Motor stalling identification method and device and electric valve

Abstract

The invention discloses a motor stalling identification method and device and an electrically operated valve, and the method comprises the steps: obtaining the duration of a first constant wave band based on a first Hall signal, obtaining the duration of a second constant wave band based on a second Hall signal, and enabling at least one of the duration of the first constant wave band and the duration of the second constant wave band to exceed the stalling time, and if yes, motor stalling is identified. By adopting the first Hall signal and the second Hall signal, missing detection of motor locked-rotor identification caused by magnetic flux leakage of the coil stator can be avoided, and the missing detection rate is further reduced.

Description

Technical Field

[0001] The present application relates to motor detection technology, and specifically to a method and device for identifying motor blockage and an electric valve. Background Art

[0002] An electric valve includes a magnetic rotor and a coil stator. At least part of the magnetic rotor is located inside the coil stator. The magnetic rotor and the coil stator constitute the driving part of the valve, and the driving part of the valve is also called a motor. The electric valve further includes a Hall sensor for detecting the rotation of the magnetic rotor. During the detection of magnetic rotor blockage, when an alternating signal is generated on the Hall sensor, it is determined that the magnetic rotor is not blocked. When a constant signal is generated by the Hall sensor, it is determined that the magnetic rotor is blocked. However, during the actual operation of the electric valve, the coil stator will generate magnetic leakage, and the magnetic leakage of the coil stator will interfere with the blockage detection of the Hall sensor, resulting in missed detection. Summary of the Invention

[0003] Based on the above problems, the present application provides a method and device for identifying motor blockage and an electric valve, reducing the missed detection rate of blockage.

[0004] The embodiments of the present application disclose the following technical solutions:

[0005] In a first aspect, an embodiment of the present application provides a method for identifying motor blockage for identifying blockage of a motor. The method includes:

[0006] Obtaining a first Hall signal and a second Hall signal generated based on the magnetic field change of the motor;

[0007] Obtaining the duration of a first constant band based on the first Hall signal and obtaining the duration of a second constant band based on the second Hall signal;

[0008] Comparing the duration of the first constant band with the blockage time to obtain a first comparison result, and comparing the duration of the second constant band with the blockage time to obtain a second comparison result;

[0009] If the first comparison result and the second comparison result indicate that at least one of the duration of the first constant band and the duration of the second constant band exceeds the blockage time, it is identified that the motor is blocked.

[0010] In a second aspect, an embodiment of the present application provides a device for identifying motor blockage that can be used to identify blockage of a motor. The device includes: an acquisition module, a timing module, a comparison module, and an identification module;

[0011] The acquisition module is configured to obtain a first Hall signal and a second Hall signal generated based on the magnetic field change of the motor;

[0012] The timing module is configured to obtain the duration of the first constant band based on the first Hall signal, and obtain the duration of the second constant band based on the second Hall signal;

[0013] The comparison module is configured to compare the duration of the first constant band with the stall time to obtain a first comparison result, and compare the duration of the second constant band with the stall time to obtain a second comparison result;

[0014] The identification module is configured to identify that the motor is stalled if at least one of the duration of the first constant band and the duration of the second constant band indicated by the first comparison result and the second comparison result exceeds the stall time.

[0015] In a third aspect, an embodiment of the present application provides an electric valve, which includes a motor, a first Hall sensor, a second Hall sensor, and a controller. The controller is connected to the motor, the first Hall sensor, and the second Hall sensor;

[0016] The first Hall sensor is configured to generate a first Hall signal based on the magnetic field change of the motor;

[0017] The second Hall sensor is configured to generate a second Hall signal based on the magnetic field change of the motor;

[0018] The controller is configured to perform stall identification on the motor based on the first Hall signal and the second Hall signal.

[0019] Compared with the prior art, in the motor stall identification method, device, and electric valve provided by the present application, the duration of the first constant band is obtained based on the first Hall signal, and the duration of the second constant band is obtained based on the second Hall signal. If at least one of the duration of the first constant band and the duration of the second constant band exceeds the stall time, it is identified that the motor is stalled. Using the first Hall signal and the second Hall signal can avoid the missed detection of motor stall identification caused by the magnetic leakage of the coil stator, thereby reducing the missed detection rate of stall identification. Description of the Drawings

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0021] Figure 1 It is a schematic diagram of the Hall output voltage of a motor provided by an embodiment of the present application;

[0022] Figure 2 Flow chart of a motor locked-rotor identification method provided by an embodiment of the present application;

