A method and apparatus for calculating the angle of a circular ring winding magnetoelectric encoder.

Abstract

This invention belongs to the field of encoder manufacturing and relates to a method and device for calculating the angle of a circular ring winding magnetoelectric encoder. The method includes: energizing three sets of identical coils spaced 120° apart to generate a magnetic field; using two plug-in linear Hall sensors mounted on the same cylindrical surface and arranged 30° apart to collect this magnetic field signal; and outputting sinusoidal and cosine-shaped analog signals respectively. A microcontroller processes and positions the analog signals to determine the rotation angle θ of the circular ring winding. This structure improves the resolution of the magnetoelectric encoder by utilizing the distribution of energized coils and eliminates the demagnetization and mechanical damage of permanent magnets in traditional magnetoelectric encoders, thereby reducing the manufacturing, maintenance, and operating costs of the encoder and extending its service life.

Description

Technical Field

[0001] This invention belongs to the field of encoder manufacturing, specifically relating to a method and apparatus for calculating the angle of a circular ring winding magnetoelectric encoder. Background Technology

[0002] Servo systems are widely used in all aspects of life. As an important sensor in servo systems, the stability and reliability of encoders are crucial prerequisites for the stable operation of servo systems. Currently, commonly used rotary encoders are divided into photoelectric and magnetoelectric types. Compared with photoelectric encoders, magnetoelectric encoders have many advantages in manufacturing, use, and maintenance due to their resistance to shock and vibration, resistance to pollution and corrosion, simple and reliable structure, wide temperature adaptability, and low cost.

[0003] Traditional magnetoelectric encoders rely on permanent magnets for their magnetic field signals, which can lead to demagnetization and mechanical damage during use. This can cause the servo system to malfunction, significantly impacting production and operations. This invention proposes a method that uses three sets of parallel energized coils to generate a magnetic field, which rotates synchronously under the drive of a motor. This avoids demagnetization and mechanical damage, while also improving the resolution of the magnetoelectric encoder and enhancing the control accuracy and stability of the servo system.

[0004] To address the above problems, this invention proposes a method and apparatus for calculating the angle of a circular ring winding magnetoelectric encoder. Summary of the Invention

[0005] To address the aforementioned problems, this invention proposes a solution aimed at improving the stability and resolution of magnetoelectric encoders and eliminating the effects of permanent magnet demagnetization and mechanical damage in traditional magnetoelectric encoders.

[0006] This invention discloses a method and apparatus for calculating the angle of a circular ring winding magnetoelectric encoder; comprising:

[0007] The toroidal winding consists of three sets of identical coils connected in parallel, evenly distributed and welded together at a distance of 120°. When energized, it generates a stable magnetic field.

[0008] Insert-type linear Hall sensor one and insert-type linear Hall sensor two are welded to the signal processing board at a distance of 30° from each other on the same cylindrical surface. They are used to collect the magnetic field generated by the annular winding that rotates synchronously with the adapter shaft and the winding support. The voltage output by insert-type linear Hall sensor one is proportional to the magnetic field strength received perpendicular to the surface of insert-type linear Hall sensor one, and the output analog signal is recorded as the angle value signal A1.

[0009] The second plug-in linear Hall sensor is welded to the signal processing board along with the first plug-in linear Hall sensor at a 30° distance from each other on the cylindrical surface. It is used to collect the magnetic field generated by the annular winding that rotates synchronously with the adapter shaft and the winding support. The voltage output by the second plug-in linear Hall sensor is proportional to the magnetic field strength received perpendicular to the surface of the second plug-in linear Hall sensor, and the output analog signal is recorded as the angle value signal A2.

