A position detection system and method for a magnetic suspension magnetic pole array linear displacement ruler

Abstract

The present invention discloses a position detection system and method for a magnetic suspension magnetic pole array linear displacement ruler, and relates to the technical field of magnetic suspension conveying systems. The position detection system comprises: using an angle sensor to obtain a sine-cosine differential signal generated by a magnetic field change when a moving magnetic pole array moves relative to each other; configuring a register of a chip based on a command frame structure, and using the configured chip to dynamically correct the sine-cosine differential signal output by the angle sensor, and flexibly converting the sine-cosine signal based on a dynamic closed-loop tracking subdivision circuit; using a master station to receive and parse the transmission data of a slave station, and obtaining the information status of the transmission data according to the parsing result; generating a valid flag bit according to the information status, and combining the subdivided angle data parsed by the master station with the valid flag bit to output the position of the magnetic suspension mover. The present invention is based on an angle sensor, and when the magnetic field of an external permanent magnet changes periodically, the relevant position information is fed back, thereby realizing position detection with strong anti-interference performance.

Description

Technical Field

[0001] The present invention relates to the technical field of magnetic suspension conveying systems, and in particular to a position detection system and method for a magnetic suspension magnetic pole array linear displacement ruler. Background Art

[0002] As an advanced motion transmission technology, magnetic levitation technology has unique advantages such as no wear, ultra-clean, precise and reliable, high efficiency and energy saving, and has been widely used in industrial transmission, transportation, semiconductor manufacturing and other fields. In the magnetic levitation conveying system, the magnetic levitation motor, as the main actuator of the entire servo system, directly outputs linear torque without any mechanical conversion device, which greatly improves the system response time and reduces noise and loss during operation. However, the stable operation of the magnetic levitation motor needs to rely on high-precision position recognition technology to achieve accurate monitoring and control of the position of the mover.

[0003] During the operation of the magnetic levitation motor, accurate detection of the mover position is the key to achieving stable control of the motor. Accurate identification of the mover position is not only related to the operating efficiency of the motor, but also directly affects the safety and reliability of the entire system. Therefore, the development of an efficient and accurate position detection method is of great significance for the application of magnetic levitation motors.

[0004] For example, the grating ruler technology is used to implement position detection scheme. The grating ruler is a high-precision position detection device based on the principles of optical interference and diffraction. It is usually composed of a fixed grating and a movable grating with a tiny gap between them. When the movable grating is displaced relative to the fixed grating, light interference and diffraction effects will produce light and dark alternating moiré fringes. The movement and changes of these fringes are converted into electrical signals through photoelectric conversion devices, thereby realizing accurate measurement of the displacement. However, the grating ruler has high manufacturing precision requirements and is easily affected by the external environment. It has extremely high installation requirements and is expensive. At the same time, it is difficult to withstand strong impact and vibration.

[0005] In the prior art, the position detection methods of magnetic levitation motors mainly include various technologies such as photoelectric encoders and electromagnetic induction. Although the photoelectric encoder has high accuracy, its structure is complex, the cost is high, and it is sensitive to environmental conditions and is easily affected by factors such as dust and oil. Although the electromagnetic induction method has low cost, its accuracy and stability are often difficult to meet the needs of high-precision control.

[0006] Currently, no effective solution has been proposed for the problems in the related technologies. Summary of the invention

[0007] In order to solve the above problems, the present invention proposes a position detection system and method of a magnetic suspension pole array linear displacement ruler, which can realize high-precision and strong anti-interference position detection when the magnetic field of an external permanent magnet changes periodically.

[0008] In order to achieve the above object, the present invention adopts the following technical solution:

[0009] In a first aspect, the present invention provides a position detection system for a magnetic suspension magnetic pole array linear displacement ruler, the position detection system comprising:

[0010] A sine and cosine signal acquisition unit, used to use an angle sensor to acquire a sine and cosine differential signal generated by a change in the magnetic field when the moving magnetic pole array moves relative to each other;

[0011] The register power-on configuration unit is used to configure the registers of the chip based on the command frame structure, and use the configured chip to dynamically correct the sine-cosine differential signal output by the angle sensor, and flexibly convert the sine-cosine signal based on the dynamic closed-loop tracking subdivision circuit;

[0012] The communication protocol master station parsing unit is used to receive the transmission data of the slave station using the master station and parse it, and obtain the information status of the transmission data according to the parsing result;

[0013] The magnetic levitation mover position calculation unit is used to generate a valid flag according to the information status, and output the magnetic levitation mover position in combination with the subdivided angle data analyzed by the master station and the valid flag.

[0014] Preferably, the sine-cosine signal acquisition unit comprises:

[0015] Angle sensor information acquisition module, used to collect magnetic field change information using the angle sensor, and determine the internal resistance change of the angle sensor based on the angle information between the external magnetic field and the built-in magnetic field;

[0016] A magnetic field change information acquisition module is used to convert the internal resistance change of the angle sensor into a voltage difference output through a Wheatstone bridge, and determine the magnetic field change information using the change trend and size of the voltage difference;

[0017] The sine-cosine waveform generating module is used to generate sine-cosine signals by using the angle sensor when the sensing magnetic pole array moves perpendicularly to the angle sensor.

[0018] Preferably, the register power-on configuration unit includes:

[0019] A command frame structure composition module is used to obtain control data transmitted by a preset communication protocol and use the control data to compose a data command frame structure suitable for chip read and write operations;

[0020] The power-on communication configuration module is used to configure the register data of the chip when it is powered on using the data command frame structure, so as to transmit the position information through the communication protocol interface and complete the chip communication;

[0021] The sine and cosine signal calculation module is used to convert the sine and cosine signals by combining the chip with the compensation technology, and use the internal subdivision circuit to calculate the angle of the compensated sine and cosine signals.