[0023] Figure 3 Schematic diagram of the relative positions of the first Hall sensor and the second Hall sensor with respect to the magnetic rotor when the motor provided by the embodiment of the present application is locked-rotor;

[0024] Figure 4 Schematic diagram of the waveforms of the first Hall signal and the second Hall signal when the motor provided by the embodiment of the present application is operating;

[0025] Figure 5 Schematic diagram of the structure of a motor locked-rotor identification device provided by an embodiment of the present application;

[0026] Figure 6 Schematic diagram of the structure of a motorized valve provided by an embodiment of the present application. Detailed implementation manners

[0027] There are mainly two influencing factors of the Hall sensor by the motor magnetic field: one is the rotor magnetic field; the other is the stator magnetic field (also known as stator leakage magnetic field). When the Hall sensor is located at the non-north-south pole junction of the rotor, the Hall sensor is affected by both the rotor magnetic field and the stator magnetic field; when the Hall sensor is located at the north-south pole junction of the rotor, the Hall sensor is mainly affected by the stator magnetic field, and the influence of the rotor magnetic field can be ignored. It should be noted that the stator magnetic field under normal conditions is much smaller than the rotor magnetic field.

[0028] It should be understood that when the output signal of the Hall sensor is greater than the action threshold, the output voltage waveform is a high level; when the output signal of the Hall sensor is less than the action threshold, the output voltage waveform is a low level. Assume that the rotor magnetic field intensity is X and the stator magnetic field intensity is Y. Only considering the action of the rotor magnetic field on the Hall sensor, when the motor is operating normally, the voltage waveform output by the Hall sensor is a waveform with alternating high and low levels, as shown in (a) of Figure 1 ; when the motor is locked-rotor, the voltage waveform output by the Hall sensor is a high level or a low level, as shown in (b) or (c) of Figure 1 .

[0029] In actual situations, the combined magnetic field of the magnetic rotor and the coil stator acts on the Hall sensor. The stator magnetic field is affected by the current in the coil stator. When the torque required by the motor is small, that is, the current in the coil stator is small, the leakage magnetic flux generated by the coil stator can be ignored and does not affect the controller's recognition of a stall through the Hall sensor. However, when the current in the coil stator is large and the motor stalls, the Hall sensor can still generate an alternating signal under the interference of the leakage magnetic flux of the coil stator, which may cause the controller to miss detecting the motor stall. In particular, when the motor stalls and the Hall sensor is at the junction of the north and south poles of the rotor, the stator magnetic field received by the Hall sensor can be ignored. Under the interference of the coil stator magnetic field, the Hall sensor can output a waveform with alternating high and low levels, thus causing a missed detection.

[0030] To solve the above technical problems, an embodiment of the present application provides a method for identifying motor stall. The method includes: obtaining a first Hall signal and a second Hall signal generated based on the magnetic field change of the motor; and performing stall identification on the motor based on the first Hall signal and the second Hall signal to obtain an identification result.

[0031] To enable those skilled in the art to better understand the solution of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0032] See Figure 2 , which is a flowchart of a method for identifying motor stall provided by an embodiment of the present application.

[0033] As Figure 2 shown, the method includes:

[0034] S201: Obtain a first Hall signal and a second Hall signal generated based on the magnetic field change of the motor.

[0035] In a possible implementation, the first Hall signal and the second Hall signal can be obtained through a first Hall sensor and a second Hall sensor respectively. Specifically, obtain the first Hall signal generated by the first Hall sensor based on the magnetic field change of the motor. The first Hall sensor is located on the radial outer side of the magnetic rotor; obtain the second Hall signal generated by the second Hall sensor based on the magnetic field change of the motor. The second Hall sensor is located on the radial outer side of the magnetic rotor.

[0036] As can be seen from the foregoing, the stator magnetic field is affected by the coil stator current. When the torque required by the motor is small, that is, the current in the coil stator is small, the leakage flux generated by the coil stator can be ignored and does not affect the controller's recognition of stall through the Hall sensor. However, when the current in the coil stator is large and the motor stalls, the Hall sensor can still generate an alternating signal under the interference of the leakage flux of the coil stator, which results in the controller missing the detection of the motor stall.

[0037] To solve the above problems, in the embodiments of the present application, the positions of the first Hall sensor and the second Hall sensor are defined as follows:

[0038] As shown in the figure, the first Hall sensor and the second Hall sensor are arranged at an angle centered on the magnetic rotor, where A is the angle between the first Hall sensor and the second Hall sensor, N is the number of magnetic poles of the magnetic rotor, and x is a non-negative integer.

