Double-magnet-wheel Hall sensor and absolute angle jump correction method and system thereof

Abstract

The invention provides a double-magnetic-wheel Hall sensor and an absolute angle jump correction method and system. The absolute angle jump correction method comprises the steps that S1, a first angle signal, measured by a first Hall element, of a driving wheel is acquired; the second Hall element measures a second angle signal of the driving wheel; calculating a difference value between the first angle signal and the second angle signal, and calculating an absolute angle of rotation of the driving wheel by using a vernier algorithm; s2, judging whether the calculated absolute rotation angle of the driving wheel jumps or not; when the absolute rotation angle of the driving wheel does not jump, the absolute rotation angle of the driving wheel is output; when the absolute rotation angle of the driving wheel jumps, the step S3 is executed; s3, selecting an angle signal which does not cause jumping of the absolute angle of the rotation of the driving wheel, and correcting the absolute angle of the rotation of the driving wheel which jumps; and S4, outputting the corrected absolute rotation angle of the driving wheel. According to the invention, the stability and robustness of the double-magnet-wheel Hall sensor are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of angle sensors, and in particular to a dual-magnetic wheel Hall sensor and an absolute angle jump correction method and system thereof. Background Art

[0002] With the rapid development of the automobile industry, the driving smoothness, handling stability, safety, etc. of automobiles have received more and more attention from the automobile industry, and consumers are more concerned about the driving experience and vehicle safety of automobiles. The steering system of a vehicle is a key component for the driver to operate the vehicle, which will directly affect the handling stability and steering smoothness of consumers, and then affect the safety performance of the vehicle. In order to prevent the car from losing its path tracking ability due to the sideslip of the front axle and losing stability due to the sideslip of the rear axle when driving on a curve, the vehicle stability control system (VSC) can generate a yaw moment to prevent sideslip under extreme conditions such as large lateral forces and large sideslip angles. In order to achieve lateral anti-skid control of the vehicle, a true electronic stability system (ESP) has been developed in the prior art, which fully guarantees the safety of the vehicle. The use of electronic control systems such as vehicle stability control systems (VSC) and electronic stability systems (ESP) to improve the handling stability of vehicles requires the improvement of computer technology, sensor technology and actuators that support the control system.

[0003] The steering wheel angle sensor (SAS) can accurately calculate the steering wheel angle, steering wheel angular velocity, steering wheel direction and other signals, and can provide good and stable signal input for the vehicle stability control system (VSC) and the electronic stability system (ESP), so that the vehicle stability control system (VSC) and the electronic stability system (ESP) can well obtain the driver's steering intention. Therefore, the steering wheel angle sensor (SAS) has become one of the important sensor components of the vehicle stability control system (VSC) and the electronic stability system (ESP).

[0004] With the continuous development and improvement of the complexity of automotive electronic systems, the steering wheel angle sensor (SAS) is no longer only used in the vehicle stability control system (VSC) and the electronic stability program (ESP). The good and accurate angle signal output enables the steering wheel angle sensor (SAS) to be widely used in the wire control steering system, reversing image system, electric power steering system and track deviation warning system.

[0005] From the initial design to the update and iteration to the current mass production and application, the steering wheel angle sensor (SAS) has become one of the important sensor components of the electronic stability system. The main function of the steering wheel angle sensor (SAS) has not changed, but its angle measurement capability and technology have been continuously developing and improving.

[0006] The steering wheel angle sensor (SAS) has mainly gone through three stages: detecting only the relative angle of the steering wheel, detecting the absolute angle of a single turn of the steering wheel, and detecting the absolute angle of multiple turns of the steering wheel.

[0007] (1) The technology of only detecting the relative angle of the steering wheel is simple and does not include a logic processing circuit. It uses variable capacitance resistors and light-emitting diode grating technologies to convert the rotational motion of the steering wheel into a corresponding electrical signal, which is collected and calculated by the electronic stability system to finally obtain the rotation angle of the steering wheel. The steering wheel angle sensor (SAS) at this stage cannot be used as a separate component, and due to production technology and solutions, the steering wheel angle sensor (SAS) is not accurate enough to meet the current vehicle body stability requirements.

[0008] (2) There are two main technologies for detecting the single-turn absolute angle of the steering wheel: Hall sensor and grating technology. The steering wheel angle sensor (SAS) at this stage is different from the stage of only detecting the relative angle of the steering wheel. The production technology at this stage is relatively complex, including internal logic processing and single-chip microcomputer technology. It can independently complete the detection and calculation of electrical signals, and the communication method is relatively simple, but it can only detect the absolute angle of the steering wheel output with a maximum angle of 360 degrees.

[0009] The angle accuracy of the grating technology based on LEDs depends on the number of LEDs and the density of the grating. If the angle accuracy needs to be improved, the grating disk needs to be enlarged and the number of LEDs needs to be increased, which greatly increases the volume and installation space of the steering wheel angle sensor (SAS), thereby increasing the cost. The grating technology solution has high requirements for the use environment and installation environment. Dust, grease, etc. will affect the reception of light, and ultimately lead to angle acquisition errors.

[0010] The Hall sensor solution calculates the angle of the steering wheel by detecting the magnetic field changes of the rotating magnet. The angle accuracy depends on the Hall technology and detection accuracy. Due to the rapid development of automotive electronic technology, the range of detecting the absolute angle of a single turn of the steering wheel cannot meet market needs.

[0011] (3) Detecting the absolute angle of the steering wheel over multiple turns mainly includes two technical solutions: Hall sensor and grating technology.

[0012] The grating technology solution is to add a counter to the grating angle sensor technology to calculate the number of completed turns. The Hall sensor technology calculates the steering wheel angle through the dual magnetic wheel Hall sensor technology solution.

[0013] At present, the most commonly used steering wheel angle sensors (SAS) are potentiometer type, dual magnetic wheel Hall sensor type, magnetic sensitive chip type and electromagnetic coil type. The potentiometer type relies on a sliding rheostat to calculate the steering wheel angle. This contact type has a large noise when working and a short service life. The dual magnetic wheel Hall sensor has a relatively fixed measurement range for the two driven wheels and a fixed measurement range for the absolute angle of the steering wheel. The electromagnetic coil type must rely on an additional angle chip to calculate the absolute angle. The magnetic sensitive chip type needs to use the incremental method and the differential angle method to calculate the absolute angle, which greatly increases the calculation burden.

[0014] Moreover, the angle signal of the active wheel collected by the Hall element of the dual-magnetic wheel Hall sensor through the two driven wheels has jumps. Since the installation position of the two magnetic wheels is affected by external factors, such as the uneven road surface and external impact during the vehicle driving, the vibration; the gear meshing and long-term friction lead to an increase in the mechanical design gap; ultimately, the position angle of the two magnetic heads cannot always be in the optimal position. If any of the angle signals of the active wheel collected by the Hall element through the two driven wheels jumps, the absolute angle of the active wheel will jump, thereby affecting the accuracy of the multi-turn absolute angle detection of the steering wheel. Summary of the invention

[0015] The present invention proposes a dual-magnetic wheel Hall sensor and an absolute angle jump correction method and system thereof to solve the technical problem that the absolute angle of the driving wheel of the existing dual-magnetic wheel Hall sensor jumps, affecting the accuracy of multi-turn absolute angle detection of the steering wheel.

