Orthogonal correction network, method and device of angle sensor

Abstract

The invention relates to an orthogonal correction network, method and device of an angle sensor. The correction network comprises a first bypass correction network for providing a first preset correction value and a second bypass correction network for providing a second preset correction value; the first multiplier is used for carrying out multiplication operation on the first axis detection value of the misalignment orthogonal coordinate and a first preset correction value to obtain a first coordinate correction detection value; the second multiplier is used for carrying out multiplication operation on the first axis detection value and a second preset correction value to obtain an intermediate correction value; and the adder is used for carrying out addition operation on the second axis detection value and the middle correction value to obtain a second coordinate correction detection value. According to the correction network, non-orthogonal distortion caused by the non-orthogonal sensing element array can be thoroughly eliminated, only two multipliers and one summator are arranged, the structure is simple, the calculated amount is small, and implementation is easy. In addition, the method and the device can be applied to multiple groups of sensing elements, stable angle number detection is realized through model and coordinate conversion, and nonlinear errors are eliminated.

Description

Technical Field

[0001] The present invention relates to the field of sensors, and in particular to an orthogonal correction network, method and device for an angle sensor. Background Art

[0002] An angle sensor usually consists of an excitation signal generating system, two or more groups of spatially non-collinear sensing elements, and a signal processing system, wherein the excitation signal generating system is closely related to the rotation angle of the object being measured.

[0003] For magnetic angle sensors, the excitation signal is a rotating magnetic field generated by a magnet fixed to a rotating shaft. The sensing element is two sets of orthogonal Hall elements. The signal processing system determines the rotation angle of the magnet by calculating the arc tangent function value of the orthogonal components measured by the two sets of Hall elements.

[0004] For inductive angle sensors, the excitation signal is generated by an alternating magnetic field modulated by the amplitude of the rotor position. The inductive element consists of two groups of orthogonally placed induction coils or three groups of 120° placed induction coils. Among them, for two groups of orthogonally placed induction coils, the signal processing system obtains the envelope signal by demodulating the back electromotive force on the coils, and calculates the rotor position angle by analyzing the relationship between the two groups of orthogonal envelope signals; for three groups of 120° placed induction coils, the signal processing system first performs Clark transformation on the envelope signals of the three groups of induction coils, converts them into orthogonal form, and then calculates the angle.

[0005] However, whether it is two groups of orthogonally placed sensing elements, or three groups of sensing elements placed at 120° obtained by Clark transformation, or multiple groups of elements arranged at a preset angle are converted into orthogonal forms by linear transformation, the actual position of the sensing elements in space will always be offset. This offset will cause errors in the angle calculation.

[0006] When the relative positions of multiple groups of sensing elements in the sensor remain unchanged, even if the sensor as a whole rotates a fixed angle relative to the object being measured, the accurate position of the object being measured can be obtained by subtracting the fixed angle from the calculation result regardless of how the object being measured rotates. This error is fixed and therefore easy to calibrate. However, if the relative positions between the sensing elements change, nonlinear errors will be introduced, which are more difficult to correct and eliminate. Summary of the invention

[0007] The present invention provides an orthogonal correction network, method and device for an angle sensor, so as to eliminate the nonlinear error introduced by the relative position change of the sensing element in the angle sensor.

[0008] The technical solution of the present invention to solve the above technical problems is as follows: An orthogonal correction network of an angle sensor is used to correct misaligned orthogonal coordinates into unbiased orthogonal coordinates, and the orthogonal correction network comprises: The first misaligned orthogonal coordinate input terminal and the second misaligned orthogonal coordinate input terminal are used to input the first axis detection value and the second axis detection value of the misaligned orthogonal coordinate respectively; A first bypass correction network and a second bypass correction network, used to provide a first preset correction value and a second preset correction value respectively; a first multiplier connected to the first misaligned orthogonal coordinate input terminal and the first bypass correction network, and configured to perform a multiplication operation on the first axis detection value and the first preset correction value to obtain a first coordinate correction detection value of the first axis detection value corresponding to the unbiased orthogonal coordinate; a second multiplier connected to the first misaligned orthogonal coordinate input terminal and the second bypass correction network, and configured to perform a multiplication operation on the first axis detection value and the second preset correction value to obtain an intermediate correction value; An adder is connected to the second misaligned orthogonal coordinate input terminal and the second multiplier, and is used to perform an addition operation on the second axis detection value and the intermediate correction value to obtain a second coordinate correction detection value corresponding to the second axis detection value in the unbiased orthogonal coordinate.

[0009] Based on the above technical solution, the present invention can also be improved as follows.

