A method for detecting the position of a moving part of a double-point linear measuring ruler of a magnetic levitation transmission system

Abstract

The present invention discloses a method for detecting the position of a moving part of a two-point linear measuring ruler of a magnetic levitation transmission system, relates to the field of magnetic levitation technology, and solves the problems of untimely position feedback, low precision, and small induction air gap of moving parts in existing magnetic levitation transportation systems. A method for detecting the position of a moving part of a two-point linear measuring ruler of a magnetic levitation transmission system comprises a device for detecting the position of a moving part of a two-point linear measuring ruler of a magnetic levitation transmission system, wherein the device for detecting the position of a moving part of a two-point linear measuring ruler of a magnetic levitation transmission system comprises a sensor module, a power-on configuration module, a BISS‑C master station module, a position calculation module, a dynamic fitting module, and a custom register operation module. The present invention integrates the position information of dual AMR angle sensors, thereby significantly broadening the actual physical measurement range that can be covered by traditional encoders, and ensuring that the output signal has excellent purity and stability.

Description

Technical Field

[0001] The invention relates to the technical field of magnetic suspension, in particular to a method for detecting the position of a moving component of a double-point linear measuring ruler of a magnetic suspension transmission system. Background Art

[0002] Magnetic levitation technology stands out in many fields with its unique non-contact and frictionless characteristics, as well as its significant advantages of high precision, high speed, energy saving and environmental protection. This technology greatly improves the operating efficiency of equipment, reduces energy consumption, and significantly extends the service life of equipment by eliminating contact and friction in traditional mechanical systems. It also shows great application potential in many fields such as industrial automation, precision machining, aerospace, etc. Its high precision and high speed characteristics enable it to achieve more efficient and precise operation and processing in these fields, thereby promoting the further development of related industries.

[0003] The encoder plays a vital role in magnetic levitation technology. Its core responsibility is to monitor and control the position and speed of moving parts in real time. It has the ability to detect the position information of moving parts in real time and accurately, and provide vital feedback to the control system, thereby achieving precise closed-loop control. The control system fine-tunes the moving parts based on the position data fed back by the encoder to ensure that it can run stably at the predetermined speed and accurately reach the set position.

[0004] High-precision and high-reliability encoders play a key role in magnetic levitation transportation systems. They significantly improve the overall performance of the system, including transmission accuracy, response speed, stability, etc. In view of this, the development of an efficient and accurate position detection method is of vital importance for the application of magnetic levitation technology. This method can not only ensure the accurate monitoring of the position of moving parts, but also provide solid technical support for the stable operation of magnetic levitation motors.

[0005] At present, there are various position detection methods used in magnetic levitation technology, including photoelectric encoders and electromagnetic induction. Photoelectric encoders are known for their high precision, but their structure is relatively complex and the cost is high. At the same time, they are sensitive to environmental conditions and are easily affected by adverse factors such as dust and oil. In contrast, the electromagnetic induction method has a lower cost, but it is often difficult to meet the requirements of high-precision control in terms of accuracy and stability.

[0006] In view of the shortcomings of the prior art, the present invention proposes a method for detecting the position of a moving part of a two-point linear measuring ruler of a magnetic levitation transmission system, aiming to achieve high-speed and accurate detection of the position of the moving part by optimizing the placement of the angle sensor and improving the signal processing algorithm. The method cleverly uses the angle sensor to sense the magnetic field changes of the permanent magnet of the mover, and accurately calculates the position information by finely processing the output data. This method has the significant advantages of low cost, high precision, and strong anti-interference ability. Summary of the invention

[0007] The purpose of the present invention is to provide a method for detecting the position of a moving part of a two-point linear measuring ruler of a magnetic levitation transmission system, so as to solve the problems of untimely position feedback, low precision and small induction air gap of the moving parts in the existing magnetic levitation transportation system proposed in the above background technology.

[0008] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a method for detecting the position of a moving part of a two-point linear measuring ruler of a magnetic levitation transmission system, comprising a device for detecting the position of a moving part of a two-point linear measuring ruler of a magnetic levitation transmission system, wherein the device for detecting the position of a moving part of a two-point linear measuring ruler of a magnetic levitation transmission system comprises a sensor module, a power-on configuration module, a BISS-C master station module, a position calculation module, a dynamic fitting module and a custom register operation module, wherein the sensor module comprises an AMR angle sensor, and the power-on configuration module comprises an ICHAUS chip, wherein the method comprises the following steps:

[0009] Step A: Determine that the magnetic field strength in the operating environment meets the established threshold, use the AMR angle sensor to sense the external magnetic pole, and when the external sensed magnetic pole changes from the south pole to the north pole or the north pole to the south pole, instantly output a sine and cosine waveform sequence covering a complete cycle of zero to three hundred and sixty degrees;

[0010] Step B: Configure the relevant register parameters of the ICHAUS chip when powered on, and initialize the relevant register values ​​to determine the protocol and subdivision angle value when powered on, so that the ICHAUS chip can work normally;

[0011] Step C: The output sine and cosine waveform sequences are filtered by the hardware circuit and transmitted to the ICHAUS chip. The signal is converted into digital form, skewed and angled according to the parameters configured in step B, and the error data is recorded.

