft is used as the vertical coordinate for linear fitting. The fitting curve is as follows:

[0063] M ij =k ij *M j , i=1,2,3,4; j=1,2,3,4;

[0064] Among them, i and j are the numbers of the output shaft, K ij is the coupling coefficient of the ith output shaft to the jth output shaft; M jis the output value of the magnetic encoder corresponding to the jth output axis, M ij is the coupling value of the i-th output shaft to the j-th output shaft.

[0065] The coefficients in the fitting curve are used as coupling coefficients between each other output shaft and the rotation angle of any output shaft.

[0066] This embodiment derives a coupling error compensation algorithm, namely a compensation matrix, through linear fitting between a static output shaft and a dynamic output shaft under the influence of coupling, thereby reducing the coupling error between the output shafts and improving the measurement accuracy of the magnetic encoder.

[0067] On the basis of the above embodiments, the angle range of the linear fitting in this embodiment is [90°-a, 90°+a] or [-(90°+b), -(90°-b)], where a and b are positive numbers.

[0068] according to Figure 3 It can be seen from the sinusoidal outputs of the three stationary output shafts that the curves are approximately straight lines in the range of 90°. Therefore, when calibrating the coupling coefficient of the output shaft, the rotation angle range of the output shaft is in the range of 90°.

[0069] For example, when a and b are both 12°, the coupling curve obtained by rotating the output shaft within the range of +(90°±12°) is as follows: Figure 4 As shown, a linear fit can be performed; the coupling curve obtained within the range of -(90°±12°) is as follows Figure 5 As shown, a linear fit can be performed.

[0070] On the basis of the above embodiment, in this embodiment, when any one of the output shafts rotates and the other output shafts are stationary, before the step of obtaining the output value of the magnetic encoder corresponding to any one of the output shafts and each of the other stationary output shafts, the step further includes:

[0071] Each other output shaft is mechanically zero-calibrated according to the angular range of rotation of each other output shaft.

[0072] When the output shaft rotates in the angle range of +(90°±12°) or -(90°±12°), the ±90° position of the radial magnet is selected as the mechanical zero position of the output shaft, that is, the position where the magnetic field strength of the N pole or S pole on the magnet is the largest.

[0073] After the magnet is installed on the output shaft, the mechanical zero position calibration must be performed first, that is, the output of the magnetic encoder is read when the output shaft is at the mechanical zero position, and the output value at this time is used as the mechanical zero position value of the output shaft. This zero position value is around +90° or -90°.

[0074] To obtain the coupling coefficient K ij, any output shaft needs to be rotated from ±1° to ±12° with an interval of 1°, and the other three output shafts are stationary.

[0075] In this embodiment, by determining +90° or -90° on the radial magnet as the mechanical zero position of the output shaft, it is convenient to perform linear fitting between the static output shaft and the dynamic output shaft under the influence of coupling.

[0076] On the basis of the above embodiments, after the step of determining the final deflection angle of any output shaft according to the current deflection angle of the output shaft output by each magnetic encoder and the coupling coefficient between each other output shaft and the rotation angle of any output shaft, the present embodiment further includes:

[0077] Rotate any one of the output shafts to the final deflection angle.

[0078] The output value of the magnetic encoder corresponding to the output shaft is the absolute position angle of the output shaft measured by the magnetic encoder. The final deflection angle of the output shaft is the target position after the coupling error of the output shaft is compensated.

[0079] Since the output value of the magnetic encoder is inaccurate due to the coupling error, the output shaft is rotated to the target position of the output shaft, thereby improving the accuracy of the magnetic encoder measurement.

[0080] Based on the above embodiment, the step of rotating any output shaft to the final deflection angle in this embodiment includes:

[0081] Determine the difference between the current deflection angle and the final deflection angle corresponding to any one of the output shafts;

[0082] The driving circuit is triggered according to the difference to drive the motor of any output shaft to move, so as to drive any output shaft to rotate to the final deflection angle.

