Calibration method of angle sensor and sensing system

Abstract

The invention discloses a calibration method of an angle sensor and a sensing system, and relates to the technical field of sensors. The method comprises: acquiring a first reference angle signal of a first angle sensor, the first angle sensor comprising a rotating shaft (210) and an n-pole target piece (220) arranged around the rotating shaft (210), n being an integer greater than or equal to 1 (S510); acquiring m electrical angle period signals of the first angle sensor, an electrical angle period representing a rotation period corresponding to a monopole of the target piece, m > = n (S520); determining an electrical angle period compensation parameter and a mechanical angle period compensation parameter according to the first reference angle signal and the m electrical angle period signals, the electrical angle period compensation parameter being used to calibrate an angle error of an electrical angle period of the n-pole target (220), and the mechanical angle period compensation parameter being used to calibrate an angle error of a mechanical angle period of the rotating shaft (210) (S530). According to the method, angle error calibration across a mechanical angle period can be realized, and the precision and the resolution of the angle sensor are further improved.

Description

Angle sensor calibration method and sensing system Technical Field

[0001] The present application relates to the field of sensor technology, and in particular to a calibration method and a sensing system for an angle sensor. Background Art

[0002] Angle sensors are currently widely used in industries such as industry, automobiles, home appliances, and robotics. They can be used to detect the rotation angles of various mechanical structures (such as automobile steering wheels and motor rotors). Rotational angle sensors are a typical example. The angular errors of these sensors typically exhibit significant regularity and periodicity. The industry often calibrates these sensors by identifying the patterns of single-periodic angular errors and performing reverse compensation.

[0003] To improve the accuracy and resolution of angle recognition, the industry has proposed a multipole angle sensor, a rotational angle sensor that includes a multipole target element. This target element is a sensor component that can be sensed by a sensing element. Multipole means that the target element has a pole pair number greater than 1. A single mechanical angle period of the rotating axis (360°, or 2π) corresponds to a multipole electrical angle period of the target element, as shown in Figure 1a. Mechanical angle period = electrical angle period * n, where n represents the number of pole pairs (for example, n = 5). The calibration method for this multipole angle sensor typically calibrates the angular error of a single electrical angle period.

[0004] However, the angle error is the error between the sensor output angle and the reference angle. The above method used in multi-pole angle sensors can only calibrate the error of a single electrical angle cycle, but cannot further reduce the angle error across the mechanical angle cycle.

[0005] Therefore, there is an urgent need for a calibration method for an angle sensor to achieve calibration of the angle error across a mechanical angle cycle.

[0006] Summary of the Invention

[0007] The embodiments of the present application provide a calibration method and a sensing system for an angle sensor, which help to achieve angle error calibration across a mechanical angle cycle and further improve the accuracy and resolution of the angle sensor.

[0008] In the first aspect, an embodiment of the present application provides a calibration method for an angle sensor, which can be performed by a detection device. The detection device is an electronic device that can communicate with the angle sensor. It can be an independent device or a component of an independent device. The embodiment of the present application does not limit the product form of the detection device.

[0009] The method may include: obtaining a first reference angle signal of a first angle sensor, wherein the first angle sensor includes a rotating shaft and an n-pole target part arranged around the rotating shaft, and n is an integer greater than or equal to 1; obtaining m electrical angle period signals of the first angle sensor, wherein the electrical angle period represents the rotation period corresponding to a single pole of the target part, and m≥n; determining an electrical angle period compensation parameter and a mechanical angle period compensation parameter based on the first reference angle signal and the m electrical angle period signals, wherein the electrical angle period compensation parameter is used to calibrate the angle error of the electrical angle period of the n-pole target part, and the mechanical angle period compensation parameter is used to calibrate the angle error of the mechanical angle period of the rotating shaft.

[0010] Through the above method, the first reference angle signal can be used to assist in identifying the different rotation cycle (including electrical angle cycle and mechanical angle cycle) signals of the first angle sensor, so as to distinguish the signals across the mechanical angle cycle, so as to selectively calibrate the angle error of the electrical angle cycle or the angle error of the mechanical angle cycle, and further improve the accuracy and resolution of the multi-pole angle sensor.

[0011] In combination with the first aspect, in one possible implementation, the rotating shaft is connected to the plunger of the sensing system in a transmission manner. When the rotating shaft rotates, the plunger slides back and forth in a blind hole accommodating the plunger. Obtaining the first reference angle signal of the first angle sensor includes: obtaining the first reference angle signal when driving the rotating shaft to slide the plunger to a preset mechanical zero position.

[0012] Through the above method, the sensing system can preset the mechanical zero position, and use the angle signal collected at the mechanical zero position as the first reference angle signal to distinguish the different rotation cycle (including electrical angle cycle and mechanical angle cycle) signals of the first angle sensor, thereby realizing the distinction of signals across the mechanical angle cycle.

[0013] In combination with the first aspect, in a possible implementation, the preset mechanical zero position includes the bottom of the blind hole.

[0014] Through the above method, a preset mechanical zero position can be set at the bottom of the blind hole, allowing for more accurate acquisition of the angle signal corresponding to the mechanical zero position. It should be understood that the mechanical zero position is the reference mechanical position for acquiring the reference angle signal in the embodiments of this application, and the specific application does not limit this position or its name. The bottom of the blind hole is merely an example of the mechanical zero position in the embodiments of this application, and it is not a limitation. In actual applications, the mechanical zero position can be set as needed based on the mechanical structure of the actual sensor system or the application scenario, and this embodiment of the application does not limit this.

[0015] In combination with the first aspect, in a possible implementation, obtaining the first reference angle signal of the first angle sensor includes: obtaining the first angle signal of the first angle sensor and the second angle signal of the second angle sensor, where the second angle sensor is fixed on the rotating shaft; and determining the first reference angle signal based on the first angle signal and the second angle signal.

[0016] Through the above method, a second angle sensor can be installed in the sensing system. This second angle sensor can replace the mechanical zero position to obtain a reference angle signal, i.e., the first reference angle signal. It should be understood that in the embodiments of the present application, the second angle sensor is only used to obtain a reference angle signal relative to the first angle sensor, and the accuracy and resolution of the second angle sensor are not required.

[0017] In combination with the first aspect, in a possible implementation, the second angle sensor includes a k-pole target, where k is an integer greater than or equal to 1, and k and n are prime numbers to each other.

[0018] Through the above method, the second angle sensor installed in the sensing system can be a k-pole angle sensor that is different from the first angle sensor, so as to obtain a reference angle signal.

[0019] In combination with the first aspect, in a possible implementation method, determining the first reference angle signal based on the first angle signal and the second angle signal includes: determining the first reference angle signal by the following expression: (A1 / n-A2 / k)%(360 / n), where A1 represents the first angle signal, A2 represents the second angle signal, and % represents remainder.

[0020] Through the above method, the detection device can determine the first reference angle signal based on the first angle signal, the second angle signal, and a preset expression. It will be understood that this is merely an example of the expression and does not limit it in any way. In other embodiments, the expression may have other variations, which will not be detailed here.

[0021] In combination with the first aspect, in a possible implementation method, the electrical angle period compensation parameters and the mechanical angle period compensation parameters are determined based on the first reference angle signal and the m electrical angle period signals, including: determining the mechanical angle period signal based on the first reference angle signal and the m electrical angle period signals, the mechanical angle period representing the rotation period of the rotating axis; determining the electrical angle period compensation parameters based on the m electrical angle period signals; determining the mechanical angle period compensation parameters based on the mechanical angle period signal.

[0022] Through the above method, the detection device can use the m collected electrical angle period signals for expansion to obtain a mechanical angle period signal, so as to obtain a mechanical angle period compensation parameter using the mechanical angle period signal.

[0023] In combination with the first aspect, in a possible implementation method, determining the mechanical angle periodic signal based on the first reference angle signal and the m electrical angle periodic signals includes: determining the mechanical angle periodic signal through the following expression: ((M1±360*m) / n)%360, where M1 represents the first reference angle signal and % represents remainder.

[0024] It should be understood that this is merely an example of the expression used for signal extension and is not intended to be limiting. In other embodiments, the expression may have other variations, which will not be described in detail herein.

[0025] In combination with the first aspect, in a possible implementation, the detection device determines the electrical angle period compensation parameter and the mechanical angle period compensation parameter using any one of the following compensation methods: a harmonic compensation method or a table lookup-interpolation compensation method.

[0026] Through the above method, the detection device can use any appropriate compensation method to determine the electrical angle period compensation parameters and the mechanical angle period compensation parameters, and the embodiments of the present application are not limited to this.

[0027] In combination with the first aspect, in a possible implementation manner, the method further includes: saving the first reference angle signal, the electrical angle period compensation parameter, and the mechanical angle period compensation parameter.

[0028] Through the above method, the detection device can save the above information so that when applying the sensing system, the saved information can be used to selectively adjust the collected angle signal (such as compensation calibration) to improve the accuracy and resolution of the sensing system.

[0029] In combination with the first aspect, in a possible implementation, the method also includes: obtaining a second reference angle signal of the first angle sensor; obtaining l electrical angle periodic signals, l≥n; determining the periodic signal to be calibrated based on the second reference angle signal and the l electrical angle periodic signals; adjusting the periodic signal to be calibrated based on the saved electrical angle periodic compensation parameters and mechanical angle periodic compensation parameters.

[0030] In combination with the first aspect, in a possible implementation manner, the method further includes: determining that a difference between the first reference angle signal and the second reference angle signal is within an allowable angle error range.

[0031] On the second aspect, an embodiment of the present application provides a calibration method for an angle sensor, which can be performed by a detection device. The detection device is an electronic device that can communicate with the angle sensor. It can be an independent device or a component of an independent device. The embodiment of the present application does not limit the product form of the detection device.

[0032] The method may include: obtaining a second reference angle signal of a first angle sensor, the first angle sensor including a rotating shaft and an n-pole target part arranged on the rotating shaft, where n is an integer greater than or equal to 1; obtaining l electrical angle period signals of the first angle sensor, wherein the electrical angle period represents the rotation period corresponding to a single pole of the target part, l≥n; determining a period signal to be calibrated based on the second reference angle signal and the l electrical angle period signals; and adjusting the period signal to be calibrated based on saved electrical angle period compensation parameters and mechanical angle period compensation parameters.

[0033] In the third aspect, an embodiment of the present application provides a sensing system, including a detection device and a first angle sensor, the first angle sensor including a rotating shaft, a sensing element and an n-pole target part arranged around the rotating shaft, n is an integer greater than or equal to 1, the sensing element is used to sense the rotation angle of the rotating shaft and the n-pole target part, wherein the sensing element is used to provide the detection device with a first reference angle signal of the first angle sensor and m electrical angle period signals, the electrical angle period represents the rotation period corresponding to a single pole of the target part, m≥n; the detection device is used to determine an electrical angle period compensation parameter and a mechanical angle period compensation parameter based on the first reference angle signal and the m electrical angle period signals, the electrical angle period compensation parameter is used to calibrate the angular error of the electrical angle period of the n-pole target part, and the mechanical angle period compensation parameter is used to calibrate the angular error of the mechanical angle period of the rotating shaft.

[0034] In combination with the third aspect, in a possible implementation, the sensing system also includes a cylinder body and a plunger, the cylinder body is provided with a blind hole, the plunger is slidably arranged in the blind hole, and the plunger is transmission-connected to the rotating shaft. When the rotating shaft rotates, the plunger slides back and forth in the blind hole, and the rotating shaft is also used to: control the plunger to slide to a preset mechanical zero position under the drive of the detection device; the sensing element is used to provide the first reference angle signal to the detection device when the plunger slides to the preset mechanical zero position.

[0035] In combination with the third aspect, in a possible implementation, the preset mechanical zero position includes the bottom of the blind hole.

[0036] In combination with the third aspect, in a possible implementation, the plunger is threadedly connected to the rotating shaft.

[0037] In combination with the third aspect, a possible implementation method further includes a second angle sensor, which is arranged on the rotating shaft or the transmission mechanism of the rotating shaft. The sensing element provides the first reference angle signal of the first angle sensor to the detection device, including: providing the first angle signal of the first angle sensor and the second angle signal of the second angle sensor to the detection device, and the first angle signal and the second angle signal are used to determine the first reference angle signal.

[0038] In conjunction with the third aspect, in a possible implementation, the second angle sensor includes a k-pole target, where k is an integer greater than or equal to 1, and k and n are prime numbers to each other.

[0039] In combination with the third aspect, in one possible implementation, the first reference angle signal satisfies the following expression: (A1 / n-A2 / k)%(360 / n), where A1 represents the first angle signal, A2 represents the second angle signal, and % represents the remainder.

[0040] In fourth aspect, an embodiment of the present application provides a detection device, including: an acquisition unit, used to acquire a first reference angle signal of a first angle sensor, wherein the first angle sensor includes a rotating shaft and an n-pole target part arranged around the rotating shaft, and n is an integer greater than or equal to 1; acquiring m electrical angle period signals of the first angle sensor, wherein the electrical angle period represents the rotation period corresponding to a single pole of the target part, m≥n; a determination unit, used to determine an electrical angle period compensation parameter and a mechanical angle period compensation parameter based on the first reference angle signal and the m electrical angle period signals, wherein the electrical angle period compensation parameter is used to calibrate the angular error of the electrical angle period of the n-pole target part, and the mechanical angle period compensation parameter is used to calibrate the angular error of the mechanical angle period of the rotating shaft.

[0041] In combination with the fourth aspect, in one possible implementation, the rotating shaft is connected to the plunger of the sensing system in a transmission manner. When the rotating shaft rotates, the plunger slides back and forth in a blind hole accommodating the plunger. The acquisition unit is used to obtain the first reference angle signal when driving the rotating shaft to slide the plunger to a preset mechanical zero position.

[0042] In combination with the fourth aspect, in a possible implementation, the preset mechanical zero position includes the bottom of the blind hole.

[0043] In combination with the fourth aspect, in one possible implementation, the acquisition unit is used to: acquire a first angle signal of the first angle sensor and a second angle signal of the second angle sensor, where the second angle sensor is fixed on the rotating shaft; and the determination unit is used to determine the first reference angle signal based on the first angle signal and the second angle signal.

[0044] In conjunction with the fourth aspect, in a possible implementation, the second angle sensor includes a k-pole target, where k is an integer greater than or equal to 1, and k and n are prime numbers to each other.

[0045] With reference to the fourth aspect, in a possible implementation manner, the determining unit is configured to determine the first reference angle signal by using the following expression:

[0046] (A1 / n-A2 / k)%(360 / n)

[0047] Wherein, A1 represents the first angle signal, A2 represents the second angle signal, and % represents remainder.

