Detection system for the operating state of a magnetic module in a magnetic encoder

Abstract

The present application relates to the technical field of magnetic sensing, and particularly relates to a detection system for the running state of a magnetic module in a magnetic encoder. The method comprises: collecting at least two magnetic field signals of multiple positions around the magnetic module when the magnetic encoder is running; comparing two magnetic field signals in the at least two magnetic field signals to obtain a comparison result; and determining a detection result of the running state of the magnetic module according to the comparison result. The present application collects multiple magnetic field signals of multiple positions around the magnetic module when the magnetic encoder is running, compares two magnetic field signals in the multiple magnetic field signals, and detects the running state of the magnetic module based on the comparison result. That is, the detection method can realize the judgment of the running state of the magnetic module, and avoid the problem of low measurement accuracy of the magnetic encoder caused by the shaking, shifting, tilting or warping of the magnetic disk or magnetic ruler.

Description

Technical Field

[0001] This invention relates to the field of magnetic sensing technology, and more specifically to a detection system for the operating status of the magnetic module in a magnetic encoder. Background Technology

[0002] In the prior art, the magnetic scale / disk of the magnetic encoder is affected by: (1) its own process or application, which makes it impossible to keep it absolutely straight or flat; (2) installation error or operation error, which causes the plane where the magnetic scale / disk is located to be unable to keep absolutely parallel to the plane where the sensor is located or the disk to deviate from the expected position (i.e., the distance between the magnetic scale / disk and the sensor may be offset from the expected position). The above reasons will affect the measurement accuracy of the encoder, resulting in inaccurate or even erroneous measurement results of the sensor. Summary of the Invention

[0003] In view of this, the present invention provides a detection system for the operating status of the magnetic module in a magnetic encoder, so as to solve the problem of inaccurate measurement results of magnetic sensors in the prior art.

[0004] In a first aspect, the present invention provides a method for detecting the operating status of a magnetic module in a magnetic encoder, the method comprising: acquiring at least two magnetic field signals at multiple locations around the magnetic module during operation of the magnetic encoder under test; comparing two of the at least two magnetic field signals to obtain a comparison result; and determining the detection result of the operating status of the magnetic module under test based on the comparison result.

[0005] The method for detecting the operating status of the magnetic module in a magnetic encoder provided in this invention collects multiple magnetic field signals from multiple locations around the magnetic module during the operation of the magnetic encoder, compares two of the multiple magnetic field signals, and detects the operating status of the magnetic module based on the comparison result. That is, this detection method can determine the operating status of the magnetic module and avoid the problem of low measurement accuracy of the magnetic encoder caused by the jitter / slippage / tilt / warping of the disk or magnetic scale.

[0006] In one optional implementation, comparing two of the at least two magnetic field signals to obtain a comparison result includes: determining a first phase and a second phase corresponding to the two magnetic field signals respectively; and subtracting the first phase and the second phase to obtain the comparison result.

[0007] In this embodiment, by subtracting the phases of the two magnetic field signals, the phase of the standard magnetic field signal is effectively canceled out, which improves the accuracy of the determined comparison results and provides a data basis for detecting whether the magnetic module is radially offset.

[0008] In one optional implementation, before comparing two of the at least two magnetic field signals to obtain a comparison result, the method further includes: comparing the amplitude of each magnetic field signal with the amplitude of a standard magnetic field signal to obtain an amplitude comparison result.

[0009] In this embodiment, by comparing the amplitude of the magnetic field signal with the amplitude of the standard magnetic field signal, an amplitude comparison result is obtained, which provides a data basis for detecting whether the magnetic module is offset in the axial direction.

[0010] In one optional implementation, comparing two of the at least two magnetic field signals to obtain a comparison result includes: determining a first amplitude and a second amplitude corresponding to the two magnetic field signals respectively; and subtracting the first amplitude and the second amplitude to obtain a comparison result.

[0011] In this embodiment, by subtracting the phases of the two magnetic field signals, the phase of the standard magnetic field signal is effectively canceled out, thereby improving the accuracy of the determined comparison result.

[0012] In one optional implementation, comparing two of the at least two magnetic field signals to obtain a comparison result includes: determining a first amplitude and a first phase, and a second amplitude and a second phase, respectively, corresponding to the two magnetic field signals; subtracting the first amplitude and the second amplitude, and subtracting the first phase and the second phase, to obtain a comparison result.

[0013] In this embodiment, by comparing the difference between the amplitude and phase of the two magnetic field signals, a data basis is provided for detecting whether the magnetic module is warped.

[0014] In one optional implementation, the system includes: a processing unit and q magnetic sensor units, wherein q ≥ 2; the magnetic sensor units are used to acquire at least two magnetic field signals from multiple locations around the magnetic module of the magnetic encoder under test during operation, and transmit the magnetic field signals to the processing unit; the processing unit is used to compare two of the at least two magnetic field signals to obtain a comparison result; and determine the detection result of the operating state of the magnetic module under test based on the comparison result.

[0015] In one optional implementation, the magnetic encoder under test includes a magnetic module and magnetic sensors. The magnetic module includes an incremental code track and a pseudo-random binary sequence code track. The magnetic sensors include a first magnetic sensor and a second magnetic sensor. The first magnetic sensor is disposed above the pseudo-random binary sequence code track, and q magnetic sensor units are disposed above the incremental code track as second magnetic sensors. The incremental code track and the pseudo-random binary sequence code track include multiple coding regions. The first magnetic sensor is used to sense the magnetic field generated by the pseudo-random binary sequence code track for region positioning, and the second magnetic sensor is used to sense the magnetic field generated by the incremental code track for position positioning within the region.

[0016] In this embodiment, a dual-track structure is formed by setting an incremental code track and a pseudo-random binary sequence code track, and multiple coding regions are divided in each code track. A first magnetic sensor and a second magnetic sensor are respectively positioned above the two code tracks. The first magnetic sensor enables region positioning, and the second magnetic sensor enables position positioning within the region. Therefore, this magnetic encoder can achieve absolute position positioning through the cooperation of the dual code tracks and the corresponding magnetic sensors, avoiding the problem of inaccurate positioning due to interference in related technologies.

[0017] In one optional implementation, the incremental code track includes a plurality of alternating first magnetic poles and second magnetic poles, each first magnetic pole and second magnetic pole forming a pair, and each pair of poles corresponding to a coding region; the pseudo-random binary sequence code track includes a plurality of first magnetic poles and second magnetic poles arranged in a pseudo-random binary sequence, and the distance or angle between two adjacent magnetic poles corresponds to the length or angle of the coding region.

[0018] In this embodiment, an incremental code track is formed by multiple alternating arrangement of first and second magnetic poles, which makes the magnetic field generated by the incremental code track a periodic magnetic field, facilitating position positioning within each region.