[0083] The current deflection angle of the output shaft is the output value of the magnetic encoder corresponding to the output shaft, which is the absolute position angle of the output shaft measured by the magnetic encoder. The final deflection angle of the output shaft is the target position after the coupling error of the output shaft is compensated.

[0084] The absolute position angle of the output shaft measured by the magnetic encoder is sent to the control chip through a specific communication method.

[0085] The computer program stored in the control chip calculates the difference between the absolute position angle of the output shaft and the target position; the control instruction for the motor is determined based on the difference, thereby triggering the drive circuit to drive the motor corresponding to the output shaft to work according to the control instruction, and the coupling error compensation is performed on the obtained absolute position angle to obtain a high-precision target position. The specific process is as follows Figure 6 shown.

[0086] The orthogonally mounted magnetic encoder coupling error calibration compensation system provided by the present invention is described below. The orthogonally mounted magnetic encoder coupling error calibration compensation system described below and the orthogonally mounted magnetic encoder coupling error calibration compensation method described above can be referenced to each other.

[0087] like Figure 7 As shown, the system includes a calibration module 701 and a compensation module 702, wherein:

[0088] The calibration module 701 is used to detect the direction of the magnetic field generated by the magnet on any output shaft and the direction of the magnetic field superimposed on the any output shaft by the magnet on other output shafts according to the magnetic encoder corresponding to the any output shaft, and determine the coupling coefficient between each other output shaft and the rotation angle of the any output shaft;

[0089] The compensation module 702 is used to determine the final deflection angle of any output shaft according to the current deflection angle of the output shaft output by each magnetic encoder and the coupling coefficient between the rotation angle of each other output shaft and any output shaft.

[0090] The system includes a structural body, an output shaft, a magnet, a magnetic encoder, a motor, a drive circuit and a lower computer program. The lower computer program is designed with a magnetic encoder coupling error compensation method. Through experiments and tests, it is found that the distance between the magnet on the output shaft and the magnetic encoder and the coupling between the magnetic fields will affect the output accuracy of the output shaft deflection angle. It is necessary to compensate the output of the magnetic encoder to improve the output accuracy of the output shaft deflection angle.

[0091] The magnetic encoder used in this embodiment detects angles based on the giant magnetoresistance effect. The encoder can detect 360° changes in the magnetic field parallel to the radial magnet surface. Its internal integrated computing module can perform digital processing and can use different signal protocols to output the final measured angle value.

[0092] Assemble the magnet on the output shaft and fix the magnetic encoder on the structural body so that the center of the magnet faces the giant magnetic resistance sensing area located in the center of the magnetic encoder. The distance between the magnet and the magnetic encoder is required to be within 2.5mm, and it can output a good signal only when it works within the appropriate magnetic field strength range. Therefore, it is necessary to ensure that the magnetic field within the working air gap range meets the requirements.

[0093] exist Figure 1In a small structure with four sets of magnetic encoders and magnets installed orthogonally, the distance between the four magnets is too small, resulting in the parallel magnetic fields of three of the magnets being superimposed on the parallel magnetic field of the fourth magnet. When one of the output shafts equipped with a magnet rotates 360°, the parallel magnetic field of the magnet on the output shaft will continue to change, causing the parallel magnetic field strength of the magnets superimposed on the other three output shafts to change accordingly, and ultimately causing the output shaft deflection angle of the magnetic encoders facing the magnets on the other three stationary output shafts to change. This is the coupling effect on the magnetic encoder.

[0094] When the four rotating shafts rotate simultaneously, the parallel magnetic field of the magnet on each output shaft will be superimposed with the parallel magnetic field components of the magnets on the other three output shafts. The coupling effect of the parallel magnetic fields of the magnets on the other three output shafts on the magnetic encoder corresponding to the magnet on the fourth output shaft will cause the magnetic encoder to read the output shaft deflection angle, resulting in an angular error, affecting the deflection angle reading accuracy of the magnetic encoder.