[0022] Preferably, obtaining control data transmitted by a preset communication protocol and using the control data to form a data command frame structure suitable for chip read and write operations includes:

[0023] Send the initial bit to wait for the completion of the frame upload task, and send a work preparation signal to the slave device after the frame upload task is completed, and send a preset level signal as the start bit and control selection bit;

[0024] Using the host device to assign device address bits to the slave device, representing the slave device based on the device address bits, and determining the register address bits according to the chip destination register address;

[0025] The control selection bit, the address bit and the register address bit are combined and calculated, and the check data is obtained based on the calculation result to determine the check bit;

[0026] Define the read and write control bits according to the internal data of the register, and use the start bit signal to inform the slave device to perform data reading or writing operations;

[0027] When performing a data read or write operation, the register address data is written using the register configuration data bit, and the accuracy of the data is verified using the check bit, and then a preset level signal is sent to complete the composition of the command frame structure.

[0028] Preferably, combining the chip with the compensation technology to convert the sine and cosine signals, and using the internal subdivision circuit to calculate the angle of the compensated sine and cosine signals includes:

[0029] The sine and cosine signals are transmitted to the chip, and the chip uses digital dynamic compensation technology and subdivision technology to convert the sine and cosine signals into waveform data and subdivision angle data respectively;

[0030] The sine and cosine signals are converted into digital signals by using the analog-to-digital converter inside the chip, and the digital signals are transmitted to the internal controller of the chip;

[0031] The voltage, amplitude and phase of the sine and cosine signals are measured based on the internal controller of the chip, and the compensation values ​​corresponding to the sine and cosine signals are calculated using the register data;

[0032] The sine and cosine signals are compensated by adjusting the programming circuit through the digital-to-analog converter, and the compensated sine and cosine signals are subdivided by the subdivision hardware circuit to complete the subdivision calculation to obtain the position data.

[0033] Preferably, measuring the voltage, amplitude and phase of the sine and cosine signals based on the internal controller of the chip, and calculating the compensation value corresponding to the sine and cosine signals using register data includes:

[0034] The digital signal corresponding to the sine and cosine signal is processed and reconstructed, and the reconstructed sine and cosine signal is converted into a voltage value by using the internal controller of the chip;

[0035] The amplitude of the sine and cosine signals is measured by a spectrum analyzer, the amplitude result is combined with the synthesizer to obtain the signal amplitude, and the signal amplitude is analyzed in the frequency domain using the vector synthesis principle to obtain the amplitude result;

[0036] The phase information of the sine and cosine signals is obtained by using the amplitude result and the cosine theorem, and the expected amplitude and phase of the sine and cosine signals are obtained based on the register data as the compensation calculation standard;

[0037] The difference between the actual amplitude and phase value and the expected amplitude and phase value is calculated to obtain the amplitude compensation value and the phase compensation value, and the amplitude and phase compensation values ​​are written into the register.

[0038] Preferably, the communication protocol master station parsing unit includes:

[0039] The master station writing module is used to write the master station parsing function using the preset communication protocol;

[0040] The data transmission module is used to generate a clock line using the master station, transmit chip level pulse data using the clock line, and feed back the transmission position to the master station using the data line during the transmission process;

[0041] The information status acquisition module is used to utilize the data fed back by the master station to parse the data line, and obtain information status data including the cycle counter, the single-turn subdivision angle value and the error flag based on the parsing result.

[0042] Preferably, the magnetic suspension mover position calculation unit includes:

[0043] The valid bit judgment and analysis module is used to analyze the level information of the error flag bit, and judge the status of the slave according to the level information to verify the validity of the data and obtain the error bit data;

[0044] A valid bit judgment generation module is used to combine the position data with the error bit data to perform data validity judgment and output a validity judgment flag signal;

[0045] The magnetic suspension mover position calculation module is used to calculate and output the magnetic suspension mover position information based on the flag signal and the single-turn subdivision angle value, and determine the movement direction based on the position output change trend.

[0046] Preferably, the calculation formula for the position information of the magnetic suspension mover is:

[0047] FinePos = MultiTurn * MaxSubdivision-Angle + DynamicSingleTurnAngle ;

[0048] In the formula, MultiTurn Indicates the number of magnetic pole turns. MaxSubdivision-Angle Indicates the maximum value of angle subdivision, DynamicSingleTurnAngle Indicates the dynamic single-turn subdivision angle value.

[0049] In a second aspect, the present invention further provides a position detection method for a magnetic suspension magnetic pole array linear displacement ruler, the method comprising:

[0050] S1, using an angle sensor to obtain a sine-cosine differential signal generated by a change in the magnetic field when the moving magnetic pole array moves relative to each other;

[0051] S2. Configure the registers of the chip based on the command frame structure, and use the configured chip to dynamically correct the sine and cosine differential signals output by the angle sensor, and flexibly convert the sine and cosine signals based on the dynamic closed-loop tracking subdivision circuit;

[0052] S3, using the master station to receive the transmission data from the slave station and parse it, and obtaining the information status of the transmission data according to the parsing result;

[0053] S4. Generate a valid flag according to the information status, and output the position of the magnetic suspension mover in combination with the subdivided angle data analyzed by the master station and the valid flag.

[0054] The beneficial effects of the present invention are:

[0055] 1. The present invention proposes a detection system for a magnetic levitation magnetic pole array linear displacement ruler, which realizes high-speed and accurate detection of the position of the motor mover by optimizing the placement of the angle sensor and the signal processing algorithm. The angle sensor is then used to sense the magnetic field changes of the permanent magnet of the mover, and the position information is calculated by processing the output data. The system has the advantages of low cost, high precision and strong anti-interference ability.

