Off-axis magnetic encoder applied to multilayer coaxial motor

Abstract

The invention relates to the technical field of precision servo transmission, and particularly provides an off-axis magnetic encoder applied to a multilayer coaxial motor. The off-axis magnetic encoder comprises a magnetic disk, a sensor module and a magnetic encoder adjusting circuit, the disk reuses the rotor of the to-be-measured motor; the sensor module is used for detecting magnetic field change information on the magnetic disk, and the sensor module is detachably connected with the circuit mainboard; the magnetic encoder adjusting circuit is used for converting the magnetic field change information into angle information of the motor to be measured. According to the invention, the rotor of the motor is reused as the magnetic disk of the magnetic encoder, so that the integrated design of the structure is realized, the angle and the rotating speed can be directly measured, the precision of a feedback signal is remarkably improved, and the high-precision measurement of the angle of the motor is ensured.

Description

Technical Field

[0001] The present disclosure relates to the technical field of precision servo transmission, and in particular to an off-axis magnetic encoder applied to a multi-layer coaxial motor. Background Art

[0002] Phased array antennas are composed of multiple layers of antenna disks, each of which is divided into a feed network layer, a radiation layer, and a circular polarization layer according to its function. By adjusting the angle of each layer of antenna disk, the direction of the antenna beam can be changed, thereby achieving effective search and tracking of satellite signals. In order to ensure that it can accurately aim at a specific satellite or signal source, the phased array antenna needs to precisely control the angle of each antenna disk.

[0003] In the related art, a magnetic encoder is usually used to detect changes associated with the magnetic field to determine the rotation angle of each component of the antenna. In a multi-layer coaxial motor configuration, due to structural limitations, conventional coaxial angle sensors cannot be used, and an off-axis magnetic encoder is required. However, the off-axis magnetic encoder indirectly measures the angle by detecting changes in the magnetic field generated by the magnet fixed to the rotor. Since the off-axis magnetic encoder cannot be directly mounted on the motor shaft, this indirect measurement method results in low measurement accuracy. Summary of the invention

[0004] In view of this, an exemplary embodiment of the present disclosure provides an off-axis magnetic encoder applied to a multi-layer coaxial motor to solve the problems existing in the related art.

[0005] One aspect of an exemplary embodiment of the present disclosure provides an off-axis magnetic encoder applied to a multi-layer coaxial motor, comprising: a disk, a sensor module and a magnetic encoder adjustment circuit; the disk multiplexes the rotor of the motor to be measured; the sensor module is used to detect magnetic field change information on the disk, and the sensor module is connected to the circuit main board in a detachable manner; the magnetic encoder adjustment circuit is used to convert the magnetic field change information into angle information of the motor to be measured.

[0006] Another aspect of the exemplary embodiments of the present disclosure provides an angle measurement method based on an off-axis magnetic encoder, the method comprising:

[0007] Start the motor to be measured for initialization and determine the absolute zero position of the motor to be measured;

[0008] During the operation of the motor to be measured, the sensor installed on the outside of the rotor obtains the magnetic field change information and converts the magnetic field change information into a digital signal;

[0009] The digital signal is transmitted to a signal processing mainboard for error compensation and demodulation to obtain the angle information of the motor to be measured.

[0010] As described in detail below, an off-axis magnetic encoder applied to a multi-layer coaxial motor according to an embodiment of the present disclosure includes a disk, a sensor module and a magnetic encoder adjustment circuit; the disk reuses the rotor of the motor to be measured; the sensor module is used to detect the magnetic field change information on the disk, and the sensor module is connected to the circuit main board in a detachable manner; the magnetic encoder adjustment circuit is used to convert the magnetic field change information into the angle information of the motor to be measured. Therefore, the off-axis magnetic encoder applied to the multi-layer coaxial motor provided by the present disclosure reuses the rotor of the motor as the disk of the magnetic encoder, which is convenient for structural integrated design, and can directly measure the angle and speed, thereby improving the accuracy of the feedback signal. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] The above and other purposes, features and advantages of the present disclosure will become more apparent by describing the embodiments of the present disclosure in more detail in conjunction with the accompanying drawings. The accompanying drawings are used to provide a further understanding of the embodiments of the present disclosure and constitute a part of the specification. Together with the embodiments of the present disclosure, they are used to explain the present disclosure and do not constitute a limitation of the present disclosure. In the accompanying drawings, the same reference numerals generally represent the same components or steps.