[0039] In a possible implementation, the angle between the first Hall sensor and the second Hall sensor When the first Hall sensor is located at the junction of the north and south poles of the magnetic rotor, the second Hall sensor is located on the central axis of a magnetic pole of the magnetic rotor. By using the angle between the first Hall sensor and the second Hall sensor, the detection errors of the first Hall sensor and the second Hall sensor caused by the assembly error of the motor are avoided.

[0040] In a possible implementation, the angle between the first Hall sensor and the second Hall sensor centered on the magnetic rotor is set to 90° or 180°, which is beneficial to the installation of the Hall sensor. Among them, when the angle between the first Hall sensor and the second Hall sensor centered on the magnetic rotor is 90°, the number of magnetic poles N of the magnetic rotor = 4x + 2; when the angle between the first Hall sensor and the second Hall sensor centered on the magnetic rotor is 180°, the number of magnetic poles N of the magnetic rotor = 2x + 1.

[0041] By setting the first Hall sensor and the second Hall sensor in the above manner, it can be ensured that the recognition result of at least one Hall sensor for identifying the motor stall is accurate. Compared with the implementation manner of using two Hall sensors without defining their positions, the accuracy of identifying the motor stall can be further improved.

[0042] S202: Based on the first Hall signal and the second Hall signal, perform stall identification on the motor and obtain the identification result.

[0043] Among them, the identification result includes two results: the motor stalls and the motor does not stall.

[0044] In an alternative embodiment, the method for identifying the locked-rotor state of the motor based on the first Hall signal and the second Hall signal and obtaining an identification result includes:

[0045] Obtaining the duration of the first constant-band based on the first Hall signal, and obtaining the duration of the second constant-band based on the second Hall signal; comparing the duration of the first constant-band with the locked-rotor time to obtain a first comparison result, and comparing the duration of the second constant-band with the locked-rotor time to obtain a second comparison result; if the first comparison result and the second comparison result indicate that at least one of the duration of the first constant-band and the duration of the second constant-band exceeds the locked-rotor time, it is identified that the corresponding motor is in a locked-rotor state.

[0046] Specifically, the first constant-band is a high level or a low level, and the second constant-band is a high level or a low level. The Hall signal is compared with an action threshold. When the Hall signal is greater than the action threshold, the output Hall voltage waveform is at a high level; when the Hall signal is less than the action threshold, the Hall output voltage waveform is at a low level. The constant time can be the duration of the high level or the low level of the first Hall output voltage corresponding to the Hall signal, or the duration of the high level or the low level of the second Hall output voltage corresponding to the Hall signal. For ease of understanding, the Hall signal can be regarded as a signal sequence (J1, J2,... Jn) periodically generated by a string of Hall signals J, and J1 is the Hall signal at the first moment. For example, when it is determined that J1 is greater than the action threshold, J2 is greater than the action threshold until Jn is less than the action threshold, J1, J2... Jn-1 are used as the constant-band, and the constant-band should be a sequence segment that is greater than the action threshold and continuous. The time obtained by subtracting J1 from Jn-1 is the constant time.

[0047] It should be noted that the locked-rotor time can be set or modified according to the user's requirements. Among them, the locked-rotor time corresponding to the high level can be set to be the same as the locked-rotor time corresponding to the low level, or can be set to be different. The specific situation can be set according to the requirements. For example, when the duty cycle of the high level is 70% and the duty cycle of the low level is 30%, the locked-rotor time corresponding to the high level should be greater than the locked-rotor time corresponding to the low level; when the duty cycle of the high level is 50% and the duty cycle of the low level is 50%, the locked-rotor time corresponding to the high level should be equal to the locked-rotor time corresponding to the low level.

[0048] As an example, when the duration of the high level or the low level of the first Hall output voltage is greater than the locked-rotor time, or the duration of the high level or the low level of the second Hall output voltage is greater than the locked-rotor time, an identification result that the motor is in a locked-rotor state can be obtained.

[0049] Among them, when the duty cycles of the high level and the low level are both controlled at 50%, it is more convenient to judge whether a stall occurs. The reason is that when the maximum value of the stator magnetic field is greater than the action threshold and the minimum value is less than the action threshold, an alternating Hall output voltage waveform of high and low levels can be generated. It can be understood that only when the average value of the stator magnetic field is the action threshold will a waveform with a duty cycle of 50% be generated, that is, if the duty cycle of the Hall output voltage waveform is not 50%, it can be determined that the motor has stalled.