[0016] One aspect of the present invention is to provide a dual-magnetic wheel Hall sensor, the dual-magnetic wheel Hall sensor comprising at least a driving wheel, a first driven wheel and a second driven wheel;

[0017] The driving wheel is meshed with the first driven wheel, and the driving wheel is meshed with the second driven wheel, and there is a certain distance between the first driven wheel and the second driven wheel;

[0018] Wherein, the number of teeth of the first driven wheel differs from the number of teeth of the second driven wheel by 2 to 3 teeth;

[0019] The maximum rotation angle of the driving wheel satisfies the following relationship:

[0020] Wherein, Angle represents the maximum rotation angle of the driving wheel, Z1 represents the number of teeth of the first driven wheel, Z2 represents the number of teeth of the second driven wheel, Z represents the number of teeth of the driving wheel, and M represents the greatest common divisor of the number of teeth of the first driven wheel and the number of teeth of the second driven wheel;

[0021] The rotation period of the first driven wheel satisfies the relationship: T1 = (360° × Z1) / Z; the rotation period of the second driven wheel satisfies the relationship: T2 = (360° × Z2) / Z;

[0022] The center of the first driven wheel is embedded with a first magnetic element, and the center of the second driven wheel is embedded with a second magnetic element;

[0023] The first magnetic element is configured with a first Hall element, and a measurement period T'1 of the first Hall element is equal to a rotation period T1 of the first driven wheel; within each measurement period T'1 of the first Hall element, the first Hall element measures a first angle signal of the driving wheel;

[0024] The second magnetic element is configured with a second Hall element, and a measurement period T'2 of the second Hall element is equal to a rotation period T2 of the second driven wheel; within each measurement period T'2 of the second Hall element, the second Hall element measures a second angle signal of the driving wheel;

[0025] The dual magnetic wheel Hall sensor also includes a processor for acquiring a first angle signal measured by the first Hall element and a second angle signal measured by the second Hall element, and calculating the absolute angle of rotation of the driving wheel using the first angle signal and the second angle signal through a vernier algorithm.

[0026] In a preferred embodiment, the dual magnetic wheel Hall sensor further includes a bushing, a shell bottom and a shell cover;

[0027] The driving wheel, the first driven wheel and the second driven wheel are fixed to the bushing; the processor is fixed in the shell bottom, the bushing is fixed in the shell bottom, and the shell cover is fixed to the shell bottom.

[0028] Another aspect of the present invention is to provide an absolute angle jump correction method based on a dual magnetic wheel Hall sensor, the absolute angle jump correction method comprising the following method steps:

[0029] S1, obtaining a first angle signal of the driving wheel measured by the first Hall element in each measurement cycle T'1 of the first Hall element;

[0030] and a second angle signal of the driving wheel measured by the second Hall element in each measurement period T'2 of the second Hall element;

[0031] Calculate the difference between the first angle signal and the second angle signal, and use the cursor algorithm to calculate the absolute angle of rotation of the driving wheel;

[0032] S2, determining whether the calculated absolute angle of rotation of the driving wheel has changed;

[0033] When the absolute angle of rotation of the driving wheel does not jump, the absolute angle of rotation of the driving wheel is output;

[0034] When the absolute angle of rotation of the driving wheel changes suddenly, the process goes to step S3;

[0035] S3, selecting the angle signal that does not cause the absolute angle of the driving wheel to jump, and correcting the absolute angle of the driving wheel that has jumped;

[0036] S4. Output the corrected absolute angle of rotation of the driving wheel.

[0037] In a preferred embodiment, in step S3, when the angle signal causing the absolute angle of rotation of the driving wheel to jump is the first angle signal, the second angle signal is selected to correct the absolute angle of rotation of the driving wheel that jumps;

[0038] When the angle signal causing the absolute angle of rotation of the driving wheel to jump is the second angle signal, the first angle signal is selected to correct the absolute angle of rotation of the driving wheel that jumps.

[0039] In a preferred embodiment, when the angle signal causing the absolute angle of the driving wheel to jump is the first angle signal, the second angle signal is selected, and the absolute angle of the driving wheel that jumps is corrected by the following method:

[0040] α=α0+ω t ×t;

[0041] Among them, α represents the absolute angle of the driving wheel after correction, α0 represents the absolute angle of the driving wheel before the jump; t represents the jump duration of the absolute angle of the driving wheel; ω t Indicates the angular velocity of the driving wheel;

[0042] Among them, the angular velocity of the driving wheel is ω t Calculated by the following method:

[0043] ω t =θ÷t';

[0044] Wherein, θ represents the second angle signal of the driving wheel measured by the second Hall element at any time period t' within a measurement cycle T'2 of the second Hall element, and t' represents any time period within a measurement cycle T'2 of the second Hall element.

[0045] In a preferred embodiment, when the angle signal causing the absolute angle of the driving wheel to rotate jumps is the second angle signal, the first angle signal is selected, and the absolute angle of the driving wheel rotation that jumps is corrected by the following method:

[0046] α=α0+ω t ×t;

[0047] Among them, α represents the absolute angle of the driving wheel after correction, α0 represents the absolute angle of the driving wheel before the jump; t represents the jump duration of the absolute angle of the driving wheel; ω t Indicates the angular velocity of the driving wheel;

[0048] Among them, the angular velocity of the driving wheel is ω t Calculated by the following method:

[0049] ω t =θ'÷t";

[0050] Wherein, θ' represents the first angle signal of the driving wheel measured by the first Hall element at any time period t" within a measurement cycle T'1 of the first Hall element, and t" represents any time period within a measurement cycle T'1 of the first Hall element.

[0051] In a preferred embodiment, the absolute angle jump correction method further includes:

[0052] S5. Input the corrected absolute angle of rotation of the driving wheel into the Kalman filter for iterative optimization, and output the optimized absolute angle of rotation of the driving wheel.

[0053] Another aspect of the present invention is to provide an absolute angle jump correction system based on a dual magnetic wheel Hall sensor, the absolute angle jump correction system comprising:

[0054] A cursor algorithm module, used to obtain a first angle signal of the driving wheel measured by the first Hall element in each measurement period T'1 of the first Hall element, and to obtain a second angle signal of the driving wheel measured by the second Hall element in each measurement period T'2 of the second Hall element;

[0055] Furthermore, the first angle signal and the second angle signal are used to calculate the absolute angle of rotation of the driving wheel through a vernier algorithm;

[0056] A jump judgment module is used to judge whether the calculated absolute angle of rotation of the driving wheel has jumped;

[0057] An angle signal selection module is used to select an angle signal that does not cause a jump in the absolute angle of the driving wheel rotation, and correct the absolute angle of the driving wheel rotation that has jumped;

[0058] When the absolute angle of rotation of the driving wheel does not jump, the jump judgment module outputs the absolute angle of rotation of the driving wheel;

[0059] When the absolute angle of the driving wheel rotation changes, the angle signal that does not cause the absolute angle of the driving wheel rotation to change is selected through the angle signal selection module, and the absolute angle of the driving wheel rotation that changes is corrected;

[0060] The Kalman filter is used to iteratively optimize the corrected absolute angle of rotation of the driving wheel and output the optimized absolute angle of rotation of the driving wheel.

