Angular position measuring method and device

Abstract

The invention relates to the technical field of angle measurement, in particular to an angular position measurement method and device, and the method comprises the steps: firstly obtaining a first standard magnetic field intensity array and a second standard magnetic field intensity array; constructing a first array according to magnetic field intensity signals currently returned by the plurality of magnetic field sensors, and determining a first cosine value and a first sine value according to the first array, the number of sine wave periods in the sine wave magnetic field, the first standard magnetic field intensity array and the second standard magnetic field intensity array; according to the symbol of the first cosine value and the symbol of the first sine value, determining the quadrant where the relative angle position is located; and finally, determining the angular position according to the standard angular position, the quadrant where the relative angular position is located and the first cosine value or according to the standard angular position, the quadrant where the relative angular position is located and the first sine value. According to the invention, high measurement precision is realized while the reliability is satisfied.

Description

Technical Field

[0001] The present invention relates to the technical field of angle measurement, and in particular to an angular position measurement method and device. Background Art

[0002] In various motion control automatic control systems such as robot joints and aircraft servos, angular position / angular velocity is a very important physical parameter of all rotating parts and must be detected in real time by corresponding sensors to form closed-loop control.

[0003] According to the working principle and form, traditional angular position / angular velocity sensors can be roughly divided into the following three categories: pulse type (photoelectric pulse type, magnetoelectric pulse type) angular position / angular velocity sensors, induction type (electromagnetic induction, magnetoresistive induction) angular position / angular velocity sensors, and potentiometer type angular position / angular velocity sensors.

[0004] The switch-type Hall sensor is a pulse sensor that is simple and easy to use, but has poor accuracy and is difficult to use in high-precision situations. The photoelectric encoder is also a pulse sensor that can be very accurate, but has poor reliability and environmental adaptability, and its application area is also limited. The rotary transformer is a typical inductive sensor that has certain accuracy and reliability, but has extremely high requirements for installation accuracy and has problems with long-term working stability. The potentiometer-type angular position / angular velocity sensor has thorny problems such as short mechanical contact life and poor anti-interference of small signal transmission, making it difficult to transmit over long distances and use in complex electromagnetic environments.

[0005] It can be seen that the above-mentioned various forms of sensors have their own characteristics, but often a single technical indicator is outstanding while other technical indicators have obvious shortcomings, making it difficult to meet the special needs of high reliability and high precision at the same time.

[0006] Based on this, it is necessary to develop and design an angular position measurement method. Summary of the invention

[0007] The embodiments of the present invention provide an angular position measurement method and device, which are used to solve the problem in the prior art that angular position measurement is difficult to simultaneously meet high reliability and high precision.

[0008] In a first aspect, an embodiment of the present invention provides an angular position measurement system, comprising: A magnetic field excitation mechanism, a plurality of magnetic field sensors and a signal processing unit; The plurality of magnetic field sensors are electrically connected to the signal processing unit; The magnetic field excitation mechanism generates at least one complete cycle of a sinusoidal wave magnetic field on the circumference; The plurality of magnetic field sensors are distributed in an array along the central circumference of the sinusoidal magnetic field; When the multiple magnetic field sensors respectively return magnetic field strength signals at their locations, the signal processing unit determines the angular position of the sinusoidal magnetic field relative to the multiple magnetic field sensors according to the number of sinusoidal wave cycles in the sinusoidal magnetic field and the multiple magnetic field strength signals.

[0009] In a possible implementation, the magnetic field excitation mechanism includes a magnetic ring and a plurality of magnetic steels; The plurality of magnetic steels are fixedly arranged on the magnetic ring in a circumferential array, and the magnetic pole directions of the plurality of magnetic steels are alternately arranged along the axial direction of the magnetic ring; The magnetic ring is a poor conductor of magnetism.

[0010] In a second aspect, an embodiment of the present invention provides an angular position measurement method, comprising: Obtaining a first standard magnetic field strength array and a second standard magnetic field strength array, wherein the first standard magnetic field strength array and the second standard magnetic field strength array are arrays constructed according to a plurality of standard magnetic field strength signals, respectively, and the standard magnetic field signal is a magnetic field strength signal returned by the magnetic field sensor when the angle of the sinusoidal magnetic field relative to the plurality of magnetic field sensors is a standard angular position; Constructing a first array according to the magnetic field strength signals currently returned by the multiple magnetic field sensors, and determining a first cosine value and a first sine value according to the first array, the number of sine wave cycles in the sine wave magnetic field, the first standard magnetic field strength array, and the second standard magnetic field strength array; Determining the quadrant in which the relative angular position is located according to the sign of the first cosine value and the sign of the first sine value; The angular position is determined according to the standard angular position, the quadrant in which the relative angular position is located, and at least one of the first cosine value and the first sine value.