[0056] 2. The present invention is based on an angle sensor. When the magnetic field of an external permanent magnet changes periodically, the angle sensor outputs periodically changing sine and cosine voltage data and feeds back relevant position information, thereby achieving high-precision, anti-interference position detection, which has the advantages of fast response, simple structure, low cost and easy maintenance. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0058] Figure 1 is a principle block diagram of a position detection system of a magnetic suspension magnetic pole array linear displacement ruler according to an embodiment of the present invention;

[0059] Figure 2 is a schematic diagram of a position detection system of a magnetic suspension magnetic pole array linear displacement ruler according to an embodiment of the present invention;

[0060] Figure 3 It is a schematic diagram of an angle sensor and an induction magnetic pole in a position detection system of a magnetic suspension magnetic pole array linear displacement ruler according to an embodiment of the present invention;

[0061] Figure 4 A command frame structure in a position detection system of a magnetic suspension magnetic pole array linear displacement ruler according to an embodiment of the present invention;

[0062] Figure 5 1 is a schematic diagram of a BISS-C single cycle when CDM=0 in a position detection system of a magnetic suspension magnetic pole array linear displacement ruler according to an embodiment of the present invention;

[0063] Figure 6 1 is a schematic diagram of a BISS-C single cycle when CDM=1 in a position detection system of a magnetic suspension magnetic pole array linear displacement ruler according to an embodiment of the present invention;

[0064] Figure 7 is a schematic diagram of a register power-on configuration unit in a position detection system of a magnetic suspension magnetic pole array linear displacement ruler according to an embodiment of the present invention;

[0065] Figure 8 It is a BISS-C single cycle of position data transmission in a position detection system of a magnetic suspension magnetic pole array linear displacement ruler according to an embodiment of the present invention;

[0066] Fig. 9 2 is a schematic diagram of a communication protocol master station parsing unit in a position detection system of a magnetic suspension magnetic pole array linear displacement ruler according to an embodiment of the present invention;

[0067] Fig.10 It is a schematic diagram of the state jump of the master station module in a position detection system of a magnetic suspension magnetic pole array linear displacement ruler according to an embodiment of the present invention;

[0068] Fig.11It is a logic diagram of a magnetic suspension mover position calculation unit in a position detection system of a magnetic suspension magnetic pole array linear displacement ruler according to an embodiment of the present invention;

[0069] Fig.12 is a schematic diagram of a magnetic suspension mover position calculation unit in a position detection system of a magnetic suspension magnetic pole array linear displacement ruler according to an embodiment of the present invention;

[0070] Fig.13 is a diagram of the change in the output position of the forward motion in a position detection system of a magnetic suspension magnetic pole array linear displacement ruler according to an embodiment of the present invention;

[0071] Fig.14 is a flow chart of a position detection method of a magnetic suspension magnetic pole array linear displacement ruler according to an embodiment of the present invention;

[0072] Fig.15 It is a schematic diagram of position reading of a position detection method of a magnetic suspension magnetic pole array linear displacement ruler according to an embodiment of the present invention.

[0073] In the figure:

[0074] 1. Sinusoidal and cosine signal acquisition unit; 2. Register power-on configuration unit; 3. Communication protocol master station analysis unit; 4. Magnetic suspension mover position calculation unit. DETAILED DESCRIPTION

[0075] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0076] It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used in the present invention have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0077] It should be noted that the terms used herein are only for describing specific embodiments, and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that the terms "include" and "have" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0078] In the absence of conflict, the embodiments of the present invention and the features of the embodiments may be combined with each other.

[0079] It should be noted that the embodiments of the present invention are applied to different fields or scenarios. For example, in addition to the field of magnetic levitation motor detection technology, the magnetic pole array position detection technology can also be considered to be applied to machine tools and precision measurement, automobiles, aerospace, industrial automation and other fields.

[0080] See also Figure 1 , Figure 2 and Fig.15 The present invention provides a position detection system for a magnetic suspension magnetic pole array linear displacement ruler, the position detection system comprising:

[0081] The sine and cosine signal acquisition unit 1 is used to use an angle sensor to acquire sine and cosine differential signals generated by magnetic field changes when the moving magnetic pole array moves relative to each other.

[0082] The sine and cosine signal acquisition unit 1 comprises:

[0083] Angle sensor information acquisition module, used to collect magnetic field change information using the angle sensor, and determine the internal resistance change of the angle sensor based on the angle information between the external magnetic field and the built-in magnetic field;

[0084] A magnetic field change information acquisition module is used to convert the internal resistance change of the angle sensor into a voltage difference output through a Wheatstone bridge, and determine the magnetic field change information using the change trend and size of the voltage difference;

[0085] The sine-cosine waveform generating module is used to generate sine-cosine signals by using the angle sensor when the sensing magnetic pole array moves perpendicularly to the angle sensor.

[0086] It needs to be explained that in specific applications, an angle sensor is used to collect information on magnetic field changes. It uses the fact that when the external magnetic field has a certain angle with the built-in magnetic field, the internal resistance will change, and a voltage difference signal will be output through the output end of the Wheatstone bridge. The magnetic field change is determined by the changing trend and size of the voltage difference.

[0087] When the sensing magnetic pole array moves perpendicular to the angle sensor, the angle sensor will generate a sine voltage waveform and a cosine voltage waveform according to the changing magnetic field, and the phase difference between the generated sine and cosine waveforms is 90 degrees. When the angle sensor passes through a magnetic pole completely, a pair of complete sine and cosine voltage waveforms will be generated, and a pair of complete sine and cosine waveforms will be transmitted to the IC-NQC chip.

[0088] Specifically, in specific applications, angle sensors of different materials or structures can be replaced to improve the sensitivity, stability and accuracy of the output angle. The number and type of magnetic pole arrays can also be replaced. For example, the number of magnetic poles can be changed according to the length of the magnetic levitation motor, or the type of magnetic poles can be replaced with N35 magnetic poles to optimize performance or adapt to specific scenarios.

[0089] like Figure 7 As shown, the register power-on configuration unit 2 is used to configure the registers of the chip based on the command frame structure, and use the configured chip to dynamically correct the sine and cosine differential signals output by the angle sensor, and flexibly convert the sine and cosine signals based on the dynamic closed-loop tracking subdivision circuit.

[0090] It should be explained that PowerOn_ConfigReg represents the power-on configuration register; SL represents the slave data transmission signal; clk represents the clock signal; rst_n represents the reset signal; MA represents the slave clock signal; Reg_InitialDone represents the register initialization completion signal.

[0091] The register power-on configuration unit 2 includes:

[0092] A command frame structure composition module is used to obtain control data transmitted by a preset communication protocol and use the control data to compose a data command frame structure suitable for chip read and write operations;

[0093] The power-on communication configuration module is used to configure the register data of the chip when it is powered on using the data command frame structure, so as to transmit the position information through the communication protocol interface and complete the chip communication;

[0094] The sine and cosine signal calculation module is used to convert the sine and cosine signals by combining the chip with the compensation technology, and use the internal subdivision circuit to calculate the angle of the compensated sine and cosine signals.

[0095] like Figure 3 As shown, it needs to be explained that the IC-NQC chip uses the BISS-C protocol for communication, uses digital dynamic compensation technology to convert the original sinusoidal and cosine coded signals into high-quality and high-precision waveform data, and uses subdivision technology to convert the digitized sinusoidal and cosine coded signals into arc tangent angle data with adjustable subdivision accuracy.

[0096] An integrated analog-to-digital converter is used inside the IC-NQC to convert the sine and cosine analog signals into digital signals and transmit them to the internal controller. Then, the digitized sine and cosine waveforms are compensated for amplitude, phase, and voltage based on the data from the internal related signal conditioner. Finally, the arc tangent calculation of the sine and cosine signals is realized through the subdivision circuit.

[0097] Specifically, when obtaining the control data transmitted by the preset communication protocol and using the control data to form a data command frame structure suitable for chip read and write operations, an initial bit can be sent to wait for the completion of the frame task, and a work preparation signal can be sent to the slave device after the frame task is completed, and a preset level signal is sent as a start bit and a control selection bit; the host device is used to allocate device address bits to the slave device, the slave device is represented based on the device address bits, and the register address bits are determined according to the chip destination register address; the control selection bits, address bits and register address bits are merged and calculated, and the check data is obtained based on the calculation result to determine the check bit; the read and write control bits are defined according to the internal data of the register, and the start bit signal is used to inform the slave device to perform data read or write operations; when performing data read or write operations, the register configuration data bits are used to write the register address data, and the check bit is used to verify the accuracy of the data and then send a preset level signal to complete the composition of the command frame structure.

[0098] like Figure 4 As shown, when the control data transmitted by the preset communication protocol is obtained and the control data is used to form a data command frame structure suitable for chip read and write operations, an initial bit can be sent to wait for the end of the upper frame task, and a work preparation signal is sent to the slave device after the upper frame task is completed, and a preset level signal is sent as a start bit and a control selection bit; the host device is used to allocate a device address bit to the slave device, the slave device is represented based on the device address bit, and the register address bit is determined according to the chip destination register address; the control selection bit, the address bit and the register address bit are merged and calculated, and the check data is obtained based on the calculation result to determine the check bit; the read and write control bits are defined according to the internal data of the register, and the start bit signal is used to inform the slave device to perform data read or write operations; when performing data read or write operations, the register configuration data bit is used to write the register address data, and the check bit is used to verify the accuracy of the data and then send a preset level signal to complete the composition of the command frame structure.

[0099] It should be explained that in order to realize the correction of sine and cosine signals and the communication of BISS-C protocol, it is necessary to configure the relevant registers of the IC-NQC chip in advance and determine the relevant register values. Therefore, the control data transmitted by the BISS-C protocol constitutes a data command frame structure for register write operations.

[0100] In the command frame structure, a 14-bit low-level initial bit needs to be sent before the start bit to wait for the end of the previous frame and inform the slave device to be ready, and then send a 1-bit high-level start bit (S) and a 1-bit high-level control selection bit (CTS), a 3-bit device address bit (IDL) and a slave ID bit, which are assigned to the slave by the host. When in point-to-point configuration mode, the slave ID defaults to 0.

[0101] The 7-bit register address bit (ADR) is determined by the destination register address. The 4-bit CRC check bit is the check data calculated by combining CTS, IDL and ADR. The 2-bit read and write control bit (RW) is valid at a high level. When reading the internal data of the register, the read control bit (R) is high and the write control bit (W) is low. When reading the internal data of the register, the read control bit (R) is low and the write control bit (W) is high. The 1-bit high-level start bit tells the slave to prepare for data reading or writing. The 8-bit register configuration data bit (DATA) writes the data of the relevant register address when writing. The 4-bit CRC check bit ensures the accuracy of the transmitted data. Finally, the 1-bit low-level stop bit (P) ends the command frame structure.

[0102] Each bit of data in the command frame structure is transmitted through a single cycle of the BISS-C protocol. That is, in each single cycle of BISS-C, the last master control data bit (CDM) will transmit a single bit of data of the command frame, and each CDM bit of data is transmitted by the MA clock line of the master.

[0103] like Figure 5 and Figure 6 As shown, it is a BISS-C single cycle during power-on configuration. According to the different data transmitted by the CDM bit, the CDM data transmitted by the MA clock line in the timeout state (timeout) is inverted. When the IC-NQC chip is powered on and configured, the SLO data transmission line always outputs a high level. During the entire BISS-C single cycle, the MA clock line sends at least 4 high-level pulses, and each high-level pulse is maintained for 0.1us to 25us. Then it enters the timeout state and sends the inverted CDM data, which lasts for at least 30us.

[0104] Specifically, when the chip is combined with the compensation technology to convert the sine and cosine signals, and the compensated sine and cosine signals are calculated with the internal subdivision circuit, the sine and cosine signals can be transmitted to the chip, and the chip uses the digital dynamic compensation technology and the subdivision technology to convert the sine and cosine signals into waveform data and subdivision angle data respectively; the sine and cosine signals are converted into digital signals using the analog-to-digital converter inside the chip, and the digital signals are transmitted to the internal controller of the chip; the voltage, amplitude and phase of the sine and cosine signals are measured based on the internal controller of the chip, and the compensation value corresponding to the sine and cosine signals is calculated using the register data; the sine and cosine signals are compensated by adjusting the programming circuit through the digital-to-analog converter, and the compensated sine and cosine signals are subdivided using the subdivision hardware circuit to complete the subdivision calculation to obtain the position data.

[0105] Among them, when the voltage, amplitude and phase of the sine and cosine signals are measured based on the internal controller of the chip, and the compensation value corresponding to the sine and cosine signals is calculated using the register data, the digital signal corresponding to the sine and cosine signals can be processed and reconstructed, and the reconstructed sine and cosine signals can be converted into voltage values ​​using the internal controller of the chip; the amplitude of the sine and cosine signals is measured based on the spectrum analyzer, the amplitude result is combined with the synthesizer to obtain the signal amplitude, and the signal amplitude is analyzed in the frequency domain using the vector synthesis principle to obtain the amplitude result; the phase information of the sine and cosine signals is obtained using the amplitude result and the cosine theorem, and the expected amplitude and phase of the sine and cosine signals are obtained based on the register data as the compensation calculation standard; the difference between the actual amplitude and phase value and the expected amplitude and phase value is calculated to obtain the amplitude compensation value and the phase compensation value, and the amplitude and phase compensation value are written into the register.

[0106] The communication protocol master station parsing unit 3 is used to utilize the master station to receive the transmission data of the slave station and perform parsing, and obtain the information status of the transmission data according to the parsing result.

[0107] like Fig. 9 As shown, in this embodiment, the communication protocol master station parsing unit 3 includes:

[0108] It needs to be explained that BISS_Mastter represents the BISS master module; i_CDM represents the input host control data signal; i_SL represents the input slave data signal; rst_n represents the reset signal; sys_clk represents the system working clock; CDS_ReadFlag represents the slave control data reading signal; CalCRCData represents the calculated check data signal; DecodeDone represents the decoding completion signal; RevCRCData represents the received check data signal; o_CDS represents the output slave control data signal; o_ErrFlag represents the output error signal; o_MA represents the output slave clock signal; o_Position represents the output position signal; o_WarnFlag represents the output warning signal.

[0109] The master station writing module is used to write the master station parsing function using the preset communication protocol;

[0110] The data transmission module is used to generate a clock line using the master station, transmit chip level pulse data using the clock line, and feed back the transmission position to the master station using the data line during the transmission process;

[0111] The information status acquisition module is used to utilize the data fed back by the master station to parse the data line, and obtain information status data including the cycle counter, the single-turn subdivision angle value and the error flag based on the parsing result.

[0112] like Figure 8The position data sampling BISS-C single cycle timing diagram shown in the figure needs to be explained that after the configuration of the relevant register data of the IC-NQC chip is completed, the master station can send the position data sampling BISS-C cycle to collect the single-circuit subdivision angle value for subdivision circuit calculation.

[0113] It needs to be explained that BissFRAME means BISS data frame; MAI means slave input clock signal; SLO means slave output data signal; IDLE means idle state; HEADER means frame header state; DATA CHANNELS means data channel state; TIMEOUT means timeout state; LAT means data latch bit; ACK means slave acknowledge bit; STR means start bit; CDS means slave control data bit; DMSB means data channel bit; CLSB means check data bit; STP means stop bit; CDM means host control data bit.

[0114] BISS frames are mainly controlled by the MA clock line and can be divided into four stages: idle stage, data frame header stage, data channel stage and timeout stage. No data is transmitted in the idle stage, and the MA clock line and SL data line will maintain a high level. The data frame header stage initializes a new BISS-C data frame, including data latch (LAT), acknowledgement status (ACK), start status (STR) and control data slave bit (CDS). The data channel stage will transmit cycle counters, single-cycle subdivision angle data, error bit data and CRC check data. These data need to be pre-configured with relevant register address values. After receiving the data, it enters the timeout state (TIMEOUT). In this stage, the MA clock line will send the inverted value of the CDM data. After CDM is low, it will maintain at least 46 MA pulse cycles.

[0115] The communication protocol master station parsing unit 3 specifically implements the state jump as follows Fig.10 As shown, the state is initially in the IDLE state, the MA clock line will send a determined number of clock pulses, and when it detects that the input SL data line has become a low level, it will enter the ACK slave response state. In the slave response state stage, the SL data line will maintain a low level for an MA clock cycle, and the slave is ready. After detecting that the SL data line remains at a high level, it enters the START start state, indicating that the slave is ready and will maintain an MA clock cycle.

[0116] Therefore, the rising edge of the MA clock cycle is detected and the CDS slave feedback data state is entered. The duration will be maintained for one MA clock cycle. The MA clock signal rises again and ends the slave feedback data state, and directly enters the data reading state. In the data reading state, the cycle counter, single-turn subdivision angle value, error bit data and CRC check value will be obtained. After data reception is completed, the CRC data check phase is entered, and the received data is sent to the CRC check module to obtain the final CRC check value. After the check is completed, it jumps to the end phase and compares the received CRC data with the calculated CRC data. If the CRC data matches, the received position information will be output.

[0117] The magnetic suspension mover position calculation unit 4 is used to generate a valid flag according to the information state, and output the magnetic suspension mover position in combination with the subdivided angle data analyzed by the master station and the valid flag.

[0118] In this embodiment, the magnetic suspension mover position calculation unit 4 includes:

[0119] The valid bit judgment and analysis module is used to analyze the level information of the error flag bit, and judge the status of the slave according to the level information to verify the validity of the data and obtain the error bit data;

[0120] A valid bit judgment generation module is used to combine the position data with the error bit data to perform data validity judgment and output a validity judgment flag signal;

[0121] The magnetic suspension mover position calculation module is used to calculate and output the magnetic suspension mover position information based on the flag signal and the single-turn subdivision angle value, and determine the movement direction based on the position output change trend.

[0122] like Fig.11 and Fig.12 As shown, it needs to be explained that the magnetic suspension mover position calculation unit 4 mainly judges the effective judgment flag signal and outputs the calculated position according to the single-turn subdivision angle value, cycle counter and error bit data analyzed by the BISS-C master station.

[0123] Among them, Angle represents the arc tangent angle signal; ErrData represents the error data signal; PeriodCount represents the period counter signal; clk represents the system clock signal; rst_n represents the reset signal; Angle_Test represents the angle test signal, which is used to test whether the angle signal is normal; FinalPosition represents the final position signal, which outputs the calculated position pulse; MagnetPassCnt_Out represents the output period counter data signal.

[0124] The BISS-C master obtains two-bit error bit data by parsing the BISS-C single data frame, and determines the error type according to different combinations of the error bit data. Only when the parsed two-bit error bit data is high, the BISS slave has no errors and the obtained data can be used normally. On this basis, the data validity is judged according to the obtained position data combined with the error bit data, and a validity judgment flag signal (high level is valid) will be output. When the validity judgment flag signal is at a high level, the position is calculated and output according to the cycle counter and the single-turn subdivision angle value.

[0125] Among them, the calculation formula of the magnetic suspension mover position information is:

[0126] FinePos = MultiTurn * MaxSubdivision-Angle + DynamicSingleTurnAngle ;

[0127] In the formula, MultiTurn Indicates the number of magnetic pole turns. MaxSubdivision-Angle Indicates the maximum value of angle subdivision, DynamicSingleTurnAngle Indicates the dynamic single-turn subdivision angle value.

[0128] like Fig.13 As shown, the position of the forward motion is plotted using MATLAB. During the forward motion, the effective position of the output reaches the maximum position of the encoder from 0, and during the reverse motion, it changes from the maximum position to 0.

[0129] Therefore, through the method of multi-pole array linear displacement detection, specifically including the signal output of the angle sensor to the various modules and processes of position calculation, the integration of the angle sensor and the IC-NQC chip can be protected to ensure its uniqueness and effectiveness in position detection. The register configuration of the IC-NQC chip can accurately write data into the register address to ensure the subsequent dynamic correction and angle subdivision calculation of the sine and cosine signals, and to ensure high-quality and high-precision subdivision angle output.

[0130] At the same time, it can adapt to BISS-C protocols with various transmission rates, accurately read the cycle counter, subdivision angle value and error bit data transmitted by the BISS-C slave, ensure the integrity and accuracy of data stream transmission, and use the technology of judging the validity of data during the flow of subdivision angle values ​​to ensure accurate results under limited computing power. Finally, the innovative design of the magnetic levitation actuator position calculation unit 4, including its input data processing method and position calculation algorithm, is used to ensure its accuracy and practicality in position detection.

[0131] In practical applications, position detection technology can be integrated or fused with other related detection technologies to form a more complex and comprehensive solution. For example, it can be combined with a machine learning algorithm to combine the error compensation of the angle value with machine learning to make the angle error compensation data more accurate, thereby improving the accuracy and anti-interference ability of position detection.

[0132] In specific applications, a specific angle sensor is used to capture the angle change information of the magnetic field, and the sensed magnetic field change is converted into a sine-cosine voltage signal of the differential signal output. The output sine-cosine differential analog signal will be transmitted to the IC-NQC chip for analog-to-digital conversion and signal correction, providing a basis for subsequent signal processing and position calculation. According to the characteristics of the IC-NQC chip, a reasonable power-on configuration is designed to ensure that the relevant register data can be written correctly, so as to realize the digital processing, dynamic compensation and angle subdivision of the input sine-cosine signal.

[0133] The master station parses the data written according to the BISS-C protocol, sends the MA clock line data to the slave through the master station, and then parses it according to the SL data line fed back by the slave. The master station quickly and accurately parses the transmitted cycle counter, single-turn subdivision angle value and error bit data, and judges the data validity based on the data parsed by the master station to ensure the accuracy and reliability of the subsequent position output. The position is calculated based on the input cycle counter, single-turn angle value and valid signal flag, and the position of the magnetic suspension mover can be output quickly and accurately.

[0134] See also Fig.14 The present invention also provides a position detection method for a magnetic suspension magnetic pole array linear displacement ruler, the method comprising:

[0135] S1, using an angle sensor to obtain a sine-cosine differential signal generated by a change in the magnetic field when the moving magnetic pole array moves relative to each other;

[0136] S2. Configure the registers of the chip based on the command frame structure, and use the configured chip to dynamically correct the sine and cosine differential signals output by the angle sensor, and flexibly convert the sine and cosine signals based on the dynamic closed-loop tracking subdivision circuit;

[0137] S3, using the master station to receive the transmission data from the slave station and parse it, and obtaining the information status of the transmission data according to the parsing result;

[0138] S4. Generate a valid flag according to the information status, and output the position of the magnetic suspension mover in combination with the subdivided angle data analyzed by the master station and the valid flag.