[0012] Step D: Use the BISS-C protocol master module to parse the subdivision angle value and error data transmitted by the ICHAUS chip, and determine the linear region flag signal through the error data and subdivision angle value. When the linear region flag signal is valid, calculate the number of magnets passing through and output the detailed Hall position according to the parsed subdivision angle value;

[0013] Step E: Use the position calculation module to perform position fitting according to the output Hall position data, and use the dynamic fitting module to eliminate related errors to ensure the smooth subdivision angle value of the fitting position waveform;

[0014] Step F: During the operation, the error warning module uploads error information according to the error situation, and the host computer discards the relevant data according to the error situation;

[0015] Step G: Use the custom register operation module to read and write the destination register data value without interrupting data transmission, modify the register's related protocols and signal correction, and ensure accurate and complete data transmission as needed.

[0016] Preferably, the components of the sine and cosine waveform sequences covering a complete period from 0 to 360 degrees output by the AMR angle sensor in step A maintain a phase difference of 90 degrees.

[0017] Preferably, the initialization configuration in step B includes the working mode, clock frequency, and input and output status of the chip.

[0018] Preferably, the BISS-C protocol master station module in step E includes an idle period, a data frame start period, a data channel transmission period and a timeout recovery period. The data frame start period includes a data latch signal LAT, an acknowledgement status bit ACK, a start status identifier STR and a control data slave bit CDS. The data latch signal LAT, the acknowledgement status bit ACK, the start status identifier STR and the control data slave bit CDS work together to confirm the start of the data frame and initialize the transmission parameters.

[0019] Preferably, the data channel transmission period includes a cycle counter value, subdivided angle data within a single cycle, an error status indicator bit and a CRC cyclic redundancy check data, and the data channel transmission period serially transmits the cycle counter value, the subdivided angle data within a single cycle, the error status indicator bit and the CRC cyclic redundancy check data in an order specified by the protocol.

[0020] Preferably, powering on and configuring ICHAUS chip related register parameters includes the following steps:

[0021] Step 1: First reset the registers at addresses 0X02, 0X03 and 0X06, write data as 0X00, then write the register data at addresses 0X00 to 0X0C in sequence according to the register command frame format, and before performing the register write command frame operation, send fourteen CDM=0 to inform the slave to prepare for initialization;

[0022] Step 2: Send the control data start bit S to trigger new control communication. The control selection bit CTS defines the control communication type selected by the BiSS host. When performing register operations, CTS=1. After determining the control selection bit, the BISS host sends ten-bit addressing data, including three-bit slave address and seven-bit register operation address.

[0023] Step 3: Perform cyclic redundancy check code CRC check calculation on the control selection bit data and the ten-bit addressing data. The four-bit cyclic redundancy check code CRC check data will be inverted during transmission;

[0024] Step 4: After the host transmits the four-bit cyclic check, it will transmit the read bit R and the write bit W. The write operation is started by the read bit R=0 and the write bit W=1. Then the host will transmit another start bit S=1 to inform the slave to prepare for data reception. It will send the eight-bit register data of the write operation address and the four-bit cyclic redundancy check. After the transmission is completed, the stop bit data P=0 will be directly sent to inform the slave to stop receiving data.

[0025] Step 5: After the reset operation is completed, write the data from 0X00 to 0X0C in sequence, use the BISS master to send the clock pulse, wait for the SL data line signal to be pulled low, enter the ACK response stage, and maintain 1 MA clock cycle;

[0026] Step 6: According to the pulse signal input by the MA clock line, use the BISS slave to send a high level to maintain an MA clock cycle through the SL data line. Then the SL data line feeds back CDS data of an MA clock cycle. After the CDS state is completed, the MA clock line directly sends CDM data, and the BISS slave enters the timeout state.

[0027] Step 7: After completing the data configuration phase of the relevant registers of the ICHAUS chip, the master control site can start the position data sampling process, implement periodic collection using the BISS-C protocol, and then trigger the subdivision circuit to perform precise calculations to obtain the subdivision angle value of a single cycle.

[0028] Preferably, the method for using the custom register operation module includes the following steps:

[0029] S1: The data is transmitted to the FPGA through the host computer, and the data received by the custom register operation module is accurately written into the preset register address of the ICHAUS chip through the BISS-C protocol;

[0030] S2: Use BISS-C single-cycle data frames to transmit CDM data.

[0031] Preferably, the position calculation module generates a linear region flag signal and derives position information based on the fine single-turn angle value and error bit mark obtained by parsing the BISS-C protocol master station.

[0032] Preferably, the dynamic fitting module accurately fuses the position data output by the two AMR sensors by dynamically adjusting the fitting parameters.