[0011] In a possible implementation, constructing a first array according to the magnetic field strength signals currently returned by the multiple magnetic field sensors, and determining a first cosine value and a first sine value according to the first array, the number of sine wave cycles in the sine wave magnetic field, the first standard magnetic field strength array, and the second standard magnetic field strength array, includes: Acquire magnetic field strength signals currently returned by the multiple magnetic field sensors; Arranging the magnetic field strength signals currently returned by the multiple magnetic field sensors according to the locations of the magnetic field sensors to obtain an intermediate array; Reconstructing and normalizing the sinusoidal magnetic field according to the magnetic field intensity value, the number of sinusoidal wave cycles in the sinusoidal magnetic field, the number of the plurality of magnetic field sensors, and the intermediate array to obtain the first array; The dot product of the first array and the first standard magnetic field strength array and the dot product of the first array and the second standard magnetic field strength array are calculated respectively to obtain the first cosine value and the first sine value.

[0012] In a possible implementation, determining a first cosine value and a first sine value according to the first array, the number of sine wave cycles in the sine wave magnetic field, the first standard magnetic field strength array, and the second standard magnetic field strength array includes: The first cosine value is determined according to a first formula, wherein the first formula is:

[0013] In the formula, is the first cosine value, The first array numerical values, is the number of multiple magnetic field sensors, is the first standard magnetic field strength array data, is a sine function, is the circumference of a circle, is the number of sine wave cycles in the sine wave magnetic field, is the standard angular position; The first sine value is determined according to a second formula, wherein the second formula is:

[0014] In the formula, is the first sine value, The second standard magnetic field strength array data, is the cosine function.

[0015] In a possible implementation manner, determining the quadrant in which the relative angular position is located according to the sign of the first cosine value and the sign of the first sine value includes: If the first cosine value is positive and the first sine value is positive, the relative angular position is in the first quadrant; If the first cosine value is negative and the first sine value is positive, the relative angular position is in the second quadrant; If the first cosine value is negative and the first sine value is negative, the relative angular position is in the third quadrant; If the first cosine value is a positive value and the first sine value is a negative value, the relative angular position is in the fourth quadrant.

[0016] In a possible implementation, determining the angular position according to the standard angular position, the quadrant where the relative angular position is located, and at least one of the first cosine value and the first sine value includes: The angular position is determined according to a third formula or a fourth formula, wherein the third formula is:

[0017] In the formula, is the relative angular position, is the arccosine function, is the angular position, is the standard angular position, is the first cosine value, is the number of sine wave cycles in the sine wave magnetic field, is the first quadrant, For the second quadrant, For the third quadrant, The fourth quadrant, is pi; The fourth formula is:

[0018] In the formula, is the inverse sine function, is the first sine value.

[0019] In a third aspect, an embodiment of the present invention provides an angular position measurement device, which is used to implement the angular position measurement method described in the second aspect or any possible implementation of the second aspect, wherein the angular position measurement device includes: A standard magnetic field strength acquisition module, used to acquire a first standard magnetic field strength array and a second standard magnetic field strength array, wherein the first standard magnetic field strength array and the second standard magnetic field strength array are arrays constructed according to a plurality of standard magnetic field strength signals, respectively, and the standard magnetic field signal is a magnetic field strength signal returned by the magnetic field sensor when the angle of the sinusoidal magnetic field relative to the plurality of magnetic field sensors is a standard angular position; an angular position data extraction module, configured to construct a first array according to magnetic field strength signals currently returned by the plurality of magnetic field sensors, and determine a first cosine value and a first sine value according to the first array, the number of sinusoidal wave cycles in the sinusoidal wave magnetic field, the first standard magnetic field strength array, and the second standard magnetic field strength array; a quadrant positioning module, configured to determine the quadrant in which the relative angular position is located according to the sign of the first cosine value and the sign of the first sine value; as well as, An angular position determination module is used to determine the angular position according to the standard angular position, the quadrant where the relative angular position is located, and the first cosine value or according to the standard angular position, the quadrant where the relative angular position is located, and the first sine value.

[0020] In a fourth aspect, an embodiment of the present invention provides an electronic device, comprising a memory and a processor, wherein the memory stores a computer program that can be run on the processor, and when the processor executes the computer program, it implements the steps of the method described in the second aspect or any possible implementation method of the second aspect.

[0021] In a fifth aspect, an embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method described in the second aspect or any possible implementation of the second aspect are implemented.

[0022] Compared with the prior art, the embodiments of the present invention have the following beneficial effects: The angular position measurement system disclosed in the embodiment of the present invention obtains the magnetic field strength signal of the magnetic field excitation mechanism through multiple magnetic field sensors. Since the magnetic field surface induction measurement method is adopted, the high-precision characteristics of the sensor and the stability and reliability of long-term application in harsh environments are guaranteed.

[0023] An embodiment of the present invention discloses an angular position measurement method, which first obtains a first standard magnetic field strength array and a second standard magnetic field strength array, wherein the first standard magnetic field strength array and the second standard magnetic field strength array are arrays constructed according to multiple standard magnetic field strength signals, respectively, and the standard magnetic field signal is a magnetic field strength signal returned by a magnetic field sensor when the angle of the sinusoidal wave magnetic field relative to the multiple magnetic field sensors is a standard angular position; then a first array is constructed according to the magnetic field strength signals currently returned by the multiple magnetic field sensors, and a first cosine value and a first sine value are determined according to the first array, the number of sinusoidal wave cycles in the sinusoidal wave magnetic field, the first standard magnetic field strength array, and the second standard magnetic field strength array; then, the quadrant in which the relative angular position is located is determined according to the sign of the first cosine value and the sign of the first sine value; finally, the angular position is determined according to the standard angular position, the quadrant in which the relative angular position is located, and the first cosine value, or according to the standard angular position, the quadrant in which the relative angular position is located, and the first sine value. The angular position measurement method and system of the embodiment of the present invention rely on the magnetic field strength signal of the sinusoidal magnetic field and the number of sinusoidal wave cycles to determine the angular position. It has a simple structure and strong vibration resistance, and is therefore relatively reliable. The angular position is determined by reconstructing and normalizing multiple magnetic field strength signals and performing a dot product operation with a standard magnetic field strength array. The accuracy can reach a high level, that is, a high measurement accuracy is achieved while meeting reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0025] Figure 1 is a schematic diagram of the relative positions of a magnetic field excitation mechanism and a magnetic field sensor provided in an embodiment of the present invention; Figure 2 is a schematic diagram of a magnetic field excitation mechanism provided by an embodiment of the present invention; Figure 3 It is a principle diagram of a sine wave magnetic field with 6 complete cycles provided by an embodiment of the present invention; Figure 4 is a schematic diagram of a fixing method of multiple magnetic field sensors provided in an embodiment of the present invention; Figure 5 is a flow chart of an angular position measurement method provided by an embodiment of the present invention; Figure 6 is a functional block diagram of an angular position measurement device provided by an embodiment of the present invention; Figure 7 It is a functional block diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0026] In the following description, specific details such as specific system structures and technologies are provided for the purpose of illustration rather than limitation so as to provide a thorough understanding of the embodiments of the present invention. However, it should be clear to those skilled in the art that the present invention may be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, and methods are omitted so as not to obscure the description of the present invention with unnecessary details.

[0027] In order to make the purpose, technical solutions and advantages of the present invention more clear, a specific implementation method will be described below in conjunction with the accompanying drawings.

[0028] The following is a detailed description of an embodiment of the present invention. This example is implemented based on the technical solution of the present invention, and provides a detailed implementation method and a specific operation process, but the protection scope of the present invention is not limited to the following embodiments.

[0029] In a first aspect, an embodiment of the present invention provides an angular position measurement system, comprising: A magnetic field excitation mechanism, a plurality of magnetic field sensors and a signal processing unit; The plurality of magnetic field sensors are electrically connected to the signal processing unit; The magnetic field excitation mechanism generates at least one complete cycle of a sinusoidal wave magnetic field on the circumference; The plurality of magnetic field sensors are distributed in an array along the central circumference of the sinusoidal magnetic field; When the multiple magnetic field sensors respectively return magnetic field strength signals at their locations, the signal processing unit determines the angular position of the sinusoidal magnetic field relative to the multiple magnetic field sensors according to the number of sinusoidal wave cycles in the sinusoidal magnetic field and the multiple magnetic field strength signals.

[0030] In a possible implementation, the magnetic field excitation mechanism includes a magnetic ring and a plurality of magnetic steels; The plurality of magnetic steels are fixedly arranged on the magnetic ring in a circumferential array, and the magnetic pole directions of the plurality of magnetic steels are alternately arranged along the axial direction of the magnetic ring; The magnetic ring is a poor conductor of magnetism.

[0031] For example, Figure 1 The magnetic field excitation mechanism 10 generates a circumferentially distributed sinusoidal magnetic field in the air gap, and a detection and conditioning circuit board 20 fixed with multiple magnetic field sensors detects the magnetic field and performs angular position and / or angular velocity detection based on the magnetic field.

[0032] In application, usually the magnetic field excitation mechanism 10 and the circumferentially distributed sinusoidal magnetic field generated by it and the component under test rotate synchronously, while the detection and conditioning circuit board 20 is stationary. Or, on the contrary, the magnetic field excitation mechanism 10 and the circumferentially distributed sinusoidal magnetic field generated by it are stationary, while the detection and conditioning circuit board 20 and the component under test rotate synchronously.

[0033] like Figure 2 As shown, the embodiment of the present invention generates a sine wave magnetic field with 6 cycles. The circumferentially distributed spatial sine wave magnetic field corresponds to a six-pole structure, which constitutes 6 complete electrical cycles in one mechanical cycle (360°).

[0034] like Figure 3 As shown, in one embodiment, the magnetic field excitation mechanism 10 includes a magnetic ring 11 , a plurality of circular grooves 12 arranged on the magnetic ring, and a magnetic steel 13 fixed on the circular grooves 12 .