[0061] In a preferred embodiment, the angle signal selection module selects the angle signal that does not cause the absolute angle of the driving wheel to jump, and corrects the absolute angle of the driving wheel that jumps by the following method:

[0062] When the angle signal causing the absolute angle of rotation of the driving wheel to jump is the first angle signal, the second angle signal is selected to correct the absolute angle of rotation of the driving wheel that jumps;

[0063] When the angle signal causing the absolute angle of rotation of the driving wheel to jump is the second angle signal, the first angle signal is selected to correct the absolute angle of rotation of the driving wheel that jumps.

[0064] In a preferred embodiment, when the angle signal causing the absolute angle of the driving wheel to jump is the first angle signal, the second angle signal is selected, and the absolute angle of the driving wheel that jumps is corrected by the following method:

[0065] α=α0+ω t ×t;

[0066] Among them, α represents the absolute angle of the driving wheel after correction, α0 represents the absolute angle of the driving wheel before the jump; t represents the jump duration of the absolute angle of the driving wheel; ω t Indicates the angular velocity of the driving wheel;

[0067] Among them, the angular velocity of the driving wheel is ω t Calculated by the following method:

[0068] ω=θ÷t';

[0069] Wherein, θ represents the second angle signal of the driving wheel measured by the second Hall element at any time period t' within a measurement cycle T'2 of the second Hall element, and t' represents any time period within a measurement cycle T'2 of the second Hall element;

[0070] When the angle signal causing the absolute angle of the driving wheel to jump is the second angle signal, the first angle signal is selected, and the absolute angle of the driving wheel that jumps is corrected by the following method:

[0071] α=α0+ω t ×t;

[0072] Among them, α represents the absolute angle of the driving wheel after correction, α0 represents the absolute angle of the driving wheel before the jump; t represents the jump duration of the absolute angle of the driving wheel; ω t Indicates the angular velocity of the driving wheel;

[0073] Among them, the angular velocity of the driving wheel is ω t Calculated by the following method:

[0074] ω t =θ'÷t";

[0075] Wherein, θ' represents the first angle signal of the driving wheel measured by the first Hall element at any time period t" within a measurement cycle T'1 of the first Hall element, and t" represents any time period within a measurement cycle T'1 of the first Hall element.

[0076] Compared with the prior art, the present invention has the following beneficial effects:

[0077] The present invention proposes a dual-magnetic wheel Hall sensor and an absolute angle jump correction method and system thereof. The dual-magnetic wheel Hall sensor calculates the absolute angle of the steering wheel through a driving wheel and two driven wheels based on a vernier algorithm. The first angle signal and the second angle signal depend on the tooth ratio of the driving wheel to the first driven wheel and the second driven wheel. The selection of the vernier signal is more flexible and convenient.

[0078] The present invention proposes a dual-magnetic wheel Hall sensor and an absolute angle jump correction method and system thereof. The ratio of the number of teeth of the driving wheel and the first driven wheel and the second driven wheel can be determined according to the absolute angle range of the steering wheel. The number of teeth of the driving wheel and the first driven wheel and the second driven wheel can be freely selected, and there can be multiple combinations to choose from. The installation environment and the size of the installation space can be comprehensively considered to select a suitable tooth number relationship.

[0079] The present invention proposes a dual-magnetic wheel Hall sensor and an absolute angle jump correction method and system thereof, which corrects the measured absolute angle jump of the driving wheel rotation (measured steering wheel absolute angle jump) through a first angle signal of the driving wheel measured by a first Hall element and a second angle signal of the driving wheel measured by a second Hall element, thereby improving the accuracy of the absolute angle of the driving wheel rotation measured by the dual-magnetic wheel Hall sensor (measured steering wheel absolute angle).

[0080] The present invention proposes a dual-magnetic wheel Hall sensor and a method and system for correcting an absolute angle jump thereof. The first angle signal of the driving wheel measured by the first Hall element is used to correct the absolute angle jump of the driving wheel rotation caused by the second angle signal of the driving wheel measured by the second Hall element, or the second angle signal of the driving wheel measured by the second Hall element is used to correct the absolute angle jump of the driving wheel rotation caused by the first angle signal of the driving wheel measured by the first Hall element. The first angle signal of the driving wheel measured by the first Hall element and the second angle signal of the driving wheel measured by the second Hall element are mutually verified, thereby ensuring the accuracy of the absolute angle of the driving wheel rotation measured by the dual-magnetic wheel Hall sensor (the measured absolute angle of the steering wheel).

[0081] The present invention proposes a dual-magnetic wheel Hall sensor and an absolute angle jump correction method and system thereof, which correct and optimize the absolute angle jump to prevent the absolute angle from jumping to an erroneous absolute angle, ensure that the absolute angle of the steering wheel can be output correctly, and improve the stability and robustness of the dual-magnetic wheel Hall sensor. BRIEF DESCRIPTION OF THE DRAWINGS

[0082] In order to more clearly illustrate the specific implementation of the present invention or the technical solution in the prior art, the following briefly introduces the drawings required for use in the specific implementation or the prior art description. Obviously, the drawings described below are some implementations of the present invention, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0083] Figure 1 It is a structural explosion diagram of a dual magnetic wheel Hall sensor of the present invention.

[0084] Figure 2 It is a schematic diagram of the sawtooth wave curve of the rotation angle range of the driving wheel of the present invention and the rotation of the first driven wheel and the second driven wheel for one circle.

[0085] Figure 3 It is a schematic diagram of the sawtooth wave curve of the measurement cycle number and the measurement cycle of the first Hall element and the second Hall element of the present invention.

[0086] Figure 4 The present invention is a flow chart of an absolute angle jump correction method based on a dual magnetic wheel Hall sensor.

[0087] Figure 5 It is a curve diagram of the measurement cycle number and the vd signal of the first Hall element and the second Hall element of the present invention.

[0088] Figure 6 It is a schematic diagram of the first gradient curve of the measurement cycle number of the first Hall element and the second Hall element and the VD-POS signal of the present invention.

[0089] Figure 7 It is a schematic diagram of a second gradient curve of the VD-POS signal and the cursor signal of the present invention.

[0090] Figure 8 It is a relationship curve between the rotation angle range of the driving wheel of the present invention and the measured absolute angle of the driving wheel.

[0091] Fig. 9 It is a schematic diagram of a curve showing the absolute angle of the driving wheel measured before and after correction versus time according to the present invention.

[0092] Fig.10 The present invention is a structural block diagram of an absolute angle jump correction system based on a dual magnetic wheel Hall sensor. DETAILED DESCRIPTION

[0093] In order to make the above and other features and advantages of the present invention more clear, the present invention is further described below in conjunction with the accompanying drawings. It should be understood that the specific embodiments given herein are for the purpose of explaining to those skilled in the art and are only exemplary and not restrictive.

[0094] Combination Figure 1 According to an embodiment of the present invention, a dual magnetic wheel Hall sensor is provided, including a driving wheel 1, a first driven wheel 2, a second driven wheel 3, a first magnetic element 4, a second magnetic element 5, a first Hall element 6, a second Hall element 7, a processor 8, a bushing 9, a shell bottom 10 and a shell cover 11.

[0095] The driving wheel 1 meshes with the first driven wheel 2, and the driving wheel 1 meshes with the second driven wheel 3, and there is a certain distance between the first driven wheel 2 and the second driven wheel 3. The driving wheel 1, the first driven wheel 2, and the second driven wheel 3 are fixed with the bushing 9, and the driving wheel 1, the first driven wheel 2, and the second driven wheel 3 are fixed in relative positions by the bushing 9.

[0096] The processor 8 is fixed in the shell bottom 10, the bushing 9 is fixed in the shell bottom 10, and the shell cover 11 is fixed to the shell bottom 10. Concentric circular holes are provided in the shell cover 11, the shell bottom 10 and the middle of the driving wheel 1, and the column of the steering wheel passes through the circular holes of the shell cover 11 and the shell bottom 10 and is precisely fixed to the driving wheel 1 (the column of the steering wheel and the driving wheel 1 do not rotate relative to each other, but the column of the steering wheel and the circular holes of the shell cover 11 and the shell bottom 10 rotate relative to each other).

[0097] When the steering wheel rotates a certain angle, the column of the steering wheel is driven to rotate a certain angle, thereby driving the driving wheel 1 to rotate a certain angle. The column of the steering wheel rotates synchronously with the driving wheel 1 to ensure the accuracy of the rotation angle of the column of the steering wheel.

[0098] like Figure 1As shown, further, the bushing 9 is provided with a first pin hole 12 , and the shell cover 11 is provided with a first fixing pin 13 , and the bushing 9 and the shell cover 11 are fixed by inserting the first fixing pin 13 into the first pin hole 12 .

[0099] The bushing 9 is provided with a second fixing pin 14 , and the shell bottom 10 is provided with a second pin hole 15 . The bushing 9 and the shell bottom 10 are fixed by inserting the second fixing pin 14 into the second pin hole 15 .

[0100] The shell cover 11 is provided with a third fixing pin 16 , and the shell bottom 10 is provided with a third pin hole 17 . The shell cover 11 and the shell bottom 10 are covered and fixed by inserting the third fixing pin 16 into the third pin hole 17 .

[0101] According to an embodiment of the present invention, the number of teeth of the first driven wheel 2 and the number of teeth of the second driven wheel 3 differ by 2 to 3 teeth.

[0102] Among them, the maximum rotation angle of the driving wheel 1 satisfies the following relationship:

[0103] Among them, Angle represents the maximum rotation angle of the driving wheel 1, Z1 represents the number of teeth of the first driven wheel 2, Z2 represents the number of teeth of the second driven wheel 3, Z represents the number of teeth of the driving wheel 1, and M represents the greatest common divisor of the number of teeth of the first driven wheel 2 and the number of teeth of the second driven wheel 3.

[0104] In this embodiment, the number of teeth Z1 of the first driven wheel 2 is 54, the number of teeth Z2 of the second driven wheel 3 is 57, the number of teeth Z of the driving wheel 1 is 108, and the greatest common divisor M of the number of teeth of the first driven wheel 2 and the number of teeth of the second driven wheel 3 is 3, thereby calculating the maximum rotation angle Angle of the driving wheel 1 to be 3420°.

[0105] According to an embodiment of the present invention, the rotation period of the first driven wheel 2 satisfies the relationship: T1 = (360° × Z1) / Z; the rotation period of the second driven wheel 3 satisfies the relationship: T2 = (360° × Z2) / Z.

[0106] The rotation period T1 of the first driven wheel 2 of the present invention refers to the angle of the driving wheel 1 when the first driven wheel 2 rotates one circle (360°). The rotation period T2 of the first driven wheel 2 refers to the angle of the driving wheel 1 when the second driven wheel 3 rotates one circle (360°).

[0107] In this embodiment, the rotation period T1 of the first driven wheel 2 is (360°×54) / 108=180°, and the rotation period T2 of the second driven wheel 3 is (360°×57) / 108=190°. Thus, when the first driven wheel 2 rotates 360°, the driving wheel 1 rotates 180°, and when the second driven wheel 3 rotates 360°, the driving wheel 1 rotates 190°.

[0108] In this embodiment, since the maximum rotation angle Angle of the driving wheel 1 is 3420°, within the maximum rotation angle range of the driving wheel 1, the first driven wheel 2 has 3420°÷180°=19 rotation cycles; within the maximum rotation angle range of the driving wheel 1, the second driven wheel 3 has 3420°÷190°=18 rotation cycles.

[0109] like Figure 2 As shown, the rotation angle range of the driving wheel 1 is a sawtooth wave curve corresponding to one rotation (360°) of the first driven wheel 2 and the second driven wheel 3 . Figure 2 The middle dotted line is the rotation angle range of the driving wheel 1 and the sawtooth wave of the first driven wheel 2 rotating one circle (360°). Figure 2 The solid line in the middle is the rotation angle range of the driving wheel 1 and the sawtooth wave of the second driven wheel 3 rotating one circle (360°).

[0110] like Figure 1 As shown, according to an embodiment of the present invention, the center of the first driven wheel 2 is embedded in the first magnetic element 4, and the center of the second driven wheel 3 is embedded in the second magnetic element 5.

[0111] The first magnetic element 4 is provided with a first Hall element 6. Specifically, the first Hall element 6 is located below the first magnetic element 4. The measuring period T'1 of the first Hall element 6 is equal to the rotation period T1 of the first driven wheel 2. In each measuring period T'1 of the first Hall element 6, the first Hall element 6 measures the first angle signal of the driving wheel 1.

[0112] The second magnetic element 5 is configured with a second Hall element 7. Specifically, the second Hall element 7 is located below the second magnetic element 5. The measuring period T'2 of the second Hall element 7 is equal to the rotation period T2 of the second driven wheel 3. In each measuring period T'2 of the second Hall element 7, the second Hall element 7 measures the second angle signal of the driving wheel 1.

[0113] In this embodiment, the rotation period T1 of the first driven wheel 2 is (360°×54) / 108=180°, and the measurement period T′1 of the first Hall element 6 is T1=180°, that is, within a measurement period T′1 of the first Hall element 6, the measurement range of the first Hall element 6 is 0° to 180°.

[0114] The rotation period T2 of the second driven wheel 3 is (360°×57) / 108=190°, and the measurement period T′2 of the second Hall element 7 is T2=190°, that is, within a measurement period T′2 of the second Hall element 7, the measurement range of the second Hall element 7 is 0° to 190°.

[0115] Since the maximum rotation angle Angle of the driving wheel 1 is 3420°, the first Hall element 6 has 3420°÷180°=19 measurement cycles. In each measurement cycle T′1 of the first Hall element 6 , the first Hall element 6 measures the first angle signal of the driving wheel 1 .

[0116] Similarly, since the maximum rotation angle Angle of the driving wheel 1 is 3420°, the second Hall element 7 has 3420°÷190°=18 measurement cycles. In each measurement cycle T′2 of the second Hall element 7 , the second Hall element 7 measures the second angle signal of the driving wheel 1 .