[0050] As an example, the embodiment of the present application provides a signal schematic diagram of the first Hall sensor and the second Hall sensor, and a schematic diagram of the position of the Hall sensor relative to the magnetic rotor when the motor stalls. In Figure 4 the dotted line represents the first Hall signal, and the solid line represents the second Hall signal. In Figure 4 (i), the first Hall signal presents an alternating high and low waveform, and the second Hall signal also presents an alternating high and low waveform. According to the above recognition method, Figure 4 (i) indicates that the motor has not stalled. In Figure 4 (a) to Figure 4 (h), at least one of the first Hall signal and the second Hall signal is in a long-term constant wave state. According to the above recognition method, Figure 4 (a) to Figure 4 (h) all indicate that the motor has stalled. Figure 3 In, the circular magnetic rotor is in a flat state to facilitate observing the positions of the first Hall sensor and the second Hall sensor relative to the magnetic rotor when the motor stalls. P represents the first Hall sensor, and Q represents the second Hall sensor. Figure 4 (a) to Figure 4 (h) respectively correspond to Figure 3 (a) to Figure 3 (h). Figure 3 (a), the first Hall sensor is located at the north pole of the magnetic rotor, and the second Hall sensor is also located at the north pole of the magnetic rotor; Figure 3 (b), the first Hall sensor is located at the south pole of the magnetic rotor, and the second Hall sensor is located at the north pole of the magnetic rotor; Figure 3 (c), the first Hall sensor is located at the north and south poles of the magnetic rotor, and the second Hall sensor is located at the north pole of the magnetic rotor; Figure 3 (d), the first Hall sensor is located at the north pole of the magnetic rotor, and the second Hall sensor is located at the south pole of the magnetic rotor; Figure 3 (e), the first Hall sensor is located at the south pole of the magnetic rotor, and the second Hall sensor is located at the south pole of the magnetic rotor; Figure 3 (f), the first Hall sensor is located at the north and south poles of the magnetic rotor, and the second Hall sensor is located at the south pole of the magnetic rotor; Figure 3In (g), the first Hall sensor is located at the north pole of the magnetic rotor, and the second Hall sensor is located at the north and south poles of the magnetic rotor; Figure 3 In (h), the first Hall sensor is located at the south pole of the magnetic rotor, and the second Hall sensor is located at the north and south poles of the magnetic rotor.

[0051] Obtain a first Hall signal and a second Hall signal generated based on the magnetic field change of the motor; identify the stall of the motor based on the first Hall signal and the second Hall signal. In the embodiment of the present application, for the problem that the magnetic leakage generated by the stator interferes with the stall detection of the Hall sensor and causes missed detection, two Hall sensors (i.e., the first Hall sensor and the second Hall sensor) are used to identify the stall of the motor. If any one of the first Hall signal or the second Hall signal indicates that the motor is stalled, an identification result that the motor is stalled is obtained. Compared with single Hall signal identification, the accuracy of identifying motor stall is improved.

[0052] In addition, in the embodiment of the present application, the drive signal of the motor is adjusted based on the speed closed-loop method; the coil stator magnetic field of the motor is generated based on the drive signal of the motor; the magnetic field of the motor includes the coil stator magnetic field and the magnetic rotor magnetic field of the motor.

[0053] See Figure 5 , Figure 5 This application embodiment provides a device for identifying motor stall.

[0054] As Figure 5 shown, the device includes: an acquisition module 501, a timing module 502, a comparison module 503, and an identification module 504;

[0055] The acquisition module 501 is configured to acquire a first Hall signal and a second Hall signal generated based on the magnetic field change of the motor;

[0056] The timing module 502 is configured to obtain the duration of the first constant band based on the first Hall signal and obtain the duration of the second constant band based on the second Hall signal;

[0057] The comparison module 503 compares the duration of the first constant band with the stall time to obtain a first comparison result, and compares the duration of the second constant band with the stall time to obtain a second comparison result;

[0058] The identification module 504, if the first comparison result and the second comparison result indicate that at least one of the duration of the first constant band and the duration of the second constant band exceeds the stall time, identifies that the motor is stalled.

[0059] Optionally, the timing module 502 is specifically configured to segment the first Hall signal to obtain a first constant waveband, time the first constant waveband to obtain the duration of the first constant waveband; segment the second Hall signal to obtain a second constant waveband, and time the second constant waveband to obtain the duration of the second constant waveband.