[0048] In combination with the fourth aspect, in a possible implementation method, the determination unit is used to: determine a mechanical angle period signal based on the first reference angle signal and the m electrical angle period signals, wherein the mechanical angle period represents the rotation period of the rotating shaft; determine the electrical angle period compensation parameter based on the m electrical angle period signals; determine the mechanical angle period compensation parameter based on the mechanical angle period signal.

[0049] In conjunction with the fourth aspect, in a possible implementation manner, the determining unit is configured to determine the mechanical angle period signal by using the following expression:

[0050] ((M1±360*m) / n)%360

[0051] Wherein, M1 represents the first reference angle signal, and % represents the remainder.

[0052] In conjunction with the fourth aspect, in a possible implementation, any one of the following compensation methods is used to determine the electrical angle period compensation parameter and the mechanical angle period compensation parameter: a harmonic compensation method or a table lookup-interpolation compensation method.

[0053] In combination with the fourth aspect, in a possible implementation, the device further includes a storage unit for storing the electrical angle period compensation parameter and the mechanical angle period compensation parameter.

[0054] In combination with the fourth aspect, in a possible implementation method, the acquisition unit is also used to: obtain a second reference angle signal of the first angle sensor; obtain l electrical angle periodic signals of the first angle sensor, l≥n; the determination unit is also used to: determine the periodic signal to be calibrated based on the second reference angle signal and the l electrical angle periodic signals; adjust the periodic signal to be calibrated based on the saved electrical angle periodic compensation parameters and mechanical angle periodic compensation parameters.

[0055] In combination with the fourth aspect, in a possible implementation manner, the determining unit is further used to: determine whether the difference between the first reference angle signal and the second reference angle signal is within an allowable angle error range.

[0056] In the fifth aspect, an embodiment of the present application provides a detection device, including: an acquisition unit, used to acquire a second reference angle signal of a first angle sensor, the first angle sensor including a rotating shaft and an n-pole target part arranged on the rotating shaft, n being an integer greater than or equal to 1; acquiring l electrical angle period signals of the first angle sensor, wherein the electrical angle period represents the rotation period corresponding to a single pole of the target part, l≥n; a determination unit, used to determine the period signal to be calibrated based on the second reference angle signal and the l electrical angle period signals; a calibration unit, used to adjust the period signal to be calibrated based on the saved electrical angle period compensation parameters and mechanical angle period compensation parameters.

[0057] In a sixth aspect, an embodiment of the present application provides a communication device comprising one or more memories and one or more processors; wherein the memory stores computer program code, and the computer program code comprises computer instructions; when the computer instructions are executed by the processor, the method described in the first aspect and any possible implementation of the first aspect is executed, or the method described in the second aspect and any possible implementation of the second aspect is executed.

[0058] In the seventh aspect, an embodiment of the present application provides a computer program product, which includes: computer program code, which, when the computer program code is run, enables the method described in the first aspect and any possible implementation of the first aspect to be executed, or enables the method described in the second aspect and any possible implementation of the second aspect to be executed.

[0059] In an eighth aspect, an embodiment of the present application provides a computer-readable storage medium, in which a computer program is stored. When the computer program is executed by a computer, the method described in the first aspect and any possible implementation of the first aspect is executed, or the method described in the second aspect and any possible implementation of the second aspect is executed.

[0060] Based on the implementations provided in the above aspects, the embodiments of the present application can be further combined to provide more implementations.

[0061] The technical effects that can be achieved by any possible implementation method in any of the second to eleventh aspects mentioned above can be referred to the description of the technical effects that can be achieved by any possible implementation method in any of the first aspect mentioned above, and the repetitions will not be discussed. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] FIG1a shows a schematic diagram of the output angle of a multi-pole angle sensor;

[0063] Figure 1b shows a schematic diagram of the angle error;

[0064] FIG2 shows a schematic diagram of a multi-pole angle sensor according to an embodiment of the present application;

[0065] FIG3 shows a cross-sectional schematic diagram of a sensing system according to an embodiment of the present application;

[0066] FIG4 a shows a cross-sectional schematic diagram of a sensing system according to an example of an embodiment of the present application;

[0067] FIG4 b shows a cross-sectional schematic diagram of another example of a sensing system according to an embodiment of the present application;

[0068] FIG5 is a schematic diagram showing a flow chart of a calibration method according to an embodiment of the present application;

[0069] FIG6 shows a schematic flow chart of a calibration method according to an embodiment of the present application;

[0070] FIG7 is a schematic diagram showing an angular error according to an embodiment of the present application;

[0071] FIG8 shows a schematic diagram of a communication device according to an embodiment of the present application;

[0072] FIG9 shows a schematic diagram of a communication device according to an embodiment of the present application. DETAILED DESCRIPTION

[0073] To facilitate understanding, some of the terms used in the embodiments of this application are first explained below.

[0074] 1. Angular transducer: A sensor device used to detect angles. It is widely used in industries such as industry, automobiles, home appliances, and robotics. It can be used to detect the angle of rotation of various mechanical structures (such as the steering wheel of a car, the rotor in a motor, etc.).

[0075] 2. Multipole angle sensor: This sensor includes a multipole target. The multipole angle sensor also includes a rotating shaft that can be connected to the mechanical structure being detected, and the multipole target can be mounted on the rotating shaft. The target is the sensor element that can be sensed by the sensing element. The multipole refers to the number of pole pairs n of the target, where n is an integer greater than or equal to 1. n = 1 is a special case of a multipole angle sensor; when n = 1, it is a unipolar angle sensor.

[0076] 3. Electrical angle period: the rotation period corresponding to a single pole of the target part.

[0077] 4. Mechanical angle period: The rotation period corresponding to the rotating axis. Typically, for a multi-pole angle sensor, the multi-pole target can form n equally divided sectors on the circumference corresponding to the rotating axis (2π, or 360°). A single mechanical angle period of the rotating axis (360°, or 2π) corresponds to the multi-pole electrical angle period of the target, as shown in Figure 1a. Mechanical angle period = electrical angle period * n, where n represents the number of pole pairs.

[0078] 5. Angular error: The difference between the output angle of the angle sensor and the reference angle.

[0079] Generally, the angular error of a rotational angle sensor has obvious regularity and periodicity. In a multi-pole angle sensor, the angular error can include two categories: angular error of the electrical angle period (which may be referred to as electrical angle error in the following embodiments) and angular error of the mechanical angle period (which may be referred to as mechanical angle error in the following embodiments). These two types of angular errors also have obvious regularity and periodicity.

[0080] 6. Compensating parameter: A parameter used to compensate for angle error, adjusting the angle signal output by the angle sensor to achieve signal calibration. The value of the compensation parameter is usually opposite to the value of the angle error.

[0081] In the embodiment of the present application, for the sake of convenience in distinction, the compensation parameters used to calibrate the angle error corresponding to the electrical angle period are referred to as electrical angle period compensation parameters, and the compensation parameters used to calibrate the angle error corresponding to the mechanical angle period are referred to as mechanical angle period compensation parameters.

[0082] It should be noted that, in the embodiments of the present application, "at least one" refers to one or more, and "more" refers to two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: the existence of A alone, the existence of A and B at the same time, and the existence of B alone, where A and B can be singular or plural. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship. "At least one of the following items" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b, or c can represent: a, b, c, a and b, a and c, b and c, or a and b and c, where a, b, c can be single or multiple.

[0083] Furthermore, unless otherwise specified, ordinal numbers such as "first," "second," and "third" in the embodiments of this application are used to distinguish between multiple objects and are not used to define the priority or importance of multiple objects. For example, the first reference angle information and the second reference angle signal are only used to distinguish different reference angle signals, and do not indicate a difference in priority or importance between the two reference angle signals.

[0084] FIG1 b shows a schematic diagram of an angle error curve of a multi-pole angle sensor.

[0085] As shown in Figure 1b, curve (1) represents the angle error curve corresponding to the electrical angle cycle. The angle error corresponding to the electrical angle cycle is the difference between the peak and the trough of a single electrical angle cycle. The electrical angle cycle compensation parameter is the inverse of the angle error of the electrical angle cycle. After adopting the industry's calibration method for multi-pole angle sensors and calibrating the angle signal output by the multi-pole angle sensor using the electrical angle cycle compensation parameter, curve (2) is obtained. This curve (2) still has a mechanical angle error, which is the difference between the peak and the trough of a single mechanical angle cycle. It can be seen that the current calibration method for multi-pole angle sensors cannot reduce the angle error across cycles (mechanical angle cycles). Therefore, it is necessary to calibrate the angle error of the mechanical angle cycle so that the angle error approaches 0 and obtain the ideal curve (3).

[0086] Typically, the main causes of cross-cycle (mechanical angle cycle) angular error include sensor asymmetry caused by process accuracy during sensor component processing and system assembly. While these angular errors can generally be reduced by improving process quality, this solution is relatively time-consuming and costly, making it less than optimal.

[0087] To address this issue, embodiments of the present application propose an angle sensor calibration method and sensing system. These methods facilitate calibration of angular errors across mechanical angle cycles, further improving the accuracy and resolution of multi-pole angle sensors while minimizing time and cost requirements. The method and device are based on the same technical concept. Because the principles underlying the problems solved by the method and device are similar, their implementation can be referenced in conjunction with each other, and any repetitions will not be repeated.

[0088] The following is a detailed description with reference to the accompanying drawings and embodiments.

[0089] FIG2 shows a schematic diagram of an angle sensor according to an embodiment of the present application.

[0090] As shown in FIG2 , the angle sensor 200 includes a rotating shaft 210 , an n-pole target 220 , and a sensing element 230 . n represents the number of pole pairs, and n is an integer greater than or equal to 1. When n=1, the angle sensor 200 is called a unipolar angle sensor, and when n>1, the angle sensor 200 is called a multipolar angle sensor.

[0091] The rotating shaft 210 can be connected to a mechanical structure to be detected (e.g., a steering wheel of a car, a rotor in a motor, etc., not shown in FIG2 ) and can rotate when driven by the motor of the mechanical structure. The n-pole target 220 can be mounted (fixedly mounted) on the rotating shaft 210 and can rotate with the rotating shaft 210. The sensing element 230 is disposed near the n-pole target 220 to sense the rotational angle of the rotating shaft 210 and the n-pole target 220 during the rotation of the rotating shaft 210.

[0092] The n-pole target 220 comprises n groups of target elements, each group of target elements being alternatingly arranged (equally divided) sensor elements. The n-pole target 220 forms n equally divided sectors on the circumference, with a sector angle of 2π / n. The angle corresponding to each alternating sensor element is π / n. For example, when the n-pole target 220 comprises five pairs of magnet rings (n=5), each pair of magnet rings comprises an N pole and an S pole, with the N and S poles having opposite polarities. The N and S poles of the five pairs of magnet rings are alternately arranged on the rotation axis 210, forming five equally divided sectors on the circumference. Each sector angle is 72°, and the angle corresponding to each N pole or each S pole is 36°.

[0093] It should be understood that Figure 2 is merely an illustration of an n-pole target and does not limit the present invention. In the embodiments of the present application, the n-pole target 220 can be made of any inductive material, including but not limited to magnetic materials and inductive metal materials. Accordingly, the inductive element 230 can be a magnetic element such as a Hall / GMR / AMR element, or other types of inductive elements, such as an inductive element. The embodiments of the present application do not limit the composition of the n-pole target 220 or the inductive element 230.

[0094] It should be noted that when the n-pole target part 220 is made of a magnetic material, the sensor devices alternately arranged in each group of target parts in the n-pole target part 220 can be: an N pole and an S pole. For example, the alternating black blocks in FIG2 represent the N pole, and the white blocks represent the S pole. When the n-pole target part 220 is made of an inductive material other than a magnetic material, such as an inductive metal material, the sensor devices alternately arranged in each group of target parts in the n-pole target part 220 can be: an inductive metal material and a non-inductive metal material. As shown in FIG2 , in each group of target parts, the black blocks (or white blocks) can be replaced with an inductive metal material, and the remaining white blocks (or black blocks) can be replaced with a non-inductive metal material, such as a blank. This embodiment of the present application does not limit this.

[0095] The angle sensor shown in Figure 2 can be used to detect the rotational angle of various mechanical structures (such as a vehicle's steering wheel or a motor's rotor). The sensing system of the present embodiment may include this angle sensor and the mechanical structure being detected. For ease of understanding, the following describes a sensing system employing this angle sensor, using the multi-pole target element of the angle sensor shown in Figure 2 as an example, using a magnetic material.

[0096] FIG3 shows a cross-sectional schematic diagram of a sensing system according to an embodiment of the present application. As shown in FIG3 , the sensing system may include the angle sensor shown in FIG2 and a mechanical structure to be detected, and the mechanical structure may include a base, a bearing, a plunger, and a cylinder body. The rotating shaft of the angle sensor may be connected to the base of the mechanical structure through a bearing. A blind hole for accommodating the plunger is provided in the cylinder body, and the plunger can slide in the blind hole. The rotating shaft of the angle sensor may be in transmission connection with the plunger, and when the rotating shaft rotates, the plunger can slide back and forth in the blind hole.

[0097] It should be noted that in the embodiment of the present application, the system shown in FIG3 may also include other devices or apparatuses not shown, such as a motor or a detection device. The motor may be connected to the rotating shaft and used to drive the rotating shaft to rotate. The detection device may be connected to the sensing element and used to obtain an angle signal from the sensing element, calculate and process the obtained angle signal, and implement angle signal detection or error calibration. This will be described below in conjunction with the method flow chart and will not be described in detail here.

[0098] It should be understood that in the embodiment of the present application, the transmission connection between the rotating shaft and the plunger can be a threaded connection or other connection methods, and the embodiment of the present application does not limit this transmission connection method.

[0099] In an embodiment of the present application, in order to calibrate the angular error across the mechanical angle cycle of a multi-pole angle sensor and further improve the accuracy and resolution of the angle sensor, based on the sensing system shown in FIG3 , one possible implementation method is that the detection device can obtain a reference angle signal of the angle sensor to identify the cross-cycle signal based on the reference angle signal and calibrate the cross-cycle angular error. To achieve this purpose, the sensing system shown in FIG3 may include the following two structural examples:

[0100] Example 1: The sensing system may include a mechanical zero position, and the detection device may obtain a reference angle signal based on the mechanical zero position.