[0012] Figure 1 A schematic diagram of an off-axis magnetic encoder applied to a multi-layer coaxial motor provided as an example in the present disclosure;

[0013] Figure 2 This is a general structural diagram of an off-axis magnetic encoder provided as an example in the present disclosure;

[0014] Figure 3 A cross-sectional view of an off-axis magnetic encoder provided as an example in the present disclosure;

[0015] Figure 4 This is a structural diagram of an adjustable bracket equipped with a magnetic encoder provided as an example in the present disclosure;

[0016] Figure 5 A structural block diagram of an electronic device provided as an example in the present disclosure;

[0017] Figure 6 A schematic diagram of a computer program product provided by an exemplary embodiment of the present disclosure. DETAILED DESCRIPTION

[0018] Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although certain embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be construed as being limited to the embodiments described herein, which are instead provided for a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are only for exemplary purposes and are not intended to limit the scope of protection of the present disclosure.

[0019] It should be understood that the various steps described in the method embodiments of the present disclosure may be performed in different orders and / or in parallel. In addition, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present disclosure is not limited in this respect.

[0020] The term "including" and its variations used in this document are open inclusions, that is, "including but not limited to". The term "based on" means "based at least in part on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one other embodiment"; the term "some embodiments" means "at least some embodiments". Relevant definitions of other terms will be given in the description below. It should be noted that the concepts of "first", "second", etc. mentioned in this disclosure are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.

[0021] It should be noted that the modifications of "one" and "plurality" mentioned in the present disclosure are illustrative rather than restrictive, and those skilled in the art should understand that unless otherwise clearly indicated in the context, it should be understood as "one or more".

[0022] The names of the messages or information exchanged between multiple devices in the embodiments of the present disclosure are only used for illustrative purposes and are not used to limit the scope of these messages or information.

[0023] It is understandable that before using the technical solutions disclosed in the embodiments of the present disclosure, the types, scope of use, usage scenarios, etc. of the personal information involved in the present disclosure should be informed to the user and the user's authorization should be obtained in an appropriate manner in accordance with relevant laws and regulations.

[0024] For example, in response to receiving an active request from a user, a prompt message is sent to the user to clearly prompt the user that the operation requested to be performed will require obtaining and using the user's personal information. Thus, the user can autonomously choose whether to provide personal information to software or hardware such as an electronic device, application, server, or storage medium that performs the operation of the technical solution of the present disclosure according to the prompt message.

[0025] As an optional but non-limiting implementation, in response to receiving an active request from the user, the method of sending a prompt message to the user may be, for example, a pop-up window, in which the prompt message may be presented in text. In addition, the pop-up window may also carry a selection control for the user to choose "agree" or "disagree" to provide personal information to the electronic device. It is understandable that the above notification and the process of obtaining user authorization are only illustrative and do not constitute a limitation on the implementation of the present disclosure. Other methods that meet relevant laws and regulations may also be applied to the implementation of the present disclosure.

[0026] Phased array antennas are composed of multiple layers of antenna disks, each of which is divided into a feed network layer, a radiation layer, and a circular polarization layer according to its function. By adjusting the angle of each layer of antenna disk, the direction of the antenna beam can be changed, thereby achieving effective search and tracking of satellite signals. In order to ensure that it can accurately aim at a specific satellite or signal source, the phased array antenna needs to precisely control the angle of each antenna disk.

[0027] In the related art, a magnetic encoder is usually used to detect changes associated with the magnetic field to determine the rotation angle of each component of the antenna. In a multi-layer coaxial motor configuration, due to structural limitations, conventional coaxial angle sensors cannot be used, and an off-axis magnetic encoder is required. However, the off-axis magnetic encoder indirectly measures the angle by detecting changes in the magnetic field generated by the magnet fixed to the rotor. Since the off-axis magnetic encoder cannot be directly mounted on the motor shaft, this indirect measurement method results in low measurement accuracy.

[0028] Therefore, in order to solve the above problems, the exemplary embodiment of the present disclosure provides an off-axis magnetic encoder applied to a multi-layer coaxial motor. By reusing the rotor of a large-caliber motor as the magnetic disk of the magnetic encoder, not only the structural integration design is realized, but also the angle and speed can be directly measured, which significantly improves the accuracy of the feedback signal. In order to achieve high-resolution magnetic field detection, anisotropic magnetoresistive sensors are selected as magnetic sensors and installed on the outside of the rotor. This sensor is not only small in size, but also has high accuracy, which is very suitable for precise measurement.

[0029] In addition, a demodulation algorithm based on an orthogonal phase-locked loop is used, which has excellent anti-interference ability, especially suitable for slow motor operation. The hardware part of the magnetic encoder is fixed on an adjustable bracket. By adjusting the distance between the bracket and the motor, the best detection position can be accurately found. This design not only enhances the adaptability of the system, but also ensures high-precision measurement of the motor angle.

[0030] For example, Figure 1 The schematic diagram of an off-axis magnetic encoder applied to a multi-layer coaxial motor provided by the present disclosure is shown in FIG. The off-axis magnetic encoder includes a magnetic disk, a sensor module and a magnetic encoder adjustment circuit.

[0031] The magnetic disk has a plurality of magnetic marks or areas for sensing the magnetic field changes generated by the multi-layer thin motor rotor in the multi-layer thin motor.

[0032] The sensor module consists of multiple magnetoresistive sensors to detect changes in the magnetic field on the disk. The sensors used can include AMR (Anisotropic Magneto Resistance) sensors, TMR (Tunnel Magneto Resistance) sensors, or switch Hall sensors.

[0033] The magnetic encoder adjustment circuit is used to process the sensor signal and convert it into data that can be used to determine the angle. The magnetic encoder adjustment circuit includes a signal sampling module, an analog-to-digital (AD) conversion module, a signal transmission module and a main control system, which are used to demodulate the magnetic field information into angle information and send it out.

[0034] Specifically, the main task of the signal sampling module is to collect analog signals from the magnetoresistive sensor, which reflects the changes in the magnetic field. In order to ensure that the signal remains stable before being converted into a digital format, buffering and filtering techniques can be used to reduce noise and external interference to ensure that the collected data accurately reflects the state of the magnetic field.

[0035] The analog-to-digital conversion module converts the collected analog signal into a digital signal for computer processing. In this embodiment, an 18-bit analog-to-digital converter can be used to provide a higher resolution, so that the converted digital signal is very close to the original analog signal, reducing the quantization error, thereby improving the measurement accuracy and resolution.

[0036] The signal transmission module is responsible for transmitting the digital signal output by the analog-to-digital conversion module to the main control system. Data can be transmitted using cables, optical fibers or wirelessly, and appropriate coding and error checking mechanisms can be used to prevent data loss or damage during transmission.

[0037] The main control system is responsible for processing the input digital signal. The software it runs includes an error compensation algorithm and an angle demodulation algorithm based on an orthogonal phase-locked loop. The error compensation algorithm is used to correct measurement errors caused by system deviations, temperature changes, and other factors. The angle demodulation algorithm is used to accurately extract angle information from the modulated signal. The orthogonal phase-locked loop can effectively suppress phase errors and frequency errors, thereby improving measurement accuracy.

[0038] Exemplarily, the magnetic encoder device may include four anisotropic magnetoresistive sensors, four switch Hall sensors, a magnetic encoder circuit mainboard, four surface-mounted outer rotors of the motors, zero-position magnets of each layer of the four-layer motors, and an adjustable bracket. The magnetic encoder device is aligned with the motor rotor.

[0039] Among them, the anisotropic magnetoresistive sensor is used to detect the strength and direction of the magnetic field, accurately measure the changes in the magnetic field, and thus determine the precise position of the rotor.

[0040] Switching Hall sensors are used to detect the presence of a magnetic field and can be used to determine a specific position of the rotor, such as zero position detection.

[0041] The magnetic encoder circuit main board is used to process the signals from the anisotropic magnetoresistive sensor and the switch Hall sensor to calculate the angle of the rotor.

[0042] The surface-mounted outrotor has the stationary portion of the motor on the inside and the dynamic rotating portion (rotor) on the outside, which is used to increase torque and improve heat dissipation.

[0043] The zero position magnet of the four-layer motor is used to cooperate with the switch Hall sensor to mark a specific reference position of the rotor.

[0044] The adjustable bracket is used to fix and adjust the position of the sensor to ensure the best alignment between the sensor and the rotor, thus improving the measurement accuracy.

[0045] Before the measurement starts, the switch Hall sensor detects the preset zero position and performs angle correction.

[0046] When the motor is running, the outer rotor of each layer rotates relative to the fixed sensor. The anisotropic magnetoresistive sensors continuously measure the changes in the magnetic field and accurately calculate the rotor angle at each moment.

[0047] The magnetic encoder circuit board collects data from all sensors and processes the data to determine the exact position of the rotor.

[0048] For example, Figure 2 This is a general structural diagram of an off-axis magnetic encoder provided as an example in the present disclosure. Figure 3 A cross-sectional view of an off-axis magnetic encoder provided as an example in the present disclosure.

[0049] like Figure 2 and Figure 3 As shown, anisotropic magnetoresistive sensor 11, anisotropic magnetoresistive sensor 12, anisotropic magnetoresistive sensor 13 and anisotropic magnetoresistive sensor 14 are respectively mounted on the outside of the motor in parallel facing rotor magnet 41, rotor magnet 42, rotor magnet 43 and rotor magnet 44 to detect the change of magnetic field direction in the xy plane. The sensor chips are all electrically connected to the signal processing chip, and the sensor chips are mounted on the circuit board and connected to the magnetic encoder circuit main board 3 through detachable pins.

[0050] Among them, four anisotropic magnetoresistive sensors are installed in parallel facing the four rotor magnets, so that the sensors can directly monitor the magnetic field changes related to their respective corresponding magnets, solving the technical problem of low measurement accuracy caused by indirect measurement.

[0051] In addition, since the strength and direction of the magnetic field are highly related to the distance and angle, the sensor is installed parallel to the outside of the motor, which helps to feel the changes in the magnetic field more directly.

[0052] When the motor rotor rotates, the magnetic field in front of each rotor magnet undergoes changes, and these changes are detected by the corresponding anisotropic magnetoresistive sensor. The sensor converts the detected magnetic field changes into digital signals and sends them to the signal processing chip for analysis. The signal processing chip calculates the specific position, speed and other dynamic parameters of the rotor based on the received data.

[0053] The switch Hall 21, switch Hall 22, switch Hall 23 and switch Hall 24 are respectively installed under the rotor magnet 41, rotor magnet 42, rotor magnet 43 and rotor magnet 44 to detect the zero position magnet 51, zero position magnet 52, zero position magnet 53 and zero position magnet 54. The sensor chips are electrically connected to the signal processing chip, and the sensor chips are installed on the circuit board and connected to the magnetic encoder circuit main board 3 through the pins.

[0054] When the motor is running, the rotor magnet will drive the corresponding zero position magnet past the Hall sensor during the rotation process. Once the zero position magnet is aligned with the Hall sensor, the sensor activates and sends a signal to the main control system indicating that the zero position has been reached. The signal processing chip receives the signal, analyzes it and uses it to calibrate the motor control system to ensure accurate control of the rotor rotation.

[0055] The magnetic encoder circuit main board 3 is connected to the adjustable bracket 6 by screws. The rotor magnets 41, 42, 43 and 44 of the four-layer motor are fixed in position, and the distance between the anisotropic magnetoresistive sensor and the rotor magnet can be changed by adjusting the adjustable bracket 6. The position of the magnetic encoder circuit main board 3 can be adjusted by screws, and the relative distance between the sensor and the rotor magnet can be fine-tuned.

[0056] For example, Figure 4 This is a structural diagram of an adjustable bracket equipped with a magnetic encoder provided by an exemplary embodiment of the present disclosure. Figure 4 As shown, the adjustable bracket uses screws to connect the fixed ports 61 and 62 at the bottom of the bracket to the motor base. The fixed ports 61 and 62 are long strips, which are convenient for adjusting the distance between the magnetic encoder and the motor.

[0057] Furthermore, the inclined surfaces on both sides of the adjustable bracket can achieve fixed support for the magnetic encoder device, ensuring sufficient rigidity and strength.

[0058] Furthermore, the eight grooves in the middle of the adjustable bracket are used to limit the height of the circuit board where the sensor is located, thereby ensuring the optimal position relationship between the sensor and the detection target.

[0059] Based on this, the horizontal position of the magnetic encoder can be changed by adjusting the screw, while the vertical position of the sensor can be fine-tuned by adjusting the position of the circuit board in the groove, ensuring that the operator can make quick adjustments according to actual needs to adapt to different working conditions or compensate for wear and deformation that may occur during long-term use.

[0060] The specific working mode of the off-axis magnetic encoder is:

[0061] First, before the detection begins, it is necessary to change the distance between the bracket and the motor to obtain the best detection position.

[0062] Specifically, the finite element simulation model of the motor rotor is first used to calculate the magnetic field components Bx and By at different positions, so as to understand in detail the magnetic field strength and direction at each position in the air gap of the motor rotor, providing data support for the subsequent selection of magnetic sensitive element positions. Finite element simulation is a numerical analysis tool that can simulate the magnetic field distribution of the motor rotor during operation.

[0063] Next, place the magnetic sensor at the position in the air gap where the Bx and By amplitudes are closest. This position is the area where the magnetic field distribution is the most uniform and the signal is the most stable, which can minimize signal noise and interference and improve measurement accuracy.

[0064] In addition, in order to further optimize the relative position between the magnetic sensor and the motor rotor, it is necessary to fine-tune by adjusting the position of the bracket (adjusting the position of the fixed port 61 and the fixed port 62). This step is usually performed after the initial magnetic field measurement and simulation analysis, and the purpose is to make fine adjustments based on the data observed during actual assembly and operation. Adjusting the position of the bracket can effectively change the relative distance and angle between the magnetic sensor and the motor rotor, thereby further eliminating system errors and improving the accuracy and repeatability of the measurement.

[0065] When the magnetic encoder is powered on, it instructs the motor to rotate 360 ​​degrees per layer. This initialization process is to allow the system to find the absolute zero position of the motor. During this process, the switch Hall sensor detects the position of the zero magnet. The zero magnet is a specific magnetic mark used to calibrate the starting position of the motor. When the sensor detects the zero magnet, a voltage mutation is generated in the sensor output. This mutation signal indicates that the motor has completed a full rotation, thereby helping the system confirm the absolute zero position of the motor, which is the reference point for all subsequent angle measurements.

[0066] During the normal operation of the motor, an anisotropic reluctance sensor is installed on the outside of the surface-mounted outer rotor of each motor. As the motor rotor rotates, the direction of its magnetic field changes, and the magnetic field changes are captured by the sensor and converted into a digital signal. The sensor contains a dual Wheatstone bridge to accurately process the magnetic field signal captured by the sensor. After processing, the sensor is able to output a pair of sine and cosine signals, which reflect the precise direction of the magnetic field.

[0067] The pair of sine and cosine signals are then transmitted to the magnetic encoder circuit main board 3 for further signal processing. On the main board, the signal will undergo filtering, amplification and other processing steps to improve the quality and accuracy of the signal.

[0068] In practical applications, the signal may deviate due to factors such as mechanical errors or temperature changes. Therefore, the processed signal needs to be input into the main control system for error compensation.

[0069] Finally, the processed signal can be demodulated using the quadrature phase-locked loop technique, which is a signal demodulation method that can accurately extract angle information from sine and cosine signals.

[0070] One or more technical solutions provided in the exemplary embodiments of the present disclosure are that the off-axis magnetic encoder detects the direction change of the magnetic field by using an anisotropic magnetoresistive sensor, and the sensor can output a high-precision sine and cosine waveform signal. The sine and cosine waveform signals are accurately processed by a double Wheatstone bridge and converted into high-quality digital signals, which are then filtered and amplified through a complex signal processing process, thereby greatly improving the accuracy and stability of the measurement.

[0071] In addition, the off-axis magnetic encoder uses the finite element simulation model to pre-identify the optimal position of the magnetic field distribution in the motor air gap, so that the magnetic sensitive elements can be accurately placed at these positions, further reducing errors and signal losses. In this way, the off-axis magnetic encoder can not only provide accurate angle information, but also monitor and adjust in real time during the operation of the motor to adapt to possible mechanical offsets or external influences.

[0072] Finally, the off-axis magnetic encoder also uses orthogonal phase-locked loop technology to demodulate the processed signal and accurately extract the angle information from the received sine and cosine waveforms, ensuring high accuracy and low error rate of the measurement results.

[0073] Therefore, an off-axis magnetic encoder applied to a multi-layer coaxial motor provided in the exemplary embodiment of the present disclosure not only improves the accuracy of angle measurement, but also enables the off-axis magnetic encoder to maintain stability within different temperature and environmental changes, and is suitable for various complex and harsh industrial environments.

[0074] The exemplary embodiment of the present disclosure also provides an electronic device, comprising: at least one processor; and a memory connected to the at least one processor in communication. The memory stores a computer program that can be executed by the at least one processor, and the computer program is used to cause the electronic device to perform the method according to the embodiment of the present disclosure when executed by the at least one processor.

[0075] The exemplary embodiments of the present disclosure also provide a non-transitory computer-readable storage medium storing a computer program, wherein the computer program, when executed by a processor of a computer, is used to cause the computer to perform the method according to the embodiments of the present disclosure.

[0076] Figure 5 The block diagram of the electronic device provided as an example of the present disclosure, the block diagram of the electronic device 500 that can be used as the server or client of the present disclosure will now be described, which is an example of a hardware device that can be applied to various aspects of the present disclosure. The electronic device is intended to represent various forms of digital electronic computer devices, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples, and are not intended to limit the implementation of the present disclosure described and / or required herein.

[0077] like Figure 5 As shown, the electronic device 500 includes a computing unit 501, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 502 or a computer program loaded from a storage unit 508 into a random access memory (RAM) 503. In the RAM 503, various programs and data required for the operation of the electronic device 500 can also be stored. The computing unit 501, the ROM 502, and the RAM 503 are connected to each other via a bus 504. An input / output (I / O) interface 505 is also connected to the bus 504.

[0078] A plurality of components in the electronic device 500 are connected to the I / O interface 505, including: an input unit 506, an output unit 507, a storage unit 508, and a communication unit 509. The input unit 506 may be any type of device capable of inputting information to the electronic device 500, and the input unit 506 may receive input digital or character information, and generate key signal inputs related to user settings and / or function control of the electronic device. The output unit 507 may be any type of device capable of presenting information, and may include, but is not limited to, a display, a speaker, a video / audio output terminal, a vibrator, and / or a printer. The storage unit 508 may include, but is not limited to, a disk, an optical disk. The communication unit 509 allows the electronic device 500 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks, and may include, but is not limited to, a modem, a network card, an infrared communication device, a wireless communication transceiver, and / or a chipset, such as a Bluetooth™ device, a WiFi device, a WiMax device, a cellular communication device, and / or the like.

[0079] The computing unit 501 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the computing unit 501 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, digital signal processors (DSPs), and any appropriate processors, controllers, microcontrollers, etc. The computing unit 501 performs the various methods and processes described above. Each of the methods described above may be implemented as a computer software program, which is tangibly included in a machine-readable medium, such as a storage unit 508. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 500 via the ROM 502 and / or the communication unit 509.

[0080] Figure 6 This is a schematic diagram of an exemplary computer program product provided by the present disclosure. The exemplary embodiment of the present disclosure also provides a computer program product 600, including a computer program 601, wherein the computer program 601, when executed by a processor of a computer, is used to cause the computer to perform a method according to an embodiment of the present disclosure.

[0081] The program code for implementing the method of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that the program code, when executed by the processor or controller, enables the functions / operations specified in the flow chart and / or block diagram to be implemented. The program code may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0082] In the context of the present disclosure, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0083] As used in this disclosure, the terms "machine-readable medium" and "computer-readable medium" refer to any computer program product, apparatus, and / or device (e.g., disk, optical disk, memory, programmable logic device (PLD)) for providing machine instructions and / or data to a programmable processor, including a machine-readable medium that receives machine instructions as a machine-readable signal. The term "machine-readable signal" refers to any signal for providing machine instructions and / or data to a programmable processor.

[0084] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the computer. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0085] The systems and techniques described herein may be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), and the Internet.

[0086] A computer system may include clients and servers. Clients and servers are generally remote from each other and usually interact through a communication network. The relationship of client and server is generated by computer programs running on respective computers and having a client-server relationship to each other.

[0087] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented by software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer programs or instructions. When the computer program or instruction is loaded and executed on a computer, the process or function described in the embodiment of the present disclosure is executed in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, a terminal, a user device or other programmable device. The computer program or instruction may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer program or instruction may be transmitted from one website site, computer, server or data center to another website site, computer, server or data center by wired or wireless means. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server, data center, etc. that integrates one or more available media. The available medium may be a magnetic medium, for example, a floppy disk, a hard disk, a tape; it may also be an optical medium, for example, a digital video disc (DVD); it may also be a semiconductor medium, for example, a solid state drive (SSD).

[0088] Although the present disclosure has been described in conjunction with specific features and embodiments thereof, it is apparent that various modifications and combinations may be made thereto without departing from the spirit and scope of the present disclosure. Accordingly, this specification and the drawings are merely exemplary illustrations of the present disclosure as defined by the appended claims, and are deemed to have covered any and all modifications, variations, combinations or equivalents within the scope of the present disclosure. Obviously, those skilled in the art may make various modifications and variations to the present disclosure without departing from the spirit and scope of the present disclosure. Thus, if these modifications and variations of the present disclosure fall within the scope of the claims of the present disclosure and their equivalents, the present disclosure is also intended to include these modifications and variations.

Claims

1. An off-axis magnetic encoder for a multi-layer coaxial motor, characterized in that: include: Disk, sensor module and magnetic encoder conditioning circuit; The disk reuses the rotor of the motor to be measured; the sensor module is used to detect the magnetic field change information on the disk, and the sensor module is connected to the circuit main board in a detachable manner; the magnetic encoder adjustment circuit is used to convert the magnetic field change information into the angle information of the motor to be measured.

2. The off-axis magnetic encoder according to claim 1, characterized in that: The sensor module comprises an anisotropic magnetoresistance sensor; the anisotropic magnetoresistance sensor is installed in parallel on the outside of the motor to be measured and faces the rotor magnet in the motor to be measured.

3. The off-axis magnetic encoder according to claim 2, characterized in that: The sensor module also includes a switch Hall sensor; the switch Hall sensor determines the absolute zero position by detecting the zero position magnetic steel installed under the rotor magnetic steel.

4. The off-axis magnetic encoder according to claim 1, characterized in that: The magnetic encoder adjustment circuit includes: a signal acquisition module, an analog-to-digital conversion module, a signal transmission module and a main control system; The signal acquisition module is used to collect the magnetic field change information; The analog-to-digital conversion module is used to convert magnetic field change information into digital signals; The signal transmission module is used to send the digital signal to the main control system; The main control system demodulates the digital signal into angle information of the motor to be measured through an error compensation algorithm and an angle demodulation algorithm based on an orthogonal phase-locked loop.

5. The off-axis magnetic encoder according to claim 1, characterized in that: Also includes: An adjustable bracket; the adjustable bracket is fixed to the outside of the motor to be measured, and the circuit board of the off-axis magnetic encoder is connected to the adjustable bracket in a detachable manner; the adjustable bracket is used to adjust the distance between the sensor module and the motor to be measured.

6. The off-axis magnetic encoder according to claim 5, characterized in that: The adjustable bracket has a fixed port; the motor to be measured is connected to the adjustable bracket via a detachable screw; the fixed port is in the shape of an elongated strip and is used to adjust the distance between the off-axis magnetic encoder and the motor to be measured.

7. The off-axis magnetic encoder according to claim 6, characterized in that: The adjustable bracket has a plurality of grooves; the grooves are used to limit the height of the circuit main board where the sensor module is located.

8. The off-axis magnetic encoder according to claim 5, characterized in that: The adjustable bracket has supporting inclined surfaces on both sides.

9. An angle measurement method based on an off-axis magnetic encoder, characterized in that: Applied to the off-axis magnetic encoder according to any one of claims 1 to 8, the method comprising: Start the motor to be measured for initialization and determine the absolute zero position of the motor to be measured; During the operation of the motor to be measured, the sensor installed on the outside of the rotor obtains the magnetic field change information and converts the magnetic field change information into a digital signal; The digital signal is transmitted to a signal processing mainboard for error compensation and demodulation to obtain the angle information of the motor to be measured.

10. The method according to claim 9, characterized in that The method further comprises: Running a finite element simulation model to obtain simulation results of the motor to be measured; the simulation results include magnetic field strength and direction at different positions in the air gap of the motor rotor to be measured; The placement position of the sensor is determined based on the simulation result.

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