[0060] Optionally, the obtaining module 501 is specifically configured to:

[0061] Obtain a first Hall signal generated by a first Hall sensor based on the magnetic field change of the motor, where the first Hall sensor is located radially outside the magnetic rotor;

[0062] Obtain a second Hall signal generated by a second Hall sensor based on the magnetic field change of the motor, where the second Hall sensor is located radially outside the magnetic rotor, and the first Hall sensor and the second Hall sensor are arranged at an angle centered on the magnetic rotor. where A is the angle between the first Hall sensor and the second Hall sensor, N is the number of magnetic poles of the magnetic rotor, and x is a non-negative integer.

[0063] Optionally, the device further includes: an adjustment module. The adjustment module adjusts the drive signal of the motor based on a speed closed-loop method. The motor generates a coil stator magnetic field of the motor based on the drive signal, and the magnetic field of the motor includes the coil stator magnetic field of the motor and the magnetic rotor magnetic field of the motor.

[0064] Optionally, the angle between the first Hall sensor and the second Hall sensor

[0065] Optionally, the angle A between the first Hall sensor and the second Hall sensor is 90°, the number of magnetic poles N of the magnetic rotor is 4x + 2, or the angle A between the first Hall sensor and the second Hall sensor is 180°, and the number of magnetic poles N of the magnetic rotor is 2x + 1.

[0066] See Figure 6 , Figure 6 which is a schematic structural diagram of an electric valve provided by an embodiment of the present application.

[0067] As Figure 6 shown, the electric valve includes: a first Hall sensor, a second Hall sensor, and a controller;

[0068] The first Hall sensor and the second Hall sensor respectively generate a first Hall signal and a second Hall signal based on the magnetic field of the motor;

[0069] The controller is configured to implement the steps of the motor stall recognition method mentioned in the foregoing embodiments.

[0070] Among them, the controller is used to drive the motor and obtain the first Hall signal and the second Hall signal generated by the first Hall sensor and the second Hall sensor, and identify the stall of the motor according to the first Hall signal and the second Hall signal.

[0071] It should be noted that the various embodiments in this specification are described in a progressive manner. For the same or similar parts among the various embodiments, reference can be made to each other. Each embodiment focuses on the differences from other embodiments. In particular, for the method embodiments, since they are basically similar to the method embodiments, they are described relatively simply. For the relevant parts, reference can be made to the partial descriptions of the method embodiments. The method embodiments described above are only illustrative. The units described as separate components may or may not be physically separated, and the components indicated as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art can understand and implement it without creative efforts.

[0072] As described above, it is only a specific implementation manner of this application, but the protection scope of this application is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed in this application should be covered by the protection scope of this application. Therefore, the protection scope of this application should be subject to the protection scope of the claims.

Claims

1. A method for identifying motor stall, which is used to identify motor stall, is characterized in that The method includes: Obtaining a first Hall signal and a second Hall signal generated based on the magnetic field change of the motor; Obtaining the duration of a first constant band based on the first Hall signal and obtaining the duration of a second constant band based on the second Hall signal; Comparing the duration of the first constant band with the stall time to obtain a first comparison result, and comparing the duration of the second constant band with the stall time to obtain a second comparison result; If the first comparison result and the second comparison result indicate that at least one of the duration of the first constant band and the duration of the second constant band exceeds the stall time, it is identified that the motor is stalled.

2. The method according to claim 1, wherein The obtaining the duration of the first constant band based on the first Hall signal and obtaining the duration of the second constant band based on the second Hall signal includes: Segmenting the first Hall signal to obtain the first constant band, and timing the first constant band to obtain the duration of the first constant band; Segmenting the second Hall signal to obtain the second constant band, and timing the second constant band to obtain the duration of the second constant band.

3. The method according to claim 1 or 2, characterized in that, The first constant band is at a high level or a low level, and the second constant band is at a high level or a low level.

4. The method according to any one of claims 1 to 3, characterized in that, The motor includes a magnetic rotor and a coil stator, the magnetic rotor is rotatably connected to the coil stator, and the obtaining the first Hall signal and the second Hall signal generated based on the magnetic field change of the motor includes: Obtaining the first Hall signal generated by a first Hall sensor based on the magnetic field change of the motor, the first Hall sensor being located radially outside the magnetic rotor; Obtain the second Hall signