Torque angle measuring method and torque angle sensor

Abstract

The invention provides a torque angle measurement method and a torque angle sensor, and the method comprises the steps: setting the number of windings of a receiving structure in the sensor, analyzing a higher-precision induced voltage signal related to a position according to the induced voltage signals in a specific number of windings, and further improving the precision of the sensor; in the sensor provided by the embodiment of the invention, the number of the blades of the rotor is selected by adopting a specific method, so that the two angle periods meet specific conditions, and the torque of the torsion bar is accurately measured through a specific torque calculation method under the conditions. Besides, according to the sensor provided by the embodiment of the invention, the relative angle position of the rotor is converted into an absolute angle position in a 360-degree range through a vernier algorithm in combination with selection of the number of blades of the rotor in the sensor, so that the sensor can output the unique position angle of the rotor in 360 degrees, the functions of the sensor are enriched, and the reliability of the sensor is improved. Data is provided for inputs of other devices.

Description

Technical Field

[0001] The present application relates to the field of sensors, and in particular to a torque angle measurement method and a torque angle sensor. Background Art

[0002] Torque sensor, also known as torque sensor, torque sensor, torque sensor, torque meter, is used to detect the perception of torsional torque on various rotating or non-rotating mechanical parts. Torque sensors are used in systems in various fields to measure torque and power to ensure the performance and safety of these complex systems in operation. For example, in the field of transportation, whether it is railway locomotives, automobiles, tractors, or aviation and ships, many torque angle sensors are used, such as: engine torque monitoring, angle detection in steering systems, torque measurement in transmission systems, and angle control in suspension systems.

[0003] In the related art, the existing methods for selecting the angle period of the rotor often use a combination of two periods less than 360°, and one angle period is an integer multiple of the other angle period to obtain the rotation angles of the two ends of the torsion bar respectively, and perform a simple angle difference calculation. The above method limits the two angle periods to be set to integer multiples, which limits the freedom of selecting the angle period. When the absolute angle position of the rotor is determined by the induced voltage, the sensitivity of the induced voltage to the change of the rotor position will decrease at certain positions, and the change of the induced voltage caused by the rotation of the rotor is extremely small. In addition, since the resolution of the sampling circuit is limited, the sampling accuracy of the induced voltage will drop rapidly when the rotor moves near these positions, which will eventually cause errors in the induced position. Summary of the invention

[0004] The present application provides a torque angle measurement method and a torque angle sensor to solve the technical problem of low torque measurement accuracy in the prior art.

[0005] In a first aspect, the present application provides a torque angle measurement method, characterized in that the method is applied to a torque angle sensor, the torque angle sensor includes at least two rotors, at least two receiving structures and a printed circuit board, any of the at least two receiving structures includes N windings, N is an odd number and N is not less than 3, the phase difference of the N windings is 2π / N, and the number of blades of at least two rotors meets the following conditions, the following conditions include that the least common multiple of the angular periods of at least two rotors is 360° and the greatest common divisor of the angular periods of at least two rotors is greater than the maximum torsion range of the angle difference at both ends of the torsion bar to be measured; the method includes:

[0006] Determine the relative angular position of the rotor corresponding to any receiving structure according to the magnitude of the induced voltage of each winding in the N windings of any receiving structure;

[0007] calculating a relative angular position difference of at least two rotors;

[0008] The torque of the torsion bar to be measured is determined according to the relative angular position difference of at least two rotors.

[0009] In one embodiment, determining the torque of the torsion bar to be measured according to the relative angular position difference of at least two rotors includes:

[0010] determining the actual angle difference between the two ends of the torsion bar to be measured according to the zero torque angle difference sequence and the relative angle position difference, wherein the zero torque angle difference sequence is determined based on the number of rotor blades of at least two rotors;

[0011] According to the actual angle difference, the torque of the torsion bar to be tested is determined.

[0012] In one embodiment, the at least two rotors include a first rotor and a second rotor; and the process of determining the zero torque angle difference sequence includes:

[0013] determining a first angular period of the first rotor based on the number of rotor blades of the first rotor, and determining a second angular period of the second rotor based on the number of rotor blades of the second rotor;

[0014] A zero torque angle difference sequence is determined according to the first angle period and the second angle period.

[0015] In one embodiment, determining the actual angle difference between the two ends of the torsion bar to be tested according to the zero torque angle difference sequence and the relative angle position difference includes:

[0016] Calculate the difference sequence between the relative angular position difference and the zero torque angular difference sequence;

[0017] The zero torque angle difference corresponding to the difference with the smallest absolute value in the difference sequence in the zero torque angle difference sequence is used as the target zero torque angle difference;

[0018] The actual angle difference between the two ends of the torsion bar to be tested is determined based on the relative angle position difference and the target zero torque angle difference.

[0019] In one embodiment, the method further comprises:

[0020] Determining a torque measurement range of the torque angle sensor according to the first angle period and the second angle period;

[0021] Determine the safe measurement range based on the torque measurement range;

[0022] When the difference with the smallest absolute value in the difference sequence exceeds the safe measurement range, the torque calculation is stopped and safety measures and safety warnings are triggered.

[0023] In one embodiment, the method further comprises:

[0024] Based on the relative angular position of each rotor, the absolute angular position of each rotor is determined.

[0025] In a second aspect, an embodiment of the present application further provides a torque angle sensor, the sensor comprising at least two rotors, at least two receiving structures, a printed circuit board, and a signal processing chip;

[0026] The printed circuit board is fixed to the middle of the torsion bar to be tested, at least two rotors are arranged on both sides of the printed circuit board, at least two rotors are fixed to both ends of the torsion bar to be tested, and at least two receiving structures and a signal processing chip are arranged on the printed circuit board;

[0027] The number of blades of at least two rotors meets the following conditions, including that the least common multiple of the angular periods of at least two rotors is 360° and the greatest common divisor of the angular periods of at least two rotors is greater than the maximum torsion range of the angular difference at both ends of the torsion bar to be measured, and any receiving structure of at least two receiving structures includes N windings, N is an odd number and N is not less than 3, and the phase difference of the N windings is 2π / N;

[0028] The signal processing chip is used to obtain the induced voltage signals in at least two receiving structures, determine the torque of the torsion bar to be measured according to the induced voltage signals, and is specifically used to execute any of the above method steps.

[0029] In one embodiment, the sensor further comprises an excitation coil and an isolation device;

[0030] The printed circuit board includes a first outer layer, a middle layer and a second outer layer on its vertical plane. The excitation coil and the isolation device are arranged on the middle layer. The isolation device is located radially inward of the excitation coil. The excitation coil and the isolation device form an annular area. At least two receiving structures are arranged in the area parallel to the annular area on the first outer layer and the second outer layer.

[0031] In one embodiment, the isolation device includes a plurality of rectangular copper sheets, and the plurality of rectangular copper sheets are distributed in an annular shape with equal spacing in a radially inner position of the excitation coil.

[0032] In a third aspect, the present application further provides a computer device, the computer comprising: a processor, and a memory communicatively connected to the processor;

[0033] Memory stores computer-executable instructions;

[0034] The above method is implemented when the processor executes the computer-executable instructions stored in the memory.

[0035] In a fourth aspect, the present application also provides a computer-readable storage medium, in which computer-executable instructions are stored, and the computer-executable instructions are used to implement the above method when executed by a processor.

[0036] In a fifth aspect, the present application also provides a computer program product, including computer execution instructions, which implement the above method when executed by a processor.

[0037] The present application provides a torque angle measurement method and a torque angle sensor, the method is applied to the torque angle sensor, the torque angle sensor includes at least two rotors, at least two receiving structures and a printed circuit board, any of the at least two receiving structures includes N windings, N is an odd number and N is not less than 3, the phase difference of the N windings is 2π / N, and the number of blades of the at least two rotors meets the following conditions, the following conditions include that the least common multiple of the angular periods of the at least two rotors is 360° and the greatest common divisor of the angular periods of the at least two rotors is greater than the maximum torsion range of the angular difference between the two ends of the torsion bar to be measured; the method includes: determining the relative angular position of the rotor corresponding to any receiving structure according to the induced voltage signals of the N windings of any receiving structure; determining the absolute angular position of the rotor corresponding to any receiving structure according to the magnitude and relative angular position of the induced voltage of each winding in the N windings of any receiving structure; calculating the relative angular position difference of the at least two rotors; and determining the torque of the torsion bar to be measured according to the relative angular position difference of the at least two rotors. In the sensor, by setting the number of windings of the receiving structure, the induced voltage signal in the specific number of windings is analyzed to obtain a more accurate position-related induced voltage signal, thereby further improving the accuracy of the sensor; and in the sensor provided in the embodiment of the present application, a specific method is used to select the number of blades of the rotor, so that the two angle cycles meet specific conditions, under which the torque of the torsion bar is accurately measured by a specific torque calculation method. In addition, the sensor provided in the embodiment of the present application combines the selection of the number of blades of the rotor in the sensor, and converts the relative angular position of the rotor into an absolute angular position within a range of 360° through a vernier algorithm, so that the sensor can output the unique position angle of the rotor within 360°, enrich the function of the sensor, and provide data for the input of other devices. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0039] Figure 1 A schematic diagram of the structure of a torque angle sensor provided in one embodiment Figure 1 ;

[0040] Figure 2A schematic diagram of the structure of a torque angle sensor provided in one embodiment Figure 1 ;

[0041] Figure 3 A schematic diagram of a torque angle measurement method provided in one embodiment Figure 1 ;

[0042] Figure 4 An induced voltage envelope waveform diagram provided in one embodiment;

[0043] Figure 5 A schematic diagram of a 72° angle signal and a 120° angle signal provided in one embodiment;

[0044] Figure 6 A schematic diagram of the angle difference between a 72° angle signal and a 120° angle signal provided in one embodiment;

[0045] Figure 7 A schematic diagram of a torque angle measurement method provided in one embodiment Figure 2 ;

[0046] Figure 8 A schematic diagram of a torque angle measurement method provided in one embodiment Figure 3 ;

[0047] Fig. 9 A schematic side view of a printed circuit board provided in one embodiment;

[0048] Fig.10 The figure is a diagram of the internal structure of a computer device provided in one embodiment.

[0049] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0050] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0051] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0052] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0053] The present application provides a torque angle measurement method and a torque angle sensor. The method is applied to the torque angle sensor. The torque angle sensor is used to measure the torque of a torsion bar (1) to be measured. Figure 1 and Figure 2 As shown, the torque angle sensor comprises at least two rotors (2) and (3), at least two receiving structures (4) and (5) and a printed circuit board (6), any one of the at least two receiving structures (4) and (5) comprises N windings, N is an odd number and N is not less than 3, the phase difference of the N windings is 2π / N, and the number of blades of the at least two rotors (2) and (3) satisfies the following conditions, the following conditions include that the least common multiple of the angular periods of the at least two rotors is 360° and the greatest common divisor of the angular periods of the at least two rotors is greater than the maximum torsion range of the angular difference at both ends of the torsion bar to be measured; as Figure 3 As shown, the method includes:

[0054] Step 302, determining the relative angular position of the rotor corresponding to any receiving structure according to the magnitude of the induced voltage of each winding in the N windings of any receiving structure;

[0055] Step 304, calculating the relative angular position difference of at least two rotors;

[0056] Step 306: Determine the torque of the torsion bar to be measured according to the relative angular position difference of at least two rotors.

[0057] The torque angle sensor generally has a stator and a rotor that can rotate relative to the stator. In the embodiment of the present application, the stator is a printed circuit board, an excitation coil is arranged on the printed circuit board, a periodic AC voltage is input into the excitation coil, a magnetic field decoupled from the excitation coil is generated in the excitation coil, the rotor has an induction target, the induction target generates eddy currents, the eddy currents are generated in the secondary magnetic field decoupled from the induction target, the secondary magnetic field is coupled to the receiving structure on the printed circuit board, and the receiving structure generates an induced voltage signal representing the angle between the rotor and the stator (printed circuit board).

[0058] The relative angular position is the relative position of the rotor within the angular period, and the absolute angular position is the absolute position of the rotor when it rotates within a range of 360°. Since the change of the induced voltage signal in the receiving structure is related to the rotation of the rotor, the angular position of the rotor can be determined by the induced voltage signal in the receiving structure. For example, the winding in the receiving structure is a cosine winding, and the generated induced voltage signal will also show the change of the cosine function. The voltage value at this moment is calculated by the arccosine α=arccos(U), where U is the induced voltage at the current position and α is the relative angular position of the rotor.

[0059] The receiving structure in the embodiment of the present application includes N windings, N is an odd number and N is not less than 3, and the phase difference of the N windings is 2π / N. The induced voltage signals in the odd windings are compared to determine the interval of the relative angle position at the current moment, and then the relative angle position is determined by the voltage value. Among them, N is at least 3, and preferably 5. The more the number of windings, the higher the accuracy of the determined relative angle position. Exemplarily, each winding has a cosine shape (one period is defined as 2π), and the phase difference between each phase winding is 2π / N, where N is the number of phases of the winding. For each single-phase winding, an additional single-phase winding with a phase difference of π is designed and connected in series with the single-phase winding. The windings in the receiving structure are arranged in a ring shape around the torsion bar. Under the influence of the eddy current of the corresponding rotor blade, the receiving structure will produce the following Figure 4 The induced voltage signal is shown.

[0060] Figure 4 The waveform image above expresses the induced voltage envelope waveforms generated by the three windings in one cycle when the rotor rotates, which are 301, 302, and 303 respectively, wherein 3301, 3302, and 3303 represent the waveforms of the induced voltage envelopes of the three groups of induced voltages closest to the 0 potential during the rotation of the rotor (the bold curve segments in the figure).

[0061] Similarly, Figure 4The waveform image below shows the induced voltage envelope waveforms generated by the five windings in one cycle when the rotor rotates, which are 501, 502, 503, 504, and 505 respectively, where 5501, 5502, 5503, 5504, and 5505 represent the waveforms of the induced voltage envelopes of the five groups of induced voltages closest to 0 potential during the rotation of the rotor (the bold curve segments in the figure).

[0062] At a certain moment, that is, when the rotor is at a certain position, the magnitude of the induced voltage envelope generated by the coils of each phase of the receiving structure corresponding to the rotor is compared, and the voltage waveform closest to the 0 potential is selected (such as Figure 4 3301, 3302, 3303 or 5501, 5502, 5503, 5504, 5505), according to the arc cosine calculation α = arccos (U), multiple relative angular positions can be determined. In addition, since the magnitude relationship between the induced voltages of each phase of the receiving structure has a unique corresponding value with the rotor position in the entire angular period within an angular period, it is possible to know which of the multiple relative angular positions currently calculated by the arc cosine function is the actual relative angular position by comparing the magnitudes of the induced voltages of each phase.

[0063] In the method provided in the above embodiment, by comparing multiple voltages with each other, the best linear region of the induced voltage, i.e., 3301, 3302, 3303 or 5501, 5502, 5503, 5504, 5505, can be accurately located. The linear correlation between the induced voltage change in these regions and the change in position is very high, and it can be seen from the figure that it is almost a straight line. Therefore, the induced voltage generated when the sinusoidal induced voltage is at a position near α=π / 2, α=3π / 2 or the cosine induced voltage is at a position near α=0, α=π, α=2π will not be used. The sensitivity of the voltage at these positions to the change of the rotor position is extremely low. Since the resolution of the sampling circuit is limited, the sampling accuracy of the induced voltage will drop rapidly when the rotor moves near these positions, eventually causing an error in the induced position. In this method, a sampling circuit with limited sampling resolution is used to analyze the voltage in the linear regions of 3301, 3302, 3303 or 5501, 5502, 5503, 5504, 5505, so that a stable voltage sampling sensitivity can be achieved in each region, thereby improving the accuracy of the sensing rotation position as a whole.

[0064] In this embodiment, the relative angular position of each rotor is determined by the induced voltage signal in the receiving structure corresponding to each rotor, and the relative angular position difference of at least two rotors is obtained. Since at least two rotors have an angular period, when the angles of at least two rotors are subtracted, it can be found that the angular difference at this time is a plurality of interrupted angle values, which has no direct physical meaning, and a specific method is needed to perform angle repair to determine the actual angular difference between the two ends of the torsion bar to be tested.

[0065] In order to better understand the presentation of the above angle difference, the angle signal of the rotor is first explained. The angle signal of the rotor is a signal representing the change in the relative angle position detected when the rotor rotates. Subtracting the angle signals of the two rotors can obtain the angle difference change of the two rotors. For example, the angle period of one rotor is 72° and the angle period of the other rotor is 120°. Figure 5 In the angle signal diagram shown in the figure, the horizontal axis represents the rotation angle: 0°-360°, and the vertical axis represents the corresponding rotor angle signal value. Figure 5 Can get Figure 6 Schematic diagram of the angle difference shown.

[0066] The number of rotor blades directly determines the angular period of the rotor and also affects the period of the induced voltage signal generated in the corresponding receiving structure. The selection of the number of rotor blades indirectly affects the determination of the rotor angular position. Therefore, the number of rotor blades of at least two rotors satisfies the following conditions, including that the least common multiple of the angular period of at least two rotors is 360° and the greatest common divisor of the angular period of at least two rotors is greater than the maximum torsion range of the angular difference at both ends of the torsion bar.

[0067] The maximum torsion range of the angle difference at both ends of the torsion bar is defined as follows: Since the torsion bar can be twisted clockwise to generate positive torque, and can also be twisted counterclockwise to generate negative torque, the range of the angle difference at both ends of the torsion bar that needs to be measured has positive and negative directions. For example, the angle difference range that a torsion bar can twist is +6° to -6°. The maximum torsion range defined here refers to the angle difference between the maximum positive torsion and the maximum reverse torsion, that is, 6°-(-6)°=12°.

[0068] The actual angle difference between the two rotors is determined by using a vernier algorithm through different angle periods. For example, the number of blades M of the rotor (2) is selected to be 5, the angle period is 72°, the number of blades L of the rotor (3) is selected to be 3, the angle period is 120°, and the least common multiple of the two angle periods is 360°. Since the two angle periods have a unique corresponding value within the common period of 360°, the actual angle difference between the two rotors is determined by the vernier algorithm, which represents the actual angle difference between the two ends of the torsion bar to be measured. The torque of the torsion bar to be measured can be obtained by multiplying the actual angle difference between the two ends of the torsion bar to be measured by the torsion bar stiffness coefficient.

[0069] It should be noted that when the above-mentioned method of common multiples and common divisors is used to select the angle period, the value of the determined angle period is usually large, such as 72°, 120°, while the torsion angle of the torsion bar is often relatively small, such as a maximum of ±6°, and the accuracy requirement is very high. Therefore, in order to further optimize the accuracy level of large angle periods, it is necessary to combine the above-mentioned method of limiting the number of windings to generate a higher accuracy angle signal, which is used to further improve the measurement accuracy of torque.

[0070] The torque angle measurement method and torque angle sensor provided in the above embodiment are applied to the torque angle sensor, wherein the torque angle sensor includes at least two rotors, at least two receiving structures and a printed circuit board, wherein any one of the at least two receiving structures includes N windings, N is an odd number and N is not less than 3, the phase difference of the N windings is 2π / N, and the number of blades of the at least two rotors satisfies the following conditions, wherein the following conditions include that the least common multiple of the angular periods of the at least two rotors is 360° and the greatest common divisor of the angular periods of the at least two rotors is greater than the maximum torsion range of the angular difference at both ends of the torsion bar to be measured; the method includes: determining the relative angular position of the rotor corresponding to any one of the receiving structures according to the magnitude of the induced voltage of each winding in the N windings of any one of the receiving structures; calculating the relative angular position difference of the at least two rotors; and determining the torque of the torsion bar to be measured according to the relative angular position difference of the at least two rotors. In the sensor, by setting the number of windings of the receiving structure, the induced voltage signal in the specific number of windings is analyzed to obtain a more accurate position-related induced voltage signal, thereby further improving the accuracy of the sensor; and in the sensor provided in the embodiment of the present application, a specific method is used to select the number of rotor blades, so that the two angle cycles meet specific conditions, under which the torque of the torsion bar is accurately measured by a specific torque calculation method. In addition, the sensor provided in the embodiment of the present application combines the selection of the number of rotor blades in the sensor, and converts the relative angular position of the rotor into an absolute angular position within a range of 360° through a vernier algorithm, so that the sensor can output the unique position angle of the rotor in 360°, enriching the function of the sensor and providing data for the input of other devices.

[0071] In one embodiment, if Figure 7 As shown, determining the torque of the torsion bar to be measured according to the relative angular position difference of at least two rotors includes:

[0072] Step 702, determining the actual angle difference between the two ends of the torsion bar to be tested according to the zero torque angle difference sequence and the relative angle position difference, wherein the zero torque angle difference sequence is determined based on the number of rotor blades of at least two rotors;

[0073] Step 704: determine the torque of the torsion bar to be measured according to the actual angle difference.

[0074] The zero torque angle difference sequence refers to the difference sequence between the angle signals of at least two rotors when the torsion bar has no torque. Exemplarily, the angle period of the first rotor is 72°, and the angle period of the second rotor is 120°. The angle difference obtained by subtracting the angle signal of 120° from the angle signal of 72° at each position of 360° constitutes the zero torque angle difference sequence. By comparing the relative angular position difference of at least two rotors with the zero torque angle difference sequence, the actual angle difference of the two rotors, that is, the actual angle difference at both ends of the torsion bar, is determined.

[0075] like Figure 6 The difference between the 72° angle signal (5 rotor blades angle position) and the 120° angle signal (3 rotor blades angle position) is shown. ○Circular data points: represent Figure 5 When the 72° angle signal and the 120° angle signal are completely aligned at 0°, the angle difference is obtained by subtracting the 120° angle signal from the 72° angle signal at each corresponding position of 360°. Assuming that there is no error between the two angle signals, the angle difference between the two has the following standard fixed values ​​within the range of 360°: {0°, -72°, 48°, -24°, -96°, 24°, -48°}, and this angle difference sequence is defined as a "zero torque angle difference sequence". At this point, it can be understood that there is no angle difference between the upper and lower ends of the torsion bar, the torsion bar has not deformed, and the torque is 0 at this time.

[0076] △Triangle data points: represents Figure 5 When the 72° angle signal is rotated 6° less than the 120° angle signal, the angle difference is obtained by subtracting the 120° angle signal from the 72° angle signal at each corresponding position of 360°. At this time, it can be understood that the torsion bar has twisted, resulting in an angle difference of 6° between the upper and lower ends of the torsion bar, and this angle difference remains unchanged during the 360° rotation.

[0077] □Square data points: represent Figure 5 When the 72° angle signal rotates 6° more than the 120° angle signal, the angle difference is obtained by subtracting the 120° angle signal from the 72° angle signal at each corresponding position of 360°. At this time, it can be understood that the torsion bar has reversed twisting, resulting in an angle difference of -6° between the upper and lower ends of the torsion bar, and this angle difference remains unchanged during the 360° rotation.

[0078] Then, by subtracting the relative angular position difference from the standard angular difference value in the closest zero torque angular difference sequence, the actual angular difference between the upper and lower ends of the corrected torsion bar can be obtained. The torque of the torsion bar can be obtained by multiplying the actual angular difference between the two ends of the corrected torsion bar by the torsion bar stiffness coefficient.

[0079] In the method provided in the above embodiment, the number of rotor blades is limited, and a suitable angle period is selected. With the assistance of the zero torque angle sequence, the torque angle sensor can output a more accurate torque.

[0080] In one embodiment, the at least two rotors include a first rotor and a second rotor; and the process of determining the zero torque angle difference sequence includes:

[0081] determining a first angular period of the first rotor based on the number of rotor blades of the first rotor, and determining a second angular period of the second rotor based on the number of rotor blades of the second rotor;

[0082] A zero torque angle difference sequence is determined according to the first angle period and the second angle period.

[0083] For rotors with blades of the same size and with equal spacing between blades, the rotor angular period is equal to 360° divided by the number of blades. The first angular period of the first rotor with L blades = 360° / L, and the second angular period of the second rotor with M blades = 360° / M. At each position of 360°, the zero torque angle difference sequence is obtained by subtracting the angle signal of 360° / M from the angle signal of 360° / L. For example, when L=5 and M=3, according to Figure 5 It can be seen that the zero torque angle difference sequence is {0°, -72°, 48°, -24°, -96°, 24°, -48°}.

[0084] In the method provided in the above embodiment, a specific method is used to select two angle periods, and a specific torque calculation method is combined to enable the torque angle sensor to output a more accurate torque.

[0085] In one embodiment, if Figure 8 As shown, according to the zero torque angle difference sequence and the relative angle position difference, the actual angle difference at both ends of the torsion bar to be tested is determined, including:

[0086] Step 802, calculating a difference sequence between a relative angle position difference and a zero torque angle difference sequence;

[0087] Step 804, taking the zero torque angle difference corresponding to the difference with the smallest absolute value in the difference sequence in the zero torque angle difference sequence as the target zero torque angle difference;

[0088] Step 806: Determine the actual angle difference between the two ends of the torsion bar to be tested according to the relative angle position difference and the target zero torque angle difference.

[0089] The above embodiment is explained below based on actual examples:

[0090] For the first rotor with L blades, the first angular period = 360° / L, and the first rotor with M blades, the first angular period = 360° / M. At each position of 360°, the zero torque angle difference sequence is obtained by subtracting the angle signal of 360° / M from the angle signal of 360° / L. For example, when L = 5 and M = 3, according to Figure 5 It can be seen that the zero torque angle difference sequence is {0°, -72°, 48°, -24°, -96°, 24°, -48°}.

[0091] For example, when the relative angular position difference calculated in a certain time is -66°, the absolute values ​​of the differences between it and the standard values ​​of the zero torque angle difference sequence {0°, -72°, 48°, -24°, -96°, 24°, -48°} are {66°, 6°, 114°, 42°, 30°, 90°, 18°} respectively. The difference between -72° in the zero torque angle difference sequence and the angle difference -66° calculated this time is 6°, and the two are closest. Therefore, the angle difference -72° calculated this time needs to be used as the target zero torque angle difference, and then the relative angular position difference -66° this time is subtracted from the target zero torque angle difference -72°, that is, -66°-(-72°)=6°, and finally the actual angle difference of 6° at both ends of the torsion bar is obtained.

[0092] For another example, when a relative angular position difference is calculated to be 18°, the absolute values ​​of the differences between it and the standard values ​​of the zero torque angle difference sequence {0°, -72°, 48°, -24°, -96°, 24°, -48°} are {18°, 90°, 30°, 42°, 114°, 6°, 66°}, respectively. The difference between 24° in the zero torque angle difference sequence and the relative angular position difference of 18° is 6°, and the two are closest. Therefore, it is necessary to subtract the relative angular position difference of 18° from the target zero torque angle difference of 24° in the closest zero torque angle difference sequence, that is, 18°-(24°)=-6°, and finally obtain the actual angle difference of -6° at both ends of the torsion bar.

[0093] In the method provided in the above embodiment, at any rotation position within 360°, the relative angular position difference of at least two rotors is first calculated, and then the actual angular difference at both ends of the torsion bar after correction is obtained by subtracting the difference from the target zero torque angle difference in the closest zero torque angle difference sequence. The torque of the torsion bar can be obtained by multiplying the actual angular difference at both ends of the torsion bar after correction by the torsion bar stiffness coefficient.

[0094] In one embodiment, the method further comprises:

[0095] Determining a torque measurement range of the torque angle sensor according to the first angle period and the second angle period;

[0096] Determine the safe measurement range based on the torque measurement range;

[0097] When the difference with the smallest absolute value in the difference sequence exceeds the safe measurement range, the torque calculation is stopped and safety measures and safety warnings are triggered.

[0098] Among them, the torque measurement range of the torque angle sensor refers to the range of torque angles that the torque angle sensor can measure. Since the torsion bar can be twisted clockwise to produce positive torque, and can also be twisted counterclockwise to produce reverse torque, the range of the angle difference between the two ends of the torsion bar that needs to be measured has both positive and negative directions. The torque measurement range of the torque angle sensor is the range between the maximum measurable positive torsion and the maximum measurable reverse torsion.

[0099] In practical applications, taking the first rotor with 5 blades and the second rotor with 3 blades as examples, the first angle period of the first rotor = 360° / 5 = 72°, and the second angle period of the second rotor = 360° / 3 = 120°. The zero torque angle difference sequence {0°, -72°, 48°, -24°, -96°, 24°, -48°} is obtained by subtracting the angle signal of 120° from the angle signal of 72° at each position of 360°. The calculation result of the relative angle position difference of the two angles of the two rotors is often not an integer. As for evaluating which standard value in the zero torque angle difference sequence the angle difference is closer to, the following method can be used for judgment: Since the greatest common divisor of 72° and 120° is 24°, the maximum supported torque measurement range is ±12°.

[0100] At this time, it is found that when the actual angle difference between the upper and lower ends of the torsion bar reaches the maximum range of 12° during the application process, for example, the result of a direct calculation of the relative angle position difference is 12°, and the absolute values ​​of the difference between it and the standard value of the zero torque angle difference sequence {0°, -72°, 48°, -24°, -96°, 24°, -48°} are {12°, 84°, 36°, 36°, 108°, 12°, 60°} respectively. The relative angle position difference result of 12° is exactly the same as the zero torque The degree of proximity between 0° and 24° in the angle difference sequence is 12°. The relative angular position difference of 12° is subtracted from the standard angle differences of 0° and 24° in the closest zero torque angle difference sequence, that is, 12°-(0°)=12° and 12°-(24°)=-12°. At this time, two completely opposite maximum torque outputs will be obtained. Under the influence of the torque error, the torque output value will jump between the two positive and negative torque maximum values, which is not allowed for systems with particularly high safety requirements.

[0101] Therefore, a safe measurement range is set. Each time the relative angular position difference is corrected, the ratio of the measured torque angle difference to the total torque range is monitored, and a certain safety margin is reserved. For example, when a 25% safety measurement margin is defined, it is known that the greatest common divisor of 72° and 120° is 24, that is, the maximum torque range is ±12°. When the difference between the two angle signals with periods of 72° and 120° respectively exceeds ±12°*(1-25%)=±9° from the closest standard value in the zero torque angle difference sequence (for example, when the angle difference reaches +9.5° or -9.5°), the system torque calculation over-limit fault is directly discarded and reported, and corresponding safety measures are taken to avoid the torque output being unstable after the torque angle difference enters the boundary of the torque range. This method can detect torque signal errors in a timely manner, greatly improving the safety of torque calculation results.

[0102] In other embodiments, the numbers of blades M and L of the two rotors may be selected as follows, and the numbers of M and L may be cross-set:

[0103] Embodiment 1: The number of blades M of the rotor (2) is selected to be 5 (period 72°), the number of blades L of the rotor (3) is selected to be 3 (period 120°), and the least common multiple of the two rotor periods is 360°. Since the two angular periods have a unique pair of corresponding values ​​within the common period of 360°, the absolute angular positions of the two rotor blades within the range of 360° are calculated by the cursor algorithm. The greatest common divisor of the two rotor periods is 24°, which is suitable for measuring the angular difference between the two ends of the torsion bar (1) with a range of less than ±12°.

[0104] Embodiment 2: The number of blades M of the rotor (2) is selected to be 5 (period 72°), the number of blades L of the rotor (3) is selected to be 4 (period 90°), and the least common multiple of the two rotor periods is 360°. Since the two angular periods have a unique pair of corresponding values ​​within the common period of 360°, the absolute angular positions of the two rotor blades within the range of 360° are calculated by the cursor algorithm. The greatest common divisor of the two rotor periods is 18°, which is suitable for measuring the angular difference between the two ends of the torsion bar (1) with a range of less than ±9°.

[0105] Embodiment 3: The number of blades M of the rotor (2) is selected to be 6 (period 60°), the number of blades L of the rotor (3) is selected to be 5 (period 72°), and the least common multiple of the two rotor periods is 360°. Since the two angular periods have a unique pair of corresponding values ​​within the common period of 360°, the absolute angular positions of the two rotor blades within the range of 360° are calculated by the cursor algorithm. The greatest common divisor of the two rotor periods is 12°, which is suitable for measuring the angular difference between the two ends of the torsion bar (1) with a range of less than ±6°.

[0106] In some embodiments, the numbers M and L of the rotors are selected as follows. The numbers M and L can be set crosswise, as long as:

[0107] 1) The least common multiple of α and β is 360°;

[0108] 2) The greatest common divisor of α and β is greater than the maximum torsion range of the angle difference between the two ends of the torsion bar that needs to be measured.

[0109] The values ​​of M and L can be: 1) M = 3, L = 2; 2) M = 4, L = 3; 3) M = 5, L = 2; 4) M = 5, L = 3; 5) M = 5, L = 4; 6) M = 6, L = 5; 7) M = 8, L = 3; 8) M = 8, L = 5; 9) M = 9, L = 2; 10) M = 9, L = 4; 11) M = 9, L = 5; 12) M = 9, L = 8; 13) M = 10, L = 3; 14) M = 10, L=9; 15) M=12, L=5; 16) M=15, L=2; 17) M=15, L=4; 18) M=15, L=8; 19) M=18, L=5; 20) M=20, L=3; 21) M=20, L=9; 22) M=24, L=5; 23) M=36, L=5; 24) M=40, L=3; 25) M=45, L=2; 26) M=45, L=4.

[0110] In one embodiment, the method further comprises:

[0111] Based on the relative angular position of each rotor, the absolute angular position of each rotor is determined.

[0112] according to Figure 5 It can be seen that the two angle signals will have multiple changes within a 360° period, and each angle period changes within its own period. The two angle signals with different periods have a unique pair of corresponding values ​​within the period of their least common multiple, that is, the common period. The vernier algorithm can be used to determine the absolute angle positions of rotors (2) and (3) within a range of 360°.

[0113] In the method provided in the above embodiment, combined with the selection of the number of blades of the rotor in the sensor, the relative angular position of the rotor is converted into an absolute angular position within a range of 360° through a cursor algorithm, so that the sensor can output a unique position angle of the rotor in 360°, enrich the function of the sensor, and provide data for the input of other devices.

[0114] It should be understood that, although the steps in the flowcharts involved in the above embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above embodiments may include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0115] In combination with the above torque angle detection method, the present application also provides a torque angle sensor, such as Figure 1 and Figure 2 As shown, the torque angle sensor is used to measure the torque of a torsion bar (1); the sensor comprises at least two rotors (2) and (3), at least two receiving structures (4) and (5), a printed circuit board (6) and a signal processing chip (7);

[0116] A printed circuit board (6) is fixed to the middle of the torsion bar (1) to be tested, at least two rotors (2) and (3) are arranged on both sides of the printed circuit board (6), at least two rotors (2) and (3) are fixed to both ends of the torsion bar (1) to be tested, and at least two receiving structures (4) and (5) and a signal processing chip (7) are arranged on the printed circuit board (6);

[0117] The number of blades of at least two rotors (2) and (3) satisfies the following conditions, including that the least common multiple of the angular periods of at least two rotors (2) and (3) is 360° and the greatest common divisor of the angular periods of at least two rotors is greater than the maximum torsion range of the angular difference at both ends of the torsion bar (1) to be measured, and any one of at least two receiving structures (4) and (5) includes N windings, N is an odd number and N is not less than 3, and the phase difference of the N windings is 2π / N;

[0118] The signal processing chip (7) is used to obtain the induced voltage signals in at least two receiving structures (4) and (5), and to determine the torque of the torsion bar (1) to be measured according to the induced voltage signals, and is specifically used to execute the steps of any one of the above method embodiments.

[0119] In the above sensor, each of the N windings has a corresponding winding with a phase difference of π therewith, each winding is connected in series with its corresponding winding, and each winding and its corresponding winding are arranged in a ring shape on the first outer layer or the second outer layer.

[0120] In one embodiment, the sensor further comprises an excitation coil (8) and an isolation device (9);

[0121] The printed circuit board (6) includes a first outer layer 6A, an intermediate layer 60 and a second outer layer 6B on its vertical plane. The excitation coil (8) and the isolation device (9) are arranged on the intermediate layer. The isolation device (9) is located radially inward of the excitation coil (8). The excitation coil (8) and the isolation device (9) form an annular area. At least two receiving structures (4) and (5) are arranged in an area parallel to the annular area on the first outer layer 6A and the second outer layer 6B.

[0122] In the prior art, since the two stators are mounted on adjacent layers of the same printed circuit board, at least two rotors are mounted on both sides of the printed circuit board, and the angular periods of the two rotors are different. Since the electromagnetic field can pass through the printed circuit board, without taking additional measures, there will inevitably be a problem that one rotor affects the induced voltage in the receiving structure of the other rotor. In order to reduce this interference, a common method is to set the two angular periods to linearly independent periods in the hope of obtaining linearly independent characteristics between the induced voltages, and distinguish the induced voltage signals generated by the two rotors from the signal spectrum. However, in actual use, leakage magnetic field often still occurs due to problems such as asymmetric errors in physical manufacturing, that is, there will still be non-ideal spectra, resulting in the induced voltages generated by the two rotors not being completely decoupled, and ultimately resulting in the mutual interference between the two angles still existing.

[0123] In the torque angle sensor provided in the embodiment of the present application, the excitation coil (8) is located in the middle layer 60 of the printed circuit board (6); an isolation device (9) is arranged at a radially inner position of the excitation coil (8), and the isolation device (9) has the function of isolating the magnetic field. The maximum outer diameter of the excitation coil (8) and the minimum inner diameter of the isolation device (9) form an annular area between them, and in the area of ​​the annular area corresponding to the printed circuit board (6), a receiving structure (4) corresponding to the rotor (2) and a receiving structure (5) corresponding to the rotor (3) are arranged.

[0124] The receiving structure (4) corresponding to the rotor (2), the receiving structure (5) corresponding to the rotor (3), the excitation coil (8) and the isolating device (9) constitute an annular area which are arranged concentrically. Figure 1 The receiving structure (4) corresponding to the rotor (2), the receiving structure (5) corresponding to the rotor (3), the excitation coil (8) and the isolation device (9) are arranged in an overlapping manner; from the front projection ( Figure 1 The receiving structure (4) corresponding to the rotor (2) and the receiving structure (5) corresponding to the rotor (3) are separated by an annular area formed by an excitation coil (8) and an isolation device (9).

[0125] In the sensor provided in the embodiment of the present application, a high-frequency current generating an electromagnetic field is contained in the excitation coil (8). It can be known from Ampere's law that at the position just above and just below the plane where the excitation coil (8) is located, the direction of the magnetic flux lines of the excitation coil (8) is parallel to the surface of the printed circuit board (6). Since the rotors (2) and (3) are parallel to the surface of the printed circuit board (6), at the position just above and just below the plane where the excitation coil (8) is located, the direction of the magnetic flux lines of the excitation coil (8) is also parallel to the surface of the rotors (2) and (3), making it difficult for the rotors (2) and (3) to generate induced eddy currents near this position. Neither rotor will affect the induced voltage of the corresponding receiving structure. That is, the excitation coil (8) forms an isolation at the edge position of the receiving structure (4) and (5) near the excitation coil (8), thereby avoiding the problem of one rotor affecting the induced voltage of the receiving structure corresponding to the other rotor. In addition, the smaller excitation coil diameter further reduces the area of ​​the entire printed circuit board (6), making the sensor miniaturized.

[0126] In addition, in the sensor provided in the embodiment of the present application, at least two rotors (2) and (3) also need to be isolated at the radially inner position of at least two receiving structures (4) and (5), that is, at least two receiving structures (4) and (5) are better isolated. In the middle layer 60 where the excitation coil (8) is located, an isolation device (9) is arranged to cover the remaining sensing area. In the annular area presented by the isolation device (9), a constant eddy current field is generated under the action of the electromagnetic field generated by the excitation coil (8). The eddy current field is located in the middle of the at least two rotors (2) and (3), isolating the eddy currents of the at least two rotors (2) and (3) themselves, thereby avoiding affecting the receiving structures of the other party.

[0127] Therefore, by using the excitation coil (8) and the isolation device (9) to effectively isolate the edge position and the radial inner position of the receiving structure corresponding to the rotor, the influence of one rotor on the induced voltage in the receiving structure of another rotor can be greatly reduced, thereby improving the overall accuracy of the sensor.

[0128] In one embodiment, the isolation device includes a plurality of rectangular copper sheets, and the plurality of rectangular copper sheets are distributed in an annular shape with equal spacing in a radially inner position of the excitation coil.

[0129] For example, Fig. 9 In the side view shown, the receiving structure (4) includes three windings 401, 402, 403; the rotor (2) has five blades 201, which are rectangular and arranged in a ring shape; the isolation device (9) includes a plurality of rectangular copper sheets 901.

[0130] In the sensor provided in this embodiment, the use of scattered copper sheets can reduce eddy current losses and avoid the problem of copper sheet bubbles being generated when the printed circuit board is working.

[0131] like Fig.10 As shown, an embodiment of the present application provides a computer device 1000 , and the computer device 1000 includes a memory 1001 and a processor 1002 .

[0132] The memory 1001 is used to store computer-executable instructions executable by the processor;

[0133] The processor 1002 implements each step of the method in the above embodiment when executing the computer execution instruction. For details, please refer to the relevant description in the above method embodiment.

[0134] Optionally, the memory 1001 can be independent or integrated with the processor 1002. When the memory 1001 is independently provided, the computer device further includes a bus for connecting the memory 1001 and the processor 1002.

[0135] The embodiment of the present application further provides a computer-readable storage medium, in which computer-executable instructions are stored. When a processor executes the computer-executable instructions, each step of the method in the above embodiment is implemented.

[0136] The embodiment of the present application also provides a computer program product, including computer executable instructions, which implement the various steps of the method in the above embodiment when executed by a processor.

[0137] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer execution instructions in the computer program are executed, they can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0138] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0139] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the present application. It should be noted that, for a person of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A method for measuring torque angle, characterized in that: The method is applied to a torque angle sensor, which includes at least two rotors, at least two receiving structures and a printed circuit board, wherein any one of the at least two receiving structures includes N windings, N is an odd number and is not less than 3, the phase difference of the N windings is 2π / N, and the number of blades of the at least two rotors meets the following conditions, wherein the least common multiple of the angular periods of the at least two rotors is 360° and the greatest common divisor of the angular periods of the at least two rotors is greater than the maximum torsion range of the angular difference at both ends of the torsion bar to be measured; the method includes: Determine the relative angular position of the rotor corresponding to any receiving structure according to the magnitude of the induced voltage of each winding in the N windings of any receiving structure; calculating a relative angular position difference between the at least two rotors; The torque of the torsion bar to be measured is determined according to the relative angular position difference of the at least two rotors.

2. The method according to claim 1, characterized in that Determining the torque of the torsion bar to be measured according to the relative angular position difference of the at least two rotors comprises: determining an actual angle difference between two ends of the torsion bar to be measured according to a zero torque angle difference sequence and the relative angle position difference, wherein the zero torque angle difference sequence is determined based on the number of rotor blades of the at least two rotors; The torque of the torsion bar to be measured is determined according to the actual angle difference.

3. The method according to claim 2, characterized in that The at least two rotors include a first rotor and a second rotor; the process of determining the zero torque angle difference sequence includes: determining a first angular period of the first rotor according to the number of rotor blades of the first rotor, and determining a second angular period of the second rotor according to the number of rotor blades of the second rotor; The zero torque angle difference sequence is determined according to the first angle cycle and the second angle cycle.

4. The method according to claim 3, characterized in that Determining the actual angle difference between the two ends of the torsion bar to be tested according to the zero torque angle difference sequence and the relative angle position difference comprises: Calculating a difference sequence between the relative angular position difference and the zero torque angle difference sequence; The zero torque angle difference corresponding to the difference with the smallest absolute value in the difference sequence in the zero torque angle difference sequence is used as the target zero torque angle difference; The actual angle difference between the two ends of the torsion bar to be tested is determined according to the relative angle position difference and the target zero torque angle difference.

5. The method according to claim 4, characterized in that The method further comprises: Determining a torque measurement range of the torque angle sensor according to the first angle period and the second angle period; Determining a safe measurement range according to the torque measurement range; When the difference with the smallest absolute value in the difference sequence exceeds the safety measurement range, the torque calculation is stopped and safety measures and safety warnings are triggered.

6. The method according to any one of claims 1 to 5, characterized in that The method further comprises: Based on the relative angular position of each rotor, the absolute angular position of each rotor is determined.

7. A torque angle sensor, characterized in that: The sensor includes at least two rotors, at least two receiving structures, a printed circuit board and a signal processing chip; The printed circuit board is fixed to the middle of the torsion bar to be tested, the at least two rotors are arranged on both sides of the printed circuit board, the at least two rotors are fixed to both ends of the torsion bar to be tested, and the at least two receiving structures and the signal processing chip are arranged on the printed circuit board; The number of blades of the at least two rotors meets the following conditions, the following conditions include that the least common multiple of the angular periods of the at least two rotors is 360° and the greatest common divisor of the angular periods of the at least two rotors is greater than the maximum torsion range of the angle difference between the two ends of the torsion bar to be measured, any receiving structure of the at least two receiving structures includes N windings, N is an odd number and N is not less than 3, and the phase difference of the N windings is 2π / N; The signal processing chip is used to obtain the induced voltage signals in the at least two receiving structures, determine the torque of the torsion bar to be measured according to the induced voltage signals, and is specifically used to execute the method steps described in any one of claims 1 to 5 above.

8. The torque angle sensor according to claim 7, characterized in that: The sensor also includes an excitation coil and an isolation device; The printed circuit board includes a first outer layer, a middle layer and a second outer layer on its vertical plane, the excitation coil and the isolation device are arranged on the middle layer, the isolation device is located radially inward of the excitation coil, the excitation coil and the isolation device form an annular area, and the at least two receiving structures are arranged in the area parallel to the annular area on the first outer layer and the second outer layer.

9. The torque angle sensor according to any one of claims 7-8, characterized in that: The isolation device comprises a plurality of rectangular copper sheets, and the plurality of rectangular copper sheets are distributed in an annular manner with equal spacing in the radially inner position of the excitation coil.

10. A computer device, characterized in that: include: A processor, and a memory communicatively connected to the processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory to implement the method according to any one of claims 1 to 6.

11. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, which are used to implement the method according to any one of claims 1 to 6 when executed by a processor.

12. A computer program product, characterized in that The method comprises computer-executable instructions, which implement the method according to any one of claims 1 to 6 when executed by a processor.

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