[0095] In order to ensure that the magnetic encoder has a good output signal and reduce external environmental interference, it is necessary to ensure that the concentricity of the radial magnet and the magnetic encoder, as well as the working air gap are within the appropriate range. On this basis, the magnetic field coupling error of the four orthogonally installed magnets can be effectively reduced through the coupling error calibration compensation algorithm.

[0096] The magnetic encoder selected is TLE5012b, the size of the radial magnet is 5mm in diameter, 2mm in thickness, the working air gap is designed to be 1.3mm, and the -90° position of the radial magnet is marked, that is, the maximum value of the N pole of the magnet is used as the mechanical zero position of the output shaft. After the coupling error calibration is completed, the coupling error of the output shaft angular coupling error can be controlled within 0.05° through calculation by the coupling error compensation algorithm in this embodiment.

[0097] This embodiment determines the output value of the magnetic encoder after coupling error compensation for each output shaft according to the coupling coefficient of each output shaft to other output shafts and the output value of the magnetic encoder corresponding to each output shaft, thereby compensating for the coupling error of the output shaft and improving the measurement accuracy of the magnetic encoder.

[0098] Figure 8 An example of a physical structure diagram of an electronic device is shown in FIG. Figure 8As shown, the electronic device may include: a processor 810, a communication interface 820, a memory 830 and a communication bus 840, wherein the processor 810, the communication interface 820 and the memory 830 communicate with each other through the communication bus 840. The processor 810 may call the logic instructions in the memory 830 to execute the orthogonally installed magnetic encoder coupling error calibration compensation method, the method comprising: detecting the magnetic field direction generated by the magnet on any output shaft and the magnetic field direction superimposed on any output shaft by the magnet on the other output shaft according to the magnetic encoder corresponding to any output shaft, and determining the coupling coefficient between each other output shaft and the rotation angle of any output shaft; determining the final deflection angle of any output shaft according to the current deflection angle of the output shaft output by each magnetic encoder and the coupling coefficient between each other output shaft and the rotation angle of any output shaft.

[0099] In addition, the logic instructions in the above-mentioned memory 830 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the 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 for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. 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 codes.

[0100] On the other hand, the present invention also provides a computer program product, which includes a computer program, which can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the orthogonally installed magnetic encoder coupling error calibration compensation method provided by the above methods, the method comprising: detecting the direction of the magnetic field generated by the magnet on any output shaft and the direction of the magnetic field superimposed on the any output shaft by the magnetic encoder corresponding to any output shaft, and determining the coupling coefficient between each other output shaft and the rotation angle of the any output shaft; determining the final deflection angle of any output shaft according to the current deflection angle of the output shaft output by each magnetic encoder and the coupling coefficient between each other output shaft and the rotation angle of any output shaft.

[0101] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to execute the orthogonally installed magnetic encoder coupling error calibration compensation method provided by the above-mentioned methods, the method comprising: detecting the direction of the magnetic field generated by the magnet on any output shaft and the direction of the magnetic field superimposed on the any output shaft by the magnetic encoder corresponding to any output shaft, and determining the coupling coefficient between each other output shaft and the rotation angle of the any output shaft; determining the final deflection angle of any output shaft according to the current deflection angle of the output shaft output by each magnetic encoder and the coupling coefficient between each other output shaft and the rotation angle of any output shaft.

[0102] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0103] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method 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 this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for 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.