[0019] In one optional embodiment, the first magnetic sensor includes at least one set of magnetic sensor modules, each set of magnetic sensor modules includes multiple first magnetic sensor units, the multiple first magnetic sensor units are arranged at equal intervals or at equal angles, the interval is the distance between two adjacent coding regions on the pseudo-random binary sequence code track, and the angle is the angle between two adjacent coding regions on the pseudo-random binary sequence code track.

[0020] The q magnetic sensor units are q second magnetic sensor units. The second magnetic sensor unit includes a half-bridge circuit or a full-bridge circuit. The full-bridge circuit includes four bridge arm resistors. The first and second bridge arm resistors of the four bridge arm resistors constitute a first half-bridge circuit. The third and fourth bridge arm resistors of the four bridge arm resistors constitute a second half-bridge circuit. The first, third, second, and fourth bridge arm resistors are set at a quarter-cycle interval of the encoding region period in the direction of relative movement.

[0021] In this embodiment, a pseudo-random binary sequence code track is formed by arranging the first and second magnetic poles according to a pseudo-random binary sequence. At the same time, multiple first magnetic sensor units are set in the magnetic sensor module, which enables the magnetic sensor module in the first magnetic sensor to measure the codes of multiple coding regions, thereby realizing the positioning of the coding region.

[0022] In one optional embodiment, the processing unit further includes a signal processing circuit that receives the average value of the output voltages of the plurality of first half-bridge circuits of the plurality of second sensor units and the average value of the output voltages of the plurality of second half-bridge circuits of the plurality of second sensor units to perform intra-regional position localization. In another optional embodiment, the processing unit is further configured to receive the average value of the output voltages of the plurality of first half-bridge circuits of the plurality of second sensor units and the average value of the output voltages of the plurality of second half-bridge circuits of the plurality of second sensor units to perform intra-regional position localization.

[0023] In this embodiment, by employing a full-bridge circuit to construct the second magnetic sensor unit, and averaging the outputs of the two half-bridge circuits in the multiple second magnetic sensor units, the influence of changes in the mechanical structure of the disk or magnetic ruler on measurement accuracy can be offset or reduced. This solves the problem that changes in the mechanical structure cause a shift in the relative position between the magnetic module and the sensor, thus affecting the measurement accuracy of the magnetic sensor.

[0024] In one optional implementation, when the magnetic sensor module includes n first magnetic sensor units, region positioning is performed by deriving n-bit binary code information based on the output of the magnetic sensor module. The n-bit binary code information is unique and non-repeating. The number of first magnetic sensor units and the number of encoded regions satisfy the following relationship: 2 n ≥N In the formula, N represents the number of coding regions.

[0025] In one optional embodiment, the first magnetic sensor includes two sets of magnetic sensor modules, with a spacing of mp+1 / 2 between the two sets of sensor modules. p, where m is an integer greater than or equal to 0, and p represents the period of the encoded region.

[0026] In one optional implementation, the spacing between the i-th second magnetic sensor unit and the 1st second magnetic sensor unit satisfies the following relationship: k(i-1) p+Δ In the formula, k represents an integer, Δ represents the manufacturing tolerance, and p represents the period of the encoding region. Attached Figure Description

[0027] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0028] Figure 1 This is a structural block diagram of a magnetic encoder in related technologies; Figure 2 This is a cross-sectional view of a magnetic encoder in related technologies; Figure 3 This is a schematic diagram showing that the center of the sensor arrangement deviates from the center of the disk in related technologies; Figure 4 This is a schematic diagram of the waveform of a standard magnetic field signal; Figures 5 to 9 This is a schematic diagram comparing the waveforms of the magnetic field signal and the standard magnetic field signal. Figure 10 This is a flowchart illustrating a method for detecting the operating status of a magnetic module in a magnetic encoder according to an embodiment of the present invention. Figure 11 This is a structural block diagram of the magnetic encoder in an embodiment of the present invention; Figures 12 to 14 This is a schematic diagram of a magnetic encoder employing a magnetic ring structure according to an embodiment of the present invention; Figure 15 This is a schematic diagram of the magnetic field components in a certain direction generated by the two code channels in an embodiment of the present invention. Figure 16 This is a top view of the magnetic encoder in an embodiment of the present invention; Figure 17 This is a structural block diagram of a magnetic encoder according to another embodiment of the present invention; Figure 18 This is a top view of a magnetic encoder according to another embodiment of the present invention; Figure 19This is a schematic diagram of the full-bridge circuit in the second magnetic sensor unit in this embodiment of the invention; Figure 20 This is a schematic diagram of the output waveform of the second magnetic sensor unit in an embodiment of the present invention; Figure 21 This is a schematic diagram of the output signal processing of the second magnetic sensor unit in an embodiment of the present invention.

[0029] Figure 22 This is a schematic diagram of the hardware structure of a computer device according to an embodiment of the present invention. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0031] As described in the background section, magnetic encoders in related technologies suffer from inaccurate measurement results or even errors. Taking a magnetic encoder using a disk as an example, its structure is as follows: Figure 1 As shown, the disk is fixed on the mounting base, which is fixed to the motor shaft by screws or other structures. The disk is sleeved on the motor shaft. The disk has code tracks along its circumference, and a magnetic sensor is installed above the code tracks to form the main structure of the magnetic sensor.

[0032] If the disk surface is uneven, or if the disk may shift, tilt, or warp in the height direction (Z) during installation or operation, it will result in a difference in the height between the disk and the magnetic sensor. Changes in G) can cause changes in the measurement accuracy of the magnetic sensor. For example, if the disk is tilted at a certain angle, its rotation during operation will cause changes in the magnetic sensor's accuracy. G cannot be maintained at a constant height; for example, if the disk is secured with screws, meaning there is at least one mounting point, this can cause the disk to warp, such as the portion between two mounting points tilting upwards. Similarly, this warping can occur after the disk rotates during operation. G cannot be maintained at a single height. The magnetic encoder structure in the height direction is as follows: Figure 2 As shown.

[0033] For example, during installation or operation, the disk may jitter in the radial direction (R), causing the center of the magnetic sensor arrangement to deviate from the center of the disk. Specific deviations may be as follows: Figure 3As shown, when the disk jitters radially, the position of the magnetic sensor relative to the disk will shift from the dashed line position to the solid line position, causing a change in the period sensed by the magnetic sensor (shown in circles), which in turn causes a change in the measurement accuracy of the magnetic sensor.

[0034] Based on the above analysis, it can be seen that due to changes in the mechanical structure of the disk (radial / axial jitter / movement, tilting, warping), the relative position between the disk and the sensor may shift, thus affecting the measurement accuracy of the magnetic sensor. In view of this, this embodiment provides a method for detecting the operating status of the magnetic module in a magnetic encoder. This method can determine the relative positional relationship between the magnetic module (magnetic scale, magnetic ring, or disk) and the magnetic sensor in the magnetic encoder, thereby detecting the operating status of the magnetic module and providing a basis for ensuring the measurement accuracy of the magnetic encoder.

[0035] Specifically, to determine the relative positional relationship between the magnetic module and the magnetic sensor, theoretically, the magnetic field signal acquired when the relative position between the magnetic module and the magnetic sensor remains unchanged can be used as the standard magnetic field signal. Then, the magnetic field signal around the magnetic module during the operation of the magnetic encoder under test is acquired. The acquired magnetic field signal is compared with the standard magnetic field signal, and the position detection result of the magnetic encoder under test is determined based on the comparison result. The waveform S0 of the standard magnetic field signal is as follows: Figure 4 As shown in the waveform diagram, the incremental code track is used as the magnetic module.

[0036] In the comparison, at least one of the following can be compared between the magnetic field signal and the standard magnetic field signal: period, amplitude, and sin / cos phase difference, to obtain the comparison result. For example, if a period comparison is performed, the radial position detection result is determined based on the length of the periods of the magnetic field signal and the standard magnetic field signal. Specifically, when the period of the magnetic field signal is shorter than the period of the standard magnetic field signal, the magnetic sensor is radially closer to the center of the magnetic module; when the period of the magnetic field signal is longer than the period of the standard magnetic field signal, the magnetic sensor is radially farther from the center of the magnetic module, thus indicating that the magnetic module (disk) has shifted radially. For example, Figure 5 As shown, when the period of the magnetic field signal (its waveform is S1) is p1, and the period p1 is less than the period p of the standard magnetic field signal (its waveform is S0), the magnetic sensor is closer to the center of the disk in the radial direction. That is, the shorter the period, the closer the magnetic sensor is to the center of the disk in the radial direction. Figure 6 As shown, when the period of the magnetic field signal (its waveform is S2) is p2, the period p2 is greater than the period p of the standard magnetic field signal (its waveform is S0). Therefore, the magnetic sensor is radially away from the center of the disk. That is, the longer the period, the farther the magnetic sensor is radially from the center of the disk.

[0037] If an amplitude comparison is performed, the axial position detection result is determined based on the amplitude of the magnetic field signal and the standard magnetic field signal. When the amplitude of the magnetic field signal is greater than that of the standard magnetic field signal, the magnetic sensor is axially closer to the center of the magnetic module; when the amplitude of the magnetic field signal is less than that of the standard magnetic field signal, the magnetic sensor is axially farther from the center of the magnetic module, thus indicating that the magnetic module (disk) has shifted axially. For example... Figure 7 As shown, when the amplitude of the magnetic field signal (waveform S3) is less than the amplitude of the standard magnetic field signal (waveform S0), the magnetic sensor is axially farther away from the center of the disk. That is, the lower the amplitude of the magnetic field signal, the farther the magnetic sensor is axially from the disk. Figure 8 As shown, when the amplitude of the magnetic field signal (its waveform is S4) is greater than the amplitude of the standard magnetic field signal (its waveform is S0), the magnetic sensor is closer to the center of the disk in the axial direction. That is, the higher the amplitude of the magnetic field signal, the closer the magnetic sensor is to the disk in the axial direction.

[0038] If the sin / cos phase difference and amplitude difference are compared, the degree of warpage of the magnetic module can be determined based on the sin / cos phase difference and amplitude difference between the magnetic field signal and the standard magnetic field signal. Specifically, as... Figure 9 As shown, when the period and amplitude of the magnetic field signal (its waveform is S5) are different from those of the standard magnetic field signal (its waveform is S0), that is, when there is a sin / cos phase difference and an amplitude difference between the two, it indicates that the disk is warped. The degree of disk warping can be judged by the degree of deviation of the amplitude and period.

[0039] According to an embodiment of the present invention, a method for detecting the operating state of a magnetic module in a magnetic encoder is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0040] This embodiment provides a method for detecting the operating status of the magnetic module in a magnetic encoder. Figure 10 This is a flowchart of a method for detecting the operating state of a magnetic module in a magnetic encoder according to an embodiment of the present invention, as shown below. Figure 10 As shown, the process includes the following steps: Step S101: Acquire at least two magnetic field signals from multiple locations around the magnetic module of the magnetic encoder under test during operation. Specifically, the magnetic encoder under test includes a magnetic module, which can be a disk, a magnetic ring, or a magnetic scale. During testing, the magnetic encoder under test can be started. For example, if the magnetic module is a disk, the disk can be rotated, and the magnetic encoder operates through the sensed magnetic field signals during the disk's rotation. If the magnetic module is a magnetic scale, the magnetic scale can be moved, and the magnetic encoder operates through the sensed magnetic field signals during the scale's movement. If the magnetic module is a magnetic ring, the magnetic ring can be rotated, and the magnetic encoder operates through the sensed magnetic field signals during the ring's rotation.

[0041] During the operation of the magnetic encoder under test, magnetic sensors can be placed at appropriate heights above the magnetic module to collect magnetic field signals. In practical applications, the magnetic sensors can be fixed above the magnetic module for easy magnetic field signal acquisition. It should be noted that when using a code disk or magnetic ruler shape, placing the magnetic sensor above the code track means placing it above the code track in the vertical direction; when using a magnetic ring shape, placing the magnetic sensor above the code track means placing it above the code track in the horizontal direction.

[0042] Step S102: Compare two of the at least two magnetic field signals to obtain a comparison result. Specifically, during the comparison, two magnetic field signals from multiple magnetic field signals can be selected for comparison. As the theoretical analysis above shows, comparing the acquired magnetic field signal with a standard magnetic field signal can determine the specific offset detection result. Further comparing the comparison results of the two magnetic field signals with the standard magnetic field signal can cancel out the standard magnetic field signal. Therefore, two magnetic field signals can be directly compared during detection. It should be noted that when comparing magnetic field signals, if three or more magnetic field signals are acquired, any two magnetic field signals can be selected for comparison multiple times to obtain multiple comparison results.

[0043] Step S103: Determine the detection result of the operating status of the magnetic module based on the comparison result. This detection result includes a detection result indicating whether the magnetic module has shifted, such as radial shift, axial shift, or warping.

[0044] The method for detecting the operating status of the magnetic module in a magnetic encoder provided in this invention collects multiple magnetic field signals from multiple locations around the magnetic module during the operation of the magnetic encoder, compares two of the multiple magnetic field signals, and detects the operating status of the magnetic module based on the comparison result. That is, this detection method can determine the operating status of the magnetic module and avoid the problem of low measurement accuracy of the magnetic encoder caused by the jitter / slippage / tilt / warping of the disk or magnetic scale.

[0045] This embodiment provides a method for detecting the operating status of the magnetic module in a magnetic encoder, the process of which includes the following steps: Step S201: Acquire at least two magnetic field signals from multiple locations around the magnetic module of the magnetic encoder under test during operation. For details, please refer to [link to relevant documentation]. Figure 10 Step S101 of the illustrated embodiment will not be described again here.

[0046] Step S202: Compare two of the at least two magnetic field signals to obtain the comparison result.

[0047] Specifically, step S202 includes: Step S2021: Determine the first phase and the second phase corresponding to two of the at least two magnetic field signals, respectively.

[0048] Step S2022: Subtract the first phase from the second phase to obtain a comparison result.

[0049] Specifically, theoretically, when comparing a magnetic field signal with a standard magnetic field signal, the difference between the phases of the magnetic field signal and the standard magnetic field signal can be used to obtain the comparison result. For example, at a certain moment, if the phase of the magnetic field signal is θ1 and the phase of the standard magnetic field signal is θ0, the comparison result is θ1 - θ0. When there are multiple magnetic field signals, such as two magnetic field signals, when comparing the other magnetic field signal with the standard magnetic field signal, the difference between the phases of the other magnetic field signal and the standard magnetic field signal can also be used to obtain the comparison result. For example, if the phase of the other magnetic field signal is θ2 and the phase of the standard magnetic field signal is θ0, the comparison result is θ2 - θ0. Further comparing these two results, i.e., (θ1 - θ0) - (θ2 - θ0), yields a further comparison result of θ1 - θ2. Thus, the phase of the standard magnetic field signal is canceled out in this comparison result. Therefore, in practical applications, the two magnetic field signals can be directly compared to obtain the comparison result.

[0050] In one optional implementation, when the magnetic module uses an incremental code track, the incremental code track is divided into multiple encoding regions by multiple magnetic pole pairs (adjacent N and S poles form a pole pair). The spacing between the multiple magnetic sensor units that collect magnetic field signals can be determined by the number of magnetic sensor units and the number of encoding regions. Specifically, when q (the number of magnetic sensor units) is divisible by N (the number of encoding regions), the q second magnetic sensor units are evenly distributed above the incremental code track; when q is not divisible by N, the q magnetic sensor units are distributed in a roughly uniform manner above the incremental code track. Specifically, when N=64 and q=8, the 8 second magnetic sensor units are evenly distributed above the disk incremental code track, with a 45-degree interval between adjacent second magnetic sensor units. When N=127 and q=8, the 8 second magnetic sensor units are roughly evenly distributed above the disk incremental code track, with a spacing p between adjacent second magnetic sensor units. 15, or p 16, where p is the period of the coding region.

[0051] Based on the distribution of the magnetic sensor units, the positions of the magnetic sensor units corresponding to the two magnetic field signals being compared are determined. For example, when three magnetic sensor units are set, the magnetic field signals of any two magnetic sensor units can be collected for comparison. When four or eight magnetic sensor units are set, the magnetic field signals of two magnetic sensor units that are in symmetrical positions (where the magnetic sensor units are evenly distributed) or relatively symmetrical positions (where the magnetic sensor units are roughly evenly distributed, i.e., the angle between two relatively symmetrical magnetic sensor units is within a certain range of about 180 degrees) can be compared.

[0052] It should be noted that when comparing two magnetic field signals, multiple comparisons can be performed. For example, when setting three magnetic sensor units, the magnetic field signals of the first and second magnetic sensor units can be compared, as can the magnetic field signals of the first and third magnetic sensor units, and the magnetic field signals of the second and third magnetic sensor units. In other words, the three magnetic field signals can be compared pairwise. When setting four or eight magnetic sensor units, two magnetic field signals at different symmetrical or relatively symmetrical positions can be compared. For example, when setting four magnetic sensor units, the magnetic field signals of two symmetrical magnetic sensor units in one direction can be compared, and the magnetic field signals of two symmetrical magnetic sensor units in another direction can also be compared.

[0053] Step S203: Determine the detection result of the operating status of the module to be magnetized based on the comparison result.

[0054] Specifically, based on the comparison results of the phase difference, the period of the magnetic field signal can be determined, that is, whether the magnetic module has shifted radially.

[0055] This embodiment provides a method for detecting the operating status of the magnetic module in a magnetic encoder, the process of which includes the following steps: Step S301: Acquire at least two magnetic field signals from multiple locations around the magnetic module of the magnetic encoder under test during operation. For details, please refer to [link to relevant documentation]. Figure 10 Step S101 of the illustrated embodiment will not be described again here.

[0056] Step S302: Compare the amplitude of each magnetic field signal with the amplitude of the standard magnetic field signal to obtain the amplitude comparison result. Specifically, when comparing the amplitudes of the magnetic field signals, the amplitudes of the magnetic field signals and the standard magnetic field signal can be obtained first by measurement, and then the relationship between the magnitudes can be determined to obtain the comparison result.

[0057] Step S303: Compare two of the at least two magnetic field signals to obtain the comparison result.

[0058] Specifically, step S303 includes: Step S3031: Determine the first amplitude and the second amplitude corresponding to two of the at least two magnetic field signals.

[0059] Step S3032: Subtract the first amplitude and the second amplitude to obtain a comparison result.

[0060] It should be noted that when comparing the amplitudes of any two magnetic field signals, similar to the phase comparison in steps S2021 and S2022 above, the amplitudes of the two signals can be further compared with the amplitude comparison results of the standard magnetic field signal to cancel out the amplitude of the standard magnetic field signal. In other words, the amplitudes of the two magnetic field signals can be directly compared to obtain the comparison result.

[0061] Step S304: Determine the detection result of the operating status of the magnetic module to be tested based on the comparison result. Specifically, when determining the detection result in this step, the amplitude comparison result can be used to determine whether the magnetic model at the corresponding position has shifted in the axial direction; and the amplitude difference comparison result can be used to determine whether the magnetic model on the connection line of the two amplitude corresponding magnetic sensors is tilted, that is, whether the magnetic module is uneven in the axial direction.

[0062] This embodiment provides a method for detecting the operating status of the magnetic module in a magnetic encoder, the process of which includes the following steps: Step S401: Acquire at least two magnetic field signals from multiple locations around the magnetic module of the magnetic encoder under test during operation. For details, please refer to [link to relevant documentation]. Figure 10 Step S101 of the illustrated embodiment will not be described again here.

[0063] Step S402: Compare two of the at least two magnetic field signals to obtain the comparison result.

[0064] Specifically, step S402 includes: Step S4021: Determine the first amplitude and first phase, and the second amplitude and second phase corresponding to two of the at least two magnetic field signals. The first amplitude and first phase are the amplitude and phase of one of the magnetic field signals, and the second amplitude and second phase are the amplitude and phase of the other magnetic field signal.

[0065] Step S4022: Subtract the first amplitude and the second amplitude, and subtract the first phase and the second phase to obtain a comparison result.

[0066] It should be noted that the comparison between the first amplitude and the second amplitude can be implemented by referring to step S3032 above, and the comparison between the first phase and the second phase can be implemented by referring to step S2022 above, which will not be repeated here.

[0067] Step S403: Determine the detection result of the operating state of the magnetic module based on the comparison result. Specifically, when determining the detection result by comparing the results of two amplitudes and two phases, the degree of warpage of the magnetic module can be determined.

[0068] This embodiment also provides a system for detecting the operating status of a magnetic module in a magnetic encoder. This system is used to implement the above embodiments and preferred embodiments, and details already described will not be repeated. As used below, the term "module" can be a combination of software and / or hardware that performs a predetermined function. Although the system described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0069] This embodiment provides a system for detecting the operating status of a magnetic module in a magnetic encoder. The system includes a processing unit and q magnetic sensor units (q≥2). The magnetic sensor units are used to collect at least two magnetic field signals from multiple locations around the magnetic module of the magnetic encoder under test during operation, and transmit the magnetic field signals to the processing unit. The processing unit is used to compare two of the at least two magnetic field signals to obtain a comparison result. Based on the comparison result, the detection result of the operating status of the magnetic module under test is determined.

[0070] Specifically, the magnetic encoder under test includes a magnetic module, which can be a magnetic disk, magnetic ring, or magnetic scale. Magnetic sensor units can be mounted on top of the magnetic module. The number of magnetic sensor units can be determined based on the required detection accuracy. More magnetic sensor units can be installed when higher accuracy is required, and fewer magnetic sensor units can be installed when lower accuracy is required.

[0071] In one alternative implementation, such as Figure 11 As shown, the magnetic encoder under test includes a magnetic module and magnetic sensors. The magnetic module includes an incremental code track and a pseudo-random binary sequence (PRBS) code track. The magnetic sensors include a first magnetic sensor and a second magnetic sensor. The first magnetic sensor unit is disposed above the PRBS code track, and q magnetic sensor units are disposed above the incremental code track. The incremental code track and the PRBS code track include multiple coding areas. The first magnetic sensor is used to sense the magnetic field generated by the PRBS code track for area positioning, and the q magnetic sensor units are used to sense the magnetic field generated by the incremental code track for position positioning within the area. The q magnetic sensor units can serve as the second magnetic sensor in the magnetic encoder under test; that is, the q magnetic sensor units can not only detect the operating status of the magnetic module using the above method, but also serve as the second magnetic sensor in the magnetic encoder under test for position positioning within the area.

[0072] Specifically, the code track in the magnetic field generator can be disk-shaped, magnetic ring-shaped, or magnetic scale-shaped. When it is disk-shaped or magnetic ring-shaped, the magnetic encoder also includes a base (or mounting base), which is fixed to the motor shaft, and the disk or magnetic ring is fixed to the base. In this embodiment, when a disk-shaped code track is used, the incremental code track can be fixed to the outer periphery of the base, and the pseudo-random binary sequence code track can be fixed to the inner periphery of the base. The two code tracks can be spaced apart or arranged adjacent to each other. That is, the incremental code track and the pseudo-random binary sequence code track form a... Figure 11 The double-ring structure shown can also be used in other embodiments, where, when adopting a disk shape, the incremental code track can be fixed to the inner periphery of the base, and the pseudo-random binary sequence code track can be fixed to the outer periphery of the base. For example... Figures 12 to 14As shown, when a magnetic ring shape is used, a circular mounting base can be employed. Two code tracks are sequentially distributed along the axial direction of the mounting base and respectively fitted onto its outer circumference. The two code tracks can be spaced a certain distance apart along the axial direction of the mounting base or placed adjacent to each other. A first magnetic sensor and a second magnetic sensor are respectively located on the outer circumference of the two code tracks. It should be noted that when a code disk or magnetic ruler shape is used, the magnetic sensor being positioned above the code track refers to being above the code track in the vertical direction; when a magnetic ring shape is used, the magnetic sensor being positioned above the code track refers to being above the code track in the horizontal direction.

[0073] In this embodiment, multiple coding regions are divided within the incremental code channel. The PRBS code channel is divided with reference to the region division of the incremental code channel, thereby facilitating region positioning. During positioning, the magnetic field signal sensed by the magnetic sensor can be analyzed and determined. For example, the sensed magnetic field signal can be converted into an electrical signal, and then the electrical signal can be processed accordingly. Specific processing methods can be found in relevant technologies and will not be elaborated here.

[0074] The magnetic encoder provided in this embodiment forms a dual-track structure by setting PRBS track and incremental track, and divides each track into multiple coding regions. A first magnetic sensor and a second magnetic sensor are respectively positioned above the two tracks. The first magnetic sensor enables region positioning, and the second magnetic sensor enables position positioning within the region. Therefore, this magnetic encoder can achieve absolute position positioning through the cooperation of the dual tracks and corresponding magnetic sensors, avoiding the problem of inaccurate positioning due to interference in related technologies.

[0075] In one optional implementation, the incremental code track includes multiple alternating first and second magnetic poles. Adjacent first and second magnetic poles form a pair, and each pair corresponds to a region. The first and second magnetic poles can be N poles (hereinafter referred to as N poles) and S poles (hereinafter referred to as S poles), respectively, and both types of poles are of the same size and alternate along the relative movement direction. It should be understood that the relative movement direction here refers to the movement direction between the magnetic field generator and the magnetic sensor. When the incremental code track includes N N poles and N S poles, an adjacent N pole and an S pole form a pair, ultimately forming N pairs. These N pairs correspond to N regions on the incremental code track, or in other words, the N pairs divide the incremental code track into N regions, each of which can also be called a coding region.

[0076] Specifically, the incremental code track can be a disk structure, a magnetic ring structure, or a magnetic scale structure. When a magnetic scale structure is used, the relative movement direction is along the length of the magnetic scale, and the distance between the centers of the N pole and the S pole is λ (called the "incremental code track magnetic pole center spacing"). Figure 15As shown, the curve of the magnetic field component it generates in a certain direction has a period of 2λ, and its period corresponds to the length of each encoded region. When a disk structure is used, the relative movement direction is along the circumference of the disk, as shown... Figure 16 As shown, the angle between the lines connecting the centers of the N and S poles to the center of the disk is θ (called the "incremental track pole center angle"). For example... Figure 15 As shown, the curve period of the component of the magnetic field it generates in a certain direction is 2θ, corresponding to the angle of each encoding region. When a magnetic ring structure is used, the relative movement direction is along the circumference of the magnetic ring, and the angle between the lines connecting the centers of the N pole and the S pole to the center of the magnetic ring is also θ.

[0077] In one optional implementation, the PRBS code channel includes multiple first and second magnetic poles arranged according to a pseudo-random binary sequence. The distance or angle between two adjacent magnetic poles corresponds to the length or angle of the region. It should be noted that the incremental code channel is divided into N regions by N pole pairs, and the PRBS code channel references the division of the incremental code channel to perform binary encoding on its own code channel. The PRBS code channel is an encoding sequence composed of N binary numbers. The region covered by each binary number (the length or angle of the encoding region) is called the encoding region. The PRBS code channel encoding has a total of N encoding regions, which correspond one-to-one with the regions of the incremental code channel. In this encoding sequence composed of binary numbers, the N pole can correspond to the binary number "1", and the S pole can correspond to the binary number "0". Therefore, the first and second magnetic poles are arranged according to the pseudo-random binary sequence obtained from the encoding result. The first magnetic pole after arrangement is the N magnetic pole (hereinafter referred to as the N pole), and the second magnetic pole after arrangement is the S magnetic pole (hereinafter referred to as the S pole). Figure 15 As shown, depending on the arrangement of the magnetic poles in the PRBS code channel, the curve of the magnetic field component generated by the PRBS code channel in a certain direction is not a fixed periodic waveform.