[0033] Compared with the prior art, the present invention has the following beneficial effects:

[0034] 1. The present invention integrates the position information of dual AMR angle sensors, thereby significantly broadening the actual physical measurement range that traditional encoders can cover. The method introduces the ICHAUS chip to achieve direct adjustment and optimization of the input sine and cosine signals, including precise gain compensation, amplitude correction and phase calibration steps, which effectively corrects the waveform distortion of the input signal, ensures that the output signal has excellent purity and stability, and thus greatly improves the accuracy of the pulse output.

[0035] 2. The present invention uses a hardware subdivision circuit to directly process the sine and cosine data within a single cycle. This design significantly reduces the calculation cycle, improves data processing efficiency, and ensures the real-time response capability of data transmission. In addition, the hardware subdivision technology can subdivide the single-cycle sine and cosine signals to a maximum of 8192 subdivision points, achieving high data transmission accuracy. At the same time, combined with the application of BISS-C (an efficient serial communication protocol), the data transmission rate can be as high as 10MBPS, ensuring that even in high-speed motion, the position data can be accurately and timely transmitted, further enhancing the overall reliability and real-time performance of the system.

[0036] 3. The method for detecting the position of the moving parts of the double-point linear measuring ruler of the magnetic levitation conveying system proposed in the present invention combines high precision, high-quality signal output, high-speed data processing and transmission, and high reliability, providing strong support for technological progress in related fields. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 A system block diagram of the present invention as a whole;

[0038] Figure 2 A schematic diagram of the angle sensor and the induction magnetic pole of the present invention;

[0039] Figure 3 A schematic diagram of a power-on configuration module of the present invention;

[0040] Figure 4 Schematic diagram of the BISS-C master station module of the present invention;

[0041] Figure 5 A logical schematic diagram for the location calculation of the present invention;

[0042] Figure 6 is a schematic diagram of a dynamic fitting position module of the present invention;

[0043] Figure 7 A logical schematic diagram of the dynamic fitting implementation of the present invention;

[0044] Figure 8 A logic diagram of writing a register for the present invention;

[0045] Fig. 9 is a schematic diagram of a register control module of the present invention;

[0046] Fig.10 A schematic diagram of a register write command frame structure of the present invention;

[0047] Fig.11 Schematic diagram of a single BISS cycle with CDM=0 of the present invention;

[0048] Fig.12 Schematic diagram of a single BISS cycle with CDM=1 of the present invention;

[0049] Fig.13 A schematic diagram of using a short BISS cycle as the minimum BISS cycle of the present invention;

[0050] Fig.14 A schematic diagram of a single cycle of BISS-C for position data transmission according to the present invention;

[0051] Fig.15 It is a schematic diagram of the positive subdivision angle value of the present invention;

[0052] Fig.16 It is a schematic diagram of the cumulative number of revolutions of the forward motion of the present invention;

[0053] Fig.17 It is a schematic diagram of the reverse motion cumulative reduction of the number of turns of the present invention;

[0054] Fig.18 It is a schematic diagram of the forward and reverse motion positions of the present invention;

[0055] Fig.19 It is a schematic diagram of the output position after fitting of the present invention. DETAILED DESCRIPTION

[0056] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0057] The ICHAUS chip (model: IC-NQC) mentioned in the present invention can be purchased from the market or obtained through private customization.

[0058] See also Figures 1 to 19The present invention provides an embodiment: a method for detecting the position of a moving part of a two-point linear measuring ruler of a magnetic levitation transmission system, comprising a device for detecting the position of a moving part of a two-point linear measuring ruler of a magnetic levitation transmission system, wherein the device for detecting the position of a moving part of a two-point linear measuring ruler of a magnetic levitation transmission system comprises a sensor module, a power-on configuration module, a BISS-C master station module, a position calculation module, a dynamic fitting module and a custom register operation module, wherein the sensor module comprises an AMR angle sensor, and the power-on configuration module comprises an ICHAUS chip, wherein the method comprises the following steps:

[0059] Step A: Determine that the magnetic field strength in the operating environment meets the established threshold, use the AMR angle sensor to sense the external magnetic pole, and when the external sensed magnetic pole changes from the south pole to the north pole or the north pole to the south pole, instantly output a sine and cosine waveform sequence covering a complete cycle of zero to three hundred and sixty degrees;

[0060] Step B: Configure the relevant register parameters of the ICHAUS chip when powered on, and initialize the relevant register values ​​to determine the protocol and subdivision angle value when powered on, so that the ICHAUS chip can work normally;

[0061] Step C: The output sine and cosine waveform sequences are filtered by the hardware circuit and transmitted to the ICHAUS chip. The signal is converted into digital form, skewed and angled according to the parameters configured in step B, and the error data is recorded.

[0062] Step D: Use the BISS-C protocol master module to parse the subdivision angle value and error data transmitted by the ICHAUS chip, and determine the linear region flag signal through the error data and subdivision angle value. When the linear region flag signal is valid, calculate the number of magnets passing through and output the detailed Hall position according to the parsed subdivision angle value;

[0063] Step E: Use the position calculation module to perform position fitting according to the output Hall position data, and use the dynamic fitting module to eliminate related errors to ensure the smooth subdivision angle value of the fitting position waveform;

[0064] Step F: During the operation, the error warning module uploads error information according to the error situation, and the host computer discards the relevant data according to the error situation;

[0065] Step G: Use the custom register operation module to read and write the destination register data value without interrupting data transmission, modify the register's related protocols and signal correction, and ensure accurate and complete data transmission as needed.