[0104] 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 it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for calibrating and compensating coupling errors of an orthogonally mounted magnetic encoder, characterized in that: include: Detecting the direction of the magnetic field generated by the magnet on any output shaft and the direction of the magnetic field superimposed on the any output shaft by the magnet on other output shafts according to the magnetic encoder corresponding to any output shaft, and determining the coupling coefficient between each other output shaft and the rotation angle of any output shaft; Determine the final deflection angle of any output shaft according to the current deflection angle of the output shaft output by each magnetic encoder and the coupling coefficient between the rotation angle of each other output shaft and any output shaft; The step of detecting the direction of the magnetic field generated by the magnet on any output shaft and the direction of the magnetic field superimposed on any output shaft by the magnet on other output shafts according to the magnetic encoder corresponding to any output shaft, and determining the coupling coefficient between each other output shaft and the rotation angle of any output shaft comprises: When any of the output shafts rotates and each of the other output shafts is stationary, an output value of a magnetic encoder corresponding to the any of the output shafts and each of the other stationary output shafts is obtained; Performing a linear fit between the output value corresponding to each other stationary output shaft and the output value corresponding to any output shaft to obtain a fitting curve corresponding to any output shaft; Using the coefficients in the fitting curve as coupling coefficients between each other output shaft and the rotation angle of any output shaft; When any of the output shafts rotates and each of the other output shafts is stationary, before the step of obtaining the output value of the magnetic encoder corresponding to any of the output shafts and each of the other stationary output shafts, the method further includes: Perform mechanical zero position calibration on each other output shaft according to the angular range of linear fitting of each other output shaft.

2. The method for calibrating and compensating coupling errors of orthogonally mounted magnetic encoders according to claim 1, characterized in that: The linear fitting angle range of each other output axis is [90°-a, 90°+a] or [-(90°+b), -(90°-b)], where a and b are positive numbers.

3. The method for calibrating and compensating coupling errors of orthogonally mounted magnetic encoders according to claim 1 or 2, characterized in that: After the step of determining the final deflection angle of any output shaft according to the current deflection angle of the output shaft output by each magnetic encoder and the coupling coefficient between the rotation angle of each other output shaft and any output shaft, the method further includes: Rotate any one of the output shafts to the final deflection angle.

4. The method for calibrating and compensating coupling errors of orthogonally mounted magnetic encoders according to claim 3, characterized in that: The step of rotating any one of the output shafts to the final deflection angle comprises: Determine the difference between the current deflection angle and the final deflection angle corresponding to any one of the output shafts; The driving circuit is triggered according to the difference to drive the motor of any output shaft to move, so as to drive any output shaft to rotate to the final deflection angle.

5. An orthogonally mounted magnetic encoder coupling error calibration and compensation system, characterized in that: include: A calibration module, used for detecting the direction of the magnetic field generated by the magnet on any output shaft and the direction of the magnetic field superimposed on the any output shaft by the magnet on the other output shafts according to the magnetic encoder corresponding to the any output shaft, and determining the coupling coefficient between each other output shaft and the rotation angle of the any output shaft; A compensation module, used to determine the final deflection angle of any output shaft according to the current deflection angle of the output shaft output by each magnetic encoder and the coupling coefficient between the rotation angle of each other output shaft and any output shaft; The calibration module is specifically used for: When any of the output shafts rotates and each of the other output shafts is stationary, an output value of a magnetic encoder corresponding to the any of the output shafts and each of the other stationary output shafts is obtained; Performing a linear fit between the output value corresponding to each other stationary output shaft and the output value corresponding to any output shaft to obtain a fitting curve corresponding to any output shaft; Using the coefficients in the fitting curve as coupling coefficients between each other output shaft and the rotation angle of any output shaft; Before obtaining the output value of the magnetic encoder corresponding to any one output shaft and each other stationary output shaft, the calibration module is further used to: Perform mechanical zero position calibration on each other output shaft according to the angular range of linear fitting of each other output shaft.

6. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the coupling error calibration and compensation method of the orthogonally installed magnetic encoder as described in any one of claims 1 to 4 is implemented.

7. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method for calibrating and compensating coupling errors of an orthogonally mounted magnetic encoder as claimed in any one of claims 1 to 4 is implemented.

8. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the method for calibrating and compensating coupling errors of an orthogonally mounted magnetic encoder as claimed in any one of claims 1 to 4 is implemented.

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