[0101] Based on the physical characteristics of the sensing system, this mechanical zero position serves as the reference mechanical position for limiting plunger travel. When the sensing system's mechanical structure is sufficiently stable, a consistent angle signal is obtained when the plunger slides to this mechanical zero position. Furthermore, when counting revolutions from the mechanical zero position, the angle signal collected by the sensing element at the mechanical zero position serves as the reference angle signal. The detection device can then distinguish each collected electrical angle cycle signal, thereby monitoring the absolute rotation angle of the rotating shaft.

[0102] As shown in FIG. 4 a , for example, the mechanical zero position may be set at the bottom of the blind hole.

[0103] In the calibration process or application process of the embodiment of the present application, the detection device can send a control signal to the motor so that the motor drives the rotating shaft to rotate. When the rotating shaft rotates, the plunger can be slid to a preset mechanical zero position, such as the bottom of a blind hole. The detection device can use the angle signal collected by the sensing element when the plunger slides to the bottom of the blind hole as a reference angle signal, represented as M0. Furthermore, the detection device can send a control signal to the motor so that the motor drives the rotating shaft to rotate at least one circle. The detection device can obtain m electrical angle periodic signals of the angle sensor through the sensing element during the rotation of the rotating shaft, where m≥n.

[0104] In the calibration process of the embodiment of the present application, based on the reference angle signal and the collected m electrical angle period signals, the detection device can obtain and save the compensation parameters for the angle error of the electrical angle period and the compensation parameters for the angle error of the mechanical angle period.

[0105] In the application process of the present embodiment, the detection device can use the stored compensation parameters to calibrate the angle signal collected by the angle sensor, for example, to calibrate the angular error of the electrical angle period and / or the angular error of the mechanical angle period. Detailed implementation details can be found in the detailed description below in conjunction with the method flowchart and are not further elaborated here.

[0106] It should be noted that in Example 1, the reference angle signal collected during the calibration process or the application process can be represented as M0. Alternatively, for ease of distinction, the reference angle signal collected during the calibration process can be represented as M1, referred to as the first reference angle signal, and the reference angle signal collected during the application process can be represented as M2, referred to as the second reference angle signal. This embodiment of the application does not limit the representation method of the reference angle signal.

[0107] Example 2: The reference angle signal of the angle sensor 1 to be calibrated is acquired by an additional angle sensor 2.

[0108] The angle sensor connected to the plunger drive in the sensing system is denoted as angle sensor 1. As shown in Figure 4b, an additional angle sensor can be added to the sensing system. For ease of distinction, this additional angle sensor can be denoted as angle sensor 2. Angle sensor 2 can be mounted on the rotating shaft of angle sensor 1 and similarly senses the rotation angle of the rotating shaft. The detection device can use the angle signal output by angle sensor 2 to assist in distinguishing adjacent electrical angle cycles of angle sensor 1, thereby calibrating the angle signal of angle sensor 1 across mechanical angle cycles.

[0109] For example, the angle sensor 2 can be a unipolar angle sensor or a multipolar angle sensor, where k represents the number of pole pairs of the angle sensor 2, where k is an integer greater than or equal to 1, and n and k are mutually prime numbers. For example, when n = 5, the value of k can be 1, 3, 7, etc. Alternatively, when n = 3, the value of k can be 1, 5, 7, etc. The specific values ​​of n and k are not limited in this embodiment of the present application.

[0110] In the calibration process or application process of the embodiment of the present application, at any time, the detection device can obtain the angle signal of angle sensor 1 and the angle signal of angle sensor 2, and determine the reference angle signal based on the angle signal of angle sensor 1 and the angle signal of angle sensor 2.

[0111] For example, in the calibration process, A1 represents the first angle signal of angle sensor 1 at the first moment, and A2 represents the second angle signal of angle sensor 2 at the first moment. The reference angle signal can satisfy the following expression (1):

[0112] M1=(A1 / n-A2 / k)%(360 / n) (1);

[0113] Wherein, M1 represents the reference angle signal in the calibration process (for example, called the first reference angle signal), A1 represents the first angle signal, n represents the pole pair number of angle sensor 1, n is an integer greater than or equal to 1, A2 represents the second angle signal, k represents the pole pair number of angle sensor 2, k is an integer greater than or equal to 1, n and k are prime numbers to each other, and % represents the remainder.

[0114] For another example, the same expression (1) can be used to determine the reference angle signal in the application process, wherein M1 in the above expression (1) can be replaced by M2, which represents the reference angle signal in the application process (for example, called the second reference angle signal), A1 in the above expression (1) can be replaced by A3, which represents the third angle signal of the angle sensor 1 at the second moment, and A2 in the above expression (1) can be replaced by A4, which represents the fourth angle signal of the angle sensor 2 at the second moment. The detailed calculation process can be found in the above expression (1), which will not be repeated here.

[0115] Furthermore, the detection device can send a control signal to the motor, causing the motor to drive the rotating shaft to rotate at least one revolution, starting from the position at the first moment. The detection device can obtain m or l electrical angle periodic signals from the angle sensor 1 through the sensing element during the rotation of the rotating shaft, where m ≥ n or l ≥ n.

[0116] For example, in the calibration process of the embodiment of the present application, based on the corresponding reference angle signal M1 and the m electrical angle period signals collected, the detection device can obtain and save the compensation parameters for the angle error of the electrical angle period and the compensation parameters for the angle error of the mechanical angle period. In the application process of the embodiment of the present application, the detection device can use the saved compensation parameters to calibrate the l electrical angle period signals collected by the angle sensor 1, for example, calibrate the angle error of the electrical angle period and / or the angle error of the mechanical angle period. Detailed implementation details can be found in the detailed introduction below in conjunction with the method flow chart, which will not be repeated here.

[0117] It should be noted that in Example 2 above, adjacent electrical angle periods and adjacent mechanical angle periods of angle sensor 1 can be distinguished based solely on a specific periodic signal from angle sensor 2. No requirements are placed on the accuracy or resolution of angle sensor 2. In an alternative embodiment, angle sensor 2 may be a conventional angle sensor (e.g., a non-multipolar angle sensor).

[0118] It should be understood that Figures 3, 4a, and 4b above are merely examples of the sensor system of the present application and are not intended to limit the present invention. In other embodiments, the sensor system may employ other structures, such as a gear transmission system. Accordingly, the installation location of angle sensor 2 is not limited to the rotation axis of angle sensor 1. For example, angle sensor 2 may be installed on the transmission mechanism of the rotation axis of angle sensor 1. This will not be discussed further here.

[0119] FIG5 is a schematic diagram of a calibration process according to an embodiment of the present application. The calibration process is a process for obtaining compensation parameters, which can be implemented by the sensing system shown in FIG4a or FIG4b. For ease of distinction, angle sensor 1 can be referred to as a first angle sensor, angle sensor 2 can be referred to as a second angle sensor, the reference angle signal obtained in the calibration process can be referred to as a first reference angle signal, and the reference angle signal obtained in the application process (e.g., the process of calibrating the angle signal output by angle sensor 1 by applying the obtained compensation parameters) can be referred to as a second reference angle signal. These will not be described in detail in the following embodiments.

[0120] As shown in FIG5 , the calibration process may include the following steps:

[0121] S510: The detection device obtains a first reference angle signal from a first angle sensor.

[0122] In an embodiment of the present application, the first angle sensor is a multi-pole angle sensor as shown in Figure 2. Referring to Figure 2, the first angle sensor may include a rotating shaft, an n-pole target part mounted on the rotating shaft, and a sensing element arranged near the n-pole target part, where n is the number of pole pairs and n is an integer greater than or equal to 1.

[0123] For ease of distinction, the first reference angle signal obtained in S510 may be expressed as M1, for example.

[0124] When the sensing system adopts the system architecture shown in FIG4a as in Example 1 above, M1 may be M0 obtained during the calibration process. When implementing S510, the detection device may send a control signal to the motor so that the motor drives the rotating shaft to rotate. When the rotating shaft rotates, the plunger may slide to a preset mechanical zero position (e.g., the bottom of a blind hole). The detection device may use the angle signal collected by the sensing element when the plunger slides to the mechanical zero position as the first reference angle signal.

[0125] Alternatively, when the sensing system adopts the system architecture shown in FIG4b as in Example 2 above, M1 may be M1 obtained during the calibration process. When implementing S510, the detection device may obtain the first angle signal of the first angle sensor and the second angle signal of the second angle sensor at any time, and determine the first reference angle signal based on the first angle signal and the second angle signal, as shown in Expression (1) above, which will not be repeated here.

[0126] S520: The detection device obtains m electrical angle periodic signals from the first angle sensor.

[0127] In the embodiment of the present application, the electrical angle period represents the rotation period corresponding to a single pole of the target part, m≥n.

[0128] When implementing S520, the detection device may control the rotation axis to rotate at least one revolution, using the position of the rotation axis at the time the first reference angle signal is collected as a starting point, to obtain the m electrical angle periodic signals. For example, when the sensing system employs the architecture shown in FIG4a , the starting point of the rotation axis corresponds to the mechanical zero position. For another example, when the sensing system employs the architecture shown in FIG4b , the starting point of the rotation axis corresponds to the position of the rotation axis when the sensing element simultaneously collects the first angle signal and the second angle signal.

[0129] S530: The detection device determines an electrical angle period compensation parameter and a mechanical angle period compensation parameter based on the first reference angle signal and the m electrical angle period signals.

[0130] In the embodiment of the present application, the electrical angle period compensation parameter is used to calibrate the angle error of the electrical angle period of the n-pole target part, and the mechanical angle period compensation parameter is used to calibrate the angle error of the mechanical angle period of the rotating shaft.

[0131] When implementing S530, the detection device may perform the following steps:

[0132] S531: The detection device calculates the angle error based on the first reference angle signal and the m electrical angle periodic signals.

[0133] S532: The detection device determines an electrical angle period compensation parameter and a mechanical angle period compensation parameter based on the angle error.

[0134] In an embodiment of the present application, when implementing S531, the detection device can determine a mechanical angle period signal based on the first reference angle signal and the m electrical angle period signals, where the mechanical angle period represents the rotation period of the rotating shaft. Further, the detection device can determine a first error based on the m electrical angle period signals and a second error based on the mechanical angle period signal. When implementing S532, the detection device can determine an electrical angle period compensation parameter based on the first error and a mechanical angle period compensation parameter based on the second error. For example, the electrical angle period compensation parameter is the inverse of the first error, and the mechanical angle period compensation parameter is the inverse of the second error.

[0135] For example, the detection device can determine the mechanical angle period signal by the following expression (2):

[0136] Mechanical angle period signal = ((M1±360*m) / n)%360 (2)

[0137] Wherein, M1 represents the first reference angle signal, n represents the number of pole pairs of the first angle sensor, m represents the number of collected electrical angle periodic signals, and % represents the remainder. It should be noted that expression (2) is merely an example and not a limitation of the embodiment of the present application, in which the first reference angle signal and m electrical angle periodic signals are expanded to obtain a mechanical angle periodic signal. In other embodiments, the detection device may be configured with other algorithms, and the configured algorithms may be used to expand the collected first reference angle signal and m electrical angle periodic signals into a mechanical angle periodic signal, which will not be described in detail here.

[0138] In the embodiment of the present application, the detection device can use any of the following compensation methods to determine the compensation parameters: harmonic compensation method or table lookup-interpolation compensation method. The embodiment of the present application does not limit the specific compensation method used.

[0139] Taking the detection device using the harmonic compensation method as an example, when implementing S531, the detection device can determine the angle error of the electrical angle period and the angle error of the mechanical angle period by the following expressions (3) and (4), respectively:

[0140]

[0141]

[0142] Among them, i and j represent the order, A i and A j The harmonic amplitudes corresponding to orders i and j respectively; and They correspond to the harmonic phases of order i and j respectively. a corresponds to the electrical angle periodic signal, and b corresponds to the mechanical angle periodic signal.

[0143] When implementing S532, the detection device can use the above expressions (3) and (4) to create electrical angle period compensation parameters and mechanical angle period compensation parameters, respectively. Taking the harmonic compensation method as an example, the electrical angle period compensation parameters or mechanical angle period compensation parameters can include median, amplitude, and phase.

[0144] It should be noted that, in the embodiment of the present application, the reference angle signal is used to distinguish between adjacent electrical angle periods and mechanical angle periods, and different error compensation parameters can be obtained for adjacent electrical angle periods and adjacent mechanical angle periods, so as to perform cross-cycle compensation. In order to reduce the situation where the accuracy of the error compensation of the mechanical angle period signal by the system is affected by system aging, mechanical zero position damage, etc. (i.e., reducing the deterioration of the accuracy of the angle sensor), the optional embodiment of the present application may also include S540 (optional step): the detection device can save the electrical angle period compensation parameters and mechanical angle period compensation parameters obtained in the calibration process, and the electrical angle period compensation parameters and mechanical angle period compensation parameters can be used in the application process to adjust the angle signal collected by the first angle sensor to obtain a calibrated angle signal, thereby ensuring the accuracy and resolution of the first angle sensor.

[0145] As shown in Figure 6, the application process may include the following steps:

[0146] S610: The detection device obtains a second reference angle signal of the first angle sensor.

[0147] For ease of distinction, the second reference angle signal obtained in S610 may be represented as M2, for example. The implementation of this step is the same as that of S510 above. For detailed implementation details, please refer to the above description of S510, which will not be repeated here.

[0148] S620: The detection device obtains l electrical angle periodic signals from the first angle sensor, where l ≥ n. Here, l and m can be the same. This step is implemented in the same manner as S520 above. For detailed implementation details, refer to the description of S520 above and are not repeated here.

[0149] S630: The detection device determines the periodic signal to be calibrated based on the second reference angle signal and the one electrical angle periodic signal. This step is implemented in the same manner as S530 above. Detailed implementation details can be found in the above description of S530 and will not be repeated here.

[0150] S640: The detection device adjusts the periodic signal to be calibrated according to the stored electrical angle period compensation parameters and / or mechanical angle period compensation parameters.

[0151] In an embodiment of the present application, in actual applications, when implementing S640, the detection device can selectively use the saved electrical angle period compensation parameters and / or mechanical angle period compensation parameters to adjust the periodic signal to be calibrated according to the actual scenario.

[0152] For example, the detection device can determine whether the difference between the first reference angle signal and the second reference angle signal is within an allowable angular error range. For example, the allowable angular error can be half an electrical angle period, expressed as 1 / 2Tel, and the difference between the second reference angle signal M2 and the first reference angle signal M1 is expressed as Abs(M2-M1). To determine whether the difference between the second reference angle signal M2 and the first reference angle signal M1 is within the allowable error range, it is only necessary to determine whether the following expression (5) holds:

[0153] Abs(M2-M1)<1 / 2Tel (5);

[0154] If expression (5) holds true, then when executing S640, the detection device can adjust the periodic signal to be calibrated based on the stored electrical angle period compensation parameters and mechanical angle period compensation parameters, thereby simultaneously performing error compensation for both the electrical angle period and the error compensation across the mechanical angle period. Thus, the angle signal output by the first angle sensor can be calibrated across the mechanical angle period, thereby improving the accuracy and resolution of the first angle sensor.

[0155] If expression (5) is not true, then when executing S640, the detection device may adjust the periodic signal to be calibrated based on the stored electrical angle period compensation parameters, i.e., only compensate for the error of the electrical angle period and forgo the error compensation of the mechanical angle period. Thus, the angle signal indicated by the first angle sensor is calibrated within the allowable angular error range, ensuring the accuracy and resolution of the first angle sensor.

[0156] As shown in curves (1), (2), and (3) in FIG7 , by using the method of the embodiment of the present application, when the first angle sensor has an original tolerance (°) (see curve (1)), even if only the error calibration of the electrical angle period dimension (see curve (2)) is performed, the angle error across the mechanical angle period can be controlled within the allowable error range. When the difference between the first reference angle signal and the second reference angle signal exceeds the allowable angle error range, after simultaneously performing the error calibration of the electrical angle period and the error calibration of the mechanical angle period (see curve (3)), the overall error of the first angle sensor can be almost compensated.

[0157] Therefore, through the sensing system shown in Figure 4a or Figure 4b above, and the method shown in Figures 5 and 6, a reference angle signal is obtained through the physical characteristics of the sensing system or other angle signals to assist in identifying the different electrical angle period signals of the first angle sensor, thereby achieving the distinction between signals across the mechanical angle period, so as to calibrate the angle error across the mechanical angle period and further improve the accuracy and resolution of the multi-pole angle sensor.

[0158] In combination with the above method embodiments, an embodiment of the present application further provides a communication device, which can be used to execute the method executed by the detection device in the above method embodiments.

[0159] As shown in FIG8 , the communication device 800 may include: an acquisition unit 801 for acquiring a first reference angle signal of a first angle sensor, wherein the first angle sensor includes a rotating shaft and an n-pole target part arranged around the rotating shaft, and n is an integer greater than or equal to 1; acquiring m electrical angle period signals of the first angle sensor, wherein the electrical angle period represents the rotation period corresponding to a single pole of the target part, and m ≥ n; a determination unit 802 for determining an electrical angle period compensation parameter and a mechanical angle period compensation parameter based on the first reference angle signal and the m electrical angle period signals, wherein the electrical angle period compensation parameter is used to calibrate the angular error of the electrical angle period of the n-pole target part, and the mechanical angle period compensation parameter is used to calibrate the angular error of the mechanical angle period of the rotating shaft. For specific implementation details, please refer to the relevant description in conjunction with the calibration process above, which will not be repeated here.

[0160] In another implementation, the acquisition unit 801 is used to acquire a second reference angle signal of a first angle sensor, wherein the first angle sensor includes a rotating shaft and an n-pole target part arranged on the rotating shaft, where n is an integer greater than or equal to 1; obtain l electrical angle period signals of the first angle sensor, wherein the electrical angle period represents the rotation period corresponding to a single pole of the target part, l ≥ n; the determination unit 802 is used to determine the period signal to be calibrated based on the second reference angle signal and the l electrical angle period signals; the device 800 may further include: a calibration unit 803, which is used to adjust the period signal to be calibrated based on the saved electrical angle period compensation parameters and / or mechanical angle period compensation parameters. For specific implementation details, please refer to the relevant description in conjunction with the application process above and will not be repeated here.

[0161] It should be noted that the division of units in the embodiments of the present application is schematic and is merely a logical functional division. In actual implementation, other division methods may be used. The functional units in the embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0162] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) or a processor to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0163] In a simple embodiment, those skilled in the art will appreciate that the cloud management platform or electronic terminal device in the above embodiments may adopt the form shown in Figure 9. The communication device 900 shown in Figure 9 includes at least one processor 910, a memory 920, and optionally, a communication interface 930.

[0164] The memory 920 may be a volatile memory, such as a random access memory; the memory may also be a non-volatile memory, such as a read-only memory, a flash memory, a hard disk drive (HDD) or a solid-state drive (SSD); or the memory 920 may be any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but is not limited thereto. The memory 920 may be a combination of the above memories.

[0165] The embodiment of the present application does not limit the specific connection medium between the processor 910 and the memory 920.

[0166] The apparatus shown in FIG. 9 further includes a communication interface 930 . When the processor 910 communicates with other devices, data can be transmitted through the communication interface 930 .

[0167] When the detection device adopts the form shown in Figure 9, the processor 910 in Figure 9 can call the computer execution instructions stored in the memory 920, so that the device 900 can execute the method executed by the detection device in any of the above method embodiments.

[0168] An embodiment of the present application also relates to a chip system, which includes a processor for calling a computer program or computer instructions stored in a memory so that the processor executes the above method embodiment.

[0169] In a possible implementation, the processor is coupled to the memory through an interface.

[0170] In one possible implementation, the chip system further includes a memory in which computer programs or computer instructions are stored.

[0171] An embodiment of the present application also relates to a processor, which is used to call a computer program or computer instruction stored in a memory so that the processor executes the above method embodiment.

[0172] The processor mentioned in any of the above may be a general-purpose central processing unit, a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits for controlling the execution of the program of the method in the embodiment shown in FIG9 . The memory mentioned in any of the above may be a read-only memory (ROM) or other type of static storage device that can store static information and instructions, a random access memory (RAM), etc.

[0173] It should be understood that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0174] These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce a product including an instruction device that implements the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0175] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, so that the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0176] Obviously, those skilled in the art can make various changes and modifications to the embodiments of the present application without departing from the scope of the embodiments of the present application. Thus, if these modifications and variations of the embodiments of the present application fall within the scope of the claims of the present application and their equivalents, the present application also intends to include such modifications and variations.

Claims

1. A method for calibrating an angle sensor, characterized in that: The method comprises: Acquire a first reference angle signal of a first angle sensor, wherein the first angle sensor includes a rotation axis and an n-pole target disposed around the rotation axis, where n is an integer greater than or equal to 1; Acquire m electrical angle period signals from the first angle sensor, wherein the electrical angle period represents a rotation period corresponding to a single pole of the target part, and m≥n; Based on the first reference angle signal and the m electrical angle period signals, the electrical angle period compensation parameters and the mechanical angle period compensation parameters are determined, wherein the electrical angle period compensation parameters are used to calibrate the angle error of the electrical angle period of the n-pole target part, and the mechanical angle period compensation parameters are used to calibrate the angle error of the mechanical angle period of the rotating axis.

2. The method according to claim 1, characterized in that The rotating shaft is in driving connection with a plunger of a sensing system. When the rotating shaft rotates, the plunger slides back and forth in a blind hole accommodating the plunger. Acquiring a first reference angle signal of the first angle sensor includes: When the rotating shaft is driven to slide the plunger to a preset mechanical zero position, the first reference angle signal is acquired.

3. The method according to claim 2, characterized in that The preset mechanical zero position includes the bottom of the blind hole.

4. The method according to claim 1, wherein The obtaining of the first reference angle signal of the first angle sensor includes: acquiring a first angle signal from the first angle sensor and a second angle signal from a second angle sensor, wherein the second angle sensor is fixed on the rotating shaft; The first reference angle signal is determined according to the first angle signal and the second angle signal.