[0078] Similarly, PRBS tracks can also be magnetic scale structures, magnetic ring structures, or disk structures. When a magnetic scale structure is used, the relative movement direction is along the length of the magnetic scale. The center-to-center distance between two adjacent magnetic poles (referring to two adjacent coding regions) of the PRBS track is 2λ (called the "PRBS track coding region center-to-center spacing"). The length of each coding region of the PRBS track in the relative movement direction is also 2λ, which is the length of each coding region. For example... Figure 16As shown, when using a disk structure, the relative movement direction is along the disk circumference. The angle between the center of each of the two adjacent magnetic poles (referring to two adjacent coding regions) of the PRBS code track and the center of the disk is 2θ (called the "PRBS code track coding region center angle"), which is the angle corresponding to each coding region. When using a magnetic ring structure, the relative movement direction is along the magnetic ring circumference. The angle between the center of each of the two adjacent magnetic poles (referring to two adjacent coding regions) of the PRBS code track and the center of the magnetic ring is 2θ (called the "PRBS code track coding region center angle"). The length ("PRBS code track coding region center spacing") or angle ("PRBS code track coding region center angle") corresponding to each coding region in the direction of relative movement can also be understood as the period p of the coding region.

[0079] Therefore, it can be concluded that the "center spacing of the PRBS code track coding area" is twice the "center spacing of the incremental code track magnetic poles", and the "center angle of the PRBS code track coding area" is twice the "center angle of the incremental code track magnetic poles".

[0080] It should be noted that directions can be defined as follows: For magnetic rulers, the direction of extension of the magnetic field generator (code track) is defined as the X direction, the direction perpendicular to the X direction in the horizontal plane is defined as the Y direction, and the direction perpendicular to the plane formed by X and Y is defined as the Z direction. For disks, the circumferential direction is defined as the X direction, the radial direction is defined as the Y direction, and the direction perpendicular to the plane formed by X and Y is defined as the Z direction.

[0081] In one optional embodiment, the first magnetic sensor includes at least one set of magnetic sensor modules, each set of magnetic sensor modules including multiple first magnetic sensor units. These multiple first magnetic sensor units are arranged at equal intervals or angles. The interval is the distance between two adjacent coding regions on the pseudo-random binary sequence code track (i.e., the "center-to-center spacing of the PRBS code track coding regions"), and the angle is the angle between two adjacent coding regions on the pseudo-random binary sequence code track (i.e., the "center-to-center angle of the PRBS code track coding regions"). Further explanation: when the PRBS code track is a magnetic scale structure, the interval between two adjacent first magnetic sensor units in each set of magnetic sensor modules along the relative movement direction is equal to the center-to-center spacing of the PRBS code track coding regions; when the PRBS code track is a disk (or magnetic ring) structure, the angle between two adjacent first magnetic sensor units in each set of magnetic sensor modules and the line connecting them to the center of the disk (or magnetic ring) is equal to the center-to-center angle of the PRBS code track coding regions. Wherein, as... Figure 11 and Figure 16As shown, when the first magnetic sensor includes a set of magnetic sensor modules, during the rotation of the code track, if at a certain moment, one or more of the first magnetic sensor units in the set of magnetic sensor modules are located above the junction of the N pole and S pole of the PRBS code track, there is a situation where the magnetic field component in the sensing direction of the first magnetic sensor unit is zero, so that the first magnetic sensor unit at this point cannot sense the magnetic field and the magnetic encoder cannot achieve positioning. Therefore, there is a detection blind zone when using a set of magnetic sensor modules.

[0082] Therefore, the preferred option is, such as Figure 17 and Figure 18 As shown, the first magnetic sensor includes two sets of magnetic sensor modules, with a spacing of (2m+1)λ between the two sets of sensor modules (or a spacing of (2m+1)θ, i.e., a spacing of mp+1 / 2). p), where m is an integer greater than or equal to 0. By setting up two sets of magnetic sensor modules in this way, during the code track rotation, if at a certain moment one or more first magnetic sensor units in one set of magnetic sensor modules are located above the junction of the N and S poles of the PRBS code track, then one or more first magnetic sensor units in the other set of magnetic sensor modules will be located above either the N or S pole, thus achieving positioning. In other words, setting up two sets of magnetic sensor modules enables blind-zone-free detection. In this embodiment, setting up two sets of magnetic sensor modules in the first magnetic sensor for decoding further avoids the problem of inaccurate positioning due to interference.

[0083] Specifically, multiple (e.g., n) first magnetic sensor units are set above the PRBS code track at equal intervals or angles along the relative movement direction. Each first magnetic sensor unit is used to sense the magnetic field at its current position. After converting the sensed magnetic field signal into an electrical signal, it is processed to obtain the encoding information "0" or "1" of the encoding area of ​​the corresponding PRBS code track, thereby obtaining a set of n-bit binary code information. Based on this, the specific encoding area is confirmed in the N encoding areas, thus realizing the encoding area positioning. It should be noted that the relative movement direction here is the movement direction between the magnetic field generator and the magnetic sensor.

[0084] When the magnetic sensor module includes n first magnetic sensor units, n-bit binary code information can be obtained from the output of the magnetic sensor module for area positioning. The n-bit binary code information is unique and non-repeating. The number of first magnetic sensor units and the number of coded regions satisfy the following relationship: 2 n ≥N In the formula, N represents the number of coding regions.

[0085] Specifically, the number of incremental code channel encoding regions, N, is encoded using 0s and 1s to obtain a sequence of N binary numbers (e.g., 0110110011100010100101000…). The number of first magnetic sensor units is n. At any given moment, each first magnetic sensor unit decodes the code (0 or 1) corresponding to its current encoding region. n first magnetic sensor units can decode n consecutive encoding regions, obtaining a set of binary codes (e.g., 10011). To achieve positioning, n consecutive binary sequences are selected from the sequence of N binary numbers. These n binary sequences must be unique; no duplicate n binary sequences can occur. Therefore, it is necessary to ensure that 2… n ≥N. In actual production, other factors also need to be considered, such as avoiding consecutive 1 (or 0) encoding regions. Typically, it is necessary to ensure that 2... n >N.

[0086] This embodiment sets up n first magnetic sensor units in the magnetic sensor module, thereby decoding the codes of n consecutive coding regions at the same time, and thus determining which coding region the user is currently in, achieving coding region positioning. The incremental code track includes multiple alternating first and second magnetic poles. Adjacent first and second magnetic poles form a pole pair, and each pole pair corresponds to one coding region. That is, for the incremental code track, each coding region is configured identically. The magnetic field generated by the incremental code track is a fixed-periodic magnetic field. By using a second magnetic sensor to measure the magnetic field generated by the incremental code track, the specific position within the coding region can be determined, thus achieving position positioning within the region.

