Hall sensor array collaborative normalization method, device and angular position measurement method

Abstract

The present invention relates to the technical field of Hall sensor data correction, and in particular to a method, device and angular position measurement method for collaborative normalization of Hall sensor arrays. The method of the present invention first obtains multiple first sampling value queues; then, according to the sensor bias of the Hall sensor, the multiple sampling values ​​of each first sampling value queue are divided into two groups to obtain multiple first arrays and multiple second arrays; then, multiple sensor gains are determined according to the multiple first arrays and the multiple second arrays, and system gains and system biases are determined according to the multiple sensor gains and the multiple sensor biases; finally, multiple target sampling values ​​are normalized according to the system gain, the system bias, the multiple sensor gains and the multiple sensor biases to obtain multiple normalized results. The present invention corrects the data returned by the Hall sensor queue by obtaining the system gain and the system bias, which can eliminate the influence of batch consistency and installation accuracy.

Description

Technical Field

[0001] The present invention relates to the technical field of Hall sensor data correction, and in particular to a Hall sensor array collaborative normalization method, device and angular position measurement method. Background Art

[0002] Angular displacement / angular velocity is a very important physical parameter in all rotating parts or equipment. Traditional angular displacement / angular velocity measurement methods usually use pulse angular displacement / angular velocity sensors, magnetoresistive angular displacement / angular velocity sensors, and magnetoelectric angular displacement / angular velocity sensors.

[0003] In some technologies, the magnetic field strength signal is collected through a linear Hall sensor array, and the angular position or angular velocity is determined by analyzing the signal returned by the array sensor. In this scenario, the accuracy of the Hall sensor array, such as manufacturing accuracy, installation accuracy or batch consistency, will have a great impact on the accuracy of the measurement results. In terms of how to reduce the impact of the Hall sensor array accuracy on the measurement results, people have come up with various ways, such as using the Kalman filter method to correct the results returned by the Hall sensor. However, this correction method is difficult to correct the accuracy problems caused by batch consistency and installation accuracy.

[0004] Based on this, it is necessary to develop and design a collaborative normalization method for Hall sensor arrays. Summary of the invention

[0005] The embodiments of the present invention provide a method and device for collaborative normalization of a Hall sensor array and an angular position measurement method, which are used to solve the problem in the prior art that the Hall sensor is affected by various factors, resulting in large deviations in the returned data.

[0006] In a first aspect, an embodiment of the present invention provides a Hall sensor array collaborative normalization method, which is applied to a ring-shaped Hall sensor array, wherein each Hall sensor in the Hall sensor array receives a periodic magnetic field strength signal, and the Hall sensor array collaborative normalization method comprises:

[0007] Acquire multiple first sampling value queues, wherein each first sampling value queue corresponds to a Hall sensor, and the sampling duration corresponding to the first sampling value queue is an integer multiple of the magnetic field strength signal period;

[0008] According to the sensor bias of the Hall sensor, multiple sampling values ​​of each first sampling value queue are divided into two groups to obtain multiple first arrays and multiple second arrays, wherein each Hall sensor corresponds to one first array and one second array;

[0009] Determine a plurality of sensor gains according to the plurality of first arrays and the plurality of second arrays, and determine a system gain and a system bias according to the plurality of sensor gains and the plurality of sensor biases, wherein each sensor gain corresponds to a Hall sensor;

[0010] A plurality of target sampling values ​​are normalized according to the system gain, the system bias, the plurality of sensor gains and the plurality of sensor biases to obtain a plurality of normalized results, wherein each normalized result corresponds to a target sampling value, and the target sampling value is a sampling value at the end of a first sampling value queue.

[0011] In a possible implementation, the method divides the multiple sampling values ​​of each first sampling value queue into two groups according to the sensor bias of the Hall sensor to obtain multiple first arrays and multiple second arrays, including:

[0012] For each first sample value queue, perform the following steps respectively:

[0013] Extracting sample values ​​from the first sample value queue ergodicly as sample values ​​to be grouped;

[0014] Acquire multiple second sampling values ​​according to the time nodes corresponding to the sampling values ​​to be grouped, wherein the time nodes of the sampling values ​​to be grouped are connected to the time periods corresponding to the multiple second sampling values, and the sampling durations corresponding to the multiple second sampling values ​​are integer multiples of the magnetic field intensity signal period;

[0015] Using an average of the plurality of second sampling values ​​as a sensor bias;

[0016] If the sample value to be grouped is higher than the sensor bias, adding the sample value to be grouped into the first array;

[0017] Otherwise, adding the sample values ​​to be grouped into the second array;

[0018] If the traversal of the first sampling value queue is not completed, the process jumps to the step of traversing and extracting sampling values ​​from the first sampling value queue as sampling values ​​to be grouped.

