A Hall-type angle sensor design method and system

Abstract

The present invention discloses a method and system for designing a Hall-type angle sensor, the method comprising: S1: constructing a Hall-type angle sensor; S2: calculating the rotational angular velocity of a bearing by using the variable resistor voltage-dividing principle; S3: fitting the bearing rotation image to solve the rotational angular velocity of the bearing; S4: calculating the total distance between the bearing and a magnet based on the rotational angular velocity and the rotational angular velocity of the bearing; S5: calculating the theoretical value of the output voltage of the Hall element; S6: correcting the rotational angular velocity of the bearing based on the deviation between the measured value and the theoretical value of the output voltage of the Hall element. The present invention uses a variable resistor to realize the real-time measurement of the rotational angular velocity of the bearing in the Hall-type angle sensor; solves the rotational angular velocity of the bearing based on the rotational angular velocity of the bearing, and corrects the rotational angular velocity of the bearing by using the deviation between the measured value and the theoretical value of the output voltage of the Hall element, thereby realizing the real-time and high-precision measurement of the rotational angular velocity of the bearing.

Description

Technical Field

[0001] The present invention relates to the technical field of sensor design, and in particular to a Hall-type angle sensor design method and system. Background Art

[0002] At present, Hall angle sensors are widely used in the steering gear manufacturing industry, which mainly include a shaft, a magnet and a PCB board. The Hall element and the corresponding circuit are arranged on the PCB board, and the magnet is fixed in the shaft, responding to the Hall element without contact. When the shaft rotates, the magnetic field is transmitted to the Hall element to form a corresponding electrical signal, which passes through the A / D conversion circuit and the DSP amplification circuit, and finally a digital signal can be output. The actual rotation angle of the shaft can be measured through the digital signal.

[0003] Existing Hall-type angle sensors have the following disadvantages: First, since the magnet generates a magnetic field by rotating and transmits it to the Hall element, and the rotation angle is measured by the output digital signal, the error caused by the interference of the external magnetic field has a certain impact on this angle sensor, resulting in poor reliability; second, the focus of this type of angle sensor is to fix the rotating shaft in the axial direction and control the distance between the magnet and the Hall element. Existing angle sensors of this type are all relatively complex in structure and have high costs. Summary of the invention

[0004] The purpose of the present invention is to provide a Hall-type angle sensor. Such a Hall-type angle sensor includes a magnet, a structure and a PCB board with a Hall element; the bearing rotation angular velocity is solved based on the bearing rotation image, and the bearing rotation angular velocity is corrected by using the deviation between the measured value and the theoretical value of the Hall element output voltage, so as to realize real-time high-precision measurement of the bearing rotation angular velocity.

[0005] The technical solution proposed by the present invention is a method for designing a Hall-type angle sensor, comprising the following steps:

[0006] S1: constructing a Hall-type angle sensor; the Hall-type angle sensor comprises a cover plate, a PCB board with a Hall element installed, a magnet, a bearing, a base, a wire outlet and an output shaft;

[0007] S2: Install a variable resistor between the bearing and the PCB board, and calculate the rotational angular velocity of the bearing using the variable resistor voltage division principle;

[0008] S3: constructing a synthetic motion model of the bearing based on the rotational motion and self-rotational motion of the bearing; fitting the self-rotation image of the bearing based on the synthetic motion model of the bearing, and solving the self-rotational angular velocity of the bearing in combination with the rotational angular velocity of the bearing;

[0009] S4: calculating the total distance between the bearing and the magnet based on the rotation angular velocity and the rotation angular velocity of the bearing;

[0010] S5: Calculating a theoretical output voltage value of the Hall element based on a total distance between the bearing and the magnet;

[0011] S6: Measure the output voltage of the Hall element to obtain a measured value of the output voltage of the Hall element, and correct the rotational angular velocity of the bearing obtained in step S2 based on the deviation between the measured value of the output voltage of the Hall element and a theoretical value of the output voltage of the Hall element.

[0012] Optionally, the S1 includes:

[0013] Construct a Hall-type angle sensor, specifically:

[0014] The bearing is mounted on the base;

[0015] One end of the output shaft passes through the bearing and is installed on the base. A side groove is provided on one side of the output shaft. The magnet is located at the side groove. The magnet is used to generate a magnetic field. When the bearing rotates, the change of the magnetic field is detected by a Hall element. The Hall element has no contact with the magnet.

