Orthogonal Correction Network, Method and Device for an Angle Sensor

Abstract

The present invention relates to an orthogonal correction network, method and device for an angle sensor. The correction network includes: 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; a first multiplier for performing a multiplication operation on a detection value of a first axis of a misaligned orthogonal coordinate and the first preset correction value to obtain a first coordinate correction detection value; a second multiplier for performing a multiplication operation on the detection value of the first axis and the second preset correction value to obtain an intermediate correction value; and an adder for performing an addition operation on a detection value of a second axis and the intermediate correction value to obtain a second coordinate correction detection value. The correction network of the present invention can completely eliminate the non-orthogonal distortion caused by a non-orthogonal sensing element array, and only two multipliers and one adder are provided, with a simple structure, small calculation amount and easy implementation. In addition, the method and device can be applied to multiple groups of sensing elements, and stable angle detection can be realized through model and coordinate conversion to eliminate non-linear errors.

Description

Technical Field

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

[0002] An angle sensor generally consists of an excitation signal generation system, two or more groups of inductive elements that are non-collinear in space, and a signal processing system, where the excitation signal generation system is closely related to the rotation angle of the object to be measured.

[0003] For a magnetic angle sensor, the excitation signal is a rotating magnetic field generated by a magnet fixed on the rotating shaft. The inductive elements are two groups of orthogonally placed Hall elements. The signal processing system determines the rotation angle of the magnet by calculating the arctangent function value of the orthogonal components measured by these two groups of Hall elements.

[0004] For an inductive angle sensor, the excitation signal is generated by an alternating magnetic field amplitude-modulated by the rotor position. The inductive elements consist of two groups of orthogonally placed or three groups of inductive coils placed at 120°. Among them, for two groups of orthogonally placed inductive 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 inductive coils placed at 120°, the signal processing system first performs a Clark transform on the envelope signals of the three groups of inductive coils to convert them into an orthogonal form, and then calculates the angle.

[0005] However, whether it is two groups of orthogonally placed inductive elements, or three groups of inductive elements placed at 120° obtained through Clark transform, or the case where multiple groups of elements arranged at a preset angle are converted into an orthogonal form through linear transform, the actual positions of the inductive elements in space will always have offsets. This offset will cause errors in angle calculation.

[0006] When the relative positions of multiple groups of inductive elements in the sensor remain unchanged, even if the entire sensor rotates by a fixed angle relative to the object to be measured, then no matter how the object to be measured rotates, only by subtracting this fixed angle from the calculation result, the accurate position of the object to be measured can be obtained. This kind of error is fixed and thus easy to calibrate. However, if the relative positions between the inductive elements change, non-linear errors will be introduced, and such errors 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 to eliminate the non-linear errors introduced due to the change in the relative positions of the inductive elements in the angle sensor.

[0008] The technical solution of the present invention for solving the above technical problems is as follows:

[0009] An orthogonal correction network for an angle sensor, used to correct a misaligned orthogonal coordinate into an unbiased orthogonal coordinate. The orthogonal correction network includes:

[0010] A first misaligned orthogonal coordinate input terminal and a second misaligned orthogonal coordinate input terminal, respectively used to input the first-axis detection value and the second-axis detection value of the misaligned orthogonal coordinate;

[0011] A first bypass correction network and a second bypass correction network, respectively used to provide a first preset correction value and a second preset correction value;

[0012] A first multiplier, connected to the first misaligned orthogonal coordinate input terminal and the first bypass correction network, used 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 corresponding to the first axis of the unbiased orthogonal coordinate;

[0013] A second multiplier, connected to the first misaligned orthogonal coordinate input terminal and the second bypass correction network, used to perform a multiplication operation on the first-axis detection value and the second preset correction value to obtain an intermediate correction value;

[0014] An adder, connected to the second misaligned orthogonal coordinate input terminal and the second multiplier, 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 of the unbiased orthogonal coordinate.

[0015] Based on the above technical solution, the present invention can also be improved as follows.