[0117] like Figure 3 As shown, the sawtooth wave curves of the measurement cycle number and the measurement cycle of the first Hall element 6 and the second Hall element 7 are shown. Figure 3 The middle dotted line is the number of measurement cycles of the first Hall element 6 and the sawtooth wave of the first angle signal of the driving wheel 1 measured by the first Hall element 6 in each measurement cycle of the first Hall element 6 (measurement range 0° to 180°); Figure 3 The solid line in the middle represents the number of measurement cycles of the second Hall element 7 and the sawtooth wave of the second angle signal of the driving wheel 1 measured by the second Hall element 7 within each measurement cycle of the second Hall element 7 (measurement range 0° to 190°).

[0118] In this embodiment, the measurement period T'1 of the first Hall element 6 = the rotation period T1 of the first driven wheel 2 = 180°. When the first driven wheel 2 rotates 360°, the driving wheel 1 rotates by 180°, and the first angle signal (measured value) of the driving wheel 1 measured by the first Hall element 6 is 180°; when the first driven wheel 2 rotates 36°, the driving wheel 1 rotates by 18°, and the first angle signal (measured value) of the driving wheel 1 measured by the first Hall element 6 is 18°.

[0119] The measurement period T'2 of the second Hall element 7 = the rotation period T2 of the second driven wheel 3 = 190°. When the second driven wheel 3 rotates 360°, the driving wheel 1 rotates by 190°, and the second angle signal (measured value) of the driving wheel 1 measured by the second Hall element 7 is 190°; when the second driven wheel 3 rotates 36°, the driving wheel 1 rotates by 19°, and the second angle signal (measured value) of the driving wheel 1 measured by the second Hall element 7 is 19°.

[0120] like Figure 1As shown, according to an embodiment of the present invention, the dual magnetic wheel Hall sensor further includes a processor 8. The first Hall element 6 and the second Hall element 7 are mounted on the processor 8, and the processor 8 is used to obtain a first angle signal of the driving wheel 1 measured by the first Hall element 6 and a second angle signal of the driving wheel 1 measured by the second Hall element 7, and calculate the absolute angle of rotation of the driving wheel 1 by using the first angle signal and the second angle signal through a vernier algorithm.

[0121] Specifically, by calculating the difference between the first angle signal and the second angle signal, the absolute angle of rotation of the driving wheel 1 is calculated using a vernier algorithm, thereby measuring the absolute angle of the driving wheel 1 and further measuring the absolute angle of rotation of the steering wheel.

[0122] like Figure 4 As shown, according to an embodiment of the present invention, a method for correcting an absolute angle jump based on a dual magnetic wheel Hall sensor is provided, comprising the following method steps:

[0123] Step S1, obtaining a first angle signal of the driving wheel 1 measured by the first Hall element 6 in each measurement period T'1 of the first Hall element 6;

[0124] and a second angle signal of the driving wheel 1 measured by the second Hall element 7 in each measurement cycle T'2 of the second Hall element 7;

[0125] The difference between the first angle signal and the second angle signal is calculated, and the absolute angle of rotation of the driving wheel 1 is calculated using a vernier algorithm.

[0126] In this embodiment, the measurement period T'1 of the first Hall element 6 is 180°, and the first Hall element 6 has 19 measurement periods; the measurement period T'2 of the second Hall element 7 is 190°, and the second Hall element 7 has 18 measurement periods. The first angle signal of the driving wheel 1 measured by the first Hall element 6 in each measurement period T'1 of the first Hall element 6 and the second angle signal of the driving wheel 1 measured by the second Hall element 7 in each measurement period T'2 of the second Hall element 7 are obtained.

[0127] The difference between the first angle signal and the second angle signal is calculated to obtain the vd signal, and the absolute angle of rotation of the driving wheel 1 is calculated using the vernier algorithm.

[0128] Specifically, the first angle signal of the driving wheel 1 measured by the first Hall element 6 in each measurement period T'1 of the first Hall element 6 is subtracted from the second angle signal of the driving wheel 1 measured by the second Hall element 7 in each measurement period T'2 of the second Hall element 7 to obtain the vd signal.

[0129] For example, when the driving wheel 1 rotates 182°, the first angle signal (measured value) of the driving wheel 1 measured by the first Hall element 6 is 2°, and the second angle signal (measured value) of the driving wheel 1 measured by the second Hall element 7 is 182°. Subtract the first angle signal (measured value) of the driving wheel 1 measured by the first Hall element 6, which is 2°, from the second angle signal (measured value) of the driving wheel 1 measured by the second Hall element 7, which is 182°, and the vd signal is -180°.

[0130] By analogy, the curves of the measurement cycle number of the first Hall element 6 and the second Hall element 7 and the vd signal are plotted, such as Figure 5 shown.

[0131] Since the first angle signal of the driving wheel 1 measured by the first Hall element 6 in each measurement period T'1 of the first Hall element 6 is subtracted from the second angle signal of the driving wheel 1 measured by the second Hall element 7 in each measurement period T'2 of the second Hall element 7, the obtained vd signal has positive and negative values. The present invention adds 190° to the negative vd signal to convert it into a positive value.

[0132] After the negative VD signals are converted into positive values, the VD signals with all positive values ​​are smoothed. Specifically, the VD signals with all positive values ​​are rounded up, thereby smoothing the VD signals with all positive values.

[0133] Since there is a round-off error in the process of smoothing the VD signal, the present invention adds 4° to the smoothed VD signal to eliminate the round-off error, thereby obtaining a VD-POS signal.

[0134] Draw the first gradient curve of the measurement cycle number of the first Hall element 6 and the second Hall element 7 and the vd-pos signal, such as Figure 6 shown.

[0135] In this embodiment, in the first gradient curve drawn, the corresponding VD-POS signals from the 1st measurement period to the 19th measurement period are 194°, 14°, 24°, 34°, 44°, 54°, 64°, 74°, 84°, 94°, 104°, 114°, 124°, 134°, 144°, 154°, 164°, 174° and 184° respectively.

[0136] In the first gradient curve of the measurement cycle number of the first Hall element 6 and the second Hall element 7 and the vd-pos signal, the vd-pos signal is sorted in ascending order to obtain the second gradient curve of the vd-pos signal and the cursor signal vr, such as Figure 7 shown. Figure 7 In the figure, the horizontal axis is the vd-pos signal and the vertical axis is the cursor signal vr.

[0137] The absolute angle of rotation of the driving wheel 1 is calculated by finding the cursor signal vr corresponding to the vd-pos signal in the second gradient curve of the vd-pos signal and the cursor signal.

[0138] Specifically, the absolute angle of rotation of the driving wheel 1 is calculated by the following method:

[0139] Vernier signal vr×measurement period T′1 of the first Hall element 6 (T′1=180° in this embodiment)+first angle signal (measured value) of the driving wheel 1 measured by the first Hall element 6 .

[0140] For example, when the driving wheel 1 rotates 182°, the first angle signal (measured value) of the driving wheel 1 measured by the first Hall element 6 is 2°, and the second angle signal (measured value) of the driving wheel 1 measured by the second Hall element 7 is 182°. Subtract the first angle signal (measured value) of the driving wheel 1 measured by the first Hall element 6, which is 2°, from the second angle signal (measured value) of the driving wheel 1 measured by the second Hall element 7, which is 182°, and the vd signal is -180°.

[0141] The negative value vd signal -180° plus 190° is converted to a positive value, that is, -180°+190°=10°, and the obtained vd-pos signal is 10°. The vd-pos signal 10° is located between 0° and 14° of the vd-pos signal in the second gradient curve of the vd-pos signal and the cursor signal. The cursor signal vr corresponding to the vd-pos signal 10° is 1, that is, it is located at the first step (the first measurement cycle).

[0142] Therefore, it is calculated that the absolute angle of rotation of the driving wheel 1 = 1×180° + 2° = 182°, so the absolute angle of rotation of the driving wheel 1 (steering wheel) measured by the dual magnetic wheel Hall sensor is 182°.

[0143] For another example, when the driving wheel 1 rotates 192°, the first angle signal (measured value) of the driving wheel 1 measured by the first Hall element 6 is 12°, and the second angle signal (measured value) of the driving wheel 1 measured by the second Hall element 7 is 2°. Subtracting the first angle signal (measured value) of the driving wheel 1 measured by the first Hall element 6, which is 12°, from the second angle signal (measured value) of the driving wheel 1 measured by the second Hall element 7, which is 2°, the vd signal is 10°.

[0144] The vd signal is 10°, which is a positive value. The vd signal with a positive value of 10° is used as the vd-pos signal, which is located between 0° and 14° of the vd-pos signal in the second gradient curve of the vd-pos signal and the cursor signal. The cursor signal vr corresponding to the vd-pos signal being 10° is 1, which is located at the first step (the first measurement cycle).

[0145] Therefore, it is calculated that the absolute angle of rotation of the driving wheel 1 = 1×180° + 12° = 192°, so the absolute angle of rotation of the driving wheel 1 (steering wheel) measured by the dual magnetic wheel Hall sensor is 192°.

[0146] For another example, when the driving wheel 1 rotates 172°, the first angle signal (measured value) of the driving wheel 1 measured by the first Hall element 6 is 172°, and the second angle signal (measured value) of the driving wheel 1 measured by the second Hall element 7 is 172°. The first angle signal (measured value) of the driving wheel 1 measured by the first Hall element 6 is 172°, and the second angle signal (measured value) of the driving wheel 1 measured by the second Hall element 7 is 172°. The vd signal is 0°.

[0147] The vd signal with a value of 0° is used as the vd-pos signal, which is located at the 0° position of the vd-pos signal in the second gradient curve of the vd-pos signal and the cursor signal. The cursor signal vr corresponding to the vd-pos signal being 0° is 0, that is, it is located at the 0th step (the rotation angle of the driving wheel 1 has not reached the first measurement cycle).

[0148] Therefore, the absolute angle of rotation of the driving wheel 1 is calculated to be 0×180°+172°=172°, so the absolute angle of rotation of the driving wheel 1 (steering wheel) measured by the dual-magnetic wheel Hall sensor is 172°.

[0149] The dual magnetic wheel Hall sensor can effectively measure the absolute angle of the driving wheel 1 (steering wheel) through the cursor algorithm, such as Figure 8 As shown, a curve showing the relationship between the rotation angle range of the driving wheel 1 and the measured absolute angle of the driving wheel 1 is shown.

[0150] Since the position angles of the first magnetic element 4 above the first measuring Hall element 6 and the second magnetic element 5 above the second measuring Hall element 7 cannot always be at the optimal position, the absolute angle of rotation of the driving wheel 1 (steering wheel) measured by the dual magnetic wheel Hall sensor jumps. The present invention corrects the absolute angle of rotation of the driving wheel 1 that jumps through steps S2 to 5.

[0151] Step S2: determine whether the calculated absolute rotation angle of the driving wheel 1 has a jump.

[0152] Specifically, a valid flag and a jump flag are set for the absolute angle of rotation of the driving wheel 1 (steering wheel) measured by the dual magnetic wheel Hall sensor. For example, the default value of the valid flag of the absolute angle of rotation of the driving wheel 1 is 0, and the value of the jump flag is 1.

[0153] When the measured absolute rotation angle of the driving wheel 1 is at the jump mark position, the measured absolute rotation angle of the driving wheel 1 jumps.

[0154] When the absolute rotation angle of the driving wheel 1 does not jump, the absolute rotation angle of the driving wheel 1 is output;

[0155] When the absolute rotation angle of the driving wheel 1 changes suddenly, the process goes to step S3.

[0156] Step S3, selecting the angle signal that does not cause the absolute angle of rotation of the driving wheel 1 to jump, and correcting the absolute angle of rotation of the driving wheel 1 that jumps.

[0157] Specifically, when the angle signal causing the absolute angle of rotation of the driving wheel 1 to jump is the first angle signal (for example, the relative position of the first magnetic element 4 and the first driven wheel 2 is offset), the second angle signal is selected to correct the absolute angle of rotation of the driving wheel 1 that jumps.

[0158] When the angle signal causing the absolute angle of rotation of the driving wheel 1 to jump is the second angle signal (for example, the relative position of the second magnetic element 5 and the second driven wheel 3 is offset), the first angle signal is selected to correct the absolute angle of rotation of the driving wheel 1 that jumps.

[0159] Furthermore, when the angle signal causing the absolute angle of rotation of the driving wheel 1 to jump is the first angle signal, the second angle signal is selected, and the absolute angle of rotation of the driving wheel 1 that jumps is corrected by the following method:

[0160] α=α0+ω t ×t;

[0161] Wherein, α represents the absolute angle of rotation of the driving wheel 1 after correction, α0 represents the absolute angle of rotation of the driving wheel 1 before the jump occurs; t represents the jump duration of the absolute angle of rotation of the driving wheel 1; ω t Indicates the angular velocity of the driving wheel 1.

[0162] Among them, the angular velocity of the driving wheel 1 is ω t Calculated by the following method:

[0163] ω t =θ÷t';

[0164] Herein, θ represents the second angle signal of the driving wheel measured by the second Hall element 7 at any time period t′ within a measurement cycle T′2 of the second Hall element, and t′ represents any time period within a measurement cycle T′2 of the second Hall element 7 .

[0165] When the angle signal causing the absolute angle of rotation of the driving wheel 1 to jump is the second angle signal, the first angle signal is selected, and the absolute angle of rotation of the driving wheel 1 that jumps is corrected by the following method:

[0166] α=α0+ω t ×t;

[0167] Wherein, α represents the absolute angle of rotation of the driving wheel 1 after correction, α0 represents the absolute angle of rotation of the driving wheel 1 before the jump occurs; t represents the jump duration of the absolute angle of rotation of the driving wheel 1; ω t Indicates the angular velocity of the driving wheel 1.

[0168] Among them, the angular velocity of the driving wheel 1 is ω t Calculated by the following method:

[0169] ω t =θ'÷t";

[0170] Herein, θ' represents the first angle signal of the driving wheel 1 measured by the first Hall element 6 at any time period t" within a measurement cycle T'1 of the first Hall element 6, and t" represents any time period within a measurement cycle T'1 of the first Hall element 6.

[0171] Step S4, outputting the corrected absolute rotation angle of the driving wheel 1.

[0172] Step S5: input the corrected absolute rotation angle of the driving wheel 1 into the Kalman filter for iterative optimization, and output the optimized absolute rotation angle of the driving wheel 1.

