Sensor calibration method and device, storage medium and calibration system

Abstract

The invention provides a sensor calibration method and device, a storage medium and a calibration system, and relates to the technical field of sensors. The sensor is connected with a stepping motor, and the calibration method of the sensor comprises the following steps: obtaining a first parameter sequence, and configuring the sensor according to the first parameter sequence; controlling the stepping motor to operate according to a preset working mode, and acquiring an output signal of the sensor; determining a second parameter sequence according to the output signal; and configuring the sensor according to the second parameter sequence.

Description

Technical Field

[0001] The present invention relates to the field of sensor technology, and in particular to a sensor calibration method, device, storage medium and calibration system. Background Art

[0002] Angle positioning and control have been widely used in today's industrialized world, and users have increasingly higher requirements for angle detection accuracy.

[0003] In the related art, the angle detection accuracy of the angle detection chip is affected by many factors during use, such as the parameter characteristics of the matching magnetic ring, the mechanical installation position characteristics, etc. Therefore, a complex calibration process is required before the actual product is used, which increases the debugging cost and difficulty, and brings inconvenience to users.

[0004] Therefore, how to overcome the above-mentioned technical defects has become a technical problem that needs to be solved urgently. Summary of the invention

[0005] The present invention aims to solve at least one of the technical problems existing in the prior art.

[0006] To this end, a first aspect of the present invention provides a sensor calibration method.

[0007] A second aspect of the present invention provides a sensor calibration device.

[0008] A third aspect of the present invention provides a sensor calibration device.

[0009] A fourth aspect of the present invention provides a readable storage medium.

[0010] A fifth aspect of the present invention provides a calibration system for a stepper motor.

[0011] In view of this, a first aspect of the present invention provides a sensor calibration method, wherein the sensor is connected to a stepper motor, and the sensor calibration method includes: obtaining a first parameter sequence and configuring the sensor according to the first parameter sequence; controlling the stepper motor to operate in a predetermined working mode and obtaining an output signal of the sensor; determining a second parameter sequence according to the output signal; and configuring the sensor according to the second parameter sequence.

[0012] In this technical solution, a sensor calibration method is defined. The sensor is connected to the first output shaft on the stepper motor and is used to detect the actual rotation angle of the first output shaft on the stepper motor during the operation of the stepper motor. The actual rotation angle can be used to determine whether the stepper motor has a step-out problem, so as to complete the fault detection of the stepper motor.

[0013] On this basis, in the process of calibrating the stepper motor, the first parameter sequence is first obtained and the sensor is preliminarily configured through the first parameter sequence. Among them, the first parameter sequence refers to a parameter sequence that meets certain requirements and has universal characteristics. This parameter sequence can achieve a rough angle detection function and cover the magnetic ring specification requirements selected by the product design. However, the sensor configured only by the first parameter sequence cannot meet the high-precision detection requirements of the product.

[0014] After the configuration of the sensor is completed through the first parameter sequence, the stepper motor connected to the sensor is controlled to operate according to a predetermined working mode, and the output signal of the sensor is obtained during the operation of the stepper motor. The predetermined working mode corresponds to the open-loop control of the stepper motor. In the predetermined working mode, the stepper motor rotates to at least one predetermined angle, and the output signal of the sensor can be used to determine the corresponding measurement angle. The higher the accuracy of the sensor, the smaller the difference between the predetermined angle and the measurement angle.

[0015] After obtaining the output signal, the sensor is differentially calibrated through the output signal in combination with multiple predetermined angles in the predetermined working mode. The differential calibration can compensate for the error between the predetermined angle and the actual measured angle of the sensor, so that the measured angle measured by the calibrated sensor is closer to the actual angle. In addition, during the calibration process, the sensor has been connected to the stepper motor, so the differential calibration also takes into account the actual application scenarios of the stepper motor in the product, reducing the errors caused by external factors such as the parameter characteristics of the magnetic ring and the mechanical installation position characteristics. That is, the differential calibration is essentially a precise angle calibration for individual products, which accurately corrects the angle detection accuracy based on the first parameter sequence.

[0016] After the output signal of the sensor is obtained, a second parameter sequence is determined according to the output signal. The second parameter sequence is a second parameter sequence determined after differential calibration according to the output signal. The second parameter sequence takes into account external factors such as parameter characteristics of the magnetic ring and mechanical installation position characteristics. After the second parameter sequence is determined, the sensor is configured according to the second parameter sequence so that the measurement angle detected by the configured sensor is closer to the actual angle output by the stepper motor.

[0017] By limiting the calibration method of the above sensor, the sensor can work based on the second parameter sequence after differential calibration after the stepper motor is connected to the actual product, reducing the error caused by external factors such as the parameter characteristics of the magnetic ring and the mechanical installation position characteristics. This achieves the technical effect of improving the measurement accuracy of the sensor, the control accuracy of the stepper motor, and the working stability and reliability of related products.

[0018] It can be seen that by limiting the calibration method of the above sensor, the sensor can be calibrated synchronously by controlling the stepper motor to run in a predetermined mode after the stepper motor is connected to the actual product, thereby simplifying the complex and frequent sensor calibration operations and reducing the errors caused by external factors such as the parameter characteristics of the magnetic ring and the mechanical installation position characteristics. This has achieved the technical effect of simplifying the sensor calibration process, reducing the sensor calibration cost, providing convenience for users, and improving the user experience.

[0019] In addition, the sensor calibration method provided by the present invention may also have the following additional technical features:

[0020] In some technical schemes, optionally, the steps of controlling the stepper motor to operate in a predetermined working mode and obtaining the output signal of the sensor include: obtaining the number of calibration points N and the number of calibration steps M; controlling the stepper motor to drive the sensor to rotate 360°, and obtaining the analog signal group of the sensor; determining the minimum analog signal in the analog signal group, and determining the target angle based on the minimum analog signal; controlling the stepper motor to stop at the target angle; controlling the stepper motor to rotate, and collecting a group of angle signals every M steps until the number of collected groups reaches N+1 groups.