[0010] Optionally, the misaligned orthogonal coordinates are based on the X-axis as a reference. When the Y-axis is deflected, the first coordinate correction detection value is the Y-axis coordinate value of the unbiased orthogonal coordinates; and the second coordinate correction detection value is the X-axis coordinate value of the unbiased orthogonal coordinates.

[0011] Optionally, the model matrix of the orthogonal correction network for correcting the angle sensor is: ; in, indicates that the second axis detection value corresponds to the second coordinate corrected detection value in the unbiased orthogonal coordinate, indicates that the first axis detection value corresponds to the first coordinate corrected detection value in the unbiased orthogonal coordinate, represents the first preset correction value, represents the second preset correction value, Indicates the Y-axis deflection angle. represents the second axis detection value, Indicates the first axis detection value.

[0012] Optionally, the misaligned orthogonal coordinates are based on the Y-axis as a reference. When the X-axis is deflected, the first coordinate correction detection value is the X-axis coordinate value of the unbiased orthogonal coordinates; and the second coordinate correction detection value is the Y-axis coordinate value of the unbiased orthogonal coordinates.

[0013] Optionally, the matrix used by the orthogonal correction network to correct the angle sensor is: ; in, indicates that the first axis detection value corresponds to the first coordinate corrected detection value in the unbiased orthogonal coordinate, indicates that the second axis detection value corresponds to the second coordinate corrected detection value in the unbiased orthogonal coordinate, represents the first preset correction value, represents the second preset correction value, Indicates the X-axis deflection angle. represents the first axis detection value, Indicates the second axis detection value.

[0014] Optionally, also include: A transformation angle processor is connected to the first multiplier and the adder, and is used to perform an inverse tangent transformation or an inverse cotangent transformation on the first coordinate correction detection value and the second coordinate correction detection value in the unbiased orthogonal coordinates to obtain the physical angle of the object under test corresponding to the angle vector in the unbiased orthogonal coordinates.

[0015] Optionally, also include: A coordinate converter, whose input end is connected to the angle sensor and whose output end is connected to the input end of the first multiplier and the adder, is used to perform coordinate conversion on at least three axis detection values ​​detected by the angle sensor in a misaligned coordinate system composed of at least three coordinate axes to obtain the first axis detection value and the second axis detection value.

[0016] Based on the above-mentioned orthogonal correction network of an angle sensor, the present invention also provides an orthogonal correction method for an angle sensor.

[0017] An orthogonal correction method for an angle sensor, using the orthogonal correction network described above to correct the misaligned orthogonal coordinates obtained by the angle sensor detecting the object being measured, the orthogonal correction method comprising: Providing a first preset correction value and a second preset correction value, and setting them to 1 and 0 respectively; Rotate the measured object by any non-zero physical angle, and repeatedly adjust the first preset correction value and the second preset correction value so that the rotation angle calculated by the first coordinate correction detection value and the second coordinate correction detection value obtained by the correction network is equal to the non-zero physical angle, and determine the current new first preset correction value and the new second preset correction value; The first axis detection value and the second axis detection value are corrected accordingly using the new first preset correction value and the new second preset correction value.

[0018] Based on the above technical solution, the present invention can also be improved as follows.

[0019] Optional, The process of determining the current new first preset correction value and the new second preset correction value specifically includes: After initializing the initial position of the measured object, recording the current position of the measured object as a first physical angle; When the first preset correction value is 1 and the second preset correction value is 0, a first physical angle calculation value is calculated according to the first coordinate correction detection value and the second coordinate correction detection value currently output by the correction network; Rotate the measured object by any non-zero physical angle and record it as a second physical angle; Adjusting the first preset correction value and the second preset correction value to calculate a second physical angle calculation value according to the first coordinate correction detection value and the second coordinate correction detection value currently output by the correction network; Determine whether the difference between the second physical angle value calculated and the first physical angle value calculated is equal to the difference between the second physical angle value and the first physical angle value; If not, Then continue to adjust the first preset correction value and the second preset correction value until the difference between the second physical angle calculated value and the first physical angle calculated value is equal to the difference between the second physical angle and the first physical angle; if, Then the new first preset correction value and the new second preset correction value are determined.

[0020] Based on the above-mentioned orthogonal correction method of an angle sensor, the present invention also provides an orthogonal correction device of an angle sensor.

[0021] An orthogonal correction device for an angle sensor includes a central processing unit and a memory, wherein a computer program is stored in the memory, and when the computer program is executed by the central processing unit, the correction method described above is implemented.