[0173] In this embodiment, when the dual-magnetic wheel Hall sensor provided by the present invention is used to measure the absolute angle of rotation of the driving wheel 1, the first driven wheel 2 or the second driven wheel 3 is artificially disturbed, so that the absolute angle of rotation of the driving wheel 1 measured by the dual-magnetic wheel Hall sensor jumps. The absolute angle of rotation of the driving wheel 1 that jumps is corrected by the absolute angle jump correction method based on the dual-magnetic wheel Hall sensor provided by the present invention, and the absolute angle of rotation of the driving wheel 1 measured before correction and the absolute angle of rotation of the driving wheel 1 measured after correction are recorded respectively, and the curve of the absolute angle of the driving wheel 1 measured before correction and after correction versus time is plotted, such as Fig. 9 shown.

[0174] Depend on Fig. 9It can be seen that the absolute angle jump correction method based on the dual magnetic wheel Hall sensor provided by the present invention has a good correction effect on the absolute angle of rotation of the driving wheel 1 measured when the dual magnetic wheel Hall sensor is disturbed, can effectively optimize the measurement result of the dual magnetic wheel Hall sensor, improve the measurement accuracy of the dual magnetic wheel Hall sensor, and ensure the accuracy of the absolute angle of rotation of the driving wheel 1 measured by the dual magnetic wheel Hall sensor (the measured absolute angle of the steering wheel).

[0175] like Fig.10 As shown, according to an embodiment of the present invention, an absolute angle jump correction system based on a dual magnetic wheel Hall sensor is provided, comprising:

[0176] The vernier algorithm module 100 is used to obtain the first angle signal of the driving wheel 1 measured by the first Hall element 6 in each measurement period T'1 of the first Hall element 6, and to obtain the second angle signal of the driving wheel 1 measured by the second Hall element 7 in each measurement period T'2 of the second Hall element 7;

[0177] Furthermore, the first angle signal and the second angle signal are used to calculate the absolute angle of rotation of the driving wheel 1 through a vernier algorithm.

[0178] The jump determination module 200 is used to determine whether the calculated absolute rotation angle of the driving wheel 1 has jumped.

[0179] The angle signal selection module 300 is used to select the angle signal that does not cause the absolute angle of the driving wheel 1 to jump, and correct the absolute angle of the driving wheel 1 that has jumped.

[0180] When the absolute rotation angle of the driving wheel 1 does not jump, the jump determination module 200 outputs the absolute rotation angle of the driving wheel 1 .

[0181] When the absolute rotation angle of the driving wheel 1 jumps, the angle signal selection module 300 selects the angle signal that does not cause the absolute rotation angle of the driving wheel 1 to jump, and corrects the absolute rotation angle of the driving wheel 1 that jumps.

[0182] Specifically, the angle signal selection module 300 selects the angle signal that does not cause the absolute angle of the driving wheel 1 to jump, and corrects the absolute angle of the driving wheel 1 that has jumped by the following method:

[0183] When the angle signal causing the absolute angle of rotation of the driving wheel 1 to jump is the first angle signal (for example, the relative positions of the first magnetic element 4 and the first driven wheel 2 are offset), the second angle signal is selected to correct the absolute angle of rotation of the driving wheel 1 that jumps.

[0184] When the angle signal causing the absolute angle of rotation of the driving wheel 1 to jump is the second angle signal (for example, the relative position of the second magnetic element 5 and the second driven wheel 3 is offset), the first angle signal is selected to correct the absolute angle of rotation of the driving wheel 1 that jumps.

[0185] Furthermore, when the angle signal causing the absolute angle of rotation of the driving wheel 1 to jump is the first angle signal, the second angle signal is selected, and the absolute angle of rotation of the driving wheel 1 that jumps is corrected by the following method:

[0186] α=α0+ω t ×t;

[0187] Wherein, α represents the absolute angle of rotation of the driving wheel 1 after correction, α0 represents the absolute angle of rotation of the driving wheel 1 before the jump occurs; t represents the jump duration of the absolute angle of rotation of the driving wheel 1; ω t Indicates the angular velocity of the driving wheel 1.

[0188] Among them, the angular velocity of the driving wheel 1 is ω t Calculated by the following method:

[0189] ω t =θ÷t';

[0190] Herein, θ represents the second angle signal of the driving wheel 1 measured by the second Hall element 7 at any time period t′ within a measurement cycle T′2 of the second Hall element 7 , and t′ represents any time period within a measurement cycle T′2 of the second Hall element 7 .

[0191] When the angle signal causing the absolute angle of the driving wheel 1 to jump is the second angle signal, the first angle signal is selected, and the absolute angle of the driving wheel 1 that jumps is corrected by the following method:

[0192] α=α0+ω t ×t;

[0193] Wherein, α represents the absolute angle of rotation of the driving wheel 1 after correction, α0 represents the absolute angle of rotation of the driving wheel 1 before the jump occurs; t represents the jump duration of the absolute angle of rotation of the driving wheel 1; ω t Indicates the angular velocity of the driving wheel 1.

[0194] Among them, the angular velocity of the driving wheel 1 is ω t Calculated by the following method:

[0195] ω t =θ'÷t";

[0196] Herein, θ' represents the first angle signal of the driving wheel 1 measured by the first Hall element 6 at any time period t" within a measurement cycle T'1 of the first Hall element 6, and t" represents any time period within a measurement cycle T'1 of the first Hall element 6.

[0197] The Kalman filter 400 is used to iteratively optimize the corrected absolute rotation angle of the driving wheel 1 and output the optimized absolute rotation angle of the driving wheel 1 .

[0198] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A dual magnetic wheel Hall sensor, characterized in that: The dual-magnetic wheel Hall sensor comprises at least a driving wheel, a first driven wheel and a second driven wheel; The driving wheel is meshed with the first driven wheel, and the driving wheel is meshed with the second driven wheel, and there is a certain distance between the first driven wheel and the second driven wheel; Wherein, the number of teeth of the first driven wheel differs from the number of teeth of the second driven wheel by 2 to 3 teeth; The maximum rotation angle of the driving wheel satisfies the following relationship: Wherein, Angle represents the maximum rotation angle of the driving wheel, Z1 represents the number of teeth of the first driven wheel, Z2 represents the number of teeth of the second driven wheel, Z represents the number of teeth of the driving wheel, and M represents the greatest common divisor of the number of teeth of the first driven wheel and the number of teeth of the second driven wheel; The rotation period of the first driven wheel satisfies the relationship: T1 = (360° × Z1) / Z; the rotation period of the second driven wheel satisfies the relationship: T2 = (360° × Z2) / Z; The center of the first driven wheel is embedded with a first magnetic element, and the center of the second driven wheel is embedded with a second magnetic element; The first magnetic element is configured with a first Hall element, and a measurement period T'1 of the first Hall element is equal to a rotation period T1 of the first driven wheel; within each measurement period T'1 of the first Hall element, the first Hall element measures a first angle signal of the driving wheel; The second magnetic element is configured with a second Hall element, and a measurement period T'2 of the second Hall element is equal to a rotation period T2 of the second driven wheel; within each measurement period T'2 of the second Hall element, the second Hall element measures a second angle signal of the driving wheel; The dual magnetic wheel Hall sensor also includes a processor for acquiring a first angle signal measured by the first Hall element and a second angle signal measured by the second Hall element, and calculating the absolute angle of rotation of the driving wheel using the first angle signal and the second angle signal through a vernier algorithm.