[0016] Optionally, when the misaligned orthogonal coordinate takes the X-axis as a reference and the Y-axis deflects, the first coordinate correction detection value is the Y-axis coordinate value of the unbiased orthogonal coordinate; the second coordinate correction detection value is the X-axis coordinate value of the unbiased orthogonal coordinate.

[0017] Optionally, the model matrix for the orthogonal correction network to correct the angle sensor is:

[0018] ;

[0019] Wherein, represents the second coordinate correction detection value corresponding to the second axis of the unbiased orthogonal coordinate, represents the first coordinate correction detection value corresponding to the first axis of the unbiased orthogonal coordinate, represents the first preset correction value, represents the second preset correction value, represents the number of degrees of deflection of the Y-axis, represents the detected value of the second axis, represents the detected value of the first axis.

[0020] Optionally, when the misaligned orthogonal coordinate is referenced to the Y-axis and the X-axis deflects, the first coordinate correction detected value is the X-axis coordinate value of the unbiased orthogonal coordinate; the second coordinate correction detected value is the Y-axis coordinate value of the unbiased orthogonal coordinate.

[0021] Optionally, the matrix for the orthogonal correction network to correct the angle sensor is:

[0022] ;

[0023] wherein, represents the first coordinate correction detected value corresponding to the detected value of the first axis in the unbiased orthogonal coordinate, represents the second coordinate correction detected value corresponding to the detected value of the second axis in the unbiased orthogonal coordinate, represents the first preset correction value, represents the second preset correction value, represents the number of degrees of deflection of the X-axis, represents the detected value of the first axis, represents the detected value of the second axis.

[0024] Optionally, it further includes:

[0025] A transformation angle processor, connected to the first multiplier and the adder, is configured to perform an arctangent transformation process or an arccotangent transformation process on the first coordinate correction detected value and the second coordinate correction detected value in the unbiased orthogonal coordinate to obtain the physical angle number of the measured object corresponding to the angle vector in the unbiased orthogonal coordinate.

[0026] Optionally, it further includes:

[0027] A coordinate converter, with its input end connected to the angle sensor and its output end connected to the input ends of the first multiplier and the adder, is configured to perform coordinate conversion on at least three axis detected values detected by the angle sensor in a misaligned coordinate system composed of at least three coordinate axes to obtain the detected value of the first axis and the detected value of the second axis.

[0028] Based on the above orthogonal correction network of an angle sensor, the present invention further provides an orthogonal correction method for an angle sensor.

[0029] A method for orthogonal correction of an angle sensor, which uses the above-mentioned orthogonal correction network to correct the misaligned orthogonal coordinates obtained by the angle sensor detecting a measured object. The orthogonal correction method includes:

[0030] Provide a first preset correction value and a second preset correction value, and set them to 1 and 0 respectively;

[0031] Rotate the measured object by any non-zero physical angle, and by repeatedly adjusting the first preset correction value and the second preset correction value, make the rotation angle calculated from the first coordinate correction detection value and the second coordinate correction detection value obtained by the correction network equal to the non-zero physical angle, and at the same time determine the current new first preset correction value and new second preset correction value;

[0032] Use the new first preset correction value and the new second preset correction value to correct the first axis detection value and the second axis detection value accordingly.

[0033] On the basis of the above technical solution, the present invention can also be improved as follows.

[0034] Optionally,

[0035] In the process of determining the current new first preset correction value and new second preset correction value, it specifically includes:

[0036] After initializing the initial position of the measured object, record the current position of the measured object as the first physical angle;

[0037] When the first preset correction value is 1 and the second preset correction value is 0, calculate a first 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;

[0038] Rotate the measured object by any non-zero physical angle and record it as the second physical angle;

[0039] Adjust 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;

[0040] Judge whether the difference between the second physical angle calculation value and the first physical angle calculation value is equal to the difference between the second physical angle and the first physical angle;

[0041] If not,

[0042] Then continue to adjust the first preset correction value and the second preset correction value until the difference between the calculated value of the second physical angle and the calculated value of the first physical angle is equal to the difference between the second physical angle and the first physical angle;

[0043] If so,

[0044] then determine the new first preset correction value and the new second preset correction value.