[0035] The magnetic steels 13 are placed alternately at the north and south poles in the multiple circular grooves 12. The material of the magnetic ring 11 is a poor conductor of magnetism. In an application scenario, the depth of the circular grooves 12 in the magnetic ring 11 is consistent. The magnetization method of the magnetic steel 13 is axial magnetization, and the magnetization strength of the multiple magnetic steels 13 is consistent.

[0036] The distribution of the circularly distributed spatial sinusoidal magnetic field on the circular surface surrounded by the linear Hall sensor array is in a sinusoidal form.

[0037] The detection and conditioning circuit board 20 is composed of one or more circuit boards.

[0038] In one application scenario, the detection and conditioning circuit board 20 includes a Hall sensor array 21 consisting of 48 linear Hall sensors, a sampling and holding circuit, a conditioning and filtering circuit, an analog switch circuit, an AD conversion circuit, and a CPU.

[0039] like Figure 4 As shown, the distribution of the Hall sensor array 21 on a detection and conditioning circuit board 20 is evenly arranged in a circle, and the radius of the circle is the same as the radius of the magnetic field in the circular distribution space.

[0040] The sample-and-hold circuit is used to sample and hold the spatial magnetic field at a certain moment, and is used for subsequent circuits and program processing.

[0041] The conditioning and filtering circuit is used to perform level conversion and filtering on the previous stage signal.

[0042] The analog switch circuit is used to perform time-sharing switching on the 48-way linear Hall sensor signals.

[0043] The AD conversion circuit is used to realize the conversion from analog quantity to digital quantity and send the conversion result to the CPU.

[0044] The CPU is used to control the entire sensor system and execute the angular position / angular velocity calculation algorithm.

[0045] Preferably, the relationship between the analog electrical signal output by the Hall sensor array 21 and the induced magnetic field strength is linear. The better the linearity, the better the effect of the CPU in reconstructing the spatial magnetic field.

[0046] Preferably, in order to prevent the output of the Hall sensor array 21 from being saturated or having an amplitude that is too small to affect the sensor accuracy, the magnetic field intensity generated by the magnetic field excitation mechanism 10 should be constrained within a certain range.

[0047] Preferably, in order to prevent the Hall sensor array 21 from outputting saturation or too small an amplitude to affect sensor accuracy, a reasonable air gap should be set between the magnetic field excitation mechanism 10 and the detection and conditioning circuit board 20. The size of the air gap is subject to both mechanical and reliability constraints.

[0048] Preferably, in order to avoid output saturation of the Hall sensor array 21 , the Hall sensor should select a suitable detection sensitivity when there is a certain air gap distance between the magnetic field excitation mechanism 10 and the detection and conditioning circuit board 20 .

[0049] Preferably, in order to avoid output saturation of the Hall sensor array 21, a reasonable gain factor should be set for the conditioning filter circuit under a certain air gap distance between the magnetic field excitation mechanism 10 and the detection and conditioning circuit board 20 and a certain sensitivity of the Hall sensor.

[0050] Preferably, after the above optimization, the peak-to-peak value of the signal input to the AD conversion circuit is between 1 / 2 and 3 / 4 of the effective input range of the AD conversion circuit.

[0051] In a second aspect, an embodiment of the present invention provides an angular position measurement method.

[0052] Figure 5 This is a flow chart of an angular position measurement method provided in an embodiment of the present invention.

[0053] like Figure 5 As shown, it shows a flowchart of the implementation method of the angular position measurement method provided by an embodiment of the present invention, which is described in detail as follows: In step 501, a first standard magnetic field strength array and a second standard magnetic field strength array are obtained, wherein the first standard magnetic field strength array and the second standard magnetic field strength array are arrays constructed according to multiple standard magnetic field strength signals, respectively, and the standard magnetic field signal is a magnetic field strength signal returned by the magnetic field sensor when the angle of the sinusoidal wave magnetic field relative to the multiple magnetic field sensors is a standard angular position.

[0054] In step 502, a first array is constructed based on the magnetic field strength signals currently returned by the multiple magnetic field sensors, and a first cosine value and a first sine value are determined based on the first array, the number of sinusoidal wave cycles in the sinusoidal wave magnetic field, the first standard magnetic field strength array, and the second standard magnetic field strength array.

[0055] In some embodiments, constructing a first array according to the magnetic field strength signals currently returned by the plurality of magnetic field sensors, and determining a first cosine value and a first sine value according to the first array, the number of sinusoidal wave cycles in the sinusoidal wave magnetic field, the first standard magnetic field strength array, and the second standard magnetic field strength array, comprises: Acquire magnetic field strength signals currently returned by the multiple magnetic field sensors; Arranging the magnetic field strength signals currently returned by the multiple magnetic field sensors according to the locations of the magnetic field sensors to obtain an intermediate array; Reconstructing and normalizing the sinusoidal magnetic field according to the magnetic field intensity value, the number of sinusoidal wave cycles in the sinusoidal magnetic field, the number of the plurality of magnetic field sensors, and the intermediate array to obtain the first array; The dot product of the first array and the first standard magnetic field strength array and the dot product of the first array and the second standard magnetic field strength array are calculated respectively to obtain the first cosine value and the first sine value.

[0056] In some embodiments, determining the first cosine value and the first sine value according to the first array, the number of sine wave cycles in the sine wave magnetic field, the first standard magnetic field strength array, and the second standard magnetic field strength array includes: The first cosine value is determined according to a first formula, wherein the first formula is:

[0057] In the formula, is the first cosine value, The first array numerical values, is the number of multiple magnetic field sensors, is the first standard magnetic field strength array data, is a sine function, is the circumference of a circle, is the number of sine wave cycles in the sine wave magnetic field, is the standard angular position; The first sine value is determined according to a second formula, wherein the second formula is:

[0058] In the formula, is the first sine value, The second standard magnetic field strength array data, is the cosine function.

[0059] For example, in order to better illustrate the highly reliable and high-precision angular position / angular velocity measurement method provided by an embodiment of the present invention, the following description is first made: Note 1: The rotating part or device drives the magnetic field excitation mechanism to rotate synchronously on the same axis. Assume that its angular position is , the angular velocity is , time is t; Explanation 2: When stationary, the magnetic field excitation mechanism generates a sinusoidal spatial sine wave magnetic field on the surface of the linear Hall sensor array. The number of sine cycles is 6 and the amplitude is , the number of linear Hall sensors is 48; Note 3: Assumption The number of the linear Hall sensor, ranging from 1 to 48.

[0060] Note 4: Assumption It is the linear gain of the magnetic field intensity sensed by the linear Hall sensor and the output analog electrical signal, which is a constant.

[0061] Before determining the angular position, a standard angular position is usually preset, and the first standard magnetic field strength array and the second standard magnetic field strength array are determined according to the standard angular position. The characterization angle refers to the angle of the magnetic field excitation mechanism relative to the reference sensor of the multiple magnetic field sensors.

[0062] For example, Figure 3 The magnetic field generated by the magnetic field excitation mechanism Phase and Figure 4 When the 1# magnetic field sensor is facing the center, the phases of the sine wave positions of the 48 magnetic field sensors are obtained, and then the first standard magnetic field strength array and the second standard magnetic field strength array are obtained according to the phases corresponding to the 48 magnetic field sensors:

[0063]

[0064] is the first standard magnetic field strength array data, The second standard magnetic field strength array data, is the circumference of a circle, is the number of sine wave cycles in the sine wave magnetic field, is the standard angular position, is the number of magnetic field sensors.

[0065] In this embodiment, the standard angular position is 0, the number of magnetic field sensors is 48, and the number of sine wave cycles in the sine wave magnetic field is 6. Then the first standard magnetic field strength array and the second standard magnetic field strength array are:

[0066]

[0067] The magnetic field excitation mechanism generates a spatial sinusoidal magnetic field with alternating sinusoidal distribution. The distribution of magnetic field intensity in the 360° circumference of the plane where the magnetic field sensor array is located is:

[0068] When the magnetic field excitation mechanism rotates synchronously with the measured component, the sinusoidal magnetic field will also rotate synchronously at the same rate. The distribution of the magnetic field intensity in the 360° circumference of the plane where the magnetic field sensor array is located changes with time:

[0069] The linear Hall sensor array evenly distributed around the circumference senses an analog electrical signal that is proportional to the magnetic field strength at that location. Taking a single linear Hall sensor as an example, the relationship between the magnitude of the analog electrical signal it outputs and the magnitude of the sensed magnetic field strength is: The change of the analog electrical signal output by each linear Hall sensor over time is .

[0070] At the same time, the analog electrical signal of the magnetic field sensor array can be sampled and held. The sampling and holding method can select the CPU on-chip ADC or a dedicated analog-to-digital converter to convert the analog electrical signal into a digital electrical signal.

[0071] The magnetic field intensity array of the spatial sinusoidal magnetic field based on the spatial sampling points is reconstructed in the CPU and normalized. The obtained normalized array is expressed as: , which represents the reconstructed and normalized array A numerical value.

[0072] The array obtained above is dot-producted with the first standard magnetic field strength array and the second standard magnetic field strength array obtained previously to obtain the first cosine value and the first sine value. Specifically, the first cosine value is obtained by applying the first formula:

[0073] In the formula, is the first cosine value, The first array numerical values, is the number of multiple magnetic field sensors, is the first standard magnetic field strength array data, is a sine function, is the circumference of a circle, is the number of sine wave cycles in the sine wave magnetic field, is the standard angular position; Apply the second formula to obtain the first sine value:

[0074] In the formula, is the first sine value, The second standard magnetic field strength array data, is the cosine function.

[0075] Based on the above cosine value and sine value, the angular position can be obtained through subsequent steps.

[0076] In step 503, the quadrant in which the relative angular position is located is determined according to the sign of the first cosine value and the sign of the first sine value.

[0077] In some implementations, determining the quadrant in which the relative angular position is located according to the sign of the first cosine value and the sign of the first sine value includes: If the first cosine value is positive and the first sine value is positive, the relative angular position is in the first quadrant; If the first cosine value is negative and the first sine value is positive, the relative angular position is in the second quadrant; If the first cosine value is negative and the first sine value is negative, the relative angular position is in the third quadrant; If the first cosine value is a positive value and the first sine value is a negative value, the relative angular position is in the fourth quadrant.

[0078] Exemplarily, before determining the angular position, it is necessary to clarify the quadrant in which the relative angular position is located. Specifically, the quadrant of the angular position is determined according to the sign of the first cosine value and the sign of the first sine value. Specifically: 1) The first cosine value is positive, the first sine value is positive, and the relative angular position In the first quadrant; 2) The first cosine value is negative, the first sine value is positive, and the relative angular position In the second quadrant; 3) The first cosine value is negative, the first sine value is negative, and the relative angular position In the third quadrant; 4) The first cosine value is positive, the first sine value is negative, and the relative angular position In the fourth quadrant.

[0079] In step 504, the angular position is determined according to the standard angular position, the quadrant in which the relative angular position is located, and at least one of the first cosine value and the first sine value.

[0080] In some embodiments, determining the angular position according to the standard angular position, the quadrant in which the relative angular position is located, and at least one of the first cosine value and the first sine value comprises: The angular position is determined according to a third formula or a fourth formula, wherein the third formula is:

[0081] In the formula, is the relative angular position, is the arccosine function, is the angular position, is the standard angular position, is the first cosine value, is the number of sine wave cycles in the sine wave magnetic field, is the first quadrant, For the second quadrant, For the third quadrant, The fourth quadrant, is pi; The fourth formula is:

[0082] In the formula, is the inverse sine function, is the first sine value.

[0083] Exemplarily, in determining the angular position, the relative angular position is first calculated according to the first cosine value or the first sine value, and then the angular position is determined according to the relative angular position, the quadrant where the relative angular position is located, and the standard angular position. Specifically, when determining according to the first cosine value, the third formula is applied:

[0084] In the formula, is the relative angular position, is the arccosine function, is the angular position, is the standard angular position, is the first cosine value, is the number of sine wave cycles in the sine wave magnetic field, is the first quadrant, For the second quadrant, For the third quadrant, The fourth quadrant, is pi; When determined based on the first sine value, the fourth formula applies:

[0085] In the formula, is the inverse sine function, is the first sine value.

[0086] The third formula and the fourth formula respectively illustrate how to perform arccosine and arcsine calculations based on the first cosine value and the first sine value, and determine the relative angular position based on the calculation results.

[0087] In another case, the tangent value or cotangent value can be determined by the first cosine value and the first sine value, and the angular position is determined by performing inverse tangent and inverse cotangent calculations on the tangent value or cotangent value. It should be noted that this case is a case where the angular position is determined based on both the first cosine value and the first sine value, and falls within the protection scope of the present application.

[0088] After obtaining the above angular position, when the angular velocity is needed, the angular position is calculated twice continuously within a specific time interval, and the angular velocity can be obtained by differentiation.

[0089] The angular position measurement method of the present invention is implemented as follows: first, a first standard magnetic field strength array and a second standard magnetic field strength array are obtained, wherein the first standard magnetic field strength array and the second standard magnetic field strength array are arrays constructed according to a plurality of standard magnetic field strength signals, respectively, and the standard magnetic field signal is a magnetic field strength signal returned by the magnetic field sensor when the angle of the sinusoidal wave magnetic field relative to the plurality of magnetic field sensors is a standard angular position; then, a first array is constructed according to the magnetic field strength signals currently returned by the plurality of magnetic field sensors, and a first cosine value and a first sine value are determined according to the first array, the number of sinusoidal wave cycles in the sinusoidal wave magnetic field, the first standard magnetic field strength array, and the second standard magnetic field strength array; then, the quadrant in which the relative angular position is located is determined according to the sign of the first cosine value and the sign of the first sine value; finally, the angular position is determined according to the standard angular position, the quadrant in which the relative angular position is located, and the first cosine value, or according to the standard angular position, the quadrant in which the relative angular position is located, and the first sine value. The angular position measurement method and system of the embodiment of the present invention rely on the magnetic field strength signal of the sinusoidal magnetic field and the number of sinusoidal wave cycles to determine the angular position. It has a simple structure and strong vibration resistance, and is therefore relatively reliable. The angular position is determined by reconstructing and normalizing multiple magnetic field strength signals and performing a dot product operation with a standard magnetic field strength array. The accuracy can reach a high level, that is, a high measurement accuracy is achieved while meeting reliability.

[0090] It should be understood that the size of the serial numbers of the steps in the above implementation does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the implementation method of the present invention.

[0091] The following is an implementation of the device of the present invention. For details not described in detail, reference may be made to the corresponding method implementation described above.

[0092] Figure 6 is a functional block diagram of an angular position measuring device provided in an embodiment of the present invention, referring to Figure 6 The angular position measuring device comprises: a standard magnetic field strength acquisition module 601, an angular position data extraction module 602, a quadrant positioning module 603 and an angular position determination module 604, wherein: A standard magnetic field strength acquisition module 601 is used to acquire a first standard magnetic field strength array and a second standard magnetic field strength array, wherein the first standard magnetic field strength array and the second standard magnetic field strength array are arrays constructed according to a plurality of standard magnetic field strength signals, respectively, and the standard magnetic field signal is a magnetic field strength signal returned by the magnetic field sensor when the angle of the sinusoidal magnetic field relative to the plurality of magnetic field sensors is a standard angular position; An angular position data extraction module 602 is used to construct a first array according to the magnetic field strength signals currently returned by the multiple magnetic field sensors, and determine a first cosine value and a first sine value according to the first array, the number of sine wave cycles in the sine wave magnetic field, the first standard magnetic field strength array, and the second standard magnetic field strength array; A quadrant positioning module 603, configured to determine the quadrant in which the relative angular position is located according to the sign of the first cosine value and the sign of the first sine value; The angular position determination module 604 is used to determine the angular position according to the standard angular position, the quadrant where the relative angular position is located and the first cosine value or according to the standard angular position, the quadrant where the relative angular position is located and the first sine value.

[0093] Figure 7 is a functional block diagram of an electronic device provided by an embodiment of the present invention. Figure 7 As shown, the electronic device 7 of this embodiment includes: a processor 700 and a memory 701, wherein the memory 701 stores a computer program 702 that can be run on the processor 700. When the processor 700 executes the computer program 702, the steps in the above-mentioned angular position measurement methods and embodiments are implemented, for example Figure 1 Steps 101 to 104 are shown.

[0094] Exemplarily, the computer program 702 may be divided into one or more modules / units, and the one or more modules / units are stored in the memory 701 and executed by the processor 700 to implement the present invention.

[0095] The electronic device 7 may be a computing device such as a desktop computer, a notebook, a PDA, or a cloud server. The electronic device 7 may include, but is not limited to, a processor 700 and a memory 701. Those skilled in the art will appreciate that Figure 7 It is only an example of the electronic device 7 and does not constitute a limitation of the electronic device 7. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the electronic device 7 may also include input and output devices, network access devices, buses, etc.

[0096] The processor 700 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0097] The memory 701 may be an internal storage unit of the electronic device 7, such as a hard disk or memory of the electronic device 7. The memory 701 may also be an external storage device of the electronic device 7, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the electronic device 7. Further, the memory 701 may also include both an internal storage unit and an external storage device of the electronic device 7. The memory 701 is used to store the computer program 702 and other programs and data required by the electronic device 7. The memory 701 may also be used to temporarily store data that has been output or is to be output.

[0098] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In actual applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the implementation method can be integrated into a processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method implementation method, which will not be repeated here.

[0099] In the above-mentioned embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0100] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0101] In the embodiments provided by the present invention, it should be understood that the disclosed devices / electronic devices and methods can be implemented in other ways. For example, the device / electronic device embodiments described above are only schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0102] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0103] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0104] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present invention implements all or part of the processes in the above-mentioned implementation method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by the processor, the steps of the above-mentioned various methods and device implementation methods can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device that can carry the computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal and software distribution medium.

[0105] The above-described embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention, and should all be included in the protection scope of the present invention.

Claims

1. An angular position measurement system, characterized in that: include: A magnetic field excitation mechanism, a plurality of magnetic field sensors and a signal processing unit; The plurality of magnetic field sensors are electrically connected to the signal processing unit; The magnetic field excitation mechanism generates at least one complete cycle of a sinusoidal wave magnetic field on the circumference; The plurality of magnetic field sensors are distributed in an array along the central circumference of the sinusoidal magnetic field; When the multiple magnetic field sensors respectively return magnetic field strength signals at their locations, the signal processing unit determines the angular position of the sinusoidal magnetic field relative to the multiple magnetic field sensors according to the number of sinusoidal wave cycles in the sinusoidal magnetic field and the multiple magnetic field strength signals.

2. The angular position measurement system according to claim 1, characterized in that: The magnetic field excitation mechanism includes a magnetic ring and a plurality of magnetic steels; The plurality of magnetic steels are fixedly arranged on the magnetic ring in a circumferential array, and the magnetic pole directions of the plurality of magnetic steels are alternately arranged along the axial direction of the magnetic ring; The magnetic ring is a poor conductor of magnetism.

