Real-time correction system and method for input sinusoidal signal of magnetic encoder, and chip

Abstract

The invention relates to a real-time correction system, method and chip for an input sinusoidal signal of a magnetic encoder, and in the system, a signal bias value detection module is used for detecting the offset of an input signal on a direct current component as a voltage bias value to be output to a signal correction module; the signal peak-to-peak value detection module calculates the peak-to-peak value of the sinusoidal signal and outputs the peak-to-peak value to the signal correction module; the signal correction module is used for receiving the offset value from the signal offset value detection module and the peak-to-peak value from the signal peak-to-peak value detection module, removing the direct-current offset of the signal according to the information and adjusting the direct-current offset to a required data interval through normalization processing so as to complete signal correction; and the system control module is configured according to user requirements, controls the working mode of the signal correction system and outputs a signal correction result. The method is suitable for reducing angle errors caused by amplitude inconsistency of orthogonal signals output by the magnetic sensor and deviation of the signals on a direct-current component.

Description

Technical Field

[0001] The present invention belongs to the technical field of digital signal processing and the field of digital integrated circuit design, and in particular relates to a real-time correction system, method and chip for a magnetic encoder input sinusoidal signal. Background Art

[0002] As an important position and speed detection sensor, the magnetic encoder plays an important role in industrial automation, robotics, new energy vehicles and other fields. It receives two orthogonal sinusoidal signals output by the magnetic sensor and converts them into angle information. However, due to the influence of manufacturing process, installation deviation, environmental factors, device aging, etc., the output signal of the magnetic sensor may have problems such as voltage bias and amplitude fluctuation, resulting in errors in the output sinusoidal waveform, affecting the measurement accuracy. Summary of the invention

[0003] In order to solve the problem of inaccurate measurement caused by voltage bias and amplitude fluctuation of magnetic encoder, the present invention provides a real-time correction system, method and chip for the sinusoidal signal input by magnetic encoder, and realizes accurate correction of the sinusoidal signal output by magnetic sensor through signal bias value detection, signal peak-to-peak value detection and signal correction module, and realizes flexible triggering and correction mode selection through system control module. The present invention can effectively reduce the error caused by the amplitude inconsistency of the orthogonal signal output by the magnetic sensor and the offset of the signal on the DC component. At the same time, the hardware solution significantly improves the signal correction speed, which is suitable for new energy vehicles, industrial control and other fields that require high-precision and high-speed measurement technology. It not only improves the accuracy of measurement, but also enhances the reliability of long-term operation of magnetic sensors, and provides an innovative solution for high-precision angle measurement of magnetic encoders.

[0004] To achieve the above purpose, the technical solution adopted by the present invention is as follows:

[0005] In the first aspect, the present invention provides a real-time correction system for a sinusoidal signal input by a magnetic encoder, the system comprising a signal bias value detection module, a signal peak-to-peak value detection module, a signal correction module, and a system control module; wherein the signal bias value detection module is used to detect the bias voltage of two input sinusoidal signals; the signal peak-to-peak value detection module is used to detect and output the peak-to-peak value of the two sinusoidal signals; the signal correction module receives the bias voltage value and the peak-to-peak value information, performs debiasing and normalization processing on the two input sinusoidal signals, and outputs the corrected signal; the system control module comprises a module control interface and a system control state machine module, which controls the operation of the entire system;

[0006] The signal bias value detection module includes a counter module and a floating point operation module. The signal bias value detection module first receives the two sinusoidal signals output by the magnetic sensor. , And the status enable signal output by the system control module , when the status enable signal When valid, the system works in the signal automatic correction mode, and the signal offset value detection module , Calculate the iterative mean, where n represents the nth sampling point and the counting pointer The calculation process is as follows:

[0007] When the reset signal Or clear signal When valid, the signal bias value detection module enters Working status, Initialize mean value in working state At the same time, the counter module will count the pointer Set to 1, indicating that the first input data is received and the output is initialized to the mean value And initialize the valid signal To floating point subtraction module , output And count valid signal To floating point division module , Increment by 1 in each iteration cycle;

[0008] After initialization is completed or a round of mean iteration is completed, the signal bias value detection module enters the floating point subtraction calculation state ,calculate ,in for or , Calculate the mean value of the previous iteration or initialize the mean value . After the state calculation is completed, the calculation result is output to the floating point division operation module and output at the same time Status calculation completed signal ;