[0016] The PCB board is fixed to the cover board by screws; the Hall element is located at the top of the PCB board; the wire output by the PCB board is wrapped with a shielding wire, and the shielding wire wraps the wire output by the PCB board and passes through the wire outlet;

[0017] A stepped hole is provided on the inner side of the cover plate, and an internal thread is provided at the stepped hole; the cover plate is connected to the external thread on the base through the internal thread on the cover plate; the cover plate includes a first layer of grooves and a second layer of grooves, and the first layer of grooves of the cover plate are at a certain distance from the upper surface of the base; a number of gaskets are installed on one side of the base, and the inner diameter of the gasket is smaller than the outer diameter of the bearing. The second layer of grooves of the cover plate clamps the gasket, and the inner diameter of the gasket is smaller than the outer diameter of the bearing, and the position of the cover plate 1 is fixed in the axial direction by the gasket.

[0018] Optionally, the S2 includes:

[0019] Install a variable resistor between the bearing and the PCB board, and connect the variable resistor to a voltage divider circuit;

[0020] Using the variable resistor voltage division principle, calculate The resistance value of the variable resistor at any moment is:

[0021] ;

[0022] in, express The resistance value of the variable resistor at the moment, Indicates the resistance value of the fixed resistor in the voltage divider circuit,

[0023] Indicates the voltage value output by the voltage divider circuit. Indicates the voltage value across the fixed resistor in the voltage divider circuit;

[0024] The angular velocity of the bearing at this moment is:

[0025] ;

[0026] in, express The angular velocity of the bearing at the moment, Express request Relative to The partial guide, represents the variable resistance coefficient, Represents the symbol for pi, Indicates the radius of bearing rotation.

[0027] Optionally, the S3 includes:

[0028] Paste an aluminum foil sticker in the middle of the bearing; fix the infrared camera to ensure that the infrared camera faces the rotating shaft of the bearing; in the bearing rotation image captured by the infrared camera, each aluminum foil reflection point corresponds to the position of the bearing after one rotation; in the bearing rotation image captured by the infrared camera, use target detection to locate the aluminum foil reflection point;

[0029] S31: Based on the rotational motion and the self-rotational motion of the bearing, a synthetic motion model of the bearing is constructed:

[0030] ;

[0031] in, Indicates the position of the aluminum foil reflection point at the initial moment, express The ideal position of the aluminum foil reflection point at all times, express The angle of the bearing rotation at any moment; Yes Integral, indicating The rotation angle of the bearing at the moment;

[0032] S32: fitting the bearing rotation image using the least square method to solve the rotation angular velocity of the bearing;

[0033] ;

[0034] ;

[0035] in, It means to find the minimum value. express The actual position of the aluminum foil reflection point in the bearing rotation image at the moment, represents the bearing rotation angle obtained by least squares fitting; express The angular velocity of the bearing at the moment.

[0036] Optionally, the S4 includes:

[0037] Based on the rotational angular velocity of the bearing, calculate The basic distance between the bearing and the magnet at the moment:

[0038] ;

[0039] in, Indicates the basic distance between the bearing and the magnet;

[0040] Based on the bearing's rotational angular velocity, calculate The micro-motion distance of the bearing relative to the magnet at a moment:

[0041] ;

[0042] in, express The micro-motion distance of the bearing relative to the magnet at any moment, Express request Relative to The model, Indicates the radius of the bearing;

[0043] The total distance between the bearing and the magnet is calculated as:

[0044] ;

[0045] in, express The total distance between the moment bearing and the magnet.

[0046] Optionally, the S5 includes:

[0047] Calculate the theoretical magnetic field strength at the bearing position:

[0048] ;

[0049] in, express The theoretical magnetic field strength at the moment, represents the vacuum permeability, Indicates the current intensity;

[0050] Calculate the theoretical output voltage value of the Hall element:

[0051] ;

[0052] in, express The theoretical output voltage value of the Hall element at the moment, represents the Hall coefficient, Indicates the thickness of the Hall element.

[0053] Optionally, the S6 includes:

[0054] S61: At this moment, a voltmeter is used to measure the output voltage of the Hall element to obtain the output voltage measurement value of the Hall element. ;

[0055] S62: Based on the deviation between the measured value of the Hall element output voltage and the theoretical value of the Hall element output voltage, the bearing rotation angular velocity is corrected using Kalman filtering.

[0056] Optionally, the S62 includes:

[0057] S621: Based on the rotational angular velocity of the bearing, a state vector is constructed and initialized:

[0058] ;

[0059] in, represents the state vector;

[0060] S622: Prediction covariance matrix:

[0061] ;

[0062] in, express The predicted value of the moment covariance matrix, express The theoretical value of the moment covariance matrix, express The noise covariance matrix at time , express The measurement matrix at time, express The transposed matrix of

[0063] S623: Update the state vector using Kalman filtering:

[0064] ;

[0065] in, express The state vector update value at the moment, express The Kalman gain at time t, ;

[0066] Pick Update value of state vector at time The elements in are used as the correction values ​​of the bearing's rotational angular velocity.

[0067] The present invention also provides a Hall-type angle sensor design system, comprising:

[0068] Hall angle sensor module: construct a Hall angle sensor, which includes a cover plate, a PCB board with a Hall element installed, a magnet, a bearing, a base, an outlet and an output shaft;

[0069] The bearing is mounted on the base;

[0070] One end of the output shaft passes through the bearing and is installed on the base. A side groove is provided on one side of the output shaft. The magnet is located at the side groove. The magnet is used to generate a magnetic field. When the bearing rotates, the change of the magnetic field is detected by a Hall element. The Hall element has no contact with the magnet.

[0071] The PCB board is fixed on the cover plate by screws; the Hall element is located at the top of the PCB board; the wire output by the PCB board is wrapped with a shielding wire, and the shielding wire wraps the wire output by the PCB board and passes through the wire outlet;

[0072] The inner side of the cover plate is provided with a stepped hole, the stepped hole is provided with an internal thread, and the cover plate is connected with the external thread on the base through the internal thread on the cover plate; the cover plate includes a first layer of grooves and a second layer of grooves, and the first layer of grooves of the cover plate is at a certain distance from the upper surface of the base; a number of gaskets are installed on one side of the base, the inner diameter of the gasket is smaller than the outer diameter of the bearing, the second layer of grooves of the cover plate clamps the gasket, the inner diameter of the gasket is smaller than the outer diameter of the bearing, and the position of the cover plate is fixed in the axial direction by the gasket;

[0073] Rotational angular velocity calculation module: a variable resistor is installed between the bearing and the PCB board, the variable resistor is connected to a voltage divider circuit, the resistance value of the variable resistor is calculated, and the rotational angular velocity of the bearing is calculated;

[0074] Rotation angular velocity calculation module: constructs a synthetic motion model of the bearing, fits the bearing rotation image, and solves the rotation angular velocity of the bearing;

[0075] A total distance calculation module is used to calculate the total distance between the bearing and the magnet based on the rotation angular velocity and the rotation angular velocity of the bearing;

[0076] Output voltage theoretical value calculation module: calculates the theoretical magnetic field strength at the bearing position and calculates the output voltage theoretical value of the Hall element;

[0077] Rotational angular velocity correction module: measures the output voltage of the Hall element in real time, and corrects the bearing rotational angular velocity based on the deviation between the measured value of the Hall element output voltage and the theoretical value of the Hall element output voltage.

[0078] Beneficial effects:

[0079] The Hall angle sensor designed by the present invention has the functions of low cost and high precision. Under the premise of meeting the use requirements, the size of the outlet is reduced, and the shielding wire is installed to solve the reliability problem. A bearing is added in the structure to improve the rotation accuracy of the output shaft. The number of structural parts is reduced, and the structural parts are all made of aluminum parts, which greatly reduces the cost compared with the original Hall angle sensor. During the overall assembly, the distance between the Hall element and the magnet can be adjusted by the number and height of the gaskets to improve the use accuracy. The shielding wire is wrapped outside the line output by the PCB board to reduce the influence of the external magnetic field on the product and improve the accuracy: the shielding wire is installed outside the outlet line to solve the reliability problem. The accuracy of the output shaft is improved by the bearing, and the bearing and the output shaft are fixedly installed in the overall structure so that there is no displacement change in the axial direction. The overall structure of the upper cover plate is not only installed with the PCB board, but also assembled as a whole through the steps and screws provided by itself. At the same time, during the actual installation, the structure can also be adjusted to change the distance between the magnet and the Hall element. Under the premise of meeting the use conditions, the structure is simplified to facilitate processing and assembly, greatly reducing the processing cost and improving the economic benefits of the Hall angle sensor.

[0080] The present invention installs a variable resistor between a bearing and a PCB board, and utilizes the characteristic that the length of the variable resistor changes during the rotation of the bearing around a fulcrum on a back plate to realize real-time measurement of the rotation angular velocity of the bearing in a Hall-type angle sensor; fits the bearing rotation image to obtain the bearing motion trajectory, and solves the bearing rotation angular velocity in real time; based on the rotation angular velocity and rotation angular velocity of the bearing, the total distance between the bearing and the magnet is obtained by utilizing geometric features; and the deviation between the measured value and the theoretical value of the output voltage of the Hall element is utilized to correct the bearing rotation angular velocity, thereby realizing real-time high-precision measurement of the bearing rotation angular velocity. BRIEF DESCRIPTION OF THE DRAWINGS

[0081] Figure 1 A schematic diagram of a flow chart of a method for designing a Hall-type angle sensor provided by an embodiment of the present invention;

[0082] Figure 2 It is a schematic diagram of the structure of the Hall-type angle sensor of the present invention;

[0083] Figure 3 It is a schematic diagram of the cover plate structure of the present invention;

[0084] Figure 4 It is a schematic diagram of the cutaway structure of the cover plate of the present invention from the right side;

[0085] Figure 5 It is a schematic diagram of the base structure of the present invention;

[0086] Figure 6 It is a schematic diagram of the cutaway structure of the base of the present invention from the left side;

[0087] Figure 7 It is a schematic diagram of the cross-section structure of the output shaft of the present invention.

[0088] Reference numerals

[0089] 1. Cover plate; 2. Hall element; 3. Magnet; 4. Bearing retaining ring; 5. Bearing; 6. Base; 7. Elastic retaining ring; 8. Output shaft. DETAILED DESCRIPTION

[0090] The present invention is further described below in conjunction with the accompanying drawings, but the present invention is not limited in any way. Any changes or substitutions made based on the teachings of the present invention belong to the protection scope of the present invention.

[0091] Embodiment 1:

[0092] A design method of Hall-type angle sensor, such as Figure 1-5 As shown, the following steps are included:

[0093] S1: constructing a Hall-type angle sensor; the Hall-type angle sensor comprises a cover plate 1, a PCB board on which a Hall element 2 is mounted; a magnet 3, a bearing 5, a base 6, a wire outlet, and an output shaft 8;

[0094] The bearing 5 is mounted on the base 6;

[0095] One end of the output shaft 8 passes through the bearing 5 and is fixedly installed on the base 6. A side groove is opened on one side of the output shaft 8. The magnet 3 is located at the side groove. The magnet 3 is used to generate a magnetic field. When the bearing 5 rotates, the change of the magnetic field is detected by the Hall element, and the Hall element has no contact with the magnet; the PCB board is fixed on the cover 1 by screws; the Hall element 2 is located on the top of the PCB board; the wire output from the PCB board is wrapped with a shielded wire, and the shielded wire wraps the wire output from the PCB board and passes through the wire outlet;

[0096] It should be noted that the Hall-type angle sensor designed in the present invention wraps the shielding wire outside the line output by the PCB board, thereby reducing the influence of the external magnetic field on the product, improving the accuracy, and solving the reliability problem. In this embodiment, the size of the wire outlet can meet the requirement of the shielding wire to wrap the line output by the PCB board. Under the premise of meeting the use requirements, the size of the wire outlet is reduced, the shielding wire is installed, and the reliability problem is solved.

[0097] The inner side of the cover plate 1 is provided with a stepped hole, and the stepped hole is provided with an internal thread; the base is provided with an external thread, and the cover plate 1 is connected with the external thread 6 on the base through the internal thread on the cover plate;

[0098] The cover plate 1 includes a first layer of grooves and a second layer of grooves. The first layer of grooves of the cover plate 1 is at a certain distance from the upper surface of the base 6. A number of gaskets are installed on one side of the base 6. The inner diameter of the gasket is smaller than the outer diameter of the bearing 5. The second layer of grooves of the cover plate 1 clamps the gaskets, and the position of the cover plate 1 is fixed in the axial direction by the gaskets.

[0099] It is further explained that when installing the cover plate 1, the distance between the magnet 3 and the Hall element 2 is adjusted by adjusting the number of gaskets. In addition, an elastic retaining ring is installed at the end of the output shaft away from the base, and a shaft groove corresponding to the elastic retaining ring is opened on the output shaft. The elastic retaining ring is inserted into the shaft groove through its elastic deformation to achieve axial fixation of the output shaft and prevent the output shaft from axial movement during operation. A bearing retaining ring 4 is connected to one end of the bearing. The main function of the bearing retaining ring 4 is to fix the axial position of the bearing and prevent the bearing from axial movement during operation, thereby ensuring the stable operation of the equipment.

[0100] S2: Install the variable resistor between the bearing 5 and the PCB board, and calculate the rotational angular velocity of the bearing 5 using the variable resistor voltage division principle:

[0101] Install a variable resistor between bearing 5 and the PCB board, and connect the variable resistor to the voltage divider circuit; use the variable resistor voltage divider principle to calculate The resistance value of the variable resistor at any moment is:

[0102] ;

[0103] in, express The resistance value of the variable resistor at the moment, Indicates the resistance value of the fixed resistor in the voltage divider circuit,

[0104] Indicates the voltage value output by the voltage divider circuit. Indicates the voltage value across the fixed resistor in the voltage divider circuit;

[0105] The rotational angular velocity of bearing 5 at this moment is:

[0106] ;

[0107] in, express The angular velocity of the bearing at the moment, Express request Relative to The partial guide, represents the variable resistance coefficient, Represents the symbol for pi, Indicates the radius of bearing rotation.

[0108] S3: Based on the rotational motion and self-rotational motion of the bearing 5, a synthetic motion model of the bearing 5 is constructed; based on the synthetic motion model of the bearing 5, the self-rotational image of the bearing is fitted, and the self-rotational angular velocity of the bearing 5 is solved in combination with the rotational angular velocity of the bearing 5:

[0109] Choose aluminum foil stickers with high reflectivity, and the stickers should be long strips with the width as small as possible;

[0110] Clean the surface of the bearing 5 to ensure that it is free of oil and dust to enhance the adhesion effect;

[0111] Paste an aluminum foil sticker in the middle of bearing 5;

[0112] Fix the infrared camera to ensure that the infrared camera faces the rotating shaft of the bearing 5;

[0113] In the bearing rotation image captured by the infrared camera, each aluminum foil reflection point corresponds to the position of the bearing 5 after one rotation;

[0114] In the bearing rotation image captured by the infrared camera, target detection is used to locate the reflection point of the aluminum foil;

[0115] S31: Based on the rotational motion and rotational motion of the bearing 5, a synthetic motion model of the bearing 5 is constructed:

[0116]

[0117] in, Indicates the position of the aluminum foil reflection point at the initial moment, express The ideal position of the aluminum foil reflection point at all times, express The angle of the bearing rotation at any moment; Yes Integral, indicating The rotation angle of the bearing at the moment;

[0118] S32: fitting the bearing rotation image using the least square method to solve the rotation angular velocity of the bearing 5;

[0119] ;

[0120] in, It means to find the minimum value. express The actual position of the aluminum foil reflection point in the bearing rotation image at the moment, represents the bearing rotation angle obtained by least squares fitting;

[0121] The rotation angular velocity of bearing 5 at this moment is expressed as:

[0122] ;

[0123] in, express The rotational angular velocity of the bearing 5 at that moment.

[0124] S4: Based on the rotation angular velocity and the rotation angular velocity of the bearing 5, the total distance between the bearing 5 and the magnet 3 is calculated:

[0125] Based on the rotational angular velocity of the bearing 5, The basic distance between the moment bearing 5 and the magnet 3 is expressed as:

[0126] ;

[0127] in, Indicates the basic distance between the bearing and the magnet;

[0128] Based on the rotational angular velocity of bearing 5, calculate The micro-motion distance of the bearing 5 relative to the magnet 3 at a given moment:

[0129] ;

[0130] in, express The micro-motion distance of the bearing relative to the magnet at any moment, Express request Relative to The model, Indicates the radius of the bearing;

[0131] The total distance between the bearing 5 and the magnet 3 is calculated as:

[0132] ;

[0133] in, express The total distance between the moment bearing and the magnet.

[0134] S5: Based on the total distance between the bearing 5 and the magnet 3, the theoretical output voltage value of the Hall element 2 is calculated:

[0135] Calculate the theoretical magnetic field strength at bearing 5:

[0136] ;

[0137] in, express The theoretical magnetic field strength at the moment, represents the vacuum permeability, Indicates the current intensity;

[0138] The theoretical output voltage of Hall element 2 is calculated as:

[0139] ;

[0140] in, express The theoretical output voltage value of the Hall element at the moment, represents the Hall coefficient, Indicates the thickness of the Hall element.

[0141] S6: Measure the output voltage of the Hall element 2 to obtain the output voltage measurement value of the Hall element 2, and correct the rotational angular velocity of the bearing 5 obtained in step S2 based on the deviation between the output voltage measurement value of the Hall element and the output voltage theoretical value of the Hall element:

[0142] S61: At this moment, a voltmeter is used to measure the output voltage of Hall element 2 to obtain the output voltage measurement value of Hall element 2. ;

[0143] S62: Based on the deviation between the measured value of the Hall element output voltage and the theoretical value of the Hall element output voltage, the rotation angular velocity of the bearing 5 is corrected by using Kalman filtering:

[0144] S621: Based on the rotational angular velocity of bearing 5, a state vector is constructed and initialized:

[0145] ;

[0146] in, represents the state vector;

[0147] S622: Prediction covariance matrix:

[0148] ;

[0149] in, express The predicted value of the moment covariance matrix, express The theoretical value of the moment covariance matrix, express The noise covariance matrix at time , express The measurement matrix at time, , express The transposed matrix of

[0150] S623: Update the state vector using Kalman filtering:

[0151] ;

[0152] in, express The state vector update value at the moment, express The Kalman gain at time t, ;

[0153] Pick Update value of state vector at time The elements in are the correction values ​​of the rotation angular velocity of bearing 5.

[0154] In an embodiment of the present invention, the Hall-type angle sensor includes a magnet 3 and a PCB board with a Hall element 2; the Hall element 2 and the corresponding circuit are arranged on the PCB board, and the magnet 3 is fixed in the output shaft 8, responding to the Hall element 2 and in a non-contact state; when the bearing 5 rotates, the infrared camera captures the rotation image of the bearing 5, and each aluminum foil reflection point in the rotation image of the bearing 5 corresponds to the position of the bearing 5 after one rotation; according to the movement of the bearing 5, the position of the filter reflection point is fitted, and the real-time value of the rotation angular velocity of the bearing 5 is solved; at the same time, when the bearing 5 rotates, the magnetic field generated is transmitted to the Hall element 2 to form a corresponding electrical signal, which passes through the A / D conversion circuit and the DSP amplification circuit, and finally the voltage can be output; the real-time value of the rotation angular velocity of the bearing 5 is corrected by the voltage measurement value of the Hall element 2; the rotation angle of the bearing 5 can be obtained from the real-time value of the rotation angular velocity of the bearing 5.

[0155] Embodiment 2: The present invention also provides a Hall-type angle sensor design system, such as Figure 2-7 As shown, it includes the following six modules:

[0156] Hall angle sensor: construct a Hall angle sensor, which includes a cover plate 1, a PCB board with a Hall element 2 installed; a magnet 3, a bearing 5, a base 6, an outlet and an output shaft 8;

[0157] The bearing 5 is mounted on the base 6;

[0158] One end of the output shaft 8 passes through the bearing 5 and is fixedly installed on the base 6. A side groove is opened on one side of the output shaft 8. The magnet 3 is located at the side groove. The magnet 3 is used to generate a magnetic field. When the bearing 5 rotates, the change of the magnetic field is detected by the Hall element, and the Hall element has no contact with the magnet; the PCB board is fixed on the cover 1 by screws; the Hall element 2 is located on the top of the PCB board; the wire output from the PCB board is wrapped with a shielded wire, and the shielded wire wraps the wire output from the PCB board and passes through the wire outlet;

[0159] The inner side of the cover plate 1 is provided with a stepped hole, and the stepped hole is provided with an internal thread; the base is provided with an external thread, and the cover plate 1 is connected with the external thread 6 on the base through the internal thread on the cover plate;

[0160] The cover plate 1 includes a first layer of grooves and a second layer of grooves. The first layer of grooves of the cover plate 1 is at a certain distance from the upper surface of the base 6. A number of gaskets are installed on one side of the base 6. The inner diameter of the gasket is smaller than the outer diameter of the bearing 5 so that the gasket can clamp the bearing 5. The second layer of grooves of the cover plate 1 clamps the gasket, and the position of the cover plate 1 is fixed in the axial direction by the gasket.

[0161] Rotational angular velocity calculation module: a variable resistor is installed between the bearing 5 and the PCB board, the variable resistor is connected to the voltage divider circuit, the resistance value of the variable resistor is calculated, and the rotational angular velocity of the bearing 5 is calculated;

[0162] Rotation angular velocity calculation module: constructs a synthetic motion model of the bearing 5, fits the rotation image of the bearing 5, and solves the rotation angular velocity of the bearing 5;

[0163] Total distance calculation module: based on the rotation angular velocity and rotation angular velocity of the bearing 5, calculate the basic distance between the bearing 5 and the magnet 3, calculate the micro-motion distance of the bearing 5 relative to the magnet 3, and calculate the total distance between the bearing 5 and the magnet 3;

[0164] Output voltage theoretical value calculation module: calculates the theoretical magnetic field strength at the position of the bearing 5 and calculates the output voltage theoretical value of the Hall element 2;

[0165] Rotational angular velocity correction module: measures the output voltage of the Hall element 2 in real time, and corrects the rotational angular velocity of the bearing 5 based on the deviation between the measured value of the Hall element output voltage and the theoretical value of the Hall element output voltage.

[0166] It should be noted that the serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages and disadvantages of the embodiments. And the terms "including", "comprising" or any other variants thereof in this article are intended to cover non-exclusive inclusion, so that a process, device, article or method including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, device, article or method. In the absence of further restrictions, an element defined by the sentence "including a ..." does not exclude the presence of other identical elements in the process, device, article or method including the element.

[0167] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes a number of instructions for a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present invention.

[0168] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A method for designing a Hall-type angle sensor, characterized in that: The method comprises: S1: constructing a Hall-type angle sensor; the Hall-type angle sensor comprises a cover plate, a PCB board with a Hall element installed, a magnet, a bearing, a base, a wire outlet and an output shaft; S2: Install a variable resistor between the bearing and the PCB board, and calculate the rotational angular velocity of the bearing using the variable resistor voltage division principle; S3: constructing a synthetic motion model of the bearing based on the rotational motion and self-rotational motion of the bearing; fitting the self-rotation image of the bearing based on the synthetic motion model of the bearing, and solving the self-rotational angular velocity of the bearing in combination with the rotational angular velocity of the bearing; S4: calculating the total distance between the bearing and the magnet based on the rotation angular velocity and the rotation angular velocity of the bearing; S5: Calculating a theoretical output voltage value of the Hall element based on a total distance between the bearing and the magnet; S6: Measure the output voltage of the Hall element to obtain a measured value of the output voltage of the Hall element, and correct the rotational angular velocity of the bearing obtained in step S2 based on the deviation between the measured value of the output voltage of the Hall element and a theoretical value of the output voltage of the Hall element.

2. The Hall-type angle sensor design method according to claim 1, characterized in that: The S1 includes: Construct a Hall-type angle sensor, specifically: The bearing is mounted on the base; One end of the output shaft passes through the bearing and is installed on the base. A side groove is provided on one side of the output shaft. The magnet is located at the side groove. The magnet is used to generate a magnetic field. When the bearing rotates, the change of the magnetic field is detected by a Hall element. The Hall element has no contact with the magnet. The PCB board is fixed on the cover plate by screws; the Hall element is located at the top of the PCB board; the wire output by the PCB board is wrapped with a shielding wire, and the shielding wire wraps the wire output by the PCB board and passes through the wire outlet; A stepped hole is provided on the inner side of the cover plate, and an internal thread is provided at the stepped hole. The cover plate is connected to the external thread on the base through the internal thread on the cover plate; the cover plate includes a first layer of grooves and a second layer of grooves, and the first layer of grooves of the cover plate are at a certain distance from the upper surface of the base; a number of gaskets are installed on one side of the base, and the inner diameter of the gasket is smaller than the outer diameter of the bearing. The second layer of grooves of the cover plate clamps the gasket, and the inner diameter of the gasket is smaller than the outer diameter of the bearing, and the position of the cover plate is fixed in the axial direction by the gasket.

3. The Hall-type angle sensor design method according to claim 2, characterized in that: The S2 includes: A variable resistor is installed between the bearing and the PCB board, and the variable resistor is connected to a voltage divider circuit; using the variable resistor voltage divider principle, the calculation The resistance value of the variable resistor at any moment is: ； in, express The resistance value of the variable resistor at the moment, Indicates the resistance value of the fixed resistor in the voltage divider circuit, Indicates the voltage value output by the voltage divider circuit. Indicates the voltage value across the fixed resistor in the voltage divider circuit; The angular velocity of the bearing at this moment is: ； in, express The angular velocity of the bearing at the moment, Express request Relative to The partial guide, represents the variable resistance coefficient, Represents the symbol for pi, Indicates the radius of bearing rotation.

4. The method for designing a Hall-type angle sensor according to claim 3, characterized in that: The S3 includes: Paste an aluminum foil sticker in the middle of the bearing; fix the infrared camera to ensure that the infrared camera faces the rotating shaft of the bearing; in the bearing rotation image captured by the infrared camera, each aluminum foil reflection point corresponds to the position of the bearing after one rotation; in the bearing rotation image captured by the infrared camera, use target detection to locate the aluminum foil reflection point; S31: Based on the rotational motion and the self-rotational motion of the bearing, a synthetic motion model of the bearing is constructed: ； in, Indicates the position of the aluminum foil reflection point at the initial moment, express The ideal position of the aluminum foil reflection point at all times, express The angle of the bearing rotation at any moment; Yes Integral, indicating The rotation angle of the bearing at the moment; S32: Fitting the bearing rotation image using the least square method to solve the bearing rotation angular velocity: ； ； in, It means to find the minimum value. express The actual position of the aluminum foil reflection point in the bearing rotation image at the moment, represents the bearing rotation angle obtained by least squares fitting; express The angular velocity of the bearing at the moment.