[0021] In this technical solution, the steps of controlling the stepper motor to operate according to a predetermined working mode and obtaining the output signal of the sensor are refined. Specifically, before performing differential calibration, the number of calibration points N and the number of calibration steps M corresponding to the calibration requirements are first obtained. Thereafter, the sensor is driven to rotate 360° synchronously by controlling the stepper motor, that is, the sensor is driven to rotate one circle by the stepper motor. In this process, the angle sensor synchronously outputs multiple analog signals according to the rotation angle of the magnetic ring to form an analog signal group. Subsequently, the software logic of the electronic control PCB control unit is run to determine the maximum analog signal and the minimum analog signal in the analog signal group, and to determine the target angle when the minimum analog signal is collected. After determining the target angle, the stepper motor is controlled to rotate to the target angle and stop at the target angle. Finally, the stepper motor is controlled to rotate from the target angle, and the angle signal is sampled every M steps during the rotation process to obtain a group of angle signals, until the number of acquisitions reaches N+1 times and the collected angle signals reach N+1 groups.

[0022] Specifically, the selection of the number of calibration points N is directly related to the angle control accuracy and performance of the stepper motor. The number of calibration points can be determined by compromising the calibration efficiency and the space size of the storage unit used to store the second parameter sequence to ensure that the collected output signal is adapted to the performance and control accuracy requirements of the stepper motor.

[0023] It can be seen that by limiting the calibration method of the above sensor, the error caused by external factors such as the parameter characteristics of the magnetic ring and the mechanical installation position characteristics is reduced. This achieves the technical effect of improving the sensor measurement accuracy, improving the stepper motor control accuracy, and improving the working stability and reliability of related products.

[0024] In some technical solutions, optionally, the step of configuring the sensor according to the second parameter sequence includes: performing linearization processing on N+1 groups of angle signals to obtain the second parameter sequence.

[0025] In this technical solution, after acquiring N+1 groups of angle signals, the N+1 groups of angle signals are linearized to obtain a corresponding second parameter sequence, and then the stepper motor can complete differential calibration through the second parameter sequence.

[0026] In some technical solutions, optionally, the first parameter sequence includes: at least one of basic characteristic parameters, magnetic field strength gain parameters, reference zero position parameters, and output characteristic parameters.

[0027] In this technical solution, during the process of configuring the universal parameters of the sensor, the electronic control board PCB and the magnetic ring that meets the specification requirements are first installed on the universal parameter configuration platform, and the relative position of the magnetic ring and the angle sensor on the PCB board is made to meet the basic tolerance requirements of the stepper motor design. The relative position includes: relative displacement in the three directions of X, Y, and Z and the inclination angle of the magnetic ring, etc.

[0028] Thereafter, basic characteristic parameters are configured according to the first parameter sequence, and specific basic characteristic parameters include magnetic field strength gain, reference zero position, output characteristic parameters, and the like.

[0029] Finally, the operating angle of the rotating platform is configured, and the rotating platform drives the induced magnetic ring to rotate synchronously. During the process, the parameter configuration of multiple angle points is realized one by one. Specifically, 4-16 points are selected within the angle range of concern for parameter configuration.

[0030] After completing the parameter configuration, the first parameter sequence is written into the first storage unit.

[0031] In some technical solutions, optionally, after the step of configuring the sensor according to the second parameter sequence, the sensor calibration method further includes: storing the second parameter sequence.

[0032] In this technical solution, after configuring the sensor by the second parameter sequence, the second parameter sequence is stored. In the subsequent operation of the stepper motor, the second parameter sequence can be called and further calibration can be performed according to the second parameter sequence, so that the sensor can be synchronously calibrated with the actual working condition of the stepper motor.

[0033] For example, as the stepper motor is used for a long time, the inherent performance of the stepper motor will change, and the transmission mechanism connected to the stepper motor may also produce wear and tear. These factors will affect the detection accuracy of the sensor. For this, the sensor can call the second parameter sequence and perform differential calibration again based on the second parameter sequence to reduce the detection error of the sensor. This will achieve the technical effect of improving the measurement accuracy of the sensor, improving the control accuracy of the stepper motor, and improving the working stability and reliability of related products.

[0034] In some technical solutions, optionally, before the step of controlling the stepper motor to operate in a predetermined working mode, the sensor calibration method further includes: storing a first parameter sequence.

[0035] In this technical solution, before the step of controlling the stepper motor to operate in a predetermined working mode, the first parameter sequence is stored in the sensor, which allows the sensor to complete the preliminary configuration of parameters by calling the first parameter sequence in an offline state, providing convenient conditions for users. On the other hand, after the sensor is connected to the actual product, it can be differentially calibrated by calling the first parameter sequence to improve the sensing accuracy of the sensor and improve the stability and reliability of the associated products.

[0036] The second aspect of the present invention provides a sensor calibration device, which is connected to a stepper motor. The sensor calibration device includes: a first configuration module, used to obtain a first parameter sequence and configure the sensor according to the first parameter sequence; a control module, used to control the stepper motor to operate in a predetermined working mode and obtain the output signal of the sensor; a determination module, used to determine a second parameter sequence according to the output signal; and a second configuration module, used to configure the sensor according to the second parameter sequence.

[0037] In this technical solution, a sensor calibration device is defined. The sensor is connected to the first output shaft on the stepper motor and is used to detect the actual rotation angle of the first output shaft on the stepper motor during the operation of the stepper motor. The actual rotation angle can be used to determine whether the stepper motor has a step-out problem, so as to complete the fault detection of the stepper motor.

[0038] On this basis, the sensor calibration device includes a first configuration module, a control module, a determination module, and a second configuration module. In the process of calibrating the stepper motor, the first configuration module first obtains the first parameter sequence and preliminarily configures the sensor through the first parameter sequence. Among them, the first parameter sequence refers to a parameter sequence that meets certain requirements and has universal characteristics. The parameter sequence can realize a rough angle detection function and cover the magnetic ring specification requirements selected by the product design, but the sensor configured only by the first parameter sequence cannot meet the high-precision detection requirements of the product.

[0039] After completing the configuration of the sensor through the first parameter sequence, the control module controls the stepper motor connected to the sensor to operate according to a predetermined working mode, and obtains the output signal of the sensor during the operation of the stepper motor. The predetermined working mode corresponds to the open-loop control of the stepper motor. In the predetermined working mode, the stepper motor rotates to at least one predetermined angle, and the output signal of the sensor can be used to determine the corresponding measurement angle. The higher the sensor accuracy, the smaller the difference between the predetermined angle and the measurement angle.

[0040] After obtaining the output signal, the second determination module combines multiple predetermined angles in the predetermined working mode and performs differential calibration on the sensor through the output signal. The differential calibration can compensate for the error between the predetermined angle and the measured angle actually measured by the sensor, so that the measured angle measured by the calibrated sensor is closer to the actual angle. In addition, during the calibration process, the sensor has been connected to the stepper motor, so the differential calibration also takes into account the actual application scenarios of the stepper motor in the product, reducing the errors caused by external factors such as the parameter characteristics of the magnetic ring and the mechanical installation position characteristics. That is, the differential calibration is essentially a precise angle calibration for individual products, which accurately corrects the angle detection accuracy based on the first parameter sequence.

[0041] Among them, after obtaining the output signal of the sensor, the determination module determines the second parameter sequence according to the output signal, and the second parameter sequence is the second parameter sequence determined after differential calibration according to the output signal, and the second parameter sequence takes into account external factors such as parameter characteristics of the magnetic ring and mechanical installation position characteristics. After determining the second parameter sequence, the sensor is configured according to the second parameter sequence, so that the measurement angle detected by the configured sensor is closer to the actual angle output by the stepper motor.

[0042] By limiting the calibration method of the above sensor, the sensor can work based on the second parameter sequence after differential calibration after the stepper motor is connected to the actual product, reducing the error caused by external factors such as the parameter characteristics of the magnetic ring and the mechanical installation position characteristics. This achieves the technical effect of improving the measurement accuracy of the sensor, the control accuracy of the stepper motor, and the working stability and reliability of related products.

[0043] It can be seen that by limiting the calibration method of the above sensor, the sensor can be calibrated synchronously by controlling the stepper motor to run in a predetermined mode after the stepper motor is connected to the actual product, thereby simplifying the complex and frequent sensor calibration operations and reducing the errors caused by external factors such as the parameter characteristics of the magnetic ring and the mechanical installation position characteristics. This has achieved the technical effect of simplifying the sensor calibration process, reducing the sensor calibration cost, providing convenience for users, and improving the user experience.

[0044] The third aspect of the present invention provides a sensor calibration device, which includes: a memory, in which programs or instructions are stored; a processor, which executes the programs or instructions stored in the memory to implement the steps of the sensor calibration method in any of the above technical solutions.

[0045] In this technical solution, a sensor calibration device is provided which can implement the steps of the sensor calibration method in any of the above-mentioned technical solutions. Therefore, the sensor calibration device has the advantages of the sensor calibration method in any of the above-mentioned technical solutions, and can achieve the technical effects of the sensor calibration method in any of the above-mentioned technical solutions. To avoid repetition, it will not be described here.

[0046] A fourth aspect of the present invention provides a readable storage medium having a program or instruction stored thereon, which, when executed by a processor, implements the steps of the sensor calibration method in any of the above technical solutions.

[0047] In this technical solution, a readable storage medium is provided which can implement the steps of the sensor calibration method in any of the above-mentioned technical solutions after being read by a processor. Therefore, the readable storage medium has the advantages of the sensor calibration method in any of the above-mentioned technical solutions and can achieve the technical effects of the sensor calibration method in any of the above-mentioned technical solutions. To avoid repetition, it will not be repeated here.

[0048] The fifth aspect of the present invention provides a calibration system for a stepper motor, the calibration system for a stepper motor includes: a sensor connected to the stepper motor, the sensor is used to sense the working information of the stepper motor; a control circuit connected to the sensor and the stepper motor, the control circuit includes: a calibration device for the sensor in any of the above technical solutions; and / or a readable storage medium in the above technical solution; wherein the control circuit is used to control the operation of the stepper motor, and the control circuit is also used to calibrate the sensor according to the working information.

[0049] In this technical solution, a stepper motor calibration system is provided. The stepper motor calibration system includes a stepper motor, a sensor and a control circuit. The control circuit connects the sensor and the stepper motor. The control circuit can control the working state of the stepper motor on the one hand, and calibrate the sensor according to the working information sensed by the sensor on the other hand.

[0050] Wherein, the control circuit includes a sensor calibration device as in any of the above technical solutions, and / or a readable storage medium as in the above technical solutions. Therefore, the calibration system of the stepper motor has the advantages possessed by the sensor calibration device in any of the above technical solutions, and / or the advantages possessed by the above readable storage medium. And the calibration system of the stepper motor can achieve the technical effects that can be achieved by the sensor calibration device in any of the above technical solutions, and / or the technical effects that can be achieved by the above readable storage medium. To avoid repetition, it will not be repeated here.

[0051] In some technical solutions, optionally, the sensor includes: a sensing element connected to the calibration device; a magnetic ring arranged opposite to the sensing element, and the magnetic ring is used to connect to the stepper motor.

[0052] In this technical solution, the sensor also includes a sensing element and a magnetic ring. The sensing element is connected to a calibration device of the sensor. The calibration device of the sensor can obtain an output signal from the sensing element and can also cooperate with the sensing element to complete general parameter configuration and differentiated calibration of the sensor.

[0053] The magnetic ring is connected to the output shaft of the stepper motor, and the stepper motor can drive the magnetic ring to rotate. At the same time, the magnetic ring is arranged relative to the sensor, and the sensor can output a corresponding output signal based on the current handover of the magnetic ring to determine the output angle of the stepper motor through the output signal.

[0054] Specifically, the sensing element is an angle hall chip (Hall effect sensor).

[0055] In some technical solutions, optionally, the sensor also includes: a first storage unit connected to the sensing element and used to store a first parameter sequence; the control circuit includes: a control unit connected to the stepper motor; a second storage unit connected to the control unit and used to store a second parameter sequence.

[0056] In this technical solution, the sensor is provided with a first storage unit, which can be used to store a first parameter sequence. During the general parameter configuration process, the configuration can be completed by calling the first parameter sequence stored in the first storage unit, so as to realize the offline general parameter configuration.

[0057] The control circuit includes a control unit, a drive unit and a second storage unit. The control unit controls the stepper motor to work through the drive unit. The second storage unit is used to store a second parameter sequence. In the subsequent working process of the stepper motor, the second parameter sequence can be called and further calibration can be performed according to the second parameter sequence, so that the sensor can be synchronously calibrated with the actual working condition of the stepper motor.

[0058] For example, as the stepper motor is used for a long time, the inherent performance of the stepper motor will change, and the transmission mechanism connected to the stepper motor may also produce wear and tear. These factors will affect the detection accuracy of the sensor. For this, the sensor can call the second parameter sequence and perform differential calibration again based on the second parameter sequence to reduce the detection error of the sensor. This will achieve the technical effect of improving the measurement accuracy of the sensor, improving the control accuracy of the stepper motor, and improving the working stability and reliability of related products.

[0059] The stepper motor comprises a first output shaft; the sensor comprises a sensing element and a magnetic ring, the sensing element is connected to the control circuit, and the magnetic ring is connected to the sensing element and the first output shaft.

[0060] In this technical solution, the stepper motor includes a first output shaft, a magnetic ring is connected to the first output shaft, and the sensing element can sense the first output angle of the stepper motor through the rotating magnetic ring to monitor the stepper motor and troubleshoot out-of-step faults.

[0061] In some technical solutions, optionally, the calibration system of the stepper motor also includes: a transmission assembly connected to the first output shaft, including a second output shaft; a magnetic ring is sleeved on the second output shaft and rotates synchronously with the second output shaft.

[0062] In this technical solution, the calibration system of the stepper motor also includes a transmission assembly, the output end of the transmission assembly is connected to the first output shaft, the second output shaft on the transmission assembly is the power output end, the magnetic ring is sleeved on the second output shaft, and rotates synchronously with the second output shaft. The sensor can detect the second output angle output by the stepper motor through the transmission assembly through the rotating magnetic ring, so as to realize the monitoring of the stepper motor and the troubleshooting of the step-out fault.

[0063] Additional aspects and advantages of the present invention will become apparent in the following description or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0065] Figure 1 A flow chart showing a sensor calibration method according to an embodiment of the present invention;

[0066] Figure 2 A flow chart showing a sensor calibration method according to an embodiment of the present invention;

[0067] Figure 3 A structural block diagram of a sensor calibration device according to an embodiment of the present invention is shown;

[0068] Figure 4A structural block diagram of a sensor calibration device according to an embodiment of the present invention is shown;

[0069] Figure 5 A structural block diagram of a stepper motor calibration system according to an embodiment of the present invention is shown;

[0070] Figure 6 A diagram showing angle output data of a sensor after general parameter configuration according to an embodiment of the present invention is shown;

[0071] Figure 7 shows an angle error data diagram of a sensor after general parameter configuration according to an embodiment of the present invention;

[0072] Figure 8 shows an angle output data diagram of a sensor after differential calibration according to an embodiment of the present invention;

[0073] Fig. 9 FIG. 4 shows an angle error data diagram of a sensor after differential calibration according to an embodiment of the present invention.

[0074] in, Figure 5 The corresponding relationship between the reference numerals and component names in the figure is:

[0075] 600 stepper motor calibration system, 610 control circuit, 612 control unit, 614 drive unit, 616 second storage unit, 618 other circuits, 620 sensor, 622 first storage unit, 624 sensing element, 626 magnetic ring, 630 stepper motor, 640 transmission assembly. DETAILED DESCRIPTION

[0076] In order to more clearly understand the above-mentioned purpose, features and advantages of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0077] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the protection scope of the present invention is not limited to the specific embodiments disclosed below.

[0078] Refer to the following Figures 1 to 9 A sensor calibration method, an apparatus, a storage medium, and a stepper motor calibration system according to some embodiments of the present invention are described.

[0079] like Figure 1 As shown, an embodiment of the present invention provides a sensor calibration method, the sensor is connected to a stepper motor, and the sensor calibration method includes:

[0080] Step 102, obtaining a first parameter sequence, and configuring a sensor according to the first parameter sequence;

[0081] Step 104, controlling the stepper motor to operate according to a predetermined working mode, and obtaining an output signal of the sensor;

[0082] Step 106, determining a second parameter sequence according to the output signal;

[0083] Step 108: configure the sensor according to the second parameter sequence.

[0084] In this embodiment, a sensor calibration method is defined, where the sensor is connected to the first output shaft on the stepper motor and is used to detect the actual rotation angle of the first output shaft on the stepper motor during the operation of the stepper motor. The actual rotation angle can be used to determine whether the stepper motor has a step-out problem, so as to complete the fault detection of the stepper motor.

[0085] On this basis, in the process of calibrating the stepper motor, the first parameter sequence is first obtained and the sensor is preliminarily configured through the first parameter sequence. Among them, the first parameter sequence refers to a parameter sequence that meets certain requirements and has universal characteristics. This parameter sequence can achieve a rough angle detection function and cover the magnetic ring specification requirements selected by the product design. However, the sensor configured only by the first parameter sequence cannot meet the high-precision detection requirements of the product.

[0086] After the configuration of the sensor is completed through the first parameter sequence, the stepper motor connected to the sensor is controlled to operate according to a predetermined working mode, and the output signal of the sensor is obtained during the operation of the stepper motor. The predetermined working mode corresponds to the open-loop control of the stepper motor. In the predetermined working mode, the stepper motor rotates to at least one predetermined angle, and the output signal of the sensor can be used to determine the corresponding measurement angle. The higher the accuracy of the sensor, the smaller the difference between the predetermined angle and the measurement angle.

[0087] After obtaining the output signal, the sensor is differentially calibrated through the first parameter sequence and the output signal in combination with multiple predetermined angles in the predetermined working mode. The differential calibration can compensate for the error between the predetermined angle and the actual measured angle of the sensor, so that the measured angle measured by the calibrated sensor is closer to the actual angle. In addition, during the calibration process, the sensor has been connected to the stepper motor, so the differential calibration also takes into account the actual application scenarios of the stepper motor in the product, reducing the errors caused by external factors such as the parameter characteristics of the magnetic ring and the mechanical installation position characteristics. That is, the differential calibration is essentially a precise angle calibration for individual products, which accurately corrects the angle detection accuracy based on the first parameter sequence.

[0088] After obtaining the output signal of the sensor, a second parameter sequence is determined according to the output signal. The second parameter sequence is a second parameter sequence determined after differential calibration according to the output signal. The second parameter sequence takes into account external factors such as parameter characteristics of the magnetic ring and mechanical installation position characteristics. After determining the second parameter sequence, the sensor is configured according to the second parameter sequence so that the measurement angle detected by the configured sensor is closer to the actual angle output by the stepper motor.

[0089] By limiting the calibration method of the above sensor, the sensor can work based on the second parameter sequence after differential calibration after the stepper motor is connected to the actual product, reducing the error caused by external factors such as the parameter characteristics of the magnetic ring and the mechanical installation position characteristics. This achieves the technical effect of improving the measurement accuracy of the sensor, the control accuracy of the stepper motor, and the working stability and reliability of related products.

[0090] It can be seen that by limiting the calibration method of the above sensor, the sensor can be calibrated synchronously by controlling the stepper motor to run in a predetermined mode after the stepper motor is connected to the actual product, thereby simplifying the complex and frequent sensor calibration operations and reducing the errors caused by external factors such as the parameter characteristics of the magnetic ring and the mechanical installation position characteristics. This has achieved the technical effect of simplifying the sensor calibration process, reducing the sensor calibration cost, providing convenience for users, and improving the user experience.

[0091] Specifically, the first parameter sequence may be pre-stored in the sensor during the production process of the sensor. After the user installs the sensor on an actual product and powers it on, the sensor may retrieve the first parameter sequence and complete the initial configuration of the sensor.

[0092] Specifically, after configuring the sensor through the first parameter sequence, the sensor must meet the following characteristics:

[0093] f(thetaB)-f(thetaA)>0;

[0094] Among them, thetaA and thetaB are actual angles, and thetaB>thetaA;

[0095] f(thetaA) and f(thetaB) are the output signals of the sensor.

[0096] Specifically, the step of configuring the sensor according to the first parameter sequence has the following characteristics:

[0097] It can be carried out offline without being assembled into a formal product.

[0098] The initial configuration of sensor parameters is completed at the chip level or PCB (Printed Circuit Board) assembly level;

[0099] Reduce the complexity of calibration in production state.

[0100] The steps to configure the sensor according to the first parameter sequence must meet the following conditions:

[0101] Use a simple fixture to meet the relative position relationship between the sensor and the magnetic ring. This relative position relationship is close to the state in the product design, and a certain degree of installation error can be allowed;

[0102] The above simple fixture can realize the rotation of the magnetic ring, and the operating angle range should be larger than the operating angle range specified by the product requirements;

[0103] The simple fixture can achieve basic angle positioning, and a certain deviation is allowed for the positioning accuracy.

[0104] Specifically, the process of configuring the sensor according to the second parameter sequence has the following characteristics:

[0105] Conducted online to ensure that the status during calibration is the same as the product status;

[0106] Make full use of the outstanding advantages of stepper motor open-loop position control under specific conditions;

[0107] No external high-precision angle calibration equipment is required;

[0108] No external mechanical fixture is required;

[0109] The operation is simple and efficient.

[0110] The following conditions must be met during the configuration of the sensor according to the second parameter sequence:

[0111] The electronic control PCB needs to drive the stepper motor to operate in open loop using an optimal control strategy;

[0112] The stepper motor should be unloaded or the load converted to the stepper motor should be stable to reduce the possibility of step loss;

[0113] The sensor has completed the general parameter configuration process that meets the requirements;

[0114] The operating software of the electronic control PCB automatically runs within the angle range required by the product and self-learns the output signal of the sensor to achieve differentiated calibration.

[0115] Specifically, Figure 6 , Figure 7 , Figure 8 and Fig. 9As shown in the figure, after the sensor completes the general parameter configuration only through the first parameter sequence, the angle error of the sensor is large, with the maximum positive error around 9 degrees and the maximum negative error around -6 degrees. After completing the differential calibration through the second parameter sequence, the angle error of the sensor is reduced, with the maximum positive error around 2 degrees and the maximum negative error around -1 degrees.

[0116] like Figure 2 As shown, in some embodiments, optionally, the step of controlling the stepper motor to operate according to a predetermined working mode and obtaining the output signal of the sensor includes:

[0117] Step 202, obtaining the number of calibration points N and the number of calibration steps M;

[0118] Step 204, controlling the stepper motor to drive the sensor to rotate 360°, and obtaining an analog signal group of the sensor;

[0119] Step 206, determining a minimum analog signal in the analog signal group, and determining a target angle according to the minimum analog signal;

[0120] Step 208, controlling the stepper motor to stop at the target angle;

[0121] Step 210, control the stepper motor to rotate, and collect a group of angle signals every M steps, until the number of collected groups reaches N+1 groups.

[0122] In this embodiment, the steps of controlling the stepper motor to operate according to a predetermined working mode and obtaining the output signal of the sensor are refined. Specifically, before performing differential calibration, the number of calibration points N and the number of calibration steps M corresponding to the calibration requirements are first obtained. Thereafter, the sensor is driven to rotate 360° synchronously by controlling the stepper motor, that is, the sensor is driven to rotate one circle by the stepper motor. In this process, the angle sensor synchronously outputs multiple analog signals according to the rotation angle of the magnetic ring to form an analog signal group. Subsequently, the software logic of the electronic control PCB control unit is run to determine the maximum analog signal and the minimum analog signal in the analog signal group, and determine the target angle when the minimum analog signal is collected. After determining the target angle, the stepper motor is controlled to rotate to the target angle and stop at the target angle. Finally, the stepper motor is controlled to rotate from the target angle, and the angle signal is sampled every M steps during the rotation process to obtain a group of angle signals, until the number of acquisitions reaches N+1 times and the collected angle signals reach N+1 groups.

[0123] Specifically, the selection of the number of calibration points N is directly related to the angle control accuracy and performance of the stepper motor. The number of calibration points can be determined by compromising the calibration efficiency and the space size of the storage unit used to store the second parameter sequence to ensure that the collected output signal is adapted to the performance and control accuracy requirements of the stepper motor.

[0124] It can be seen that by limiting the calibration method of the above sensor, the error caused by external factors such as the parameter characteristics of the magnetic ring and the mechanical installation position characteristics is reduced. This achieves the technical effect of improving the sensor measurement accuracy, improving the stepper motor control accuracy, and improving the working stability and reliability of related products.

[0125] In some embodiments, optionally, the step of configuring the sensor according to the second parameter sequence includes: performing linearization processing on N+1 groups of angle signals to obtain the second parameter sequence.

[0126] In this embodiment, after acquiring N+1 groups of angle signals, linearization processing is performed on the N+1 groups of angle signals to obtain a corresponding second parameter sequence, and then the stepper motor can complete differential calibration through the second parameter sequence.

[0127] In some embodiments, optionally, the first parameter sequence includes: at least one of basic characteristic parameters, magnetic field strength gain parameters, reference zero position parameters, and output characteristic parameters.

[0128] In this embodiment, during the process of configuring the universal parameters of the sensor, the electronic control board PCB and the magnetic ring that meets the specification requirements are first installed on the universal parameter configuration platform, and the relative position of the magnetic ring and the angle sensor on the PCB board is made to meet the basic tolerance requirements of the stepper motor design. The relative position includes: relative displacement in the three directions of X, Y, and Z and the inclination angle of the magnetic ring, etc.

[0129] Thereafter, basic characteristic parameters are configured according to the first parameter sequence, and specific basic characteristic parameters include magnetic field strength gain, reference zero position, output characteristic parameters, and the like.

[0130] Finally, the operating angle of the rotating platform is configured, and the rotating platform drives the induced magnetic ring to rotate synchronously. During the process, the parameter configuration of multiple angle points is realized one by one. Specifically, 4-16 points are selected within the angle range of concern for parameter configuration.

[0131] After completing the parameter configuration, the first parameter sequence is written into the first storage unit.

[0132] In some embodiments, optionally, after the step of configuring the sensor according to the second parameter sequence, the sensor calibration method further includes: storing the second parameter sequence.

[0133] In this embodiment, after configuring the sensor by the second parameter sequence, the second parameter sequence is stored. In the subsequent operation of the stepper motor, the second parameter sequence can be called and further calibration can be performed according to the second parameter sequence, so that the sensor can be synchronously calibrated with the actual working condition of the stepper motor.

[0134] For example, as the stepper motor is used for a long time, the inherent performance of the stepper motor will change, and the transmission mechanism connected to the stepper motor may also produce wear and tear. These factors will affect the detection accuracy of the sensor. For this, the sensor can call the second parameter sequence and perform differential calibration again based on the second parameter sequence to reduce the detection error of the sensor. This will achieve the technical effect of improving the measurement accuracy of the sensor, improving the control accuracy of the stepper motor, and improving the working stability and reliability of related products.

[0135] In some embodiments, optionally, before the step of controlling the stepper motor to operate in a predetermined working mode, the sensor calibration method further includes: storing a first parameter sequence.

[0136] In this embodiment, before the step of controlling the stepper motor to operate in a predetermined working mode, the acquired first parameter sequence is stored in the sensor, so that the sensor can complete the preliminary configuration of parameters by calling the first parameter sequence in an offline state, providing convenient conditions for users. On the other hand, after the sensor is connected to the actual product, it can perform differential calibration by calling the first parameter sequence to improve the sensing accuracy of the sensor and improve the stability and reliability of the associated product.

[0137] like Figure 3 As shown, an embodiment of the present invention provides a sensor calibration device 300, wherein the sensor is connected to a stepper motor, and the sensor calibration device 300 includes: a first configuration module 302, used to obtain a first parameter sequence and configure the sensor according to the first parameter sequence; a control module 304, used to control the stepper motor to operate in a predetermined working mode and obtain an output signal of the sensor; a determination module 306, used to determine a second parameter sequence according to the output signal; and a second configuration module 308, used to configure the sensor according to the second parameter sequence.

[0138] In this embodiment, a sensor calibration device 300 is defined, which is connected to the first output shaft on the stepper motor and is used to detect the actual rotation angle of the first output shaft on the stepper motor during the operation of the stepper motor. The actual rotation angle can be used to determine whether the stepper motor has a step-out problem, so as to complete the fault detection of the stepper motor.

[0139] On this basis, the sensor calibration device 300 includes a first configuration module 302, a control module 304, a determination module 306, and a second configuration module 308. In the process of calibrating the stepper motor, the first configuration module 302 first obtains the first parameter sequence and preliminarily configures the sensor through the first parameter sequence. Among them, the first parameter sequence refers to a parameter sequence that meets certain requirements and has universal characteristics. The parameter sequence can realize a rough angle detection function and cover the magnetic ring specification requirements selected by the product design, but the sensor configured only by the first parameter sequence cannot meet the high-precision detection requirements of the product.

[0140] After completing the configuration of the sensor through the first parameter sequence, the control module 304 controls the stepper motor connected to the sensor to operate according to a predetermined working mode, and obtains the output signal of the sensor during the operation of the stepper motor. The predetermined working mode corresponds to the open-loop control of the stepper motor. In the predetermined working mode, the stepper motor rotates to at least one predetermined angle, and the output signal of the sensor can be used to determine the corresponding measurement angle. The higher the sensor accuracy, the smaller the difference between the predetermined angle and the measurement angle.

[0141] After obtaining the output signal, the second determination module 306 performs differential calibration on the sensor through the output signal in combination with multiple predetermined angles in the predetermined working mode. The differential calibration can compensate for the error between the predetermined angle and the measured angle actually measured by the sensor, so that the measured angle measured by the calibrated sensor is closer to the actual angle. In addition, during the calibration process, the sensor has been connected to the stepper motor, so the differential calibration also takes into account the actual application scenario of the stepper motor in the product, and reduces the errors caused by external factors such as the parameter characteristics of the magnetic ring and the mechanical installation position characteristics. That is, the differential calibration is essentially a precise angle calibration for individual products, which accurately corrects the angle detection accuracy based on the first parameter sequence.

[0142] Among them, after obtaining the output signal of the sensor, the determination module 306 determines the second parameter sequence according to the output signal, and the second parameter sequence is the second parameter sequence determined after differential calibration according to the output signal, and the second parameter sequence takes into account external factors such as parameter characteristics of the magnetic ring and mechanical installation position characteristics. After determining the second parameter sequence, the sensor is configured according to the second parameter sequence, so that the measurement angle detected by the configured sensor is closer to the actual angle output by the stepper motor.

[0143] By limiting the calibration method of the above sensor, the sensor can work based on the second parameter sequence after differential calibration after the stepper motor is connected to the actual product, reducing the error caused by external factors such as the parameter characteristics of the magnetic ring and the mechanical installation position characteristics. This achieves the technical effect of improving the measurement accuracy of the sensor, the control accuracy of the stepper motor, and the working stability and reliability of related products.

[0144] It can be seen that by limiting the calibration method of the above sensor, the sensor can be calibrated synchronously by controlling the stepper motor to run in a predetermined mode after the stepper motor is connected to the actual product, thereby simplifying the complex and frequent sensor calibration operations and reducing the errors caused by external factors such as the parameter characteristics of the magnetic ring and the mechanical installation position characteristics. This has achieved the technical effect of simplifying the sensor calibration process, reducing the sensor calibration cost, providing convenience for users, and improving the user experience.

[0145] like Figure 4 As shown, one embodiment of the present invention provides a sensor calibration device 400, and the sensor calibration device 400 includes: a memory 402, in which programs or instructions are stored; a processor 404, which executes the programs or instructions stored in the memory 402 to implement the steps of the sensor calibration method in any of the above embodiments.

[0146] In this embodiment, a sensor calibration device 400 is provided, which can implement the steps of the sensor calibration method in any of the above-mentioned embodiments. Therefore, the sensor calibration device 400 has the advantages of the sensor calibration method in any of the above-mentioned embodiments, and can achieve the technical effects of the sensor calibration method in any of the above-mentioned embodiments. To avoid repetition, it will not be described here.

[0147] An embodiment of the present invention provides a readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, the steps of the sensor calibration method in any of the above embodiments are implemented.

[0148] In this embodiment, a readable storage medium is provided which can implement the steps of the sensor calibration method in any of the above embodiments after being read by a processor. Therefore, the readable storage medium has the advantages of the sensor calibration method in any of the above embodiments and can achieve the technical effects of the sensor calibration method in any of the above embodiments. To avoid repetition, it will not be repeated here.

[0149] like Figure 5As shown, one embodiment of the present invention provides a stepper motor calibration system 600, and the stepper motor calibration system 600 includes: a sensor 620, connected to a stepper motor 630, and the sensor 620 is used to sense the working information of the stepper motor 630; a control circuit 610, connected to the sensor 620 and the stepper motor 630, and the control circuit 610 includes: a calibration device for the sensor 620 in any of the above embodiments; and / or a readable storage medium in the above embodiments; wherein the control circuit 610 is used to control the operation of the stepper motor 630, and the control circuit 610 is also used to calibrate the sensor 620 according to the working information.

[0150] In this embodiment, a stepper motor calibration system 600 is provided. The stepper motor calibration system 600 includes a stepper motor 630, a sensor 620 and a control circuit 610. The control circuit 610 connects the sensor 620 and the stepper motor 630. The control circuit 610 can control the working state of the stepper motor 630 on the one hand, and can calibrate the sensor 620 according to the working information sensed by the sensor 620 on the other hand.

[0151] Among them, the control circuit 610 includes a calibration device for the sensor 620 in any of the above embodiments, and / or a readable storage medium in the above embodiments. Therefore, the calibration system 600 of the stepper motor has the advantages of the calibration device for the sensor 620 in any of the above embodiments, and / or the advantages of the readable storage medium. And the calibration system 600 of the stepper motor can achieve the technical effects that can be achieved by the calibration device for the sensor 620 in any of the above embodiments, and / or the technical effects that can be achieved by the readable storage medium. To avoid repetition, it will not be repeated here.

[0152] In some embodiments, optionally, the sensor 620 includes: a sensing member 624 connected to a calibration device; a magnetic ring 626 disposed opposite to the sensing member 624 , and the magnetic ring 626 is used to connect to a stepper motor 630 .

[0153] In this embodiment, the sensor 620 also includes a sensing element 624 and a magnetic ring 626. The sensing element 624 is connected to a calibration device of the sensor 620. The calibration device of the sensor 620 can obtain an output signal from the sensing element 624, and can also cooperate with the sensing element 624 to complete the general parameter configuration and differentiated calibration of the sensor 620.

[0154] The magnetic ring 626 is connected to the output shaft of the stepper motor 630, and the stepper motor 630 can drive the magnetic ring 626 to rotate. At the same time, the magnetic ring 626 is arranged opposite to the sensor 624, and the sensor 624 can output a corresponding output signal based on the current handover of the magnetic ring 626 to determine the output angle of the stepper motor 630 through the output signal.

[0155] Specifically, the sensing element 624 is an angle hall chip (Hall effect sensor).

[0156] The control circuit 610 also includes other circuits 618 , which include but are not limited to power processing circuits, signal processing circuits, etc.

[0157] In some embodiments, optionally, the sensor 620 also includes: a first storage unit 622, connected to the sensing element 624 and used to store a first parameter sequence; the control circuit 610 includes: a control unit 612, connected to the stepper motor 630; a second storage unit 616, connected to the control unit 612 and used to store a second parameter sequence.

[0158] In this embodiment, the sensor 620 is provided with a first storage unit 622, which can be used to store a first parameter sequence. During the general parameter configuration process, the configuration can be completed by calling the first parameter sequence stored in the first storage unit 622, so as to realize the offline general parameter configuration.

[0159] The control circuit 610 includes a control unit 612, a drive unit 614, and a second storage unit 616. The control unit 612 controls the stepper motor 630 to work through the drive unit 614. The second storage unit 616 is used to store the second parameter sequence. In the subsequent working process of the stepper motor 630, the second parameter sequence can be called, and further calibration can be performed according to the second parameter sequence, so that the sensor 620 can be synchronously calibrated with the actual working condition of the stepper motor 630.

[0160] For example, as the stepper motor 630 is used for a long time, the inherent performance of the stepper motor 630 will change, and the transmission mechanism connected to the stepper motor 630 may also produce losses. These factors will affect the detection accuracy of the sensor 620. In this regard, the sensor 620 can call the second parameter sequence and perform differential calibration again based on the second parameter sequence to reduce the detection error of the sensor 620. This will achieve the technical effect of improving the measurement accuracy of the sensor 620, improving the control accuracy of the stepper motor 630, and improving the working stability and reliability of related products.

[0161] The stepper motor 630 includes a first output shaft. The sensor 620 includes a sensing element 624 and a magnetic ring 626. The sensing element 624 is connected to the control circuit 610, and the magnetic ring 626 is connected to the sensing element 624 and the first output shaft.

[0162] In this embodiment, the stepper motor 630 includes a first output shaft, the magnetic ring 626 is connected to the first output shaft, and the sensing element 624 can sense the first output angle of the stepper motor 630 through the rotating magnetic ring 626 to monitor the stepper motor 630 and troubleshoot out-of-step faults.

[0163] In some embodiments, optionally, the stepper motor calibration system 600 further includes: a transmission assembly 640 connected to the first output shaft, including a second output shaft; a magnetic ring 626 is sleeved on the second output shaft and rotates synchronously with the second output shaft.

[0164] In this embodiment, the stepper motor calibration system 600 further includes a transmission assembly 640, the output end of the transmission assembly 640 is connected to the first output shaft, the second output shaft on the transmission assembly 640 is a power output end, and the magnetic ring 626 is sleeved on the second output shaft and rotates synchronously with the second output shaft. The sensing member 624 can detect the second output angle output by the stepper motor 630 through the transmission assembly 640 through the rotating magnetic ring 626, so as to realize the monitoring of the stepper motor 630 and the troubleshooting of the step-out fault.

[0165] It should be clarified that in the claims, specification and drawings of the present invention, the term "multiple" refers to two or more than two. Unless otherwise clearly defined, the orientation or position relationship indicated by the terms "upper" and "lower" is based on the orientation or position relationship shown in the drawings, which is only for the purpose of more conveniently describing the present invention and making the description process simpler, rather than indicating or implying that the device or element referred to must have the specific orientation described, be constructed and operated in a specific orientation, so these descriptions cannot be understood as limiting the present invention; the terms "connect", "install", "fix" and the like should be understood in a broad sense. For example, "connection" can be a fixed connection between multiple objects, or a detachable connection between multiple objects, or an integral connection; it can be a direct connection between multiple objects, or an indirect connection between multiple objects through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances of the above data.

[0166] In the claims, specification and drawings of the present invention, the description of the terms "one embodiment", "some embodiments", "specific embodiments" and the like means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In the claims, specification and drawings of the present invention, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0167] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A sensor calibration method, characterized in that: The sensor is connected to a stepper motor, and the calibration method of the sensor includes: Acquire a first parameter sequence, and configure the sensor according to the first parameter sequence; Controlling the stepper motor to operate according to a predetermined working mode and obtaining an output signal of the sensor; determining a second parameter sequence according to the output signal; The sensor is configured according to the second parameter sequence.

2. The sensor calibration method according to claim 1, characterized in that: The step of controlling the stepper motor to operate according to a predetermined working mode and obtaining the output signal of the sensor comprises: Get the number of calibration points N and the number of calibration steps M; Control the stepper motor to drive the sensor to rotate 360°, and obtain an analog signal group of the sensor; Determining a minimum analog signal in the analog signal group, and determining a target angle according to the minimum analog signal; Controlling the stepping motor to stop at the target angle; The stepper motor is controlled to rotate, and a group of angle signals is collected every M steps until the number of collected groups reaches N+1 groups.

3. The sensor calibration method according to claim 2, characterized in that: The step of configuring the sensor according to the second parameter sequence comprises: Linearization processing is performed on the N+1 groups of angle signals to obtain the second parameter sequence.

4. The sensor calibration method according to claim 1, characterized in that: The first parameter sequence includes: at least one of basic characteristic parameters, magnetic field strength gain parameters, reference zero position parameters, and output characteristic parameters.

5. The sensor calibration method according to any one of claims 1 to 4, characterized in that: After the step of configuring the sensor according to the second parameter sequence, the sensor calibration method further includes: The second parameter sequence is stored.

6. The sensor calibration method according to any one of claims 1 to 4, characterized in that: Before the step of controlling the stepper motor to operate in a predetermined working mode, the sensor calibration method further includes: The first parameter sequence is stored.

7. A sensor calibration device, characterized in that: The sensor is connected to the stepper motor, and the calibration device of the sensor includes: A first configuration module, used for acquiring a first parameter sequence and configuring the sensor according to the first parameter sequence; A control module, used to control the stepper motor to operate according to a predetermined working mode and obtain an output signal of the sensor; A determination module, configured to determine a second parameter sequence according to the output signal; A second configuration module is used to configure the sensor according to the second parameter sequence.

8. A sensor calibration device, characterized in that: include: A memory, wherein a program or an instruction is stored in the memory; A processor, wherein the processor executes the program or instructions stored in the memory to implement the steps of the sensor calibration method according to any one of claims 1 to 6.

9. A readable storage medium, characterized in that: The readable storage medium stores a program or an instruction, and when the program or the instruction is executed by a processor, the steps of the sensor calibration method as described in any one of claims 1 to 6 are implemented.

10. A stepper motor calibration system, characterized in that: The stepper motor calibration system comprises: a sensor connected to the stepper motor, the sensor being used to sense working information of the stepper motor; A control circuit is connected to the sensor and the stepper motor, and the control circuit includes: The sensor calibration device as claimed in claim 7; and / or The sensor calibration device as claimed in claim 8; and / or The readable storage medium according to claim 9; in, The control circuit is used to control the operation of the stepper motor, and the control circuit is also used to calibrate the sensor according to the operation information.

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