3. A method for measuring an angular position, characterized in that: Applied to the angular position measurement system according to any one of claims 1 to 2, the angular position measurement method comprises: Obtaining a first standard magnetic field strength array and a second standard magnetic field strength array, wherein the first standard magnetic field strength array and the second standard magnetic field strength array are arrays constructed according to a plurality of standard magnetic field strength signals, respectively, and the standard magnetic field signal is a magnetic field strength signal returned by the magnetic field sensor when the angle of the sinusoidal magnetic field relative to the plurality of magnetic field sensors is a standard angular position; Constructing a first array according to the magnetic field strength signals currently returned by the multiple magnetic field sensors, and determining a first cosine value and a first sine value according to the first array, the number of sine wave cycles in the sine wave magnetic field, the first standard magnetic field strength array, and the second standard magnetic field strength array; Determining the quadrant in which the relative angular position is located according to the sign of the first cosine value and the sign of the first sine value; The angular position is determined according to the standard angular position, the quadrant in which the relative angular position is located, and at least one of the first cosine value and the first sine value.

4. The angular position measurement method according to claim 3, characterized in that: The step of constructing a first array according to the magnetic field strength signals currently returned by the plurality of magnetic field sensors, and determining a first cosine value and a first sine value according to the first array, the number of sine wave cycles in the sine wave magnetic field, the first standard magnetic field strength array, and the second standard magnetic field strength array includes: Acquire magnetic field strength signals currently returned by the multiple magnetic field sensors; Arranging the magnetic field strength signals currently returned by the multiple magnetic field sensors according to the locations of the magnetic field sensors to obtain an intermediate array; Reconstructing and normalizing the sinusoidal magnetic field according to the magnetic field intensity value, the number of sinusoidal wave cycles in the sinusoidal magnetic field, the number of the plurality of magnetic field sensors, and the intermediate array to obtain the first array; The dot product of the first array and the first standard magnetic field strength array and the dot product of the first array and the second standard magnetic field strength array are calculated respectively to obtain the first cosine value and the first sine value.

5. The angular position measurement method according to claim 3, characterized in that: The determining of a first cosine value and a first sine value according to the first array, the number of sine wave cycles in the sine wave magnetic field, the first standard magnetic field strength array, and the second standard magnetic field strength array comprises: The first cosine value is determined according to a first formula, wherein the first formula is: In the formula, is the first cosine value, The first array numerical values, is the number of multiple magnetic field sensors, is the first standard magnetic field strength array data, is a sine function, is the circumference of a circle, is the number of sine wave cycles in the sine wave magnetic field, is the standard angular position; The first sine value is determined according to a second formula, wherein the second formula is: In the formula, is the first sine value, The second standard magnetic field strength array data, is the cosine function.

6. The angular position measurement method according to claim 3, characterized in that: The determining, according to the sign of the first cosine value and the sign of the first sine value, the quadrant in which the relative angular position is located comprises: If the first cosine value is positive and the first sine value is positive, the relative angular position is in the first quadrant; If the first cosine value is negative and the first sine value is positive, the relative angular position is in the second quadrant; If the first cosine value is negative and the first sine value is negative, the relative angular position is in the third quadrant; If the first cosine value is a positive value and the first sine value is a negative value, the relative angular position is in the fourth quadrant.

7. The angular position measurement method according to any one of claims 3 to 6, characterized in that: The determining the angular position according to the standard angular position, the quadrant where the relative angular position is located, and at least one of the first cosine value and the first sine value comprises: The angular position is determined according to a third formula or a fourth formula, wherein the third formula is: In the formula, is the relative angular position, is the arccosine function, is the angular position, is the standard angular position, is the first cosine value, is the number of sine wave cycles in the sine wave magnetic field, is the first quadrant, For the second quadrant, For the third quadrant, The fourth quadrant, is the ratio of pi; The fourth formula is: In the formula, is the inverse sine function, is the first sine value.

8. An angular position measuring device, characterized in that: Used to implement the angular position measurement method according to any one of claims 3 to 7, the angular position measurement device comprises: A standard magnetic field strength acquisition module, used to acquire a first standard magnetic field strength array and a second standard magnetic field strength array, wherein the first standard magnetic field strength array and the second standard magnetic field strength array are arrays constructed according to a plurality of standard magnetic field strength signals, respectively, and the standard magnetic field signal is a magnetic field strength signal returned by the magnetic field sensor when the angle of the sinusoidal magnetic field relative to the plurality of magnetic field sensors is a standard angular position; an angular position data extraction module, configured to construct a first array according to magnetic field strength signals currently returned by the plurality of magnetic field sensors, and determine a first cosine value and a first sine value according to the first array, the number of sinusoidal wave cycles in the sinusoidal wave magnetic field, the first standard magnetic field strength array, and the second standard magnetic field strength array; a quadrant positioning module, configured to determine the quadrant in which the relative angular position is located according to the sign of the first cosine value and the sign of the first sine value; as well as, An angular position determination module is used to determine the angular position according to the standard angular position, the quadrant where the relative angular position is located, and the first cosine value or according to the standard angular position, the quadrant where the relative angular position is located, and the first sine value.

9. An electronic device comprising a memory and a processor, wherein the memory stores a computer program that can be run on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 3 to 7 are implemented.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method as claimed in any one of claims 3 to 7 are implemented.

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