[0009] When the count valid signal and Status calculation completed signal When valid, the signal offset value detection module enters the floating point division calculation state The working state performs floating point division operation, where the dividend is ,in Calculates the mean value of the previous iteration period or initializes the mean value , the divisor is n, and the calculation result is output after the calculation is completed And the division operation valid signal ;

[0010] When receiving the division operation valid signal After that, the signal bias value detection module enters the floating point addition calculation state Working state, under which the mean value calculation result of the previous iteration cycle is and Add the calculations together to get the final result:

[0011] ;

[0012] In the case of dense sampling and a large enough amount of sampled data (the amount of data is at least greater than the number of sampling points in one signal cycle), the mean values ​​of the two signals converge to the sinusoidal signal voltage offset value , ;

[0013] The signal bias value detection module will finally calculate the result , And the corresponding effective signal , All are output to the signal peak-to-peak detection module and the signal correction module;

[0014] The signal peak-to-peak value detection module includes a mean square value calculation module and a fast square root calculation module. The signal peak-to-peak value detection module receives two sinusoidal signals output by the magnetic sensor. , , the sine signal voltage bias value output by the signal bias value detection module , , and the status enable signal output by the system control module , when the status enable signal When valid, the system works in the signal automatic correction mode, and the signal peak-to-peak detection module needs to , , , Calculate the signal amplitude, the calculation process is as follows:

[0015] When received , , , When the signal peak-to-peak value detection module first calculates the square value of each signal , , , The signal peak-to-peak value detection module and the mean square value calculation module are used to calculate the signal bias value. , The mean square value of , , the calculation process follows the above mean iteration process;

[0016] When the signal is valid, the fast square root operation module calculates the square root value according to the following formula , :

[0017] ,

[0018] ,

[0019] In the case of dense sampling and a large enough amount of sampled data (the amount of data is at least greater than the number of sampling points in one signal cycle), the square root value converges to the peak-to-peak value of the sine signal. , ;

[0020] The signal peak-to-peak value detection module outputs the peak-to-peak value of the sinusoidal signal , And the corresponding amplitude calculation effective signal , To the signal correction module;

[0021] The signal correction module receives the sinusoidal signal voltage bias value from the signal bias value detection module. , And the corresponding effective signal , , receiving the peak-to-peak value of the sinusoidal signal from the signal peak-to-peak detection module , And the corresponding peak-to-peak value calculation effective signal , , , The signal correction module also receives two sinusoidal signals output from the magnetic sensor. , ;

[0022] When the voltage bias value is valid, the signal , The signal correction module first calculates the first and second signals without bias respectively. , When the peak-to-peak value is calculated, the effective signal , When valid, the first and second signals without bias , , the amplitude of the sinusoidal signal , Convert to floating point format, and perform floating point operations according to the following calculation process to normalize the amplitude of the two sinusoidal signals to Range:

[0023] ;

[0024] ;

[0025] Then the calculation results are extended to the expected interval to obtain the corrected first and second signals , And output;

[0026] System control module, the system control module completes the functional control of the real-time magnetic encoder sinusoidal signal correction system. This module can control the correction system to work in two trigger forms: periodic triggering and continuous triggering; this module can control the correction system to work in three signal correction modes: signal automatic correction mode, signal manual correction mode, and signal mixed correction mode.

[0027] Optionally, when the user controls the real-time correction system of the magnetic encoder input sinusoidal signal to work in the signal manual correction mode, the system control module outputs a state enable signal to the signal bias value detection module and the signal peak-to-peak value detection module. Invalid (the invalid value is 0, indicating that the output is low level). At this time, the signal bias value detection module and the signal peak-to-peak value detection module are not enabled to work. The system works in MANUAL mode. The signal correction module inputs the voltage bias value through the external interface. and peak-to-peak Perform real-time signal correction.

[0028] When the user controls the real-time correction system of the magnetic encoder input sinusoidal signal to work in the signal automatic correction mode, the system control module outputs the state enable signal to the signal offset value detection module and the signal peak-to-peak value detection module. is valid (effective value is 1, indicating that the output is high level). At this time, the signal bias value detection module and the signal peak-to-peak value detection module are enabled to work, the system works in AUTO mode, and the signal correction module detects the voltage bias value output by the signal bias value detection module. , And the amplitude of the sinusoidal signal output by the signal peak-to-peak detection module , Carry out real-time signal correction;

[0029] Optionally, when the real-time correction system of the magnetic encoder input sinusoidal signal works in AUTO mode, it has two correction mechanism triggering modes, namely periodic triggering and continuous triggering. When the system works in periodic triggering mode, a periodic detection module is set upstream of the system. The periodic detection signal is detected at the beginning of each period of the sinusoidal signal. Valid, update the voltage bias value once every cycle , , peak-to-peak value of sinusoidal signal , , and output to the signal correction module for correction operation; when the system works in continuous trigger mode, the periodic detection module is not set and Signal invalid, voltage offset value , , peak-to-peak value of sinusoidal signal , It is updated in real time with the sampling signal input and output to the signal correction module for correction calculation;

[0030] Optionally, based on the signal automatic correction mode and the signal manual correction mode, the system can work in the signal mixed correction mode. The system first works in the AUTO mode to detect the signal voltage offset value in real time. , , peak-to-peak value of sinusoidal signal , , when the calculation results converge, it will automatically switch to MANUAL mode and save the above information as , The signal correction module is based on the pre-stored voltage bias value Calculate the first and second signals without bias , , and according to the peak-to-peak value of the pre-stored signal Its normalization to Finally, the calculation results are extended to the expected interval to obtain the corrected first and second signals. , And output;

[0031] Optionally, the mean value calculation process and the signal correction calculation process in the above process are both floating point operations to prevent data overflow and ensure the accuracy of the calculation results.

[0032] In a second aspect, the present invention provides a real-time correction method for a magnetic encoder input sinusoidal signal, comprising the following steps:

[0033] Two-way phase quadrature sinusoidal output signal of the magnetic sensor , Input to the signal bias value detection module, the signal bias value detection module calculates the voltage bias value , , and output to the signal correction module, n represents the number of voltage sampling points;

[0034] The signal peak-to-peak detection module receives two sinusoidal signals transmitted by the magnetic sensor. , And the voltage bias value output by the signal bias value detection module , , calculate the peak-to-peak value of the two sinusoidal signals , And output to the signal correction module;

[0035] The signal correction module receives the voltage bias value from the signal bias value detection module , And the amplitude of the two sinusoidal signals from the signal peak-to-peak detection module , And two sinusoidal signals input by magnetic sensors , , for two sinusoidal signals , Debiasing and normalization are performed to output the corrected signal.

[0036] The specific calculation steps of this method are as follows:

[0037] (1) When the magnetic sensor is working normally, it will generate and The two-way signal input back-end circuit , are the amplitudes of the two signals, that is, the peak-to-peak values ​​of the signals , , They are the voltage bias of the two signals respectively. In the ideal state , , when the magnetic sensor is not aligned with the magnet , , this method needs to be used to correct it;

[0038] (2) Calculation

[0039] , Similarly, the signal bias value detection module approaches the bias value by solving the mean value;

[0040] (3) Calculation

[0041] , Similarly, the signal bias value detection module approaches the peak-to-peak value by solving the square of the mean;

[0042] (4) Let R be the normalized target range, and calculate , Convert the two signals into , in the form of signal correction.

[0043] In the third aspect, the present invention provides a real-time correction chip for a magnetic encoder input sinusoidal signal, which can be designed by a fully customized ASIC chip or a semi-custom programmable device. The chip uses registers, lookup tables and floating-point calculation units to calculate and implement the above method in a hardware circuit, and can realize high-speed dedicated signal processing; the layout area of ​​the chip at the 180nm process node is 1.603mm 2 , clock frequency is 50MHz, it consumes 8 cycles for calculation, and a single signal processing time is 160ns. It has the characteristics of high speed, miniaturization and low latency.

[0044] The beneficial effects of the present invention are:

[0045] (1) The system of the present invention has low complexity and low hardware production and processing costs. It can be used as a micro digital processing chip combined with a micro sensor to form a miniaturized, low-cost chip system;

[0046] (2) The calculation method of the present invention has fast calculation speed and high correction accuracy. A single signal processing consumes only 8 clock cycles, and the correction effect of the peak-to-peak deviation exceeds 95.4%, and the correction effect of the offset value exceeds 95.3%. It can be flexibly applied to a variety of high-speed and high-precision correction scenarios.

[0047] (3) Traditional magnetic encoder systems usually rely on software algorithms when processing voltage bias and peak-to-peak fluctuations. These algorithms require a high amount of calculations and their execution speed is limited by processor performance, resulting in poor real-time performance and difficulty in coping with application scenarios that require high-speed response. The present invention implements signal correction through hardware circuits within the chip, overcoming the disadvantage of slow software operation speed. The signal bias value detection, signal peak-to-peak value detection and signal correction modules within the system are all implemented through high-speed hardware circuits, which can process signals in real time and quickly, greatly improving the real-time response capability of the system. It is particularly suitable for application scenarios that require high real-time performance, such as real-time control of new energy vehicles and precise position monitoring in industrial automation. The present invention provides a flexible control structure through a system control module, supporting multiple triggering modes such as periodic triggering and continuous triggering. The periodic triggering mode is suitable for application scenarios with stable signal periods, and the bias value and amplitude can be updated regularly; the continuous triggering mode is suitable for application scenarios with frequent signal changes, and the bias value and amplitude can be updated in real time, improving the accuracy and real-time performance of the correction. At the same time, it can have multiple working modes such as signal automatic correction mode, signal manual correction mode, and signal mixed correction mode. Users can flexibly select and configure the system's trigger and correction modes according to the needs of specific application scenarios, improving the system's adaptability and flexibility. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 Schematic diagram of a real-time correction system for a sinusoidal signal input by a magnetic encoder in an embodiment of the present invention;

[0049] Figure 2 The present invention provides a method for implementing a real-time correction method of a sinusoidal signal input by a magnetic encoder in an embodiment of the present invention;

[0050] Figure 3 This is a diagram of the magnetic encoder chip architecture of a real-time correction method for a magnetic encoder input sinusoidal signal according to an embodiment of the present invention. DETAILED DESCRIPTION

[0051] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described 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, not all of the embodiments.

[0052] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0053] like Figure 1 As shown, a real-time correction system for a magnetic encoder input sinusoidal signal provided by an embodiment of the present invention includes: the system includes a signal bias value detection module, a signal peak-to-peak value detection module, a signal correction module, and a system control module;

[0054] The signal bias value detection module is used to detect the bias voltage of the two input sinusoidal signals. First, the output signal of the magnetic sensor is received. , And the status enable signal output by the system control module , status enable signal When valid, the system works in the signal automatic correction mode, and the signal offset value detection module , Calculate the offset value of two signals , And the corresponding effective signal , And output to the signal peak-to-peak detection module and the signal correction module;

[0055] The signal peak-to-peak value detection module is used to detect and output the peak-to-peak values ​​of two sinusoidal signals; the signal peak-to-peak value detection module receives the two sinusoidal signals output by the magnetic sensor , , the sine signal voltage bias value output by the signal bias value detection module , , and the status enable signal output by the system control module , when the status enable signal When valid, the system works in the signal automatic correction mode, and the signal peak-to-peak detection module , , , Calculate the signal amplitude , And the corresponding amplitude calculation effective signal , Output to the signal correction module;

[0056] The signal correction module receives the voltage bias value from the signal bias value detection module. , And the corresponding effective signal , ; Receive the peak-to-peak value from the signal peak-to-peak detection module , And the corresponding peak-to-peak value calculation effective signal , The signal correction module also receives the output signal from the magnetic sensor , When the voltage bias value is valid, the signal , Effective, the signal correction module first calculates the unbiased signal , When the peak-to-peak signal , When valid, the unbiased signal , , signal amplitude , Convert to floating point format for floating point calculation and normalize the signal amplitude to interval, and finally expand the calculation result to the expected interval to obtain the corrected signal , And output;

[0057] The system control module includes the module control interface and the system control state machine module, which controls the operation of the entire system. This module can control the correction system to work in two trigger forms: periodic triggering and continuous triggering; this module can control the correction system to work in three signal correction modes: signal automatic correction mode, signal manual correction mode, and signal mixed correction mode. When the user controls the real-time magnetic encoder sinusoidal signal correction system to work in the signal manual correction mode, the state enable signal Invalid (the invalid value is 0, indicating that the output is low level), at this time, the signal bias value detection module and the signal peak-to-peak value detection module are not enabled to work, the system works in MANUAL mode, and the signal correction module is based on the voltage bias value input through the external interface and peak-to-peak When the user controls the real-time magnetic encoder sinusoidal signal correction system to work in the signal automatic correction mode, the state enable signal is valid (effective value is 1, indicating that the output is high level). At this time, the signal bias value detection module and the signal peak-to-peak value detection module are enabled to work, the system works in AUTO mode, and the signal correction module detects the bias value output by the signal bias value detection module. , , the amplitude of the signal peak-to-peak detection module output , Perform real-time signal correction.

[0058] In some embodiments, the real-time magnetic encoder sinusoidal signal correction system can optionally have periodic triggering and continuous triggering modes when it works in AUTO mode. When the system works in periodic triggering mode, a periodic detection module is set upstream of the system. At the beginning of each period of the sinusoidal signal, the periodic detection signal Valid, the offset value is updated once every cycle , , Amplitude , The effective value is output to the signal correction module for correction operation; when the system works in continuous trigger mode, the periodic detection module is not set and Signal invalid, offset value , , Amplitude , The effective value is updated in real time with the sampling signal input and output to the signal correction module for correction calculation;

[0059] In some embodiments, the system can optionally work in a signal mixing correction mode. The system first works in the AUTO mode to detect the signal offset value in real time. , , Amplitude , , when the calculation results converge, it will automatically switch to MANUAL mode and save the above information as , The signal correction module is based on the voltage bias value Calculate the unbiased signal , , and according to the signal amplitude Its normalization to Finally, the calculated result is extended to the expected interval to obtain the corrected signal , And output;

[0060] like Figure 2 As shown, the real-time correction method of the magnetic encoder input sinusoidal signal in the embodiment of the present invention is implemented as follows:

[0061] (1) When the magnetic sensor is working normally, it will generate and The two-way signal input back-end circuit , are the amplitudes of the two signals, that is, the peak-to-peak values ​​of the signals , , They are the voltage bias of the two signals respectively. In the ideal state , , when the magnetic sensor is not aligned with the magnet , , this method needs to be used to correct it;

[0062] (2) Calculation

[0063] , Similarly, the signal bias value detection module approaches the bias value by solving the mean value;

[0064] (3) Calculation

[0065] , Similarly, the signal bias value detection module approaches the peak-to-peak value by solving the square of the mean;

[0066] (4) Let R be the normalized target range, and calculate , Convert the two signals into , In the form of, thus achieving signal correction;

[0067] like Figure 3 As shown, the magnetic encoder chip architecture based on the real-time correction method of the magnetic encoder input sinusoidal signal includes: a signal input interface 1, an analog front end 2, an analog-to-digital converter ADC3, a signal processor 4, an output interface 5, a communication interface 6, a power management unit 7, and a control unit 8;

[0068] The signal input interface 1 receives the original sine and cosine signals from the magnetic sensor, and further, it may include an analog buffer for driving the signal to the analog front end without losing signal quality;

[0069] The analog front end 2 is used to remove high-frequency noise and low-frequency drift, improve signal quality, and the original signal is filtered and conditioned before being transmitted to the ADC for digitization;

[0070] The analog-to-digital converter ADC3 converts the analog signal into a digital signal for digital signal processing;

[0071] The signal processor 4 performs digital filtering to further remove noise and interference, and performs real-time correction of DC offset, amplitude inequality and phase offset of the sinusoidal signal;

[0072] The output interface 5 converts the settled angle information into an analog signal or directly outputs it in digital form;

[0073] The communication interface 6 provides communication capabilities with external devices (such as microcontrollers, computers, etc.), and may include standard communication protocols such as SPI and I2C;

[0074] The power management unit 7 provides a stable operating voltage for each part of the chip;

[0075] The control unit 8 is used for initial calibration and real-time monitoring of the chip. Optionally, it includes a feedback and adjustment module, which adjusts the output signal of the magnetic encoder in real time according to the result of the correction algorithm to ensure the orthogonality and accuracy of the output signal;

[0076] Optionally, the chip should have an automatic calibration function, which can automatically calibrate during system startup or operation to eliminate errors caused by factors such as environmental changes or equipment aging.

[0077] The specific embodiments described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A real-time correction system for a magnetic encoder input sinusoidal signal, characterized in that: The system includes a signal bias value detection module, a signal peak-to-peak value detection module, a signal correction module, and a system control module; The signal bias value detection module is used to detect two sinusoidal signals transmitted by the magnetic sensor. , Voltage bias value , , and output to the signal correction module, n represents the nth sampling point; The signal peak-to-peak value detection module is used to receive two sinusoidal signals transmitted by the magnetic sensor. , And the voltage bias value output by the signal bias value detection module , , calculate the peak-to-peak value of the two sinusoidal signals , And output to the signal correction module; The signal correction module receives the voltage bias value from the signal bias value detection module , And the amplitude of the two sinusoidal signals from the signal peak-to-peak detection module , And two sinusoidal signals input by magnetic sensors , , for two sinusoidal signals , Perform debiasing and normalization processing and output the corrected signal; The system control module is configured according to user needs, controls the working mode of the correction system and outputs the signal correction results. The working modes include: signal automatic correction mode, signal manual correction mode, and signal mixed correction mode.

2. A real-time correction system for a magnetic encoder input sinusoidal signal according to claim 1, characterized in that: The signal bias value detection module includes a mean value detection module and a bias value detection module, wherein the mean value detection module uses an iterative method to obtain the mean value, and the iterative process is as follows: Among them, n represents the nth sampling corresponding to the nth sampling point, is the result of the nth iteration mean calculation to be calculated, is the known result of the previous iteration mean calculation, is the data sampled for the nth time; when all calculation cycles are completed, the voltage mean is used as the voltage bias value , The signals are output to the peak-to-peak value detection module and the signal correction module respectively.

3. A real-time correction system for a magnetic encoder input sinusoidal signal according to claim 1, characterized in that: The signal peak-to-peak value detection module includes a mean square value detection module, a fast square root operation module and a peak-to-peak value detection module, wherein the mean square value detection module reuses the mean value detection module, and the mean square value detection module follows the following iterative process: ， in, is the calculation result of the nth iteration mean square value to be calculated, is the known result of the previous iteration mean calculation, is the square of the data sampled at the nth time.

4. A real-time correction system for a magnetic encoder input sinusoidal signal according to claim 3, characterized in that: The calculation of the fast square root operation module follows the following formula: ， ， In the formula, E represents the averaging operation, and the square root value converges to the amplitude of the sine signal , .

5. The real-time correction system for a magnetic encoder input sinusoidal signal according to claim 1, characterized in that: The signal correction module uses two sinusoidal signals in each calculation cycle. , Subtract the voltage offset value , Then we get the unbiased signal , , according to the peak-to-peak value , Normalize the unbiased signal to After that, the calculated result is extended to the expected interval to obtain the corrected signal , And output.

6. A real-time correction system for a magnetic encoder input sinusoidal signal according to claim 1, characterized in that: The system control module controls the correction system to work in two triggering modes: periodic triggering and continuous triggering.

7. A real-time correction method for a magnetic encoder input sinusoidal signal, characterized in that: include: Two-way phase quadrature sinusoidal output signal of the magnetic sensor , Input to the signal bias value detection module, the signal bias value detection module calculates the voltage bias value , , and output to the signal correction module, n represents the number of voltage sampling points; The signal peak-to-peak detection module receives two sinusoidal signals transmitted by the magnetic sensor. , And the voltage bias value output by the signal bias value detection module , , calculate the peak-to-peak value of the two sinusoidal signals , And output to the signal correction module; The signal correction module receives the voltage bias value from the signal bias value detection module , And the amplitude of the two sinusoidal signals from the signal peak-to-peak detection module , And two sinusoidal signals input by magnetic sensors , , for two sinusoidal signals , Debiasing and normalization are performed to output the corrected signal.

8. A special computing chip, characterized in that: The chip is implemented by a fully customized ASIC or a semi-customized programmable device, and the program stored in the chip can implement the real-time correction method of the magnetic encoder input sinusoidal signal described in claim 7.

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