[0087] Therefore, in this embodiment, the first magnetic sensor is used to determine which coding region it belongs to, and the second magnetic sensor is used to determine which point (specific location within the region) it belongs to.

[0088] In one alternative implementation, such as Figure 11 As shown, q magnetic sensor units are q second magnetic sensor units, that is, there can be q second magnetic sensor units. The spacing between the i-th second magnetic sensor unit and the 1-th second magnetic sensor unit satisfies the following relationship: k(i-1) p+Δ In the formula, k represents an integer, Δ represents the manufacturing tolerance, and p represents the period of the region. That is, p represents the length ("PRBS code track coding region center spacing") or angle ("PRBS code track coding region center angle") corresponding to each coding region in the direction of relative movement. Ideally, the spacing is an integer multiple of the period, i.e., Δ=0; however, in actual manufacturing, Δ≠0. It is a permissible manufacturing tolerance Δ, which has a small impact on the measurement results. If Δ is set appropriately, harmonic compensation can also be achieved.

[0089] Based on the above spacing relationship, when q (the number of second magnetic sensor units) is divisible by N (the number of coding regions), then k = N / q. In this case, the q second magnetic sensor units are evenly distributed above the incremental code track. When q is not divisible by N, k can be either N / q rounded down or N / q rounded up. That is, the q second magnetic sensor units are distributed in a roughly uniform manner above the incremental code track.

[0090] Specifically, when N=64 and q=8, the eight second magnetic sensor units are evenly distributed above the incremental code track of the disk, with a 45-degree interval between two adjacent second magnetic sensor units.

[0091] When N=127 and q=8, the eight second magnetic sensor units are roughly evenly distributed above the incremental code track of the disk. Therefore, k can be 15 or 16, and the interval between two adjacent second magnetic sensor units is p. 15, or p 16.

[0092] In one optional embodiment, the second magnetic sensor unit includes a half-bridge circuit or a full-bridge circuit. The full-bridge circuit includes four bridge arm resistors; the first and second bridge arm resistors constitute a first half-bridge circuit, and the third and fourth bridge arm resistors constitute a second half-bridge circuit. Specifically, all four bridge arm resistors can be magnetoresistors, i.e., first magnetoresistor R1, second magnetoresistor R2, third magnetoresistor R3, and fourth magnetoresistor R4; the first magnetoresistors R1, third magnetoresistors R3, second magnetoresistors R2, and fourth magnetoresistors R4 are arranged at intervals of λ / 2 (or θ / 2) in the direction of relative movement, such as... Figure 19 As shown, the first magnetoresistive resistor R1 and the second magnetoresistive resistor R2 form the first half-bridge circuit, and the third magnetoresistive resistor R3 and the fourth magnetoresistive resistor R4 form the second half-bridge circuit, thus... Figure 20 The diagram shows an output waveform that can obtain a phase shift of λ / 2 (a quarter-cycle, i.e., a quarter-cycle of the encoding region's period) from the first and second half-bridge circuits. After processing and calculating the outputs V1 and V2 of the first and second half-bridge circuits, the specific location within a certain encoding region confirmed by the first magnetic sensor can be obtained. When the second magnetic sensor unit uses a half-bridge circuit, this half-bridge circuit can be either the first or second half-bridge circuit from a full-bridge circuit. If the first half-bridge circuit is used, V2 serves as the reference voltage.

[0093] In one optional embodiment, the processing unit further includes a signal processing circuit. The signal processing circuit receives the average value of the output voltages of the multiple first half-bridge circuits of the multiple second magnetic sensor units and the average value of the output voltages of the multiple second half-bridge circuits of the multiple second magnetic sensor units to perform position localization within the region. The signal processing circuit includes an operational amplifier circuit and a signal processing module. The first input terminal of the operational amplifier circuit is the average value of the output voltages of the multiple first half-bridge circuits of the multiple second magnetic sensor units, and the second input terminal of the operational amplifier circuit is the average value of the output voltages of the multiple second half-bridge circuits. The signal processing module receives the output value from the output terminal of the operational amplifier circuit to perform position localization within the region.

[0094] Specifically, such as Figure 21 As shown, when the second magnetic sensor includes q second magnetic sensor units, the outputs V11, V12, ..., V1q of all the first half-bridge circuits of the q second magnetic sensor units and the outputs V21, V22, ..., V2q of all the second half-bridge circuits are averaged respectively. That is, V11, V12, ..., V1q are averaged to obtain average value V1, and V21, V22, ..., V2q are averaged to obtain average value V2. The two average values ​​V1 and V2 are respectively input to the two input terminals of the operational amplifier in the signal processing circuit. After the signal processing module processes and calculates V1 and V2, the specific position of a certain encoding area confirmed by the first magnetic sensor can be obtained. The specific processing process of the signal processing module can be implemented with reference to relevant technologies, and will not be elaborated here. Since the q second magnetic sensor units are roughly evenly distributed above the incremental code track, by averaging the outputs of the two half-bridge circuits in the q second magnetic sensor units, the influence of changes in the mechanical structure of the disk or magnetic ruler on the measurement accuracy can be offset or reduced.

[0095] In addition, in other embodiments, when the second magnetic sensor includes q second magnetic sensor units, the outputs V11, V12, ... V1q of all the first half-bridge circuits of the q second magnetic sensor units and the outputs V21, V22, ... V2q of all the second half-bridge circuits can be input to the signal processing unit, which will then analyze them to obtain the specific location within a certain coded area confirmed by the first magnetic sensor.

[0096] Further functional descriptions of the above processing units are the same as those in the corresponding embodiments described above, and will not be repeated here.

[0097] This invention also provides a computer device having the above-described detection system for the operating status of the magnetic module in a magnetic encoder.

[0098] Please see Figure 22 , Figure 22This is a schematic diagram of the structure of a computer device provided in an optional embodiment of the present invention, such as... Figure 22 As shown, the computer device includes one or more processors 10, memory 20, and interfaces for connecting the components, including high-speed interfaces and low-speed interfaces. The components communicate with each other via different buses and can be mounted on a common motherboard or otherwise installed as needed. The processors can process instructions executed within the computer device, including instructions stored in or on memory to display graphical information of a GUI on external input / output devices (such as display devices coupled to the interfaces). In some alternative implementations, multiple processors and / or multiple buses can be used with multiple memories and multiple memory modules, if desired. Similarly, multiple computer devices can be connected, each providing some of the necessary operations (e.g., as a server array, a group of blade servers, or a multiprocessor system). Figure 22 Take a processor 10 as an example.

[0099] Processor 10 may be a central processing unit, a network processor, or a combination thereof. Processor 10 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The programmable logic device may be a complex programmable logic device (CAMP), a field-programmable gate array (FPGA), a general-purpose array logic (GDA), or any combination thereof.

[0100] The memory 20 stores instructions executable by at least one processor 10 to cause at least one processor 10 to perform the method shown in the above embodiments.

[0101] The memory 20 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created based on the use of the computer device as shown by a landing page for an app. Furthermore, the memory 20 may include high-speed random access memory and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some alternative embodiments, the memory 20 may optionally include memory remotely located relative to the processor 10, which can be connected to the computer device via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0102] The memory 20 may include volatile memory, such as random access memory; the memory may also include non-volatile memory, such as flash memory, hard disk or solid-state drive; the memory 20 may also include a combination of the above types of memory.

[0103] The computer device also includes a communication interface 30 for communicating with other devices or communication networks.

[0104] This invention also provides a computer-readable storage medium. The methods described above according to embodiments of the invention can be implemented in hardware or firmware, or implemented as computer code that can be recorded on a storage medium, or implemented as computer code downloaded via a network and originally stored on a remote storage medium or a non-transitory machine-readable storage medium and then stored on a local storage medium. Thus, the methods described herein can be processed by software stored on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. The storage medium can be a magnetic disk, optical disk, read-only memory, random access memory, flash memory, hard disk, or solid-state drive, etc.; further, the storage medium can also include combinations of the above types of memory. It is understood that computers, processors, microprocessor controllers, or programmable hardware include storage components capable of storing or receiving software or computer code, which, when accessed and executed by the computer, processor, or hardware, implements the methods shown in the above embodiments.

[0105] A portion of this invention can be applied as a computer program product, such as computer program instructions, which, when executed by a computer, can invoke or provide the methods and / or technical solutions according to the invention through the operation of the computer. Those skilled in the art will understand that the forms in which computer program instructions exist in a computer-readable medium include, but are not limited to, source files, executable files, installation package files, etc. Correspondingly, the ways in which computer program instructions are executed by a computer include, but are not limited to: the computer directly executing the instructions, or the computer compiling the instructions and then executing the corresponding compiled program, or the computer reading and executing the instructions, or the computer reading and installing the instructions and then executing the corresponding installed program. Here, the computer-readable medium can be any available computer-readable storage medium or communication medium accessible to a computer.

[0106] Although embodiments of the invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A system for detecting the operating status of a magnetic module in a magnetic encoder, characterized in that, The system includes: a processing unit and q magnetic sensor units, wherein q≥2; The magnetic sensor unit is used to acquire at least two magnetic field signals from multiple locations around the magnetic module when the magnetic encoder under test is running, and transmit the magnetic field signals to the processing unit; the processing unit is used to compare two of the at least two magnetic field signals to obtain a comparison result; and determine the detection result of the operating status of the magnetic module based on the comparison result. The magnetic encoder under test includes a magnetic module and magnetic sensors. The magnetic module includes an incremental code track and a pseudo-random binary sequence code track. The magnetic sensors include a first magnetic sensor and a second magnetic sensor. The first magnetic sensor is disposed above the pseudo-random binary sequence code track, and q magnetic sensor units are disposed above the incremental code track as second magnetic sensors. The incremental code track and the pseudo-random binary sequence code track include multiple coding areas. The first magnetic sensor is used to sense the magnetic field generated by the pseudo-random binary sequence code track for area localization, and the second magnetic sensor is used to sense the magnetic field generated by the incremental code track for position localization within the area. The q magnetic sensor units are q second magnetic sensor units, and the spacing between the i-th second magnetic sensor unit and the first second magnetic sensor unit satisfies the following relationship: k (i-1) p+D In the formula, when q is divisible by N, k = N / q; when q is not divisible by N, k is N / q rounded down or N / q rounded up; N represents the number of encoding regions, Δ represents the manufacturing tolerance, and p represents the period of the encoding region; the processing unit determines the position of the magnetic sensor unit corresponding to the two magnetic field signals being compared based on the distribution of the q magnetic sensor units.

2. The system according to claim 1, characterized in that, The incremental code track includes multiple alternating first and second magnetic poles, each first and second magnetic pole forming a pair, and each pair corresponds to a coding region; the pseudo-random binary sequence code track includes multiple first and second magnetic poles arranged according to a pseudo-random binary sequence, and the distance or angle between two adjacent magnetic poles corresponds to the length or angle of the coding region.

3. The system according to claim 2, characterized in that, The first magnetic sensor includes at least one set of magnetic sensor modules, and each set of magnetic sensor modules includes multiple first magnetic sensor units. The multiple first magnetic sensor units are arranged at equal intervals or at equal angles. The interval is the distance between two adjacent coding regions on the pseudo-random binary sequence code track, and the angle is the angle between two adjacent coding regions on the pseudo-random binary sequence code track. The second magnetic sensor unit includes a half-bridge circuit or a full-bridge circuit. The full-bridge circuit includes four bridge arm resistors. The first and second bridge arm resistors of the four bridge arm resistors constitute a first half-bridge circuit, and the third and fourth bridge arm resistors of the four bridge arm resistors constitute a second half-bridge circuit. The first, third, second, and fourth bridge arm resistors are arranged sequentially at a quarter-cycle interval of the encoding region period in the direction of relative movement.

4. The system according to claim 3, characterized in that, The processing unit further includes a signal processing circuit, which receives the average value of the output voltages of the multiple first half-bridge circuits of the multiple second sensor units and the average value of the output voltages of the multiple second half-bridge circuits of the multiple second sensor units to perform position localization within the region.

5. The system according to claim 3, characterized in that, When the magnetic sensor module includes n first magnetic sensor units, n-bit binary code information is obtained from the output of the magnetic sensor module for region positioning. The n-bit binary code information is a unique and non-repeating n-bit binary code information. The number of first magnetic sensor units and the number of coded regions satisfy the following relationship: 2 n ≥N In the formula, N represents the number of coding regions.

6. The system according to claim 3, characterized in that, The first magnetic sensor includes two sets of magnetic sensor modules, with an interval of mp+(p / 2) between the two sets of sensor modules, where m is an integer greater than or equal to 0, and p represents the period of the encoding region.

7. The system according to claim 1, characterized in that, The processing unit is further configured to determine the first phase and the second phase corresponding to two of the at least two magnetic field signals respectively; and to obtain a comparison result by subtracting the first phase and the second phase.

8. The system according to claim 1, characterized in that, The processing unit is also used to compare the amplitude of each magnetic field signal with the amplitude of the standard magnetic field signal to obtain an amplitude comparison result.

9. The system according to claim 1, characterized in that, The processing unit is further configured to determine the first amplitude and the second amplitude corresponding to two of the at least two magnetic field signals respectively; and to obtain a comparison result by subtracting the first amplitude and the second amplitude.

10. The system according to claim 1, characterized in that, The processing unit is further configured to determine the first amplitude and first phase, and the second amplitude and second phase, respectively, of the two magnetic field signals in the at least two magnetic field signals; and to obtain a comparison result by subtracting the first amplitude and the second amplitude and by subtracting the first phase and the second phase.

Images