[0139] In order to facilitate understanding of the above technical solutions of the present invention, the working principle or operation mode of the present invention in the actual process is described in detail below.

[0140] Step 1: Use an angle sensor to obtain the voltage analog sine and cosine signals generated when the permanent magnet of the actuator passes by. Specifically, the sine voltage signal and cosine voltage signal generated by the same angle sensor have a phase difference of 90 degrees.

[0141] Step 2: When the IC-NQC chip is powered on, it is necessary to configure the relevant register data to achieve normal chip communication and transmit the relevant location information through the BISS-C interface.

[0142] Step three: The sine-cosine differential signal output from step one is transmitted to the IC-NQC chip for processing. Specifically, the IC-NQC chip performs analog-to-digital conversion on the input analog signal, and transmits the sampled sine-cosine signal to the internal controller of the IC-NQC. The controller then measures the voltage, amplitude, and phase of the current sine-cosine signal and calculates the corresponding compensation value through the register data. Finally, the programmable circuit is adjusted through the digital-to-analog converter to achieve compensation for the sine-cosine signal. Secondly, the compensated sine-cosine data is subdivided through the internal inverse tangent hardware circuit, and the subdivision accuracy is determined by the value of the resolution bit register.

[0143] Step 4. The BISS-C master station parses the single-turn subdivision angle data, cycle counter and error flag transmitted by the IC-NQC chip through the BISS-C protocol. The master station generates an MA clock and provides the IC-NQC chip with a high-level pulse number for data transmission. The data changes on the rising edge of the clock. The transmitted position information is fed back to the master station through the SL data line. The master station parses the data fed back by the IC-NQC chip through the SL data line, including the cycle counter, single-turn subdivision angle value and error flag.

[0144] Step 5. The two error flags, single-turn subdivision angle value and cycle counter data generated in step 4 are used to judge and generate a valid flag. The validity and accuracy of the position data are ensured by the valid flag. The position calculation is performed only when the generated valid flag is at a high level. The precise position of the output is determined by the parsed single-turn subdivision angle and cycle counter data. The direction of movement is determined by the changing trend of the position output.

[0145] In summary, with the aid of the above technical solution of the present invention, the present invention proposes a detection system for a magnetic suspension magnetic pole array linear displacement ruler, which realizes high-speed and accurate detection of the position of the motor mover by optimizing the placement of the angle sensor and the signal processing algorithm, and then uses the angle sensor to sense the magnetic field change of the permanent magnet of the mover, and calculates the position information by processing the output data, which has the advantages of low cost, high precision and strong anti-interference ability. The present invention is based on an angle sensor. When the magnetic field of the external permanent magnet changes periodically, the angle sensor outputs periodically changing sine and cosine voltage data and feeds back relevant position information, thereby realizing high-precision and strong anti-interference position detection, which has the advantages of fast response, simple structure, low cost and easy maintenance.

[0146] The present invention introduces a magnetic pole array to detect position through a single angle sensor displacement ruler. The displacement ruler is fixed in the middle position of the stator. The induction magnetic pole array is placed on the magnetic levitation mover to detect the fine position of the movement of the magnetic levitation mover, which is convenient for closed-loop control of the magnetic levitation motor. Compared with the displacement ruler composed of multiple angle sensors, the device cost is further reduced. The sine and cosine signals after deviation correction make the position data more accurate, so that the detection has high speed, high precision and high reliability.

[0147] Those skilled in the art will appreciate that the units, i.e., algorithm steps, of the various examples described in conjunction with this embodiment can be implemented in electronic hardware or in a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0148] Although the above describes the specific implementation mode of the present invention in conjunction with the accompanying drawings, it is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art on the basis of the technical solution of the present invention without creative work are still within the scope of protection of the present invention.

Claims

1. A position detection system for a magnetic suspension magnetic pole array linear displacement ruler, characterized in that: The position detection system includes: A sine and cosine signal acquisition unit, used to use an angle sensor to acquire a sine and cosine differential signal generated by a change in the magnetic field when the moving magnetic pole array moves relative to each other; The register power-on configuration unit is used to configure the registers of the chip based on the command frame structure, and use the configured chip to dynamically correct the sine-cosine differential signal output by the angle sensor, and flexibly convert the sine-cosine signal based on the dynamic closed-loop tracking subdivision circuit; The communication protocol master station parsing unit is used to receive the transmission data of the slave station using the master station and parse it, and obtain the information status of the transmission data according to the parsing result; The magnetic suspension mover position calculation unit is used to generate a valid flag according to the information status, and output the magnetic suspension mover position in combination with the subdivided angle data analyzed by the master station and the valid flag; The register power-on configuration unit comprises: A command frame structure composition module is used to obtain control data transmitted by a preset communication protocol and use the control data to compose a data command frame structure suitable for chip read and write operations; The power-on communication configuration module is used to configure the register data of the chip when it is powered on using the data command frame structure, so as to transmit the position information through the communication protocol interface and complete the chip communication; The sine and cosine signal calculation module is used to convert the sine and cosine signals by combining the chip with the compensation technology, and calculate the angle of the compensated sine and cosine signals by using the internal subdivision circuit; The step of obtaining control data transmitted by a preset communication protocol and using the control data to form a data command frame structure suitable for chip read and write operations includes: Send the initial bit to wait for the completion of the frame upload task, and send a work preparation signal to the slave device after the frame upload task is completed, and send a preset level signal as the start bit and control selection bit; Using the host device to assign device address bits to the slave device, representing the slave device based on the device address bits, and determining the register address bits according to the chip destination register address; The control selection bit, the address bit and the register address bit are combined and calculated, and the check data is obtained based on the calculation result to determine the check bit; Define the read and write control bits according to the internal data of the register, and use the start bit signal to inform the slave device to perform data reading or writing operations; When performing a data read or write operation, the register address data is written using the register configuration data bit, and the accuracy of the data is verified using the check bit, and then a preset level signal is sent to complete the composition of the command frame structure; The method of combining the chip with the compensation technology to convert the sine and cosine signals and using the internal subdivision circuit to calculate the angle of the compensated sine and cosine signals includes: The sine and cosine signals are transmitted to the chip, and the chip uses digital dynamic compensation technology and subdivision technology to convert the sine and cosine signals into waveform data and subdivision angle data respectively; The sine and cosine signals are converted into digital signals by using the analog-to-digital converter inside the chip, and the digital signals are transmitted to the internal controller of the chip; The voltage, amplitude and phase of the sine and cosine signals are measured based on the internal controller of the chip, and the compensation values ​​corresponding to the sine and cosine signals are calculated using the register data; The sine and cosine signals are compensated by adjusting the programming circuit through the digital-to-analog converter, and the compensated sine and cosine signals are subdivided by the subdivision hardware circuit to complete the subdivision calculation to obtain the position data; The method of measuring the voltage, amplitude and phase of the sine and cosine signals based on the internal controller of the chip and calculating the compensation value corresponding to the sine and cosine signals using the register data includes: The digital signal corresponding to the sine and cosine signal is processed and reconstructed, and the reconstructed sine and cosine signal is converted into a voltage value by using the internal controller of the chip; The amplitude of the sine and cosine signals is measured by a spectrum analyzer, the amplitude result is combined with the synthesizer to obtain the signal amplitude, and the signal amplitude is analyzed in the frequency domain using the vector synthesis principle to obtain the amplitude result; The phase information of the sine and cosine signals is obtained by using the amplitude result and the cosine theorem, and the expected amplitude and phase of the sine and cosine signals are obtained based on the register data as the compensation calculation standard; The difference between the actual amplitude and phase value and the expected amplitude and phase value is calculated to obtain the amplitude compensation value and the phase compensation value, and the amplitude and phase compensation values ​​are written into the register.

2. The position detection system of a magnetic suspension magnetic pole array linear displacement ruler according to claim 1, characterized in that: The sine and cosine signal acquisition unit comprises: Angle sensor information acquisition module, used to collect magnetic field change information using the angle sensor, and determine the internal resistance change of the angle sensor based on the angle information between the external magnetic field and the built-in magnetic field; A magnetic field change information acquisition module is used to convert the internal resistance change of the angle sensor into a voltage difference output through a Wheatstone bridge, and determine the magnetic field change information using the change trend and size of the voltage difference; The sine-cosine waveform generating module is used to generate sine-cosine signals by using the angle sensor when the sensing magnetic pole array moves perpendicularly to the angle sensor.

3. The position detection system of a magnetic suspension magnetic pole array linear displacement ruler according to claim 1, characterized in that: The communication protocol master station parsing unit comprises: The master station writing module is used to write the master station parsing function using the preset communication protocol; The data transmission module is used to generate a clock line using the master station, transmit chip level pulse data using the clock line, and feed back the transmission position to the master station using the data line during the transmission process; The information status acquisition module is used to utilize the data fed back by the master station to parse the data line, and obtain information status data including the cycle counter, the single-turn subdivision angle value and the error flag based on the parsing result.

4. The position detection system of a magnetic suspension magnetic pole array linear displacement ruler according to claim 3, characterized in that: The magnetic suspension mover position calculation unit comprises: The valid bit judgment and analysis module is used to analyze the level information of the error flag bit, and judge the status of the slave according to the level information to verify the validity of the data and obtain the error bit data; A valid bit judgment generation module is used to combine the position data with the error bit data to perform data validity judgment and output a validity judgment flag signal; The magnetic suspension mover position calculation module is used to calculate and output the magnetic suspension mover position information based on the flag signal and the single-turn subdivision angle value, and determine the movement direction based on the position output change trend.

5. The position detection system of a magnetic suspension magnetic pole array linear displacement ruler according to claim 4, characterized in that: The calculation formula of the magnetic suspension mover position information is: FinePos = MultiTurn * MaxSubdivision-Angle + DynamicSingleTurnAngle ； In the formula, MultiTurn Indicates the number of magnetic pole turns. MaxSubdivision-Angle Indicates the maximum value of angle subdivision, DynamicSingleTurnAngle Indicates the dynamic single-turn subdivision angle value.

6. A method for detecting the position of a magnetic suspension pole array linear displacement ruler, used to implement the method for detecting the position of a magnetic suspension pole array linear displacement ruler according to any one of claims 1 to 5, characterized in that: The method includes: S1, using an angle sensor to obtain a sine-cosine differential signal generated by a change in the magnetic field when the moving magnetic pole array moves relative to each other; S2. Configure the registers of the chip based on the command frame structure, and use the configured chip to dynamically correct the sine and cosine differential signals output by the angle sensor, and flexibly convert the sine and cosine signals based on the dynamic closed-loop tracking subdivision circuit; S3, using the master station to receive the transmission data from the slave station and parse it, and obtaining the information status of the transmission data according to the parsing result; S4. Generate a valid flag according to the information status, and output the position of the magnetic suspension mover in combination with the subdivided angle data analyzed by the master station and the valid flag.

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