[0045] Based on the above orthogonal correction method for an angle sensor, the present invention further provides an orthogonal correction device for an angle sensor.

[0046] An orthogonal correction device for an angle sensor includes a central processing unit and a memory. A computer program is stored in the memory, and when the computer program is executed by the central processing unit, the above-mentioned correction method is implemented.

[0047] 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 first preset correction value and the second preset correction value with the misaligned orthogonal coordinates directly or indirectly obtained from the sensing element array to restore the unbiased orthogonal coordinates, and can completely eliminate the non-linear error introduced by the change in the relative position of the sensing elements in the angle sensor; moreover, the entire orthogonal correction network is provided with two multipliers and one adder, which can achieve efficient correction of the angle sensor, has a simple structure, small computational complexity and is easy to implement; in addition, the orthogonal correction method and device for the angle sensor of the present invention can be applied to multiple sets of sensing element configurations, and stable angle measurement can be achieved through model and coordinate transformation, eliminating non-linear errors. Description of the Drawings

[0048] Figure 1 It is a schematic diagram of the angle detected by the angle sensor in the misaligned orthogonal coordinate system and the unbiased orthogonal coordinate system;

[0049] Figure 2 It is a schematic diagram of the structure of an orthogonal correction network for an angle sensor according to the present invention;

[0050] Figure 3 It 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;

[0051] Figure 4 It is a schematic diagram of the structure of an orthogonal correction network constructed with the X-axis as the reference;

[0052] Figure 5 It 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;

[0053] Figure 6Schematic diagram of the orthogonal correction network constructed with the Y-axis as the reference;

[0054] Figure 7 Another schematic diagram of the orthogonal correction network of an angle sensor according to the present invention;

[0055] Figure 8 Flowchart of an orthogonal correction method for an angle sensor according to the present invention;

[0056] Figure 9 Flowchart for determining the current new first preset correction value and new second preset correction value. Detailed implementation manners

[0057] The principles and features of the present invention will be described below with reference to the accompanying drawings. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0058] In an angle sensor composed of two groups of orthogonally arranged sensing elements, as Figure 1 shown, the physical angle detected by the sensor is represented by the vector . In an ideal situation, the two groups of sensing elements located on the X-axis and Y-axis of the unbiased orthogonal coordinate system in the sensor respectively detect the two orthogonal components obtained by decomposing the vector on the X-axis and axis, denoted as . In an actual situation, the arrangement of the two groups of sensing elements in the sensor may deviate from the X-axis and Y-axis. The deviated X-axis and Y-axis are respectively denoted as X axis and Y axis; at this time, the output value of the sensor actually represents the components obtained by decomposing the vector on the X axis and Y axis, denoted as . If is directly used to calculate the angle, what is actually obtained is the angle of the vector synthesized in the unbiased orthogonal coordinate system .

[0059] In an actual situation, both the X-axis and Y-axis are deflected. If the deflected X axis and Y axis are still orthogonal, it 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 it can be easily compensated by the overall deflection angle in the angle calculation result to eliminate. However, if the deflected X-axis and Y-axis are not orthogonal, then the X axis and Y axis form a misaligned orthogonal coordinate system, and the X axis and Y axis constitute a misaligned orthogonal coordinate system, and X Axis and Y The error caused by the non - orthogonality between the axes varies with the vector and is difficult to eliminate.

[0060] In order to eliminate the error caused by the non - orthogonality between the X axis and the Y axis, the solution provided by the present invention is as follows:

[0061] As Figure 2 shown, an orthogonal correction network for an angle sensor, which is used to correct the misaligned orthogonal coordinates into unbiased orthogonal coordinates. The orthogonal correction network includes:

[0062] A first misaligned orthogonal coordinate input terminal 1 and a second misaligned orthogonal coordinate input terminal 2, which are respectively used to input the first - axis detection value M1 of the misaligned orthogonal coordinates and the second - axis detection value M2 ;

[0063] A first bypass correction network 3 and a second bypass correction network 4, which are respectively used to provide a first preset correction value C1 and a second preset correction value C2;

[0064] A first multiplier 5, connected to the first misaligned orthogonal coordinate input terminal 1 and the first bypass correction network 3, is used to perform a multiplication operation on the first - axis detection value M1 and the first preset correction value C1 to obtain the first - coordinate correction detection value M1 of the first - axis detection value M1 corresponding to the unbiased orthogonal coordinates;

[0065] A second multiplier 6, connected to the first misaligned orthogonal coordinate input terminal 1 and the second bypass correction network 4, is used to perform a multiplication operation on the first - axis detection value M1 and the second preset correction value C2 to obtain an intermediate correction value C3;

[0066] An adder 7, connected to the second misaligned orthogonal coordinate input terminal 2 and the second multiplier 6, is used to perform an addition operation on the second - axis detection value M2 and the intermediate correction value C3 to obtain the second - coordinate correction detection value M2 of the second - axis detection value M2 corresponding to the unbiased orthogonal coordinates.

[0067] Specifically, the first - axis detection value M1 is the value detected by the sensing element located on the first axis of the misaligned orthogonal coordinate system in the angle sensor, and the second - axis detection value M2 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 performs multiplication and addition operations on the misaligned orthogonal coordinates directly or indirectly obtained from the sensing element array through the first preset correction value C1 and the second preset correction value C2, and restores the unbiased orthogonal coordinates, which can completely eliminate the non-linear error introduced by the change in the relative position of the sensing elements in the angle sensor; moreover, the entire orthogonal correction network only contains 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.

[0068] As previously stated, in actual situations, both the X-axis and the Y-axis are deflected; for the convenience of understanding and simplifying 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 clockwise by 30° and the Y-axis is deflected clockwise by 10°, it can be equivalent to the X-axis being unbiased and the Y-axis being deflected counterclockwise by 20°, or equivalent to the X-axis being deflected clockwise by 20° and the Y-axis being unbiased.

[0069] The following will specifically illustrate the orthogonal correction network of the present invention in two cases: taking the X-axis as a reference (the X-axis is unbiased and the Y-axis is deflected) and taking the Y-axis as a reference (the Y-axis is unbiased and the X-axis is deflected).

[0070] In some embodiments, when the misaligned orthogonal coordinates are referenced to the X-axis and 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.

[0071] Figure 3 Schematic diagrams 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 a reference. Among them, X-Y is the unbiased orthogonal coordinate system, X-Y is the misaligned orthogonal coordinate system, and a vector with a unit length represents the angle detected by the angle sensor.

[0072] In this embodiment, the coordinate system formed by the two groups of sensing elements in the angle sensor is as Figure 3 shown in the misaligned orthogonal coordinate system X-Y . At this time, the first axis detection value M1 is the value detected by the sensing element located on the Y axis of the misaligned orthogonal coordinate system X-Y , that is, Figure 3 in ; the second axis detection value M2 is the value detected by the sensing element located on the X-axis of the misaligned orthogonal coordinate system X-Y , that isFigure 3 in .

[0073] Ideally, in an unbiased orthogonal coordinate system X-Y, two sets of orthogonally placed sensing elements respectively obtain the projections of the vector on the X-axis and Y-axis, and its coordinates are expressed as ( , ) = ( , ). Through , the angle of the vector in the unbiased orthogonal coordinate system X-Y can be obtained.

[0074] In the actual situation, that is, in a misaligned orthogonal coordinate system X-Y , due to the deviation of the relative positions of the two sets of sensing elements, the two coordinates obtained actually represent the projections of the vector on the X-axis and Y -axis (assuming that the Y-axis is deflected by an angle to the Y -axis), and its coordinates are expressed as . Through geometric analysis, we have: , ; However, for the angle calculation, the deviation of the Y-axis cannot be known, and it is still considered that is the coordinate obtained by unbiased orthogonal projection, so the angle is calculated, , introducing an error.

[0075] To eliminate the above error, this embodiment provides an orthogonal correction network as shown in Figure 4 ; where MUX1 represents the first multiplier 5, MUX2 represents the second multiplier 6, and AD represents the adder 7.

[0076] Figure 4 The model matrix for the orthogonal correction network shown in

[0077] to correct the angle sensor is:

[0078] where represents the second-axis detection value M2 corresponding to the second coordinate correction detection value M2 in the unbiased orthogonal coordinate, that is, M2 ; represents 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 , i.e. M1 .

[0079] 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.

[0080] 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.

[0081] 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.

[0082] 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 axis, i.e. Figure 5 In ; Second axis detection value M2 is the angle sensor in the misaligned orthogonal coordinate system X The value detected by the sensing element on the Y-axis of -Y is Figure 5 in .

[0083] Ideally, in an unbiased orthogonal coordinate system X-Y, two sets of orthogonally placed sensing elements respectively obtain vectors projections on the X-axis and Y-axis, and their coordinates are expressed as ( , ) = ( , ). Through , , the angle of the vector in the unbiased orthogonal coordinate system X-Y can be obtained.

[0084] In actual situations, that is, in a misaligned orthogonal coordinate system X -Y, due to the deviation of the relative positions of the two sets of sensing elements, the two coordinates obtained actually represent the projections of the vector on the X -axis and Y-axis (assuming the X-axis is deflected by an angle to the X -axis), and their coordinates are expressed as . Through geometric analysis, we have: ; but for the angle calculation, the deviation of the X-axis cannot be known, and it is still considered that is the coordinate obtained by unbiased orthogonal projection, so the angle is calculated, , introducing an error.

[0085] To eliminate the above error, this embodiment provides an orthogonal correction network as shown in Figure 6 . Among them, MUX1 represents the first multiplier 5, MUX2 represents the second multiplier 6, and AD represents the adder 7.

[0086] Figure 6 The model matrix for correcting the angle sensor by the orthogonal correction network shown in

[0087] is:

[0088] Among them, represents the detected value M1 of the first axis corresponding to the corrected detected value M1 of the first coordinate in the unbiased orthogonal coordinate, that is, M1 ; represents the detected value M2 of the second axis corresponding to the corrected detected value M2 of the second coordinate in the unbiased orthogonal coordinate, that is, M2 ; represents the first preset correction value C1, i.e., C1 ; represents the second preset correction value C2, i.e., C2 ; represents the X-axis deflection angle; represents the first axis detection value M1 , i.e., M1 ; represents the second axis detection value M2 , i.e., M2 .

[0089] If the deflection angle of the X-axis is known in advance , then and can be substituted into the above formula to obtain ( , ), and then according to , calculate the actual angle of the vector to complete the correction; if the deflection angle of the X-axis is unknown, then the correction method of the subsequent angle sensor is used to achieve the correction.

[0090] The above specifically illustrates the orthogonal correction network of the present invention in two cases: taking the X-axis as the reference (the X-axis is unbiased and the Y-axis is deflected) and taking the Y-axis as the reference (the Y-axis is unbiased and the X-axis is deflected). However, regardless of whether the orthogonal correction network is constructed with the X-axis as the reference or the Y-axis as the reference, its correction principle is the same, and it is all based on and the orthogonal deviation angle , calculate the correct coordinates of the vector in the unbiased orthogonal coordinate system X-Y ( , ). Among them, can be a positive angle or a negative angle, and its positive and negative depend on the deflection of the misaligned orthogonal coordinate system. The axis included angle is positive when it is large and negative when it is small.

[0091] In some embodiments, as Figure 7 shown, the orthogonal correction network of the present invention further includes:

[0092] A transformation angle processor 8, connected to the first multiplier 5 and the adder 7, is configured to perform an arctangent transformation process or an arccotangent transformation process on the first coordinate correction detection value M1 and the second coordinate correction detection value M2 in the unbiased orthogonal coordinate to obtain the physical angle of the measured object corresponding to the angle vector in the unbiased orthogonal coordinate.

[0093] ​Specifically, the orthogonal correction network composed of the first multiplier 5, the second multiplier 6, and the adder 7 is based on and the orthogonal deviation angle , to calculate the vector in the unbiased orthogonal coordinate system X-Y with the correct coordinates ( , ). For the angle sensor, the final output is the angle information. Therefore, on the basis of this orthogonal correction network, a transformation angle processor 8 can be added to calculate the angle , of the vector according to the correct coordinates ( . In the transformation angle processor 8, the arctangent transformation process can be used to calculate , or the arccotangent transformation process , can be used to calculate .

[0094] By adding the transformation angle processor 8 to the orthogonal correction network of the present invention, the actual angle can be calculated conveniently, quickly, and accurately according to the corrected coordinates.

[0095] In some embodiments, as Figure 7 shown, the orthogonal correction network of the present invention further includes:

[0096] A coordinate converter 9, with its input end connected to the angle sensor 10, and its output end connected to the input ends of the first multiplier 5 and the adder 7, for performing coordinate conversion on at least three axis detection values detected by the angle sensor 10 in a misaligned coordinate system composed of at least three coordinate axes, so as to obtain the first axis detection value M1 and the second axis detection value M2 .

[0097] Specifically, the foregoing analysis is all based on an angle sensor composed of two sets of orthogonally placed sensing elements. However, in actual applications, the sensing elements in the angle sensor can also be three sets placed at 180°, or even more sets placed at corresponding angles. For such sensors, before calculating the angle, the values detected by multiple sets (three sets or more) of sensing elements are usually linearly transformed to convert them into an orthogonal form. However, for multiple sets of placed sensing elements, there will also be deviations in their placement positions. Therefore, there will also be deviations in the orthogonal form obtained after the linear transformation.

[0098] Therefore, when using the orthogonal correction network of the present invention to correct an angle sensor including at least a 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 a 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 converted orthogonal form is also misaligned.

[0099] By adding the coordinate converter 9 in the orthogonal correction network of the present invention, an angle sensor including three or more groups of sensing elements can be corrected, and the application range is wide.

[0100] Based on the above orthogonal correction network of an angle sensor, the present invention also provides an orthogonal correction method for an angle sensor.

[0101] As Figure 8 shown, an orthogonal correction method for an angle sensor uses the above-mentioned orthogonal correction network to correct the misaligned orthogonal coordinates obtained by the angle sensor detecting a measured object. The orthogonal correction method includes:

[0102] S1. Provide a first preset correction value and a second preset correction value, and set them to 1 and 0 respectively;

[0103] S2. Rotate the measured object by any non-zero physical angle, and by repeatedly adjusting the first preset correction value and the second preset correction value, make the rotation angle calculated from the first coordinate correction detection value and the second coordinate correction detection value obtained by the correction network equal to the non-zero physical angle, and at the same time determine the current new first preset correction value and new second preset correction value;

[0104] S3. Use the new first preset correction value and the new second preset correction value to correct the first-axis detection value and the second-axis detection value accordingly.

[0105] An angle sensor is a device for measuring the angle of a measured object. During the measurement process, it is arranged near the measured object so that it can sense the change in the angle generated by the rotation of the measured object. The orthogonal correction method of the present invention uses an orthogonal correction network to achieve correction, and the correction process is simple; at the same time, it can be applied to multiple groups of detection element configurations, and stable angle detection is achieved through model and coordinate conversion, eliminating non-linear errors.

[0106] The orthogonal correction method of the present invention can be selected according to actual needs Figure 4 or Figure 6The orthogonal correction network shown corrects the detected first-axis detection value and second-axis detection value of the angle sensor. Before formally entering the correction program, the object to be measured needs to be set in cooperation with the angle sensor, and the angle sensor needs to be connected to the orthogonal correction network; among them, the method of connecting the angle sensor to the orthogonal correction network depends on the selected orthogonal correction network; if Figure 4 the orthogonal correction network shown is selected, the output end of the sensing element of the angle sensor located on the X-axis is connected to one input end of the adder, and the output end of the sensing element of the angle sensor located on the Y -axis is connected to one input end of the first multiplier. If Figure 6 the orthogonal correction network shown is selected, the output end of the sensing element of the angle sensor located on the Y-axis is connected to one input end of the adder, and the output end of the sensing element of the angle sensor located on the X -axis is connected to one input end of the first multiplier.

[0107] Based on the above description of the orthogonal correction network, generally speaking, we cannot know the deflection situation of the coordinate axes, that is, we cannot determine the above-mentioned deflection angle , so before correction, we need to determine the specific value of the deflection angle . The present invention uses steps S1 and S2 to determine the angle .

[0108] In some embodiments, as Figure 9 shown, in the process of determining the current new first preset correction value and new second preset correction value, it specifically includes:

[0109] S21, after initializing the initial position of the object to be measured, record the current position of the object to be measured as the first physical angle;

[0110] S22, when the first preset correction value is 1 and the second preset correction value is 0, calculate the first 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;

[0111] S23, rotate the object to be measured by any non-zero physical angle and record it as the second physical angle;

[0112] S24, adjust the first preset correction value and the second preset correction value to calculate the 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;

[0113] S25. Determine whether the difference between the calculated value of the second physical angle and the calculated value of the first physical angle is equal to the difference between the second physical angle and the first physical angle.

[0114] If not,

[0115] then continue to adjust the first preset correction value and the second preset correction value until the difference between the calculated value of the second physical angle and the calculated value of the first physical angle is equal to the difference between the second physical angle and the first physical angle.

[0116] If so,

[0117] then determine the new first preset correction value and the new second preset correction value.

[0118] Specifically, the error of the angle sensor comes from the placement position of the sensing element, and the actual physical position of the detected object is known. Therefore, the deflection angle of the coordinate axis can be detected by 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 the correction function, and its output is the same as the input. That is to say, the coordinates output by the orthogonal correction network at this time are still misaligned orthogonal coordinates. Then rotate the measured object by any non-zero physical angle, preferably 90° or 180°, which is convenient for operation. 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. Thus, the value at this time can be determined as the deflection angle of the coordinate axis.

[0119] The present invention determines the deflection angle of the coordinate axis by rotating the measured object by any determined 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. Its determination process is simple and easy to implement.

[0120] Based on the above orthogonal correction method of an angle sensor, the present invention also provides an orthogonal correction device for an angle sensor.

[0121] An orthogonal correction device for an angle sensor includes a central processor and a memory. A computer program is stored in the memory, and when the computer program is executed by the central processor, the orthogonal correction method as described above is implemented.

[0122] The orthogonal correction device of the present invention realizes correction by using the orthogonal correction method. The correction process is simple and can be applied to multiple groups of detection element configurations. Stable angle measurement is achieved through model and coordinate transformation, eliminating non-linear errors.

[0123] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within 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 includes: A first misaligned orthogonal coordinate input end and a second misaligned orthogonal coordinate input end, which are respectively used for inputting the first-axis detection value and the second-axis detection value of the misaligned orthogonal coordinates; A first bypass correction network and a second bypass correction network, which are respectively used for providing a first preset correction value and a second preset correction value; A first multiplier, connected to the first misaligned orthogonal coordinate input end and the first bypass correction network, for performing a multiplication operation on the first-axis detection value and the first preset correction value to obtain a first coordinate correction detection value corresponding to the first axis detection value in the unbiased orthogonal coordinates; A second multiplier, connected to the first misaligned orthogonal coordinate input end and the second bypass correction network, for performing a multiplication operation on the first-axis detection value and the second preset correction value to obtain an intermediate correction value; An adder, connected to the second misaligned orthogonal coordinate input end and the second multiplier, for performing 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 coordinates; Among them, the first preset correction value is , and the second preset correction value is ; When the misaligned orthogonal coordinates are referenced by the X-axis and the Y-axis is deflected, represents the number of degrees of Y-axis deflection; the first coordinate correction detection value is the Y-axis coordinate value of the unbiased orthogonal coordinates; the second coordinate correction detection value is the X-axis coordinate value of the unbiased orthogonal coordinates; When the misaligned orthogonal coordinates are deflected with respect to the Y-axis as a reference and the X-axis, represents the deflection angle of the X-axis; 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.

2. The orthogonal correction network of the angle sensor according to claim 1, characterized in that When the misaligned orthogonal coordinates are deflected with the X axis as the reference and the Y axis, the model matrix for the orthogonal correction network to correct the angle sensor is: ; wherein, represents that the second axis detection value corresponds to the second coordinate correction detection value in the unbiased orthogonal coordinates, represents that the first axis detection value corresponds to the first coordinate correction detection value in the unbiased orthogonal coordinates, represents the first preset correction value, represents the second preset correction value, represents the Y-axis deflection angle, represents the second axis detection value, represents the first axis detection value.

3. The orthogonal correction network of the angular sensor according to claim 1, characterized in that, When the misaligned orthogonal coordinates are deflected with the Y axis as the reference and the X axis, the matrix for the orthogonal correction network to correct the angle sensor is: ; Among them, indicates that the first axis detection value corresponds to the first coordinate correction detection value in the unbiased orthogonal coordinate, indicates that the second axis detection value corresponds to the second coordinate correction detection value in the unbiased orthogonal coordinate, indicates the first preset correction value, indicates the second preset correction value, indicates the X-axis deflection angle, indicates the first axis detection value, indicates the second axis detection value.

4. The orthogonal correction network of the angle sensor according to claim 1, characterized in that, It further includes: A transformation angle processor, connected to the first multiplier and the adder, for performing an arctangent transformation process or an arccotangent transformation process on the first coordinate correction detection value and the second coordinate correction detection value in the unbiased orthogonal coordinates to obtain the physical angle degree of the measured object corresponding to the angle vector in the unbiased orthogonal coordinates.

5. The orthogonal correction network of the angle sensor according to claim 1, characterized in that, It further includes: A coordinate converter, with an input end connected to the angle sensor and an output end connected to the input ends of the first multiplier and the adder, for performing 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.

6. An orthogonal correction method for an angle sensor, characterized in that, Using the orthogonal correction network according to any one of claims 1 to 5 to correct the misaligned orthogonal coordinates obtained by the angle sensor detecting the measured object, the orthogonal correction method includes: Providing an initial first preset correction value and an initial second preset correction value, and respectively setting them to 1 and 0; Rotating the measured object by any non-zero physical angle degree, and by repeatedly adjusting the initial first preset correction value and the initial second preset correction value, making the rotation angle degree calculated from the first coordinate correction detection value and the second coordinate correction detection value obtained by the correction network equal to the non-zero physical angle degree, and at the same time determining the current new first preset correction value and new second preset correction value; Using the new first preset correction value and the new second preset correction value to correspondingly correct the first-axis detection value and the second-axis detection value.

7. The orthogonal correction method of the angle sensor according to claim 6, characterized in that In the process of determining the current new first preset correction value and the new second preset correction value, it specifically includes: After initializing the initial position of the object to be measured, record the current position of the object to be measured as the first physical angle value; When the initial first preset correction value is 1 and the initial second preset correction value is 0, calculate the first physical angle value calculation value according to the first coordinate correction detection value and the second coordinate correction detection value currently output by the correction network; Rotate the object to be measured by any non-zero physical angle value and record it as the second physical angle value; Adjust the initial first preset correction value and the initial second preset correction value to calculate the second physical angle value calculation value according to the first coordinate correction detection value and the second coordinate correction detection value currently output by the correction network; Judge whether the difference between the second physical angle value calculation value and the first physical angle value calculation value is equal to the difference between the second physical angle value and the first physical angle value; If not, Then continue to adjust the initial first preset correction value and the initial second preset correction value until the difference between the second physical angle value calculation value and the first physical angle value calculation value is equal to the difference between the second physical angle value and the first physical angle value; If so, Then determine the new first preset correction value and the new second preset correction value.

8. An orthogonal correction device for an angle sensor, characterized in that It includes a central processing unit and a memory, and a computer program is stored in the memory. When the computer program is executed by the central processing unit, it implements the orthogonal correction method according to any one of claims 6 to 7.

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