5. The method for designing a Hall-type angle sensor according to claim 4, characterized in that: The S4 includes: Based on the rotational angular velocity of the bearing, calculate The basic distance between the bearing and the magnet at the moment: ； in, Indicates the basic distance between the bearing and the magnet; Based on the bearing's rotational angular velocity, calculate The micro-motion distance of the bearing relative to the magnet at a moment: ； in, express The micro-motion distance of the bearing relative to the magnet at any moment, Express request Relative to The model, Indicates the radius of the bearing; Calculate the total distance between the bearing and the magnet: ； in, express The total distance between the moment bearing and the magnet.

6. The method for designing a Hall-type angle sensor according to claim 5, characterized in that: The S5 includes: Calculate the theoretical magnetic field strength at the bearing position: ； in, express The theoretical magnetic field strength at the moment, represents the vacuum permeability, Indicates the current intensity; Calculate the theoretical output voltage value of the Hall element: ； in, express The theoretical output voltage value of the Hall element at the moment, represents the Hall coefficient, Indicates the thickness of the Hall element.

7. The method for designing a Hall-type angle sensor according to claim 6, characterized in that: The step S6 comprises: S61: At this moment, a voltmeter is used to measure the output voltage of the Hall element to obtain the output voltage measurement value of the Hall element. ; S62: Based on the deviation between the measured value of the Hall element output voltage and the theoretical value of the Hall element output voltage, the bearing rotation angular velocity is corrected using Kalman filtering.

8. The method for designing a Hall-type angle sensor according to claim 7, characterized in that: The S62 includes: S621: Based on the rotational angular velocity of the bearing, a state vector is constructed and initialized: ； in, represents the state vector; S622: Prediction covariance matrix: ； in, express The predicted value of the moment covariance matrix, express The theoretical value of the moment covariance matrix, express The noise covariance matrix at time , express The measurement matrix at time, express The transposed matrix of S623: Update the state vector using Kalman filtering: ； in, express The state vector update value at the moment, express Kalman gain at time t; Pick Update value of state vector at time The elements in are used as the correction values ​​of the bearing's rotational angular velocity.

9. A Hall-type angle sensor design system, characterized in that: include: Hall angle sensor module: construct a Hall angle sensor, which includes a cover plate, a PCB board with a Hall element installed, a magnet, a bearing, a base, an outlet and an output shaft; The bearing is mounted on the base; One end of the output shaft passes through the bearing and is installed on the base. A side groove is provided on one side of the output shaft. The magnet is located at the side groove. The magnet is used to generate a magnetic field. When the bearing rotates, the change of the magnetic field is detected by a Hall element. The Hall element has no contact with the magnet. The PCB board is fixed on the cover plate by screws; the Hall element is located at the top of the PCB board; the wire output by the PCB board is wrapped with a shielding wire, and the shielding wire wraps the wire output by the PCB board and passes through the wire outlet; The inner side of the cover plate is provided with a stepped hole, the stepped hole is provided with an internal thread, and the cover plate is connected with the external thread on the base through the internal thread on the cover plate; the cover plate includes a first layer of grooves and a second layer of grooves, and the first layer of grooves of the cover plate is at a certain distance from the upper surface of the base; a number of gaskets are installed on one side of the base, the inner diameter of the gasket is smaller than the outer diameter of the bearing, the second layer of grooves of the cover plate clamps the gasket, the inner diameter of the gasket is smaller than the outer diameter of the bearing, and the position of the cover plate is fixed in the axial direction by the gasket; Rotational angular velocity calculation module: a variable resistor is installed between the bearing and the PCB board, the variable resistor is connected to a voltage divider circuit, the resistance value of the variable resistor is calculated, and the rotational angular velocity of the bearing is calculated; Rotation angular velocity calculation module: constructs a synthetic motion model of the bearing, fits the bearing rotation image, and solves the rotation angular velocity of the bearing; A total distance calculation module is used to calculate the total distance between the bearing and the magnet based on the rotation angular velocity and the rotation angular velocity of the bearing; Output voltage theoretical value calculation module: calculates the theoretical magnetic field strength at the bearing position and calculates the output voltage theoretical value of the Hall element; Rotational angular velocity correction module: measures the output voltage of the Hall element in real time, and corrects the bearing rotational angular velocity based on the deviation between the measured value of the Hall element output voltage and the theoretical value of the Hall element output voltage; To implement a Hall-type angle sensor design method as described in any one of claims 1-8.

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