[0022] The beneficial effects of the present invention are as follows: the orthogonal correction network of the present invention performs multiplication and addition operations on the misaligned orthogonal coordinates obtained directly or indirectly from the sensing element array through the first preset correction value and the second preset correction value to restore the unbiased orthogonal coordinates, which can completely eliminate the nonlinear error introduced in the angle sensor due to the change in the relative position of the sensing elements; and the entire orthogonal correction network is provided with two multipliers and one adder, which can realize efficient correction of the angle sensor, has a simple structure, small calculation amount and is easy to implement; in addition, the orthogonal correction method and device of the angle sensor of the present invention can be applied to multiple groups of sensing element configurations, and stable angle detection can be realized through models and coordinate transformation to eliminate nonlinear errors. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the angle number detected by the angle sensor in the misaligned orthogonal coordinate system and the unbiased orthogonal coordinate system; Figure 2 A schematic diagram of the structure of an orthogonal correction network of an angle sensor of the present invention; Figure 3 It is a schematic diagram of the angle value detected by the angle sensor in the misaligned orthogonal coordinate system and the unbiased orthogonal coordinate system based on the X-axis; Figure 4 It is a structural diagram of an orthogonal correction network constructed based on the X-axis; Figure 5 It is a schematic diagram of the angle value detected by the angle sensor in the misaligned orthogonal coordinate system and the unbiased orthogonal coordinate system based on the Y axis; Figure 6 It is a schematic diagram of the structure of the orthogonal correction network constructed based on the Y axis; Figure 7 Another structural schematic diagram of an orthogonal correction network of an angle sensor of the present invention; Figure 8 A flow chart of an orthogonal correction method for an angle sensor of the present invention; Fig. 9 A flow chart for determining a current new first preset correction value and a new second preset correction value. DETAILED DESCRIPTION

[0024] The principles and features of the present invention are described below in conjunction with the accompanying drawings. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0025] In an angle sensor consisting of two sets of orthogonally placed sensing elements, such as Figure 1 As shown, the vector Indicates the physical angle detected by the sensor. Ideally, the two sets of sensing elements in the sensor located on the X-axis and Y-axis of the unbiased orthogonal coordinate system detect vectors On the X-axis and The two orthogonal components decomposed on the axis are recorded as In actual situations, the arrangement of the two sets of sensing elements in the sensor may deviate from the X-axis and the Y-axis. The deviated X-axis and Y-axis are X Axis and Y Axis; at this time, the output value of the sensor actually represents the vector Respectively in X Axis and Y The components decomposed on the axis are recorded as If you use directly Calculate the angle, and you get The resultant vector in an unbiased orthogonal coordinate system The number of angles.

[0026] In actual situations, both the X-axis and the Y-axis are deflected. Axis and Y The axes are still orthogonal, which can be equivalent to the overall deflection of the unbiased orthogonal coordinate system. The error caused by the overall deflection of the unbiased orthogonal coordinate system is fixed and can be easily eliminated by compensating the overall deflection angle in the angle calculation result. Axis and Y If the axes are not orthogonal, then qX Axis and Y The axes form an orthogonal coordinate system, X Axis and Y The error caused by the non-orthogonality between the axes is as the vector It changes with the changes of the environment and is difficult to eliminate.

[0027] To eliminate X Axis and Y The error caused by the non-orthogonality between axes, the solution provided by the present invention is as follows: like Figure 2 As shown, an orthogonal correction network of an angle sensor is used to correct misaligned orthogonal coordinates into unbiased orthogonal coordinates, and the orthogonal correction network includes: The first misaligned orthogonal coordinate input terminal 1 and the second misaligned orthogonal coordinate input terminal 2 are respectively used to input the first axis detection value M1 of the misaligned orthogonal coordinate And the second axis detection value M2 ; The first bypass correction network 3 and the second bypass correction network 4 are used to provide a first preset correction value C1 and a second preset correction value C2 respectively; The first multiplier 5 is connected to the first misaligned orthogonal coordinate input terminal 1 and the first bypass correction network 3, and is used to multiply the first axis detection value M1 The first axis detection value M1 is multiplied by the first preset correction value C1 to obtain the first axis detection value M1 A first coordinate correction detection value M1 corresponding to the unbiased orthogonal coordinate; The second multiplier 6 is connected to the first misaligned orthogonal coordinate input terminal 1 and the second bypass correction network 4, and is used to multiply the first axis detection value M1 and performing a multiplication operation on the second preset correction value C2 to obtain an intermediate correction value C3; The adder 7 is connected to the second misaligned orthogonal coordinate input terminal 2 and the second multiplier 6, and is used to add the second axis detection value M2 Add the intermediate correction value C3 to obtain the second axis detection value M2 Corresponding to the second coordinate corrected detection value M2 in the unbiased orthogonal coordinate.

[0028] Specifically, the first axis detection value M1 is the value detected by the sensing element in the angle sensor located on the first axis of the misaligned orthogonal coordinate system, and the second axis detection value M2 It is the value detected by the sensing element located on the second axis of the misaligned orthogonal coordinate system in the angle sensor. The orthogonal correction network of the present invention restores the unbiased orthogonal coordinates by multiplying and adding the first preset correction value C1 and the second preset correction value C2 with the misaligned orthogonal coordinates directly or indirectly obtained from the sensor element array, which can completely eliminate the nonlinear error introduced in the angle sensor due to the change in the relative position of the sensing element; and the entire orthogonal correction network contains only two multipliers and one adder, which can achieve efficient correction of the angle sensor, has a simple structure, a small amount of calculation, and is easy to implement.

[0029] As stated above, in actual situations, both the X-axis and the Y-axis are deflected; in order to facilitate understanding and simplify the correction process, the situation where both the X-axis and the Y-axis are deflected can be equivalent to the situation where one axis is unbiased and the other axis is deflected. For example, assuming that the X-axis is deflected 30° clockwise and the Y-axis is deflected 10° clockwise, it can be equivalent to the situation where the X-axis is unbiased and the Y-axis is deflected 20° counterclockwise, or equivalently, the X-axis is deflected 20° clockwise and the Y-axis is unbiased.

[0030] The orthogonal correction network of the present invention is specifically described below using the X-axis as a reference (X-axis unbiased and Y-axis deflected) and the Y-axis as a reference (Y-axis unbiased and X-axis deflected).

[0031] In some embodiments, the misaligned orthogonal coordinates are based on the X-axis as a reference. When the Y-axis is deflected, the first coordinate correction detection value M1 is the Y-axis coordinate value of the unbiased orthogonal coordinates; the second coordinate correction detection value M2 is the X-axis coordinate value of the unbiased orthogonal coordinates.

[0032] Figure 3 The figure is a schematic diagram of the angle detected by the angle sensor in the misaligned orthogonal coordinate system and the unbiased orthogonal coordinate system with the X axis as the reference. Among them, XY is the unbiased orthogonal coordinate system, XY For an inaccurate orthogonal coordinate system, a vector of unit length Indicates the angle detected by the angle sensor.

[0033] In this embodiment, the coordinate system formed by the two groups of sensing elements in the angle sensor is as follows: Figure 3 Misaligned orthogonal coordinate system XY At this time, the first axis detection value M1 The angle sensor is located in the misaligned orthogonal coordinate system XY Y The value detected by the sensing element on the shaft, i.e. Figure 3 In ; Second axis detection value M2 The angle sensor is located in the misaligned orthogonal coordinate system XY The value detected by the sensing element on the X-axis is Figure 3 In .

[0034] Ideally, in the unbiased orthogonal coordinate system XY, two sets of orthogonally placed sensing elements obtain vectors The projection on the X-axis and Y-axis is expressed as ( , )=( , ),pass , You can get the vector The angle in the unbiased orthogonal coordinate system XY.

[0035] In reality, that is, in the misaligned orthogonal coordinate system XY In the example, due to the deviation of the relative positions of the two sets of sensing elements, the two coordinates obtained actually represent the vector On the X and Y axes The projection on the axis (assuming that the Y axis is deflected by the angle To Y axis), whose coordinates are expressed as , through geometric analysis: , However, for angle calculations, the Y-axis deviation cannot be known. , still think It is the coordinate obtained by unbiased orthogonal projection, so as to calculate the angle and get the angle , , introducing errors.

[0036] In order to eliminate the above-mentioned errors, this embodiment provides Figure 4 The orthogonal correction network shown in FIG. 1 ; wherein MUX1 represents the first multiplier 5 , MUX2 represents the second multiplier 6 , and AD represents the adder 7 .

[0037] Figure 4 The model matrix of the orthogonal correction network shown to correct the angle sensor is: ; in, Indicates the second axis detection value M2 Corresponding to the second coordinate correction detection value M2 in the unbiased orthogonal coordinate, that is, M2 ; Indicates the first axis detection value M1 Corresponding to the first coordinate correction detection value M1 in the unbiased orthogonal coordinate, that is, M1 ; Indicates the first preset correction value C1, that is, C1 ; represents the second preset correction value C2, that is, C2 ; Indicates the Y-axis deflection angle; Indicates the second axis detection value M2 , that is, M2 ; Indicates the first axis detection value M1 , that is, M1 .