[0010] The analog-to-digital converter, located inside the microcontroller, is used to convert angle value signals A1 and A2 into digital angle value signals H. A1 H A2 ;

[0011] This invention discloses a method and apparatus for calculating the angle of a circular ring winding magnetoelectric encoder, comprising the following steps:

[0012] Step 1: The motor synchronously drives the adapter shaft to rotate. The annular winding rotates synchronously under the drive of the winding support, generating a periodically changing magnetic field B. Plug-in linear Hall sensor 1 and plug-in linear Hall sensor 2 collect this magnetic field signal and output angle value signals. After adjustment, the magnetic field strength signals collected by plug-in linear Hall sensor 1 and plug-in linear Hall sensor 2 respectively conform to sine and cosine voltage signals, which are recorded as angle value signals A1 and A2, respectively. The analog-to-digital converter inside the microcontroller processes the angle value signals A1 and A2 into a digital angle value signal H. A1 H A2 ;

[0013] Step 2: Obtain the digital angle signal H from the microcontroller via analog-to-digital conversion. A1 H A2 The angle values ​​H are also digital signals that conform to sine and cosine shape changes, respectively. A1 (t,y A1 (t)), H A2 (t,y A2 (t)), where t is the sampling point, y A1 (t), y A2 (t) represents the digital signal H corresponding to the angle value at sampling point t. A1 H A2 The amplitude, after adjustment, can yield two sets of digital signals H, with a phase difference of 30°, each conforming to a sine and cosine shape, respectively. A1 H A2 The angle value digital signal H A1 The maximum amplitude obtained within a complete sine cycle is denoted as y. A1max The minimum amplitude is denoted as y. A1min Then there is a zero point correction. Relative to the zero point of correction yA10 Correction amplitude The digital signal H of the angle value A2 The maximum amplitude obtained within a complete cosine period is denoted as y. A2max The minimum amplitude is denoted as y. A2min Then there is a zero point correction. Relative to the zero point of calibration Correction amplitude Let the amplitude corresponding to the first sampling point t0 be denoted as y. A1 (t0), y A2 (t0), the current sampling point t K+1 The corresponding amplitudes are denoted as y. A1 (t K+1 ), y A2 (t K+1 Then the angle value θ1 is calculated as shown in equation (1):

[0014]

[0015] When the angle value digital signal amplitude relationship is as follows or At this point, the range of values ​​for the arctangent function atctan is:

[0016] When the amplitude relationship of the angle value digital signal is as follows or At this point, the range of values ​​for the arctangent function atctan is:

[0017] Since the annular winding is composed of three sets of parallel energized coils evenly distributed 120° apart inside the winding support, the annular winding is driven to rotate once. The plug-in Hall sensors one and two respectively obtain three consecutive full-cycle angle value digital signals that conform to the sine and cosine shape changes. The actual angle value θ2 is as shown in the following formula (2):

[0018]

[0019] Equation (3) below represents the initial angle value θ0 corresponding to the first sampling point t0:

[0020]

[0021] Step 3: When the adapter shaft is continuously rotated by the motor shaft, due to y A2 As (t) approaches 0, there exists an angle value that infinitely approaches 0. Or the angle value approaches infinity For y A2 (t) is divided when it approaches 0;

[0022] When yA2 (t H )>0>y A2 (t H+1 ), y A1 (t)=y A1max or y A2 (t H ) < 0 < y A2 (t H+1 ), y A1 (t)=y A1min This is denoted as an incremental count Z1;

[0023] When y A2 (t H )>0>y A2 (t H+1 ), y A1 (t)=y A1min or y A2 (t H ) < 0 < y A2 (t H+1 ), y A1 (t)=y A1max This is denoted as an increment count Z2;

[0024] The total increment count Z is as shown in equation (4);

[0025] Z = Z1 - Z2 (4)

[0026] The angle θ that the combination of the winding support and the annular winding is driven by the adapter shaft to rotate is shown in equation (5) below:

[0027]

[0028] The angle θ through which the adapter shaft synchronously driven by the motor spindle rotates can be calculated by following the above steps.

[0029] The beneficial effects of this invention are as follows:

[0030] 1. This magneto-electric encoder uses two identical plug-in linear Hall sensors, which reduces the number and types of sensor elements, making maintenance convenient and indirectly reducing production costs.

[0031] 2. This magneto-electric encoder uses three sets of parallel circular windings to generate a stable magnetic field, avoiding the problem of traditional magneto-electric encoders failing to work properly due to permanent magnet demagnetization or mechanical damage.

[0032] 3. This magneto-electric encoder uses three sets of parallel circular windings to generate a magnetic field. Each rotation of the circular windings will collect three consecutive complete cycles of sine and cosine changing magnetic field signals, which indirectly improves the resolution of the encoder. Attached image description:

[0033] Figure 1 This is an overall schematic diagram of the present invention;

[0034] Figure 2 This is a schematic diagram of the encoder magnetic field signal generating device of the present invention;

[0035] Figure 3 This is a schematic diagram of the encoder signal processing device of the present invention;

[0036] Figure 4 This is a digital signal image of the angle value corresponding to the magnetic field signal collected by plug-in linear Hall sensor one and plug-in linear Hall sensor two.

[0037] Figure 5 The digital signal images of the angle values ​​corresponding to the magnetic field signals acquired by plug-in linear Hall sensor 1 and plug-in linear Hall sensor 2 after processing.

[0038] In the diagram, 1. Encoder housing; 1-1. It includes the housing; 1-2. Rear cover; 1-3. Bolt; 2. Encoder magnetic field signal generating device; 2-1. Circular winding; 2-2. Adapter shaft; 2-2-2. Bearing II; 2-3. Winding bracket; 2-4. Circular winding; 2-5. Countersunk screw; 2-6. Busbar I; 2-7. Guide ring I; 2-8. Guide ring bracket I; 2-9. Busbar II; 2-10. Guide ring II; 2-11. Guide ring bracket II; 3. Encoder signal processing device; 3-1. Screw; 3-2. Insert-type linear Hall sensor I; 3-3. Insert-type linear Hall sensor II; 3-4. Signal processing board; 3-5. Power chip; 3-6. Microcontroller; 3-7. Signal processing board bracket. Detailed implementation method:

[0039] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0040] The specific embodiments / examples described herein are specific implementations of the present invention, used to illustrate the concept of the invention, and are illustrative and exemplary, and should not be construed as limiting the implementation methods or scope of the present invention. In addition to the embodiments described herein, those skilled in the art can employ other obvious technical solutions based on the content disclosed in the claims and specification of this application. These technical solutions include those that make any obvious substitutions and modifications to the embodiments described herein, all of which are within the protection scope of the present invention.

[0041] To make the objectives, technical solutions, and advantages of this invention clearer, the invention is described below with reference to specific embodiments shown in the accompanying drawings. However, it should be understood that these descriptions are merely exemplary and not intended to limit the scope of the invention. Furthermore, descriptions of well-known structures and technologies are omitted in the following description to avoid unnecessarily obscuring the concept of the invention.

[0042] like Figure 1 , 2 As shown in Figures 3, 4, and 5, the specific implementation adopts the following technical solution:

[0043] The aforementioned circular winding magnetoelectric encoder consists of three parts: encoder housing 1, encoder magnetic field signal generating device 2, and encoder signal processing device 3.

[0044] The encoder housing 1 is characterized by a transition fit with the encoder magnetic field signal generating device 2, and an interference fit with the encoder signal processing device 3.

[0045] Furthermore, the encoder housing 1 includes a housing 1-1, a rear cover 1-2, and bolts 1-3. The housing 1-1 is bolted to the rear cover 1-2, and the rear cover 1-2 is bolted to the bolts 1-3.

[0046] Furthermore, the encoder magnetic field signal generating device 2 includes a bearing 2-1, a transition shaft 2-2, a winding bracket 2-3, an annular winding 2-4, a countersunk screw 2-5, a first busbar ring 2-6, a first guide ring 2-7, a first guide ring bracket 2-8, a second busbar ring 2-9, a second guide ring 2-10, and a second guide ring bracket 2-11. The bearing 2-1 has a transition fit with the housing 1-1, and the bearing 2-1 also has a transition fit with the transition shaft 2-2. The transition shaft 2-2 and the annular winding 2-4 are fastened together by the countersunk screw 2-5. The winding bracket 2-3 and the annular winding 2-4 have an interference fit. Winding bracket 2-3 is interference-fitted with busbar 1 2-6, winding bracket 2-3 is interference-fitted with busbar 2-9, annular winding 2-4 is welded to busbar 1 2-6 and busbar 2-9, busbar 1 2-6 is in line contact with guide ring 1 2-7, guide ring 1 2-7 is interference-fitted with guide ring bracket 1 2-8, guide ring bracket 1 2-8 and guide ring bracket 2-11 are clamped by housing 1-1 and rear cover 1-2 and fastened together by bolt 1-3, busbar 2-9 is in line contact with guide ring 2-10, guide ring 2-10 and guide ring bracket 2-11 are interference-fitted;

[0047] Furthermore, the encoder signal processing device 3 includes a screw 3-1, a plug-in linear Hall sensor 3-2, a plug-in linear Hall sensor 3-3, a signal processing board 3-4, a power chip 3-5, a microcontroller 3-6, and a signal processing board bracket 3-7. The screw 3-1 and the signal processing board bracket 3-7 clamp and fix the signal processing board 3-4. The plug-in linear Hall sensor 3-2 and the plug-in linear Hall sensor 3-3 are coaxially spaced 30° apart and soldered onto the signal processing board 3-4. The signal processing board 3-4 is soldered to the power chip 3-5 and the microcontroller 3-6. The signal processing board bracket 3-8 is interference-fitted with the rear cover 1-2.

[0048] In summary, the magnetoelectric encoder achieves the conversion and acquisition of digital signals.

[0049] An encoder angle calculation method is provided, which is applied to an angle calculation method and device for a circular toroidal winding magnetoelectric encoder.

[0050] An encoder angle calculation method, the specific implementation process of the method is as follows:

[0051] Step 1: The motor synchronously drives the adapter shaft to rotate. The annular winding rotates synchronously under the drive of the winding support, generating a periodically changing magnetic field B. Plug-in linear Hall sensor 1 and plug-in linear Hall sensor 2 collect this magnetic field signal and output angle value signals. After adjustment, the magnetic field strength signals collected by plug-in linear Hall sensor 1 and plug-in linear Hall sensor 2 respectively conform to sine and cosine voltage signals, which are recorded as angle value signals A1 and A2, respectively. The analog-to-digital converter inside the microcontroller processes the angle value signals A1 and A2 into a digital angle value signal H. A1 H A2 ;

[0052] Step 2: Obtain the digital angle signal H from the microcontroller via analog-to-digital conversion. A1 H A2 The angle values ​​H are also digital signals that conform to sine and cosine shape changes, respectively. A1 (t,y A1 (t)), H A2 (t,y A2 (t))as Figure 4 As shown, where t is the sampling point, y A1 (t), y A2 (t) represents the digital signal H corresponding to the angle value at sampling point t. A1 H A2 The amplitude, after adjustment, can yield two sets of digital signals H, with a phase difference of 30°, each conforming to a sine and cosine shape, respectively. A1 H A2 The angle value digital signal HA1 The maximum amplitude obtained within a complete sine cycle is denoted as y. A1max The minimum amplitude is denoted as y. A1min Then there is a zero point correction. Relative to the zero point of calibration Correction amplitude The digital signal H of the angle value A2 The maximum amplitude obtained within a complete cosine period is denoted as y. A2max The minimum amplitude is denoted as y. A2min Then there is a zero point correction. Relative to the zero point of calibration Correction amplitude like Figure 5 As shown; the amplitude corresponding to the first sampling point t0 is denoted as y. A1 (t0), y A2 (t0), the current sampling point t K+1 The corresponding amplitudes are denoted as y. A1 (t K+1 ), y A2 (t K+1 Then the angle value θ1 is calculated as shown in equation (1):

[0053]

[0054] When the amplitude relationship of the angle value digital signal is as follows or At this point, the range of values ​​for the arctangent function atctan is:

[0055] When the amplitude relationship of the angle value digital signal is as follows or At this point, the range of values ​​for the arctangent function atctan is:

[0056] Since the annular winding is composed of three sets of parallel energized coils evenly distributed 120° apart inside the winding support, the annular winding is driven to rotate once. The plug-in Hall sensors one and two respectively obtain three consecutive full-cycle angle value digital signals that conform to the sine and cosine shape changes. The actual angle value θ2 is as shown in the following formula (2):

[0057]

[0058] Equation (3) below represents the initial angle value θ0 corresponding to the first sampling point t0:

[0059]

[0060] Step 3: When the adapter shaft is continuously rotated by the motor shaft, due to y A2As (t) approaches 0, there exists an angle value that infinitely approaches 0. Or the angle value approaches infinity For y A2 (t) is divided when it approaches 0;

[0061] When y A2 (t H )>0>y A2 (t H+1 ), y A1 (t)=y A1max or y A2 (t H ) < 0 < y A2 (t H+1 ), y A1 (t)=y A1min This is denoted as an incremental count Z1;

[0062] When y A2 (t H )>0>y A2 (t H+1 ), y A1 (t)=y A1min or y A2 (t H ) < 0 < y A2 (t H+1 ), y A1 (t)=y A1max This is denoted as an increment count Z2;

[0063] The total increment count Z is as shown in equation (4);

[0064] Z = Z1 - Z2 (4)

[0065] The angle θ that the combination of the winding support and the annular winding is driven by the adapter shaft to rotate is shown in equation (5) below:

[0066]

[0067] The angle θ through which the adapter shaft synchronously driven by the motor spindle rotates can be calculated by following the above steps.

[0068] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of this invention is defined by the appended claims and their equivalents.

Claims

1. An encoder angle resolving method, which is applied to a circular ring winding magneto-electric encoder angle calculation method and device, comprising an encoder shell (1), an encoder magnetic field signal generating device (2), and an encoder signal resolving device (3), the encoder shell (1) is transitionally matched with the encoder magnetic field signal generating device (2), and the encoder shell (1) is interference-fitted with the encoder signal resolving device (3); the encoder shell (1) comprises a shell (1-1), a back cover (1-2), and a bolt (1-3), the shell (1-1) is bolted with the back cover (1-2), and the back cover (1-2) is bolted with the bolt (1-3); the encoder magnetic field signal generating device (2) comprises a bearing (2-1), an adapter shaft (2-2), a winding support (2-3), a circular ring winding (2-4), a countersunk screw (2-5), a current collector ring I (2-6), a current guide ring I (2-7), a current guide ring support I (2-8), a current collector ring II (2-9), a current guide ring II (2-10), and a current guide ring support II (2-11), the bearing (2-1) is transitionally matched with the shell (1-1), and the bearing (2-1) is transitionally matched with the adapter shaft (2-2), the adapter shaft (2-2) and the circular ring winding (2-4) are tightly connected through the countersunk screw (2-5), the winding support (2-3) is interference-fitted with the circular ring winding (2-4), the winding support (2-3) is interference-fitted with the current collector ring I (2-6), the winding support (2-3) is interference-fitted with the current collector ring II (2-9), the circular ring winding (2-4) is welded with the current collector ring I (2-6) and the current collector ring II (2-9), the current collector ring I (2-6) is in line contact with the current guide ring I (2-7), the current guide ring I (2-7) is interference-fitted with the current guide ring support I (2-8), the current guide ring support I (2-8) and the current guide ring support II (2-11) are clamped by the shell (1-1) and the back cover (1-2) and are tightly connected through the bolt (1-3), the current collector ring II (2-9) is in line contact with the current guide ring II (2-10), and the current guide ring II (2-10) is interference-fitted with the current guide ring support II (2-11); the encoder signal resolving device (3) comprises a screw (3-1), a plug-in linear Hall sensor I (3-2), a plug-in linear Hall sensor II (3-3), a signal resolving board (3-4), a power supply chip (3-5), a single-chip microcomputer (3-6), and a signal resolving board support (3-7), the screw (3-1) and the signal resolving board support (3-7) clamp and fix the signal resolving board (3-4), the plug-in linear Hall sensor I (3-2) and the plug-in linear Hall sensor II (3-3) are tin soldered on the signal resolving board (3-4) with a coaxial distance of 30°, the signal resolving board (3-4) is tin soldered with the power supply chip (3-5) and the single-chip microcomputer (3-6), and the signal resolving board support (3-8) is interference-fitted with the back cover (1-2); characterized in that The specific implementation process of the method is as follows: Step one: the motor synchronous belt drive adapter shaft rotation, circular winding in the winding support synchronous belt rotation generated periodic variation of the magnetic field B, plug-in linear Hall sensor one, plug-in linear Hall sensor two collection of the magnetic field signal and output angle value signal, after adjustment plug-in linear Hall sensor one, plug-in linear Hall sensor two collected magnetic field intensity signal respectively meet the sine, cosine-shaped changes in voltage signal, respectively, as angle value signal A1, A2, through the analog-to-digital converter placed in the single-chip microcomputer processing will angle value signal A1, A2 into angle value digital signal H A1 , H A2 ; Step 2: Obtain the digital angle signal H from the microcontroller via analog-to-digital conversion. A1 H A2 The angle values ​​H are also digital signals that conform to sine and cosine shape changes, respectively. A1 (t,y A1 (t)), H A2 (t,y A2 (t)), where t is the sampling point, y A1 (t), y A2 (t) represents the digital signal H corresponding to the angle value at sampling point t. A1 H A2 The amplitude, after adjustment, can yield two sets of digital signals H, with a phase difference of 30°, each conforming to a sine and cosine shape, respectively. A1 H A2 The angle value digital signal H A1 The maximum amplitude obtained within a complete sine cycle is denoted as y. A1max The minimum amplitude is denoted as y. A1min Then there is a zero point correction. Relative to the zero point of correction y A10 Correction amplitude The digital signal H of the angle value A2 The maximum amplitude obtained within a complete cosine period is denoted as y. A2max The minimum amplitude is denoted as y. A2min Then there is a zero point correction. Relative to the zero point of correction y A20 Correction amplitude Let the amplitude corresponding to the first sampling point t0 be denoted as y. A1 t0, y A2 t0, the current sampling point t K+1 The corresponding amplitudes are denoted as y. A1 t K+1 y A2 t K+1 The angle value θ1 is calculated as shown in equation (1): When the angle value digital signal amplitude relationship is y A1 t K+1 ≥y A10 , y A2 t K+1 >y A20 , or y A1 t K+1 ≤y A10 , y A2 t K+1 <y A20 , the value range of the arctangent function atctan is When the angle value digital signal amplitude relationship is y A1 t K+1 ≥y A10 , y A2 t K+1 <y A20 or y A1 t K+1 ≤y A10 , y A2 t K+1 >y A20 , the value range of the arctangent function atctan is Since the circular ring winding is three groups of parallel energized coil evenly distributed in the winding support, the circular ring winding is driven to rotate one circle, the plug-in Hall sensor I and II respectively obtain three consecutive whole period angle value digital signal conforming to sine and cosine change, then the actual angle value θ2 is shown in the following formula (2): The following formula (3) is the initial angle value θ0 corresponding to the first sampling point t0: Step three: when the adapter shaft is continuously rotated by the motor shaft, since when y A2 (t) approaches 0, the angle value approaches infinity, and or the angle value approaches infinity, the angle value approaches infinity, and y A2 (t) approaches 0 is divided; When y A2 (t H ) > 0 > y A2 (t H+1 ), y A1 (t) = y A1max or y A2 (t H ) < 0 < y A2 (t H+1 ), y A1 (t) = y A1min is denoted as an incremental count Z1; When y A2 (t H ) > 0 > y A2 (t H+1 ), y A1 (t) = y A1min or y A2 (t H ) < 0 < y A2 (t H+1 ), y A1 (t) = y A1max is recorded as an incremental count Z2; Then the total increment count Z is shown in the following formula (4); Z=Z1-Z2 (4) Then the angle value θ of the combined body of the winding support and the circular ring winding driven by the adapter shaft is shown in the following formula (5): The angle θ of the adapter shaft driven by the motor main shaft synchronous belt can be solved through the above steps.

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