[0019] In a possible implementation, determining a plurality of sensor gains according to the plurality of first arrays and the plurality of second arrays, and determining a system gain and a system bias according to the plurality of sensor gains and the plurality of sensor biases includes:

[0020] Calculate the mean of each first array and the mean of each second array to obtain a plurality of first means and a plurality of second means;

[0021] For each Hall sensor, taking the difference between the first mean value corresponding to the Hall sensor and the second mean value corresponding to the Hall sensor as the sensor gain of the Hall sensor;

[0022] The average of multiple sensor gains is taken as the system gain;

[0023] An average value of a plurality of first target sensor biases is used as a system bias, wherein the first target sensor bias is a sensor bias determined according to a sampling value at the end of the first sampling value queue.

[0024] In a possible implementation, the step of normalizing a plurality of target sample values ​​according to the system gain, the system bias, the plurality of sensor gains, and the plurality of sensor biases to obtain a plurality of normalized results includes:

[0025] For each target sampling value, perform the following steps respectively:

[0026] The ratio of the system gain to the target sensor gain is used as the normalized gain, wherein the target sensor gain is the sensor gain of the Hall sensor corresponding to the target sampling value;

[0027] Taking the difference between the system bias and the second target sensor bias as the normalized bias, wherein the second target sensor bias is a sensor bias determined according to the target sampling value;

[0028] The target sample value is normalized according to the first formula, the normalized gain, and the normalized offset to obtain a normalized result, wherein the first formula is:

[0029]

[0030] In the formula, To normalize the result, is the normalized gain, is the target sampling value, is the normalized bias.

[0031] In a second aspect, an embodiment of the present invention provides an angular position measurement method, which is applied to an angular position measurement system, wherein the angular position measurement system is provided with an annular Hall sensor array and a magnetic field excitation mechanism for generating an integer period magnetic field around the Hall sensor array, and the angular position measurement method comprises:

[0032] Obtaining a number of cycles, wherein the number of cycles is the number of cycles of the magnetic field around the Hall sensor array;

[0033] Determine a first cosine value and a first sine value according to the number of cycles and a standard magnetic field strength data queue, wherein the standard magnetic field strength data queue is a queue constructed according to a plurality of normalized results obtained by the Hall sensor array collaborative normalization method as described in the first aspect;

[0034] An angular position is determined based on the first cosine value and the first sine value.

[0035] In a possible implementation, determining the first cosine value and the first sine value according to the number of cycles and the standard magnetic field strength data queue includes:

[0036] The first cosine value and the first sine value are determined according to a second formula, wherein the second formula is:

[0037]

[0038] In the formula, is the first cosine value, is the number of cycles, The first data, is the cosine function, is a sine function, is the circumference of a circle, is the total number of data in the standard magnetic field strength data queue, is the first sine value.

[0039] In a possible implementation manner, determining the angular position according to the first cosine value and the first sine value includes:

[0040] Determine an interval where an angular position is located according to a sign of the first cosine value and a sign of the first sine value;

[0041] Calculate the arccosine value of the first cosine value to obtain a basic angle, or calculate the arcsine value of the first sine value to obtain a basic angle;

[0042] The angular position is determined according to the basic angle and the interval in which the angular position is located.

[0043] In a third aspect, an embodiment of the present invention provides a Hall sensor array collaborative normalization device, which is used to implement the Hall sensor array collaborative normalization method described in the first aspect or any possible implementation of the first aspect, and the Hall sensor array collaborative normalization device includes:

[0044] A sampling data queue acquisition module is used to acquire multiple first sampling value queues, wherein each first sampling value queue corresponds to a Hall sensor, and the sampling duration corresponding to the first sampling value queue is an integer multiple of the magnetic field strength signal period;

[0045] A sampling data grouping module, used for dividing the multiple sampling values ​​of each first sampling value queue into two groups according to the sensor bias of the Hall sensor, to obtain a plurality of first arrays and a plurality of second arrays, wherein each Hall sensor corresponds to a first array and a second array;

[0046] a system gain and offset determination module, configured to determine a plurality of sensor gains according to the plurality of first arrays and the plurality of second arrays, and determine a system gain and a system offset according to the plurality of sensor gains and the plurality of sensor offsets, wherein each sensor gain corresponds to a Hall sensor;

[0047] as well as,

[0048] The normalization module is used to normalize multiple target sampling values ​​according to the system gain, the system bias, the multiple sensor gains and the multiple sensor biases to obtain multiple normalization results, wherein each normalization result corresponds to a target sampling value, and the target sampling value is the sampling value at the end of the first sampling value queue.