5. The method according to claim 4, characterized in that The second angle sensor includes a k-pole target, where k is an integer greater than or equal to 1, and k and n are prime numbers to each other.

6. The method according to claim 4 or 5, characterized in that Determining the first reference angle signal according to the first angle signal and the second angle signal includes: The first reference angle signal is determined by the following expression: (A1 / n-A2 / k)%(360 / n) Wherein, A1 represents the first angle signal, A2 represents the second angle signal, and % represents remainder.

7. The method according to any one of claims 1 to 6, characterized in that The determining of an electrical angle period compensation parameter and a mechanical angle period compensation parameter according to the first reference angle signal and the m electrical angle period signals includes: determining a mechanical angle period signal according to the first reference angle signal and the m electrical angle period signals, wherein the mechanical angle period represents a rotation period of the rotating shaft; Determining the electrical angle period compensation parameter according to the m electrical angle period signals; The mechanical angle period compensation parameter is determined according to the mechanical angle period signal.

8. The method according to claim 7, characterized in that Determining a mechanical angle period signal according to the first reference angle signal and the m electrical angle period signals includes: The mechanical angle period signal is determined by the following expression: ((M1±360*m) / n)%360 Wherein, M1 represents the first reference angle signal, and % represents the remainder.

9. The method according to any one of claims 1 to 8, characterized in that The electrical angle period compensation parameter and the mechanical angle period compensation parameter are determined by using any one of the following compensation methods: a harmonic compensation method or a table lookup-interpolation compensation method.

10. The method according to any one of claims 1 to 9, characterized in that The method further comprises: The electrical angle period compensation parameter and the mechanical angle period compensation parameter are saved.

11. The method according to claim 10, characterized in that The method further comprises: obtaining a second reference angle signal of the first angle sensor; Acquire l electrical angle periodic signals of the first angle sensor, where l≥n; Determining a periodic signal to be calibrated according to the second reference angle signal and the 1 electrical angle periodic signal; The detection device adjusts the periodic signal to be calibrated according to the stored electrical angle period compensation parameters and mechanical angle period compensation parameters.

12. The method according to claim 11, characterized in that The method further comprises: It is determined whether the difference between the first reference angle signal and the second reference angle signal is within an allowable angle error range.

13. A method for calibrating an angle sensor, characterized in that: The method comprises: Acquire a second reference angle signal of a first angle sensor, wherein the first angle sensor includes a rotating shaft and an n-pole target member disposed on the rotating shaft, where n is an integer greater than or equal to 1; Acquire l electrical angle period signals from the first angle sensor, wherein the electrical angle period represents a rotation period corresponding to a single pole of the target part, and l≥n; Determining a periodic signal to be calibrated according to the second reference angle signal and the 1 electrical angle periodic signal; The periodic signal to be calibrated is adjusted according to the stored electrical angle period compensation parameters and mechanical angle period compensation parameters.

14. A sensing system, characterized in that: The invention comprises a detection device and a first angle sensor, wherein the first angle sensor comprises a rotating shaft, a sensing element and an n-pole target arranged around the rotating shaft, where n is an integer greater than or equal to 1, and the sensing element is used to sense the rotation angle of the rotating shaft and the n-pole target. The sensing element is used to provide the detection device with a first reference angle signal of the first angle sensor and m electrical angle period signals, wherein the electrical angle period represents a rotation period corresponding to a single pole of the target part, and m≥n; The detection device is used to determine the electrical angle period compensation parameters and the mechanical angle period compensation parameters based on the first reference angle signal and the m electrical angle period signals. The electrical angle period compensation parameters are used to calibrate the angle error of the electrical angle period of the n-pole target part, and the mechanical angle period compensation parameters are used to calibrate the angle error of the mechanical angle period of the rotating axis.

15. The sensing system according to claim 14, wherein: The invention also includes a cylinder body and a plunger, wherein the cylinder body is provided with a blind hole, the plunger is slidably provided in the blind hole, and the plunger is transmission-connected to the rotating shaft. When the rotating shaft rotates, the plunger slides back and forth in the blind hole. The rotating shaft is also used for: Under the drive of the detection device, the plunger is controlled to slide to a preset mechanical zero position; The sensing element is used to provide the first reference angle signal to the detection device when the plunger slides to a preset mechanical zero position.

16. The sensing system according to claim 15, wherein: The preset mechanical zero position includes the bottom of the blind hole.

17. The sensing system according to claim 15 or 16, characterized in that: The plunger is threadably coupled to the rotating shaft.

18. The sensing system according to claim 14, wherein: The device further includes a second angle sensor, which is disposed on the rotating shaft or the transmission mechanism of the rotating shaft, and the sensing element provides the detection device with a first reference angle signal of the first angle sensor, including: A first angle signal from a first angle sensor and a second angle signal from a second angle sensor are provided to the detection device, and the first angle signal and the second angle signal are used to determine the first reference angle signal.

19. The sensing system according to claim 18, wherein: The second angle sensor includes a k-pole target, where k is an integer greater than or equal to 1, and k and n are prime numbers to each other.

20. The sensing system according to claim 18 or 19, characterized in that The first reference angle signal satisfies the following expression: (A1 / n-A2 / k)%(360 / n) Wherein, A1 represents the first angle signal, A2 represents the second angle signal, and % represents remainder.

21. A detection device, characterized in that: include: an acquisition unit configured to acquire a first reference angle signal from a first angle sensor, wherein the first angle sensor includes a rotating shaft and an n-pole target member disposed about the rotating shaft, where n is an integer greater than or equal to 1; and acquire m electrical angle period signals from the first angle sensor, wherein the electrical angle period represents a rotation period corresponding to a single pole of the target member, and m ≥ n; A determination unit is used to determine an electrical angle period compensation parameter and a mechanical angle period compensation parameter based on the first reference angle signal and the m electrical angle period signals, wherein the electrical angle period compensation parameter is used to calibrate the angle error of the electrical angle period of the n-pole target part, and the mechanical angle period compensation parameter is used to calibrate the angle error of the mechanical angle period of the rotating axis.

22. A detection device, characterized in that: include: an acquisition unit configured to acquire a second reference angle signal from a first angle sensor, the first angle sensor comprising a rotating shaft and an n-pole target member disposed on the rotating shaft, where n is an integer greater than or equal to 1; and acquire l electrical angle period signals from the first angle sensor, wherein the electrical angle period represents a rotation period corresponding to a single pole of the target member, and l ≥ n; a determining unit, configured to determine a periodic signal to be calibrated based on the second reference angle signal and the one electrical angle periodic signal, wherein the third period represents a rotation period of the rotating shaft; The calibration unit is used to adjust the periodic signal to be calibrated according to the stored electrical angle period compensation parameters and mechanical angle period compensation parameters.

23. A communication device, characterized in that: The method comprises one or more memories and one or more processors; wherein the memories store computer program codes, and the computer program codes include computer instructions; when the computer instructions are executed by the processor, the method as described in any one of claims 1 to 12 is executed, or the method as described in claim 13 is executed.

24. A computer program product, characterized in that The computer program product comprises: a computer program code, which enables the method according to any one of claims 1 to 12 to be performed, or the method according to claim 13 to be performed, when the computer program code is run.

25. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a computer, the method according to any one of claims 1 to 12 is executed, or the method according to claim 13 is executed.

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