[0038] If the deflection angle of the Y axis is known in advance , you can and Substitute into the above formula to find ( , ), and then according to , Find the vector The actual angle , thus completing the correction; if the deflection angle of the Y axis is If it is unknown, the orthogonal correction method of the subsequent angle sensor is used to achieve correction.

[0039] In other embodiments, the misaligned orthogonal coordinates are based on the Y-axis as a reference. When the X-axis is deflected, the first coordinate correction detection value M1 is the X-axis coordinate value of the unbiased orthogonal coordinates; the second coordinate correction detection value M2 is the Y-axis coordinate value of the unbiased orthogonal coordinates.

[0040] Figure 5 The figure is a schematic diagram of the angle detected by the angle sensor in the misaligned orthogonal coordinate system and the unbiased orthogonal coordinate system with the Y axis as the reference. Among them, XY is the unbiased orthogonal coordinate system, X -Y is an inaccurate orthogonal coordinate system, with a vector of unit length Indicates the angle detected by the angle sensor.

[0041] In this embodiment, the coordinate system formed by the two groups of sensing elements in the angle sensor is as follows: Figure 5 Misaligned orthogonal coordinate system X -Y. At this time, the first axis detection value M1 is the angle sensor in the misaligned orthogonal coordinate system X -X of Y The value detected by the sensing element on the shaft, i.e. Figure 5 In ; Second axis detection value M2 is the angle sensor in the misaligned orthogonal coordinate system X -YThe value detected by the sensing element on the Y-axis is Figure 5 In .

[0042] Ideally, in the unbiased orthogonal coordinate system XY, two sets of orthogonally placed sensing elements obtain vectors The projection on the X-axis and Y-axis is expressed as ( , )=( , ),pass , You can get the vector The angle in the unbiased orthogonal coordinate system XY.

[0043] In reality, that is, in the misaligned orthogonal coordinate system X In -Y, due to the deviation of the relative positions of the two sets of sensing elements, the two coordinates obtained actually represent the vector In X The projection on the X-axis and Y-axis (assuming the X-axis is deflected by an angle of To X axis), whose coordinates are expressed as , through geometric analysis: ; However, for angle calculation, the deviation of the X axis cannot be known , still think It is the coordinate obtained by unbiased orthogonal projection, so as to calculate the angle and get the angle , , introducing errors.

[0044] In order to eliminate the above errors, this embodiment provides Figure 6 The orthogonal correction network shown in FIG. 1 ; wherein MUX1 represents the first multiplier 5 , MUX2 represents the second multiplier 6 , and AD represents the adder 7 .

[0045] Figure 6 The model matrix of the orthogonal correction network shown to correct the angle sensor is: ; in, Indicates the first axis detection value M1 Corresponding to the first coordinate correction detection value M1 in the unbiased orthogonal coordinate, that is, M1 ; Indicates the second axis detection value M2 Corresponding to the second coordinate correction detection value M2 in the unbiased orthogonal coordinate, that is, M2 ; Indicates the first preset correction value C1, that is, C1 ; represents the second preset correction value C2, that is, C2 ; Indicates the deflection angle of the X axis; Indicates the first axis detection value M1 , that is, M1 ; Indicates the second axis detection value M2 , that is, M2 .

[0046] If the deflection angle of the X-axis is known in advance , you can and Substitute into the above formula to find ( , ), and then according to , Find the vector The actual angle , thus completing the correction; if the deflection angle of the X-axis If it is unknown, the subsequent angle sensor correction method is used to achieve correction.

[0047] The above two cases are respectively based on the X-axis as the reference (X-axis is not biased and Y-axis is deflected) and the Y-axis as the reference (Y-axis is not biased and X-axis is deflected) to specifically illustrate the orthogonal correction network of the present invention. However, whether the orthogonal correction network is constructed with the X-axis as the reference or the Y-axis as the reference, the correction principle is the same, which is based on and orthogonal deviation angle , calculate the vector The correct coordinates in the unbiased orthogonal coordinate system XY ( , ).in, It can be a positive angle or a negative angle, and its positive or negative value depends on the deflection of the misaligned orthogonal coordinate system. A larger angle is positive and a smaller angle is negative.

[0048] In some embodiments, Figure 7 As shown, the orthogonal correction network of the present invention also includes: The transformation angle processor 8 is connected to the first multiplier 5 and the adder 7, and is used to perform an inverse tangent transformation or an inverse cotangent transformation on the first coordinate correction detection value M1 and the second coordinate correction detection value M2 in the unbiased orthogonal coordinates to obtain the physical angle of the measured object corresponding to the angle vector in the unbiased orthogonal coordinates.

[0049] Specifically, the orthogonal correction network composed of the first multiplier 5, the second multiplier 6 and the adder 7 is based on and orthogonal deviation angle , calculate the vector The correct coordinates in the unbiased orthogonal coordinate system XY ( , ), and for the angle sensor, the final output is the angle information, so on the basis of the orthogonal correction network, a transformation angle processor 8 can be added to obtain the correct coordinates ( , ) calculates the vector Angle In the transformation angle processor 8, the inverse tangent transformation can be performed Calculate , can also be processed according to the inverse cotangent transform , Calculate .

[0050] The present invention adds a transformation angle processor 8 to the orthogonal correction network, which can conveniently, quickly and accurately calculate the actual angle according to the corrected coordinates.

[0051] In some embodiments, Figure 7As shown, the orthogonal correction network of the present invention also includes: A coordinate converter 9, the input end of which is connected to the angle sensor 10, and the output end of which is connected to the first multiplier 5 and the input end of the adder 7, is used to perform coordinate conversion on at least three axis detection values ​​detected by the angle sensor 10 in the misaligned coordinate system composed of at least three coordinate axes to obtain the first axis detection value M1 and the second axis detection value M2 .

[0052] Specifically, the above analysis is based on an angle sensor composed of two groups of orthogonally placed sensing elements. However, in actual applications, the sensing elements in the angle sensor can also be placed in three groups at 180°, or more groups at corresponding angles. For such sensors, the values ​​detected by multiple groups (three or more groups) of sensing elements are usually linearly transformed to be converted into an orthogonal form before the angle is calculated. However, for multiple groups of sensing elements, there will be deviations in their placement positions, so the orthogonal form obtained after the linear transformation will also have deviations.

[0053] Therefore, when using the orthogonal correction network of the present invention to correct the angle sensor including at least one group of sensing elements, it is necessary to add a coordinate converter 9 to perform coordinate conversion on at least three-axis detection values ​​detected by the angle sensor in the misaligned coordinate system composed of at least three coordinate axes, and convert them into a coordinate system composed of two axes; of course, due to the position deviation of the sensing elements, the orthogonal form after conversion is also inaccurate.

[0054] The present invention adds a coordinate converter 9 to the orthogonal correction network, and can correct the angle sensor including three or more groups of sensing elements, and has a wide range of applications.

[0055] Based on the above-mentioned orthogonal correction network of an angle sensor, the present invention also provides an orthogonal correction method for an angle sensor.

[0056] like Figure 8 As shown, an orthogonal correction method for an angle sensor uses the orthogonal correction network described above to correct the misaligned orthogonal coordinates obtained by the angle sensor detecting the object being measured. The orthogonal correction method includes: S1, providing a first preset correction value and a second preset correction value, and setting them to 1 and 0 respectively; S2, rotating the measured object by any non-zero physical angle, repeatedly adjusting the first preset correction value and the second preset correction value, so that the rotation angle calculated by the first coordinate correction detection value and the second coordinate correction detection value obtained by the correction network is equal to the non-zero physical angle, and determining the current new first preset correction value and the new second preset correction value; S3: Correct the first axis detection value and the second axis detection value accordingly using the new first preset correction value and the new second preset correction value.

[0057] An angle sensor is a device used to measure the angle of the object being measured. During the measurement process, it is arranged near the object being measured so that it can sense the angle change caused by the rotation of the object being measured. The orthogonal correction method of the present invention uses an orthogonal correction network to achieve correction, and the correction process is simple; it can also be applied to multiple sets of detection element configurations, and stable angle detection can be achieved through models and coordinate transformations to eliminate nonlinear errors.

[0058] The orthogonal correction method of the present invention can be selected according to actual needs. Figure 4 or Figure 6 The orthogonal correction network shown corrects the first axis detection value and the second axis detection value detected by the angle sensor. Before formally entering the correction procedure, it is necessary to set the object to be measured together with the angle sensor and connect the angle sensor to the orthogonal correction network; wherein, the method of connecting the angle sensor to the orthogonal correction network depends on the selected orthogonal correction network; if the selected Figure 4 The orthogonal correction network shown in the figure connects the output end of the sensing element of the angle sensor on the X axis to one input end of the adder, and the angle sensor on the Y axis to one input end of the adder. The output end of the induction element on the axis is connected to an input end of the first multiplier. Figure 6 The orthogonal correction network shown in FIG. 1 connects the output end of the sensing element of the angle sensor on the Y axis to one input end of the adder, and connects the output end of the sensing element of the angle sensor on the X axis to one input end of the adder. The output terminal of the on-axis sensing element is connected to an input terminal of the first multiplier.

[0059] Based on the description of the orthogonal correction network above, generally speaking, we cannot know the deflection of the coordinate axis, that is, we cannot determine the above deflection angle. , so before correction, we need to determine the deflection angle The present invention adopts steps S1 and S2 to determine the specific value of the angle .

[0060] In some embodiments, Fig. 9 As shown, the process of determining the current new first preset correction value and the new second preset correction value specifically includes: S21, after initializing the initial position of the measured object, recording the current position of the measured object as a first physical angle; S22, when the first preset correction value is 1 and the second preset correction value is 0, a first physical angle calculation value is calculated according to the first coordinate correction detection value and the second coordinate correction detection value currently output by the correction network; S23, rotating the measured object by any non-zero physical angle, and recording it as a second physical angle; S24, adjusting the first preset correction value and the second preset correction value to calculate a second physical angle calculation value according to the first coordinate correction detection value and the second coordinate correction detection value currently output by the correction network; S25, determining whether the difference between the second physical angle value calculated and the first physical angle value calculated is equal to the difference between the second physical angle value and the first physical angle value; If not, Then continue to adjust the first preset correction value and the second preset correction value until the difference between the second physical angle calculated value and the first physical angle calculated value is equal to the difference between the second physical angle and the first physical angle; if, Then the new first preset correction value and the new second preset correction value are determined.

[0061] Specifically, the error of the angle sensor comes from the placement of the sensing element, while the actual physical position of the detected object is known; therefore, the deflection angle of the coordinate axis can be detected using the actual known physical position of the detected object. First, bypass the orthogonal correction network, that is, set the first preset correction value to 1 and the second preset correction value to 0. At this time, the orthogonal correction network does not have a correction function, and its output is consistent with the input, that is, the coordinates output by the orthogonal correction network are still inaccurate orthogonal coordinates; then rotate the object to be measured by any non-zero physical angle, preferably 90° or 180°, so that it is easy to operate; then we need to change To adjust and , so that the rotation angle calculated according to the first coordinate correction detection value and the second coordinate correction detection value output by the orthogonal correction network at this time is consistent with the non-zero physical angle, thereby The value of is determined as the deflection angle of the coordinate axis.

[0062] The present invention determines the deflection angle of the coordinate axis by rotating the object to be measured by any certain non-zero physical angle, adjusting the first preset correction value and the second preset correction value, so that the rotation angle calculated according to the first coordinate correction detection value and the second coordinate correction detection value is consistent with the non-zero physical angle. The determination process is simple and easy to implement.

[0063] Based on the above-mentioned orthogonal correction method of an angle sensor, the present invention also provides an orthogonal correction device of an angle sensor.

[0064] An orthogonal correction device for an angle sensor includes a central processing unit and a memory, wherein a computer program is stored in the memory, and when the computer program is executed by the central processing unit, the orthogonal correction method as described above is implemented.

[0065] The orthogonal correction device of the present invention uses an orthogonal correction method to achieve correction. The correction process is simple and can be applied to multiple groups of detection element configurations. Stable angle detection is achieved through models and coordinate transformation to eliminate nonlinear errors.

[0066] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An orthogonal correction network for an angle sensor, characterized in that: For correcting misaligned orthogonal coordinates into unbiased orthogonal coordinates, the orthogonal correction network comprises: The first misaligned orthogonal coordinate input terminal and the second misaligned orthogonal coordinate input terminal are used to input the first axis detection value and the second axis detection value of the misaligned orthogonal coordinate respectively; A first bypass correction network and a second bypass correction network, used to provide a first preset correction value and a second preset correction value respectively; a first multiplier connected to the first misaligned orthogonal coordinate input terminal and the first bypass correction network, and configured to perform a multiplication operation on the first axis detection value and the first preset correction value to obtain a first coordinate correction detection value of the first axis detection value corresponding to the unbiased orthogonal coordinate; a second multiplier connected to the first misaligned orthogonal coordinate input terminal and the second bypass correction network, and configured to perform a multiplication operation on the first axis detection value and the second preset correction value to obtain an intermediate correction value; An adder is connected to the second misaligned orthogonal coordinate input terminal and the second multiplier, and is used to perform an addition operation on the second axis detection value and the intermediate correction value to obtain a second coordinate correction detection value corresponding to the second axis detection value in the unbiased orthogonal coordinate.

2. The orthogonal correction network of the angle sensor according to claim 1, characterized in that: The misaligned orthogonal coordinates are based on the X-axis as a reference. When the Y-axis is deflected, the first coordinate correction detection value is the Y-axis coordinate value of the unbiased orthogonal coordinates; and the second coordinate correction detection value is the X-axis coordinate value of the unbiased orthogonal coordinates.

3. The orthogonal correction network of the angle sensor according to claim 2, characterized in that: The model matrix of the orthogonal correction network for correcting the angle sensor is: ; in, indicates that the second axis detection value corresponds to the second coordinate corrected detection value in the unbiased orthogonal coordinate, indicates that the first axis detection value corresponds to the first coordinate corrected detection value in the unbiased orthogonal coordinate, represents the first preset correction value, represents the second preset correction value, Indicates the Y-axis deflection angle. represents the second axis detection value, Indicates the first axis detection value.

4. The orthogonal correction network of the angle sensor according to claim 1, characterized in that: The misaligned orthogonal coordinates are based on the Y-axis as a reference. When the X-axis is deflected, the first coordinate correction detection value is the X-axis coordinate value of the unbiased orthogonal coordinates; and the second coordinate correction detection value is the Y-axis coordinate value of the unbiased orthogonal coordinates.

5. The orthogonal correction network of the angle sensor according to claim 4, characterized in that: The matrix of the orthogonal correction network for correcting the angle sensor is: ; in, indicates that the first axis detection value corresponds to the first coordinate corrected detection value in the unbiased orthogonal coordinate, indicates that the second axis detection value corresponds to the second coordinate corrected detection value in the unbiased orthogonal coordinate, represents the first preset correction value, represents the second preset correction value, Indicates the X-axis deflection angle. represents the first axis detection value, Indicates the second axis detection value.

6. The orthogonal correction network of the angle sensor according to claim 1, characterized in that: Also includes: A transformation angle processor is connected to the first multiplier and the adder, and is used to perform an inverse tangent transformation or an inverse cotangent transformation on the first coordinate correction detection value and the second coordinate correction detection value in the unbiased orthogonal coordinates to obtain the physical angle of the object under test corresponding to the angle vector in the unbiased orthogonal coordinates.

7. The orthogonal correction network of the angle sensor according to claim 1, characterized in that: Also includes: A coordinate converter, whose input end is connected to the angle sensor and whose output end is connected to the input end of the first multiplier and the adder, is used to perform coordinate conversion on at least three axis detection values ​​detected by the angle sensor in a misaligned coordinate system composed of at least three coordinate axes to obtain the first axis detection value and the second axis detection value.

8. An orthogonal correction method for an angle sensor, characterized in that: The orthogonal correction network according to any one of claims 1 to 7 is used to correct the misaligned orthogonal coordinates obtained by the angle sensor detecting the object to be measured, and the orthogonal correction method comprises: Providing a first preset correction value and a second preset correction value, and setting them to 1 and 0 respectively; Rotate the measured object by any non-zero physical angle, and repeatedly adjust the first preset correction value and the second preset correction value so that the rotation angle calculated by the first coordinate correction detection value and the second coordinate correction detection value obtained by the correction network is equal to the non-zero physical angle, and determine the current new first preset correction value and the new second preset correction value; The first axis detection value and the second axis detection value are corrected accordingly using the new first preset correction value and the new second preset correction value.

9. The orthogonal correction method of the angle sensor according to claim 8, characterized in that: The process of determining the current new first preset correction value and the new second preset correction value specifically includes: After initializing the initial position of the measured object, recording the current position of the measured object as a first physical angle; When the first preset correction value is 1 and the second preset correction value is 0, a first physical angle calculation value is calculated according to the first coordinate correction detection value and the second coordinate correction detection value currently output by the correction network; Rotate the measured object by any non-zero physical angle and record it as a second physical angle; Adjusting the first preset correction value and the second preset correction value to calculate a second physical angle calculation value according to the first coordinate correction detection value and the second coordinate correction detection value currently output by the correction network; Determine whether the difference between the second physical angle value calculated and the first physical angle value calculated is equal to the difference between the second physical angle value and the first physical angle value; If not, Then continue to adjust the first preset correction value and the second preset correction value until the difference between the second physical angle calculated value and the first physical angle calculated value is equal to the difference between the second physical angle and the first physical angle; if, Then the new first preset correction value and the new second preset correction value are determined.

10. An orthogonal correction device for an angle sensor, characterized in that: It comprises a central processing unit and a memory, wherein a computer program is stored in the memory, and when the computer program is executed by the central processing unit, the orthogonal correction method as claimed in any one of claims 8 to 9 is implemented.

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