[0049] In a fourth aspect, an embodiment of the present invention provides an electronic device, comprising a memory and a processor, wherein the memory stores a computer program that can be run on the processor, and when the processor executes the computer program, it implements the steps of the method described in the first aspect, any possible implementation of the first aspect, the second aspect, or any possible implementation of the second aspect.

[0050] In a fifth aspect, an embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method described in the first aspect, any possible implementation of the first aspect, the second aspect, or any possible implementation of the second aspect are implemented.

[0051] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0052] The present invention provides an implementation method for the collaborative normalization of a Hall sensor array. The method first obtains a plurality of first sampling value queues, wherein each first sampling value queue corresponds to a Hall sensor, and the sampling duration corresponding to the first sampling value queue is an integer multiple of the magnetic field strength signal period; then, according to the sensor bias of the Hall sensor, the plurality of sampling values ​​of each first sampling value queue are divided into two groups to obtain a plurality of first arrays and a plurality of second arrays, wherein each Hall sensor corresponds to a first array and a second array; then, a plurality of sensor gains are determined according to the plurality of first arrays and the plurality of second arrays, and a system gain and a system bias are determined according to the plurality of sensor gains and the plurality of sensor biases, wherein each sensor gain corresponds to a Hall sensor; finally, a plurality of target sampling values ​​are normalized according to the system gain, the system bias, the plurality of sensor gains, and the plurality of sensor biases to obtain a plurality of normalized results, wherein each normalized result corresponds to a target sampling value, and the target sampling value is the sampling value at the end of the first sampling value queue. The implementation mode of the present invention corrects the data returned by the Hall sensor queue by obtaining the system gain and system bias, and unifies the data of multiple sensors. Since the correction of the sensor data is made with reference to other data and historical data in the array, the influence of batch consistency and installation accuracy can be partially eliminated.

[0053] The angular position measurement method of the present invention obtains the angular position of the magnetic field through the Hall sensor array. Since it is a contactless measurement and the magnetic field can be realized by using a permanent magnet, it has high reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0055] Figure 1 is a flow chart of a method for collaborative normalization of a Hall sensor array provided in an embodiment of the present invention;

[0056] Figure 2 is a schematic diagram of a Hall sensor array provided by an embodiment of the present invention;

[0057] Figure 3 is a flow chart of an angular position measurement method provided by an embodiment of the present invention;

[0058] Figure 4 is a schematic diagram of the relative positions of a magnetic field excitation mechanism and a magnetic field sensor provided in an embodiment of the present invention;

[0059] Figure 5 is a schematic diagram of a magnetic field excitation mechanism provided by an embodiment of the present invention;

[0060] Figure 6 It is a principle diagram of a sine wave magnetic field with 6 complete cycles provided by an embodiment of the present invention;

[0061] Figure 7 It is a functional block diagram of a Hall sensor array cooperative normalization device provided in an embodiment of the present invention;

[0062] Figure 8 It is a functional block diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0063] In the following description, specific details such as specific system structures and technologies are provided for the purpose of illustration rather than limitation so as to provide a thorough understanding of the embodiments of the present invention. However, it should be clear to those skilled in the art that the present invention may be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, and methods are omitted so as not to obscure the description of the present invention with unnecessary details.

[0064] In order to make the purpose, technical solutions and advantages of the present invention more clear, a specific implementation method will be described below in conjunction with the accompanying drawings.

[0065] The following is a detailed description of an embodiment of the present invention. This example is implemented based on the technical solution of the present invention, and provides a detailed implementation method and a specific operation process, but the protection scope of the present invention is not limited to the following embodiments.

[0066] Figure 1 A flowchart of a method for collaborative normalization of a Hall sensor array provided in accordance with the first aspect of an embodiment of the present invention.

[0067] like Figure 1 As shown, it shows a flowchart of the implementation method of the Hall sensor array collaborative normalization method provided in the first aspect of the embodiment of the present invention, which is described in detail as follows:

[0068] In step 101, a plurality of first sampling value queues are obtained, wherein each first sampling value queue corresponds to a Hall sensor, and a sampling duration corresponding to the first sampling value queue is an integer multiple of a magnetic field intensity signal period.

[0069] In step 102, multiple sampling values ​​of each first sampling value queue are divided into two groups according to the sensor bias of the Hall sensor to obtain multiple first arrays and multiple second arrays, wherein each Hall sensor corresponds to one first array and one second array.

[0070] In some implementations, the method of dividing the multiple sampling values ​​of each first sampling value queue into two groups according to the sensor bias of the Hall sensor to obtain multiple first arrays and multiple second arrays includes:

[0071] For each first sample value queue, perform the following steps respectively:

[0072] Extracting sample values ​​from the first sample value queue ergodicly as sample values ​​to be grouped;

[0073] Acquire multiple second sampling values ​​according to the time nodes corresponding to the sampling values ​​to be grouped, wherein the time nodes of the sampling values ​​to be grouped are connected to the time periods corresponding to the multiple second sampling values, and the sampling durations corresponding to the multiple second sampling values ​​are integer multiples of the magnetic field intensity signal period;

[0074] Using an average of the plurality of second sampling values ​​as a sensor bias;

[0075] If the sample value to be grouped is higher than the sensor bias, adding the sample value to be grouped into the first array;

[0076] Otherwise, adding the sample values ​​to be grouped into the second array;

[0077] If the traversal of the first sampling value queue is not completed, the process jumps to the step of traversing and extracting sampling values ​​from the first sampling value queue as sampling values ​​to be grouped.

[0078] For example, Figure 2 As shown, the figure shows a Hall sensor array. Specifically, in an application scenario, a plurality of Hall sensors 21 are fixed in a circular array on a detection and conditioning circuit board 20. When a magnetic material approaches the Hall sensor 21, the Hall sensor 21 returns a magnetic field strength signal that is positively correlated with the magnetic field strength. When the magnetic field strength signal is sampled and arranged at a preset time interval, a first sampling value queue is formed.

[0079] The correction of the signal returned by the Hall sensor in the embodiment of the present invention is achieved through sensor bias and gain value. Specifically, a split value is set for the first sampling value queue, and the first sampling value queue is divided into two groups of data according to the split value, and the setting of the split value is determined according to the sampling values ​​to be grouped.

[0080] Specifically, the segmentation value of the embodiment of the present invention is the sensor bias. In terms of obtaining the bias, multiple sampling values ​​in front of the sampling value to be grouped are extracted, and the average of the multiple sampling values ​​is used as the sensor bias. Then, the size of the sampling value to be grouped and the sensor bias is determined. When the sampling value to be grouped is greater than the sensor bias, the sampling value to be grouped is added to the first array, otherwise, it is added to the second array. By traversing the first sampling value queue, two arrays are formed: the first array and the second array.

[0081] In step 103, a plurality of sensor gains are determined according to the plurality of first arrays and the plurality of second arrays, and a system gain and a system bias are determined according to the plurality of sensor gains and the plurality of sensor biases, wherein each sensor gain corresponds to a Hall sensor.

[0082] In some embodiments, determining a plurality of sensor gains according to the plurality of first arrays and the plurality of second arrays, and determining a system gain and a system bias according to the plurality of sensor gains and the plurality of sensor biases comprises:

[0083] Calculate the mean of each first array and the mean of each second array to obtain a plurality of first means and a plurality of second means;

[0084] For each Hall sensor, taking the difference between the first mean value corresponding to the Hall sensor and the second mean value corresponding to the Hall sensor as the sensor gain of the Hall sensor;

[0085] The average of multiple sensor gains is taken as the system gain;

[0086] An average value of a plurality of first target sensor biases is used as a system bias, wherein the first target sensor bias is a sensor bias determined according to a sampling value at the end of the first sampling value queue.

[0087] Exemplarily, it can be seen from the above steps that each sensor corresponds to two arrays, namely the first array and the second array. The average value of each array is calculated respectively, and then, according to the correspondence with the sensor, the second array is subtracted from the first array to obtain the sensor gain. The average of the gains of multiple sensors can be used as the gain of the system. At the same time, the bias of the system is obtained by taking the average of the biases of multiple sensors. It should be noted that the sensor bias involved in calculating the system bias is the sensor bias obtained in the above steps when calculating the sampling value at the end of the first sampling value queue.

[0088] In step 104, multiple target sampling values ​​are normalized according to the system gain, the system bias, the multiple sensor gains, and the multiple sensor biases to obtain multiple normalized results, wherein each normalized result corresponds to a target sampling value, and the target sampling value is the sampling value at the end of the first sampling value queue.

[0089] In some implementations, the step of normalizing a plurality of target sample values ​​according to the system gain, the system bias, the plurality of sensor gains, and the plurality of sensor biases to obtain a plurality of normalized results includes:

[0090] For each target sampling value, perform the following steps respectively:

[0091] The ratio of the system gain to the target sensor gain is used as the normalized gain, wherein the target sensor gain is the sensor gain of the Hall sensor corresponding to the target sampling value;

[0092] Taking the difference between the system bias and the second target sensor bias as the normalized bias, wherein the second target sensor bias is a sensor bias determined according to the target sampling value;

[0093] The target sample value is normalized according to the first formula, the normalized gain, and the normalized offset to obtain a normalized result, wherein the first formula is:

[0094]

[0095] In the formula, To normalize the result, is the normalized gain, is the target sampling value, is the normalized bias.