[0066] See also Figure 2, the components of the sine and cosine waveform sequences covering a complete cycle of 0 to 360 degrees output by the AMR angle sensor in step A maintain a phase difference of 90 degrees. By using the AMR angle sensor, the dynamic change information of the magnetic field angle is accurately captured, and these magnetic field changes are converted into high-precision differential sine and cosine voltage signals in real time. The analog signal is then conditioned by the hardware filter circuit, and the processed sine and cosine signals are transmitted to the ICHAUS chip.

[0067] By integrating a high-precision AMR angle sensor, it can accurately capture and analyze the subtle angular changes in the direction of the magnetic field. Under the premise of ensuring that the magnetic field strength in the operating environment meets the established threshold, when the cleverly designed sensing pole array moves relative to the axis perpendicular to the AMR angle sensor, the sensor, with its keen response to magnetic field changes, instantly generates a pair of precisely matched sine and cosine voltage waveforms. This pair of waveforms not only perfectly reflects the dynamic changes in the magnetic field angle, but also strictly maintains a ninety-degree phase difference between its sine and cosine components, ensuring the accuracy and reliability of data interpretation. And as the magnetic field naturally transitions from the South Pole to the North Pole, or reverses from the North Pole to the South Pole in a complete cycle, the AMR angle sensor can capture and record this process without omission, generating a sine and cosine waveform sequence covering a complete cycle of zero to three hundred and sixty degrees.

[0068] See also Figures 11 to 13 ,The initialization configuration in step B includes the chip’s working mode, clock frequency, and input and output states.

[0069] In view of the unique performance requirements of the ICHAUS chip, a power-on configuration module was carefully designed based on the BISS-C communication protocol. This module ensures that the configuration data can be accurately written into the register at the initial stage of chip power-on, thereby ensuring that the ICHAUS chip starts smoothly and works stably. Subsequently, the chip will use built-in functions to perform precise digital conversion, real-time dynamic signal correction processing, and efficient angle subdivision operations on the input sine and cosine differential signals, providing an accurate and reliable data foundation for subsequent advanced signal processing and position analysis.

[0070] By using the IC-NQC ICHAUS chip, which deeply integrates high precision, high resolution and excellent signal processing capabilities, and with its excellent subdivision capability, it can support the analysis of up to 8192 angular steps per sinusoidal cycle, ensuring the high accuracy of the measured data. The built-in advanced, high-speed signal conditioner uses a dynamic calibration strategy to accurately correct the inherent errors of the sensor, significantly enhancing the stability and reliability of the signal.

[0071] In terms of communication interface, the IC-NQC ICHAUS chip is compatible with industry standards such as ABZ, BiSS C and SSI, and supports flexible output formats of Gray code and binary code, providing high flexibility and wide compatibility for system integration. Its high sampling rate combined with low latency conversion time gives the chip excellent responsiveness in high-speed dynamic environments.

[0072] In order for the ICHAUS chip to work properly, the relevant register values ​​need to be configured when powered on. The initialization configuration covers the chip's working mode, clock frequency, input and output status, etc., laying the foundation for the stable operation of the chip. By optimizing the configuration, such as adjusting signal accuracy and setting low power consumption mode, data processing performance and efficiency can be further improved. In addition, configuring registers also involves setting communication protocols and parameters to ensure smooth communication between the chip and other devices.

[0073] When configuring the relevant register parameters of the ICHAUS chip at power-on, there are two modes: configured EEPROM startup and no EEPROM startup.

[0074] Among them, using the configured EEPROM to start up requires additional PCB thickness and cost, and it needs to be configured once during installation. Moreover, when the relevant register values ​​need to be changed later, disassembly and assembly are required, which is troublesome to operate.

[0075] The EEPROM-free startup can modify the relevant register values ​​arbitrarily as needed and write them directly when powered on, and no EEPROM components need to be added, thus saving installation space;

[0076] When powering on and configuring registers, you need to reset the registers at addresses 0X02, 0X03, and 0X06 first, and write data to 0X00. Then, write the register data at addresses 0X00 to 0X0C in sequence according to the register command frame format. The register operation command frame used is as shown in the attached figure. Fig.10 As shown in the figure, this figure is a schematic diagram of the register write command frame structure.

[0077] A complete write cycle consists of fourteen CDM = 0 and the following Fig.10 The thirty-two CDM data shown in . Before performing the register write command frame operation, fourteen CDM=0 are sent to inform the slave to prepare for initialization. Next, the control data start bit S is sent to trigger a new control communication. The control selection bit CTS defines the control communication type selected by the BiSS host. CTS=1 when performing register operations. After determining the control selection bit, the BISS host sends ten bits of addressing data, including three bits of slave address and seven bits of register operation address.

[0078] The control selection bit data and the ten-bit addressing data are CRC-checked, and the four-bit CRC check data will be inverted during transmission. After the host transmits the four-bit cyclic check, it will transmit the read bit R and the write bit W. The write operation is started by the read bit R=0 and the write bit W=1. After that, the host will transmit another start bit S=1 to inform the slave to prepare for data reception.

[0079] The eight-bit register data of the write operation address is checked with a four-bit cyclic redundancy check. After the sending is completed, the stop bit data P=0 is directly sent to inform the slave to stop receiving data;

[0080] When resetting the registers at addresses 0X02, 0X03, and 0X06, the minimum BISS-C data frame for transmitting CDM data is as shown in the attached figure. Fig.11 and 12 As shown, the two figures are schematic diagrams of a single BISS cycle with CDM=0 and a single BISS cycle with CDM=1.

[0081] After the reset operation is completed, the data is written from 0X00 to 0X0C in sequence. At this time, the minimum BISS cycle of the operation uses a short BISS cycle, as shown in the attached Fig.13 As shown in the figure, this figure is a schematic diagram of the minimum BISS cycle using a short BISS cycle:

[0082] After the BISS master sends the clock pulse, it waits for the SL data line signal to be pulled low and enters the ACK response phase, which will be maintained for 1 MA clock cycle. According to the pulse signal input by the MA clock line, the BISS slave sends a high level through the SL data line to maintain a MA clock cycle, and then the SL data line feeds back CDS data for a MA clock cycle. After completing the CDS state, the MA clock line directly sends CDM data, and the BISS slave enters the timeout state.

[0083] Please refer to the attached Fig.14 and Fig.15 The BISS-C protocol master station module in step E includes an idle period, a data frame start period, a data channel transmission period and a timeout recovery period. The data frame start period includes a data latch signal LAT, an acknowledgement status bit ACK, a start status identifier STR and a control data slave bit CDS. The data latch signal LAT, the acknowledgement status bit ACK, the start status identifier STR and the control data slave bit CDS work together to confirm the start of the data frame and initialize the transmission parameters.

[0084] The data channel transmission period includes the cycle counter value, the subdivision angle data within a single cycle, the error status indication bit and the CRC cyclic redundancy check data. The data channel transmission period serially transmits the cycle counter value, the subdivision angle data within a single cycle, the error status indication bit and the CRC cyclic redundancy check data in the order specified by the protocol.

[0085] The steps to configure the ICHAUS chip related register parameters after powering on include the following:

[0086] Step 1: First reset the registers at addresses 0X02, 0X03 and 0X06, write data as 0X00, then write the register data at addresses 0X00 to 0X0C in sequence according to the register command frame format, and before performing the register write command frame operation, send fourteen CDM=0 to inform the slave to prepare for initialization;

[0087] Step 2: Send the control data start bit S to trigger new control communication. The control selection bit CTS defines the control communication type selected by the BiSS host. When performing register operations, CTS=1. After determining the control selection bit, the BISS host sends ten-bit addressing data, including three-bit slave address and seven-bit register operation address.

[0088] Step 3: Perform cyclic redundancy check code CRC check calculation on the control selection bit data and the ten-bit addressing data. The four-bit cyclic redundancy check code CRC check data will be inverted during transmission;

[0089] Step 4: After the host transmits the four-bit cyclic check, it will transmit the read bit R and the write bit W. The write operation is started by the read bit R=0 and the write bit W=1. Then the host will transmit another start bit S=1 to inform the slave to prepare for data reception. It will send the eight-bit register data of the write operation address and the four-bit cyclic redundancy check. After the transmission is completed, the stop bit data P=0 will be directly sent to inform the slave to stop receiving data.

[0090] Step 5: After the reset operation is completed, write the data from 0X00 to 0X0C in sequence, use the BISS master to send the clock pulse, wait for the SL data line signal to be pulled low, enter the ACK response stage, and maintain 1 MA clock cycle;

[0091] Step 6: According to the pulse signal input by the MA clock line, use the BISS slave to send a high level to maintain an MA clock cycle through the SL data line. Then the SL data line feeds back CDS data of an MA clock cycle. After the CDS state is completed, the MA clock line directly sends CDM data, and the BISS slave enters the timeout state.

[0092] Step 7: After completing the data configuration phase of the relevant registers of the ICHAUS chip, the master control site can start the position data sampling process, implement periodic collection using the BISS-C protocol, and then trigger the subdivision circuit to perform precise calculations to obtain the subdivision angle value of a single cycle.

[0093] ICHAUS IC-NQC supports BISS-C protocol. After the configuration of related registers is completed, the BISS-C master module is written according to the characteristics of BISS-C protocol. The master drives the slave to release data through the MA clock line. With the change of clock pulse, the slave transmits data to the master through the SL data line. The master module parses the data according to the relevant timing. The CRC check data is used to ensure the accuracy of transmission, and the linear area mark signal is generated according to the subdivided angle value and error bit data analyzed by the master module to ensure the accuracy and reliability of subsequent position output.

[0094] After completing the data configuration phase of the ICHAUS chip related registers of the IC-NQC model, the master control site can start the position data sampling process, implement periodic collection using the BISS-C protocol, and then trigger the subdivision circuit to perform precise calculations to obtain the single-cycle subdivision angle value. This position data sampling process follows the single-cycle timing specification of the BISS-C protocol. The specific timing diagram is shown in the attached Fig.14 As shown, this figure is a schematic diagram of a single cycle of position data transmission BISS-C.

[0095] The transmission process of the BISS frame is strictly controlled by the MA clock line, and its complete cycle can be divided into four key stages: idle period, data frame start period, data channel transmission period and timeout recovery period. During the idle period, the system is in a silent state and no data is transmitted. At this time, the MA clock line and the SL data line are both kept in a high level state to indicate that the communication link is idle. The data frame start period marks the initialization of the new BISS-C data frame. This stage introduces multiple control signals, including the data latch signal LAT, the acknowledgement status bit ACK, the start status identifier STR, and the control data slave bit CDS, which work together to confirm the start of the data frame and initialize the transmission parameters. Then enter the data channel transmission period, which is the core data transmission stage, responsible for sequentially transmitting the cycle counter value, the subdivision angle data within a single cycle, the error status indicator bit, and the CRC cyclic redundancy check data. These data items must be configured in the relevant registers in advance and transmitted serially in the order specified by the protocol to ensure the integrity and accuracy of the data.

[0096] Please refer to the attached Figure 5 and attached Figures 15 to 18 The position calculation module generates a linear region flag signal and exports position information based on the fine single-turn angle value and error bit flag obtained by the BISS-C protocol master station. When the linear region flag signal is at a logic high level, the angle sensor position is calculated, and the forward and reverse motions are determined by the analyzed subdivided angle change trend. The number of turns is accumulated during forward motion, and the number of turns decreases from the maximum value during reverse motion. The final fine position is output through calculation.

[0097] The core function of the position calculation module is to generate a linear region flag signal and derive position information based on the fine single-turn angle value and error bit flag obtained by parsing the BISS-C protocol master station. When the linear region flag signal is in a high logic level state, the module starts the position calculation process. In this process, the direction of movement is accurately identified by analyzing the increase and decrease trend of the output subdivision angle value - when moving forward, the number of turns is continuously accumulated; when moving backward, it decreases in reverse from the maximum turn value. Based on the accumulated number of turns, the system first establishes the rough position corresponding to the Hall sensor, and then merges this rough position with the subdivision angle value in the current single turn to generate and output the final precise position information. This process combines high-precision subdivision technology with a cumulative counting mechanism to ensure the accuracy and continuity of the position information; the logical operation of the position module is shown in the attached figure. Figure 5 The collected forward motion subdivision angle output waveform is shown in the attached Fig.15 As shown in the figure, this figure is a schematic diagram of the positive subdivision angle value.

[0098] The change trend starts from zero degrees until the preset maximum threshold of the subdivision angle is reached. This process is defined as the positive movement stage. During this stage, the number of positive movement circles is continuously updated through the accumulation mechanism. The display of the accumulated number of circles is shown in the attached figure. Fig.16 As shown in the figure, this is a schematic diagram of the accumulated number of circles in the positive motion. It gradually accumulates from the initial value of zero to the maximum number of circles, ensuring strict consistency with the detected subdivision angle cycle number.

[0099] From the in-depth analysis of the subdivided angle waveform captured during the forward motion, it can be observed that in the first circle, since the subdivided angle value waveform does not show an ideal linear relationship, the data of this circle is regarded as a nonlinear interval and is eliminated during the position solution process. Specifically, when the sensing magnetic pole completely leaves the detection range of the AMR (anisotropic magnetoresistive) angle sensor, the identification signal in the linear area changes to a logic low state, and the position calculation process is immediately terminated.

[0100] On the contrary, if the system determines that it has entered the reverse motion state, the number of recorded laps will gradually decrease from the maximum value. This dynamic process is shown in the attached figure. Fig.17 As shown in the figure, this figure is a schematic diagram of the cumulative number of circles of reverse motion.

[0101] According to the two figures of the cumulative number of circles of forward motion and the cumulative number of circles of reverse motion, the position calculation formula can be obtained, as shown in the formula:

[0102] FinePos=CrudePos + SingleAngle

[0103] Among them: FinePos is the final output position, CrudePos is the rough position of the circle output, and SingleAngle is the current single circle subdivision angle value. The calculated single angle sensor output position is shown in the attached figure. Fig.18 As shown, this figure is a schematic diagram of the forward and reverse motion positions.

[0104] Please refer to the attached Figure 7 , Figure 8 and Fig.19 The custom register control module can write data of relevant register addresses as needed after the ICHAUS chip is powered on, ensuring that the register value can be modified in time to flexibly adapt to the environment, while not affecting the data transmission of the ICHAUS chip.

[0105] The method of using the custom register operation module includes the following steps:

[0106] S1: The data is transmitted to the FPGA through the host computer, and the data received by the custom register operation module is accurately written into the preset register address of the ICHAUS chip through the BISS-C protocol;

[0107] S2: Use BISS-C single-cycle data frames to transmit CDM data.

[0108] When the ICHAUS chip is in normal working state, in order to ensure system stability and expected functions, it is sometimes necessary to reset the internal registers or modify the relevant register values. This process transmits data to the FPGA through the host computer, and the custom register operation module accurately writes the received data into the preset register address of the ICHAUS chip through the BISS-C protocol. The data writing mechanism follows the predefined state transition logic as shown in the attached figure. Figure 8 shown.

[0109] The data frame format of the preset register address of the ICHAUS chip written through the custom register operation module follows a specific format specification. The minimum unit of the number of data bits transmitted is the CDM bit. These values ​​directly determine the specific content of the register configuration. A BISS-C data frame only transmits one CDM data bit. Without affecting data transmission, the BISS-C single-cycle data frame is directly used to transmit the CDM data. The custom register operation module written according to the transmission characteristics of the BISS-C single-cycle data frame will compare the read and written data through the register data after writing the register operation data according to the address to ensure the accuracy of the written data. In addition, during the operation, the module can still correctly parse the single-cycle subdivision angle value, error bit data and CRC check data to ensure efficient use of data transmission.

[0110] The dynamic fitting module dynamically adjusts the fitting parameters to accurately fuse the position data output by the two AMR sensors. By combining the position data of the two AMR angle sensors through dynamic fitting, it ensures that there is no sudden change in the output position and the position waveform is smooth, which can eliminate structural assembly errors, induction pole manufacturing errors, and PCB patch errors.

[0111] In the data processing link, in order to achieve continuous and seamless position waveform construction, the present invention introduces a position fitting algorithm, which aims to seamlessly splice the position data fragments from two independent sensors into a single, complete information sequence. However, in actual deployment scenarios, due to the coupling of multiple factors such as the manufacturing deviation of the induction magnetic poles, the precision limitations of the mechanical assembly, and the tiny errors in the mounting of components on the PCB printed circuit board, the traditional fixed-point fitting strategy fails because it cannot fully adapt to these dynamic changes and cannot be directly applied to the position data integration process of the present invention. In view of this, the present invention turns to advanced dynamic fitting technology, which can flexibly respond to the nonlinear changes caused by the above-mentioned various error factors and dynamically adjust the fitting parameters to achieve accurate fusion of the position data output by the two AMR sensors. As shown in the attached Fig.19 As shown in the figure, this figure is a schematic diagram of the output position after fitting.

[0112] After dynamic fitting processing, the position data presents a smooth and continuous waveform, which effectively overcomes the technical barriers that are difficult to overcome with traditional methods and significantly improves the overall position measurement accuracy and reliability of the system. The specific implementation logic is shown in the attached figure. Figure 7 Shown in detail.

[0113] When the input data is at position 0 and its value is less than the preset dynamic fitting point range, the system directly uses the data calculated by the angle sensor No. 0 as the output. If the input value is within the defined range of the dynamic fitting point, the system will simultaneously collect the data of position 0 and position 1, and perform fitting operations based on these data to accurately calculate the fitting point difference between the two positions. Once the fitting point is clearly defined, the system will directly use this fitting point and its corresponding difference data for subsequent processing. When the data at position 0 exceeds the determined fitting point, the data output by the system will be adjusted to the data at position 1 plus the last calculated fitting point difference to ensure the continuity and accuracy of the data output.

[0114] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. A method for detecting the position of a moving part of a two-point linear measuring ruler of a magnetic levitation transmission system, characterized in that: The invention comprises a moving part position detection device of a two-point linear measuring ruler of a magnetic levitation transmission system, wherein the moving part position detection device of the two-point linear measuring ruler of a magnetic levitation transmission system comprises a sensor module, a power-on configuration module, a BISS-C master station module, a position calculation module, a dynamic fitting module and a custom register operation module, wherein the sensor module comprises an AMR angle sensor, the power-on configuration module comprises an ICHAUS chip, and the method comprises the following steps: Step A: Determine that the magnetic field strength in the operating environment meets the established threshold, use the AMR angle sensor to sense the external magnetic pole, and when the external sensed magnetic pole changes from the south pole to the north pole or the north pole to the south pole, instantly output a sine and cosine waveform sequence covering a complete cycle of zero to three hundred and sixty degrees; Step B: Configure the relevant register parameters of the ICHAUS chip when powered on, and initialize the relevant register values ​​to determine the protocol and subdivision angle value when powered on, so that the ICHAUS chip can work normally; Step C: The output sine and cosine waveform sequences are filtered by the hardware circuit and transmitted to the ICHAUS chip. The signal is converted into digital form, skewed and angled according to the parameters configured in step B, and the error data is recorded. Step D: Use the BISS-C protocol master module to parse the subdivision angle value and error data transmitted by the ICHAUS chip, and determine the linear region flag signal through the error data and subdivision angle value. When the linear region flag signal is valid, calculate the number of magnets passing through and output the detailed Hall position according to the parsed subdivision angle value; Step E: Use the position calculation module to perform position fitting according to the output Hall position data, and use the dynamic fitting module to eliminate related errors to ensure the smooth subdivision angle value of the fitting position waveform; Step F: During the operation, the error warning module uploads error information according to the error situation, and the host computer discards the relevant data according to the error situation; Step G: Use the custom register operation module to read and write the destination register data value without interrupting data transmission, modify the register's related protocols and signal correction, and ensure accurate and complete data transmission as needed.

2. The method for detecting the position of a moving part of a two-point linear measuring ruler of a magnetic suspension transmission system according to claim 1, characterized in that: The components of the sine and cosine waveform sequences output by the AMR angle sensor in step A covering a complete period of 0 to 360 degrees maintain a phase difference of 90 degrees.

3. The method for detecting the position of a moving part of a two-point linear measuring ruler of a magnetic levitation transmission system according to claim 1, characterized in that: The initialization configuration in step B includes the chip's operating mode, clock frequency, and input and output status.

4. The method for detecting the position of a moving part of a two-point linear measuring ruler of a magnetic levitation transmission system according to claim 1, characterized in that: The BISS-C protocol master station module in step E includes an idle period, a data frame start period, a data channel transmission period and a timeout recovery period. The data frame start period includes a data latch signal LAT, an acknowledgement status bit ACK, a start status identifier STR and a control data slave bit CDS. The data latch signal LAT, the acknowledgement status bit ACK, the start status identifier STR and the control data slave bit CDS work together to confirm the start of the data frame and initialize the transmission parameters.

5. A method for detecting the position of a moving part of a two-point linear measuring ruler of a magnetic levitation transmission system according to claim 4, characterized in that: The data channel transmission period includes a cycle counter value, subdivided angle data within a single cycle, an error status indicator bit and CRC cyclic redundancy check data. The data channel transmission period serially transmits the cycle counter value, subdivided angle data within a single cycle, an error status indicator bit and CRC cyclic redundancy check data in an order specified by the protocol.

6. The method for detecting the position of a moving part of a two-point linear measuring ruler of a magnetic levitation transmission system according to claim 5, characterized in that: The steps to configure the ICHAUS chip related register parameters after powering on include the following: Step 1: First reset the registers at addresses 0X02, 0X03 and 0X06, write data as 0X00, then write the register data at addresses 0X00 to 0X0C in sequence according to the register command frame format, and before performing the register write command frame operation, send fourteen CDM=0 to inform the slave to prepare for initialization; Step 2: Send the control data start bit S to trigger new control communication. The control selection bit CTS defines the control communication type selected by the BiSS host. When performing register operations, CTS=1. After determining the control selection bit, the BISS host sends ten-bit addressing data, including three-bit slave address and seven-bit register operation address. Step 3: Perform cyclic redundancy check code CRC check calculation on the control selection bit data and the ten-bit addressing data. The four-bit cyclic redundancy check code CRC check data will be inverted during transmission; Step 4: After the host transmits the four-bit cyclic check, it will transmit the read bit R and the write bit W. The write operation is started by the read bit R=0 and the write bit W=1. Then the host will transmit another start bit S=1 to inform the slave to prepare for data reception. It will send the eight-bit register data of the write operation address and the four-bit cyclic redundancy check. After the transmission is completed, the stop bit data P=0 will be directly sent to inform the slave to stop receiving data. Step 5: After the reset operation is completed, write the data from 0X00 to 0X0C in sequence, use the BISS master to send the clock pulse, wait for the SL data line signal to be pulled low, enter the ACK response stage, and maintain 1 MA clock cycle; Step 6: According to the pulse signal input by the MA clock line, use the BISS slave to send a high level to maintain an MA clock cycle through the SL data line. Then the SL data line feeds back CDS data of an MA clock cycle. After the CDS state is completed, the MA clock line directly sends CDM data, and the BISS slave enters the timeout state. Step 7: After completing the data configuration phase of the relevant registers of the ICHAUS chip, the master control site can start the position data sampling process, implement periodic collection using the BISS-C protocol, and then trigger the subdivision circuit to perform precise calculations to obtain the subdivision angle value of a single cycle.

7. The method for detecting the position of a moving part of a two-point linear measuring ruler of a magnetic suspension transmission system according to claim 6, characterized in that: The method of using the custom register operation module includes the following steps: S1: The data is transmitted to the FPGA through the host computer, and the data received by the custom register operation module is accurately written into the preset register address of the ICHAUS chip through the BISS-C protocol; S2: Use BISS-C single-cycle data frames to transmit CDM data.

8. The method for detecting the position of a moving part of a two-point linear measuring ruler of a magnetic levitation transmission system according to claim 1, characterized in that: The position calculation module generates a linear region flag signal and derives position information based on the fine single-turn angle value and error bit mark obtained by parsing the BISS-C protocol master station.

9. The method for detecting the position of a moving part of a two-point linear measuring ruler of a magnetic suspension transmission system according to claim 1, characterized in that: The dynamic fitting module accurately fuses the position data output by the two AMR sensors by dynamically adjusting the fitting parameters.

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