2. The dual magnetic wheel Hall sensor according to claim 1, characterized in that: The dual magnetic wheel Hall sensor also includes a bushing, a shell bottom and a shell cover; The driving wheel, the first driven wheel and the second driven wheel are fixed to the bushing; the processor is fixed in the shell bottom, the bushing is fixed in the shell bottom, and the shell cover is fixed to the shell bottom.

3. An absolute angle jump correction method based on a dual magnetic wheel Hall sensor, characterized in that: The absolute angle jump correction method comprises the following method steps: S1, obtaining a first angle signal of the driving wheel measured by the first Hall element in each measurement cycle T'1 of the first Hall element; and a second angle signal of the driving wheel measured by the second Hall element in each measurement period T'2 of the second Hall element; Calculate the difference between the first angle signal and the second angle signal, and use the cursor algorithm to calculate the absolute angle of rotation of the driving wheel; S2, determining whether the calculated absolute angle of rotation of the driving wheel has changed; When the absolute angle of rotation of the driving wheel does not jump, the absolute angle of rotation of the driving wheel is output; When the absolute angle of rotation of the driving wheel changes suddenly, the process goes to step S3; S3, selecting the angle signal that does not cause the absolute angle of the driving wheel to jump, and correcting the absolute angle of the driving wheel that has jumped; S4. Output the corrected absolute angle of rotation of the driving wheel.

4. The absolute angle jump correction method according to claim 3, characterized in that: In step S3, when the angle signal causing the absolute angle of rotation of the driving wheel to jump is the first angle signal, the second angle signal is selected to correct the absolute angle of rotation of the driving wheel that jumps; When the angle signal causing the absolute angle of rotation of the driving wheel to jump is the second angle signal, the first angle signal is selected to correct the absolute angle of rotation of the driving wheel that jumps.

5. The absolute angle jump correction method according to claim 4, characterized in that: When the angle signal causing the absolute angle of the driving wheel to jump is the first angle signal, the second angle signal is selected, and the absolute angle of the driving wheel that jumps is corrected by the following method: α=α0+ω t ×t; Among them, α represents the absolute angle of the driving wheel after correction, α0 represents the absolute angle of the driving wheel before the jump; t represents the jump duration of the absolute angle of the driving wheel; ω t Indicates the angular velocity of the driving wheel; Among them, the angular velocity of the driving wheel is ω t Calculated by the following method: oh t =θ÷t'; Wherein, θ represents the second angle signal of the driving wheel measured by the second Hall element at any time period t' within a measurement cycle T'2 of the second Hall element, and t' represents any time period within a measurement cycle T'2 of the second Hall element.

6. The absolute angle jump correction method according to claim 4, characterized in that: When the angle signal causing the absolute angle of the driving wheel to jump is the second angle signal, the first angle signal is selected, and the absolute angle of the driving wheel that jumps is corrected by the following method: α=α0+ωt×t; Among them, α represents the absolute angle of the driving wheel after correction, α0 represents the absolute angle of the driving wheel before the jump; t represents the jump duration of the absolute angle of the driving wheel; ω t Indicates the angular velocity of the driving wheel; Among them, the angular velocity of the driving wheel is ω t Calculated by the following method: oh t =θ'÷t”; Wherein, θ' represents the first angle signal of the driving wheel measured by the first Hall element at any time period t" within a measurement cycle T'1 of the first Hall element, and t" represents any time period within a measurement cycle T'1 of the first Hall element.

7. The absolute angle jump correction method according to claim 3, characterized in that: The absolute angle jump correction method further includes: S5. Input the corrected absolute angle of rotation of the driving wheel into the Kalman filter for iterative optimization, and output the optimized absolute angle of rotation of the driving wheel.

8. An absolute angle jump correction system based on a dual magnetic wheel Hall sensor, characterized in that: The absolute angle jump correction system comprises: A cursor algorithm module, used to obtain a first angle signal of the driving wheel measured by the first Hall element in each measurement period T'1 of the first Hall element, and to obtain a second angle signal of the driving wheel measured by the second Hall element in each measurement period T'2 of the second Hall element; Furthermore, the first angle signal and the second angle signal are used to calculate the absolute angle of rotation of the driving wheel through a vernier algorithm; A jump judgment module is used to judge whether the calculated absolute angle of rotation of the driving wheel has jumped; An angle signal selection module is used to select an angle signal that does not cause a jump in the absolute angle of the driving wheel rotation, and correct the absolute angle of the driving wheel rotation that has jumped; When the absolute angle of rotation of the driving wheel does not jump, the jump judgment module outputs the absolute angle of rotation of the driving wheel; When the absolute angle of the driving wheel rotation changes, the angle signal that does not cause the absolute angle of the driving wheel rotation to change is selected through the angle signal selection module, and the absolute angle of the driving wheel rotation that changes is corrected; The Kalman filter is used to iteratively optimize the corrected absolute angle of rotation of the driving wheel and output the optimized absolute angle of rotation of the driving wheel.

9. The absolute angle jump correction system according to claim 8, characterized in that: The angle signal selection module selects the angle signal that does not cause the absolute angle of the driving wheel to jump by the following method, and corrects the absolute angle of the driving wheel that has jumped: When the angle signal causing the absolute angle of rotation of the driving wheel to jump is the first angle signal, the second angle signal is selected to correct the absolute angle of rotation of the driving wheel that jumps; When the angle signal causing the absolute angle of rotation of the driving wheel to jump is the second angle signal, the first angle signal is selected to correct the absolute angle of rotation of the driving wheel that jumps.

10. The absolute angle jump correction system according to claim 9, characterized in that: When the angle signal causing the absolute angle of the driving wheel to jump is the first angle signal, the second angle signal is selected, and the absolute angle of the driving wheel that jumps is corrected by the following method: α=α0+ω t ×t; Among them, α represents the absolute angle of the driving wheel after correction, α0 represents the absolute angle of the driving wheel before the jump; t represents the jump duration of the absolute angle of the driving wheel; ω t Indicates the angular velocity of the driving wheel; Among them, the angular velocity of the driving wheel is ω t Calculated by the following method: oh t =θ÷t'; Wherein, θ represents the second angle signal of the driving wheel measured by the second Hall element at any time period t' within a measurement cycle T'2 of the second Hall element, and t' represents any time period within a measurement cycle T'2 of the second Hall element; When the angle signal causing the absolute angle of the driving wheel to jump is the second angle signal, the first angle signal is selected, and the absolute angle of the driving wheel that jumps is corrected by the following method: α=α0+ω t ×t; Among them, α represents the absolute angle of the driving wheel after correction, α0 represents the absolute angle of the driving wheel before the jump; t represents the jump duration of the absolute angle of the driving wheel; ω t Indicates the angular velocity of the driving wheel; Among them, the angular velocity of the driving wheel is ω t Calculated by the following method: oh t =θ'÷t”; Wherein, θ' represents the first angle signal of the driving wheel measured by the first Hall element at any time period t" within a measurement cycle T'1 of the first Hall element, and t" represents any time period within a measurement cycle T'1 of the first Hall element.

Images