[0096] Exemplarily, with respect to the normalization of sensor data, the embodiment of the present invention firstly uses the ratio of the system gain to the sensor gain as the normalized gain of the sensor, then uses the difference between the system bias and the sensor bias as the normalized bias of the sensor, and finally normalizes the sampled values ​​at the end of the first sampled value queue according to the first formula:

[0097]

[0098] In the formula, To normalize the result, is the normalized gain, is the target sampling value, is the normalized bias.

[0099] Figure 3 This is a flow chart of an angular position measurement method provided in accordance with the second aspect of an embodiment of the present invention.

[0100] like Figure 3 As shown, it shows a flowchart of the implementation method of the angular position measurement method provided by the second aspect of the embodiment of the present invention, which is described in detail as follows:

[0101] An embodiment of the present invention provides an angular position measurement method, which is applied to an angular position measurement system. The angular position measurement system is provided with a ring-shaped Hall sensor array and a magnetic field excitation mechanism for generating an integer-period magnetic field around the Hall sensor array. The angular position measurement method includes:

[0102] In step 301, the number of cycles is obtained, wherein the number of cycles is the number of cycles of the magnetic field around the Hall sensor array;

[0103] In step 302, a first cosine value and a first sine value are determined according to the number of cycles and a standard magnetic field strength data queue, wherein the standard magnetic field strength data queue is a queue constructed according to a plurality of normalized results obtained by the Hall sensor array collaborative normalization method as described in the first aspect;

[0104] In some embodiments, determining the first cosine value and the first sine value according to the number of cycles and the standard magnetic field strength data queue includes:

[0105] The first cosine value and the first sine value are determined according to a second formula, wherein the second formula is:

[0106]

[0107] In the formula, is the first cosine value, is the number of cycles, The first data, is the cosine function, is a sine function, is the circumference of a circle, is the total number of data in the standard magnetic field strength data queue, is the first sine value.

[0108] For example, Figure 4 As shown, the magnetic field excitation mechanism 10 generates a circumferentially distributed sinusoidal magnetic field in the air gap, and a detection and conditioning circuit board 20 fixed with multiple magnetic field sensors (Hall sensor array) detects the magnetic field and performs angular position and / or angular velocity detection based on the magnetic field.

[0109] In applications, the magnetic field excitation mechanism 10 and the circumferentially distributed sinusoidal magnetic field generated by it and the component under test usually rotate synchronously, while the detection and conditioning circuit board 20 is stationary. Or, on the contrary, the magnetic field excitation mechanism 10 and the circumferentially distributed spatial sinusoidal magnetic field generated by it are stationary, while the detection and conditioning circuit board 20 and the component under test rotate synchronously.

[0110] like Figure 6 As shown, the magnetic field excitation mechanism 10 of the embodiment of the present invention generates a sine wave magnetic field of 6 cycles. The circumferentially distributed spatial sine wave magnetic field corresponds to a six-pole structure, forming 6 complete electrical cycles in one mechanical cycle (360°).

[0111] like Figure 5 As shown, in one embodiment, the magnetic field excitation mechanism 10 includes a magnetic ring 11 , a plurality of circular grooves 12 arranged on the magnetic ring, and a magnetic steel 13 fixed on the circular grooves 12 .

[0112] The magnetic steels 13 are placed alternately at the north and south poles in the multiple circular grooves 12. The material of the magnetic ring 11 is a poor conductor of magnetism. In an application scenario, the depth of the circular grooves 12 in the magnetic ring 11 is consistent. The magnetization method of the magnetic steel 13 is axial magnetization, and the magnetization strength of the multiple magnetic steels 13 is consistent.

[0113] The distribution of the circularly distributed spatial sinusoidal magnetic field on the circular surface surrounded by the Hall sensor array is in a sinusoidal form.

[0114] In one application scenario, the detection and conditioning circuit board 20 includes a Hall sensor array consisting of 48 Hall sensors, a sampling and holding circuit, a conditioning and filtering circuit, an analog switch circuit, an AD conversion circuit, and a CPU.

[0115] like Figure 4 As shown, the distribution of multiple Hall sensors on the detection and conditioning circuit board 20 is evenly arranged in a circle, and the radius of the circle is the same as the radius of the magnetic field in the circular distribution space.

[0116] The sample-and-hold circuit is used to sample and hold the spatial magnetic field at a certain moment, and is used for subsequent circuits and program processing.

[0117] The conditioning and filtering circuit is used to perform level conversion and filtering on the previous stage signal.

[0118] The analog switch circuit is used to perform time-sharing switching on 48 Hall sensor signals.

[0119] The AD conversion circuit is used to realize the conversion from analog quantity to digital quantity and send the conversion result to the CPU.

[0120] The CPU is used to control the entire sensor system and execute the angular position / angular velocity calculation algorithm.

[0121] Preferably, in order to prevent the Hall sensor output from being saturated or having too small an amplitude to affect sensor accuracy, a reasonable air gap should be set between the magnetic field excitation mechanism 10 and the detection and conditioning circuit board 20. The size of the air gap is subject to both mechanical and reliability constraints.

[0122] Preferably, after the above optimization, the peak-to-peak value of the signal input to the AD conversion circuit is between 1 / 2 and 3 / 4 of the effective input range of the AD conversion circuit.

[0123] The embodiment of the present invention constructs the normalized results obtained in the above steps into a standard magnetic field strength queue. Specifically, the normalized results of the sampling values ​​at the end of each first sampling value queue are added to the queue according to their corresponding positions in the Hall sensor array to obtain a standard magnetic field strength queue. This queue is calculated according to the number of magnetic field cycles contained in the magnetic field excitation mechanism 10 to obtain the first cosine value and the first sine value. Specifically, it is calculated according to the second formula, and the second formula is:

[0124]

[0125] In the formula, is the first cosine value, is the number of cycles, The first data, is the cosine function, is a sine function, is the circumference of a circle, is the total number of data in the standard magnetic field strength data queue, is the first sine value.

[0126] In step 303, an angular position is determined according to the first cosine value and the first sine value.

[0127] In a possible implementation, determining the first cosine value and the first sine value according to the number of cycles and the standard magnetic field strength data queue includes:

[0128] The first cosine value and the first sine value are determined according to a second formula, wherein the second formula is:

[0129]

[0130] In the formula, is the first cosine value, is the number of cycles, The first data, is the cosine function, is a sine function, is the circumference of a circle, is the total number of data in the standard magnetic field strength data queue, is the first sine value.

[0131] In some implementations, determining the angular position according to the first cosine value and the first sine value includes:

[0132] Determine an interval where an angular position is located according to a sign of the first cosine value and a sign of the first sine value;

[0133] Calculate the arccosine value of the first cosine value to obtain a basic angle, or calculate the arcsine value of the first sine value to obtain a basic angle;

[0134] The angular position is determined according to the basic angle and the interval in which the angular position is located.

[0135] Exemplarily, the interval of the angular position can be determined based on the first cosine value and the first sine value, and the angular position can be obtained by performing an inverse cosine calculation based on the first cosine value to obtain the angle; or, the angular position can be obtained by performing an inverse sine calculation based on the first sine value to obtain the angle.

[0136] The present invention provides an implementation method for the collaborative normalization of a Hall sensor array. The method first obtains a plurality of first sampling value queues, wherein each first sampling value queue corresponds to a Hall sensor, and the sampling duration corresponding to the first sampling value queue is an integer multiple of the magnetic field strength signal period; then, according to the sensor bias of the Hall sensor, the plurality of sampling values ​​of each first sampling value queue are divided into two groups to obtain a plurality of first arrays and a plurality of second arrays, wherein each Hall sensor corresponds to a first array and a second array; then, a plurality of sensor gains are determined according to the plurality of first arrays and the plurality of second arrays, and a system gain and a system bias are determined according to the plurality of sensor gains and the plurality of sensor biases, wherein each sensor gain corresponds to a Hall sensor; finally, a plurality of target sampling values ​​are normalized according to the system gain, the system bias, the plurality of sensor gains, and the plurality of sensor biases to obtain a plurality of normalized results, wherein each normalized result corresponds to a target sampling value, and the target sampling value is the sampling value at the end of the first sampling value queue. The implementation mode of the present invention corrects the data returned by the Hall sensor queue by obtaining the system gain and system bias, and unifies the data of multiple sensors. Since the correction of the sensor data is made with reference to other data and historical data in the array, the influence of batch consistency and installation accuracy can be partially eliminated.

[0137] It should be understood that the size of the serial numbers of the steps in the above implementation does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the implementation method of the present invention.

[0138] The following is an implementation of the device of the present invention. For details not described in detail, reference may be made to the corresponding method implementation described above.

[0139] Figure 7 is a functional block diagram of a Hall sensor array cooperative normalization device provided in an embodiment of the present invention, referring to Figure 7 The Hall sensor array cooperative per-unit device comprises: a sampled data queue acquisition module 701, a sampled data grouping module 702, a system gain and offset determination module 703 and a per-unit unitization module 704, wherein:

[0140] The sampling data queue acquisition module 701 is used to acquire multiple first sampling value queues, wherein each first sampling value queue corresponds to a Hall sensor, and the sampling duration corresponding to the first sampling value queue is an integer multiple of the magnetic field strength signal period;

[0141] The sampling data grouping module 702 is used to divide the multiple sampling values ​​of each first sampling value queue into two groups according to the sensor bias of the Hall sensor, so as to obtain multiple first arrays and multiple second arrays, wherein each Hall sensor corresponds to one first array and one second array;

[0142] A system gain and offset determination module 703, configured to determine a plurality of sensor gains according to the plurality of first arrays and the plurality of second arrays, and determine a system gain and a system offset according to the plurality of sensor gains and the plurality of sensor offsets, wherein each sensor gain corresponds to a Hall sensor;

[0143] The normalization module 704 is used to normalize multiple target sampling values ​​according to the system gain, the system bias, the multiple sensor gains and the multiple sensor biases to obtain multiple normalization results, wherein each normalization result corresponds to a target sampling value, and the target sampling value is the sampling value at the end of the first sampling value queue.

[0144] Figure 8 is a functional block diagram of an electronic device provided by an embodiment of the present invention. Figure 8 As shown, the electronic device 8 of this embodiment includes: a processor 800 and a memory 801, wherein the memory 801 stores a computer program 802 that can be run on the processor 800. When the processor 800 executes the computer program 802, the steps in the above-mentioned method for coordinating the Hall sensor array and the embodiment are implemented, for example Figure 1Steps 101 to 104 are shown.

[0145] Exemplarily, the computer program 802 may be divided into one or more modules / units, and the one or more modules / units are stored in the memory 801 and executed by the processor 800 to implement the present invention.

[0146] The electronic device 8 may be a computing device such as a desktop computer, a notebook, a PDA, or a cloud server. The electronic device 8 may include, but is not limited to, a processor 800 and a memory 801. Those skilled in the art will appreciate that Figure 8 It is only an example of the electronic device 8 and does not constitute a limitation of the electronic device 8. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the electronic device 8 may also include input and output devices, network access devices, buses, etc.

[0147] The processor 800 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0148] The memory 801 may be an internal storage unit of the electronic device 8, such as a hard disk or memory of the electronic device 8. The memory 801 may also be an external storage device of the electronic device 8, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the electronic device 8. Further, the memory 801 may also include both an internal storage unit and an external storage device of the electronic device 8. The memory 801 is used to store the computer program 802 and other programs and data required by the electronic device 8. The memory 801 may also be used to temporarily store data that has been output or is to be output.

[0149] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In actual applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the implementation method can be integrated into a processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method implementation method, which will not be repeated here.

[0150] In the above-mentioned embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0151] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0152] In the embodiments provided by the present invention, it should be understood that the disclosed devices / electronic devices and methods can be implemented in other ways. For example, the device / electronic device embodiments described above are only schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0153] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0154] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0155] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present invention implements all or part of the processes in the above-mentioned implementation method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by the processor, the steps of the above-mentioned various methods and device implementation methods can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device that can carry the computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal and software distribution medium.

[0156] The above-described embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention, and should all be included in the protection scope of the present invention.

Claims

1. A method for collaborative normalization of a Hall sensor array, characterized in that: Applied to a ring-shaped Hall sensor array, each Hall sensor in the Hall sensor array receives a periodic magnetic field strength signal, and the Hall sensor array collaborative normalization method includes: Acquire multiple first sampling value queues, wherein each first sampling value queue corresponds to a Hall sensor, and the sampling duration corresponding to the first sampling value queue is an integer multiple of the magnetic field strength signal period; According to the sensor bias of the Hall sensor, multiple sampling values ​​of each first sampling value queue are divided into two groups to obtain multiple first arrays and multiple second arrays, wherein each Hall sensor corresponds to one first array and one second array; Determine a plurality of sensor gains according to the plurality of first arrays and the plurality of second arrays, and determine a system gain and a system bias according to the plurality of sensor gains and the plurality of sensor biases, wherein each sensor gain corresponds to a Hall sensor; Normalizing a plurality of target sampling values ​​according to the system gain, the system bias, the plurality of sensor gains, and the plurality of sensor biases to obtain a plurality of normalized results, wherein each normalized result corresponds to a target sampling value, and the target sampling value is a sampling value at the end of the first sampling value queue; in, The step of normalizing the plurality of target sampling values ​​according to the system gain, the system bias, the plurality of sensor gains, and the plurality of sensor biases to obtain a plurality of normalized results includes: For each target sampling value, perform the following steps respectively: The ratio of the system gain to the target sensor gain is used as the normalized gain, wherein the target sensor gain is the sensor gain of the Hall sensor corresponding to the target sampling value; Taking the difference between the system bias and the second target sensor bias as the normalized bias, wherein the second target sensor bias is a sensor bias determined according to the target sampling value; The target sample value is normalized according to the first formula, the normalized gain, and the normalized offset to obtain a normalized result, wherein the first formula is: In the formula, To normalize the result, is the normalized gain, is the target sampling value, is the normalized bias.

2. The Hall sensor array collaborative normalization method according to claim 1, characterized in that: The method divides the multiple sampling values ​​of each first sampling value queue into two groups according to the sensor bias of the Hall sensor to obtain multiple first arrays and multiple second arrays, including: For each first sample value queue, perform the following steps respectively: Extracting sample values ​​from the first sample value queue ergodicly as sample values ​​to be grouped; Acquire multiple second sampling values ​​according to the time nodes corresponding to the sampling values ​​to be grouped, wherein the time nodes of the sampling values ​​to be grouped are connected to the time periods corresponding to the multiple second sampling values, and the sampling durations corresponding to the multiple second sampling values ​​are integer multiples of the magnetic field intensity signal period; Using an average of the plurality of second sampling values ​​as a sensor bias; If the sample value to be grouped is higher than the sensor bias, adding the sample value to be grouped into the first array; Otherwise, adding the sample values ​​to be grouped into the second array; If the traversal of the first sampling value queue is not completed, the process jumps to the step of traversing and extracting sampling values ​​from the first sampling value queue as sampling values ​​to be grouped.

3. The Hall sensor array collaborative normalization method according to claim 1, characterized in that: The step of determining a plurality of sensor gains according to the plurality of first arrays and the plurality of second arrays, and determining a system gain and a system bias according to the plurality of sensor gains and the plurality of sensor biases comprises: Calculate the mean of each first array and the mean of each second array to obtain multiple first means and multiple second means; For each Hall sensor, taking the difference between the first mean value corresponding to the Hall sensor and the second mean value corresponding to the Hall sensor as the sensor gain of the Hall sensor; The average of multiple sensor gains is taken as the system gain; An average value of a plurality of first target sensor biases is used as a system bias, wherein the first target sensor bias is a sensor bias determined according to a sampling value at the end of the first sampling value queue.

4. A method for measuring an angular position, characterized in that: Applied to an angular position measurement system, the angular position measurement system is provided with a ring-shaped Hall sensor array and a magnetic field excitation mechanism for generating an integer period magnetic field around the Hall sensor array, and the angular position measurement method comprises: Obtaining a number of cycles, wherein the number of cycles is the number of cycles of the magnetic field around the Hall sensor array; Determine a first cosine value and a first sine value according to the number of cycles and a standard magnetic field strength data queue, wherein the standard magnetic field strength data queue is a queue constructed by a plurality of normalized results obtained according to the Hall sensor array collaborative normalization method according to any one of claims 1 to 3; An angular position is determined based on the first cosine value and the first sine value.

5. The angular position measurement method according to claim 4, characterized in that: The determining of the first cosine value and the first sine value according to the number of cycles and the standard magnetic field strength data queue comprises: The first cosine value and the first sine value are determined according to a second formula, wherein the second formula is: In the formula, is the first cosine value, is the number of cycles, The first data, is the cosine function, is a sine function, is the circumference of a circle, is the total number of data in the standard magnetic field strength data queue, is the first sine value.

6. The angular position measurement method according to any one of claims 4 to 5, characterized in that: The determining the angular position according to the first cosine value and the first sine value comprises: Determine an interval where an angular position is located according to a sign of the first cosine value and a sign of the first sine value; Calculate the arccosine value of the first cosine value to obtain a basic angle, or calculate the arcsine value of the first sine value to obtain a basic angle; The angular position is determined according to the basic angle and the interval in which the angular position is located.

7. A Hall sensor array cooperative per-unit device, characterized in that: Used to implement the Hall sensor array collaborative normalization method according to any one of claims 1 to 3, the Hall sensor array collaborative normalization device comprises: A sampling data queue acquisition module is used to acquire multiple first sampling value queues, wherein each first sampling value queue corresponds to a Hall sensor, and the sampling duration corresponding to the first sampling value queue is an integer multiple of the magnetic field strength signal period; A sampling data grouping module, used for dividing the multiple sampling values ​​of each first sampling value queue into two groups according to the sensor bias of the Hall sensor, to obtain a plurality of first arrays and a plurality of second arrays, wherein each Hall sensor corresponds to a first array and a second array; a system gain and offset determination module, configured to determine a plurality of sensor gains according to the plurality of first arrays and the plurality of second arrays, and determine a system gain and a system offset according to the plurality of sensor gains and the plurality of sensor offsets, wherein each sensor gain corresponds to a Hall sensor; as well as, The normalization module is used to normalize multiple target sampling values ​​according to the system gain, the system bias, the multiple sensor gains and the multiple sensor biases to obtain multiple normalization results, wherein each normalization result corresponds to a target sampling value, and the target sampling value is the sampling value at the end of the first sampling value queue.

8. An electronic device comprising a memory and a processor, wherein the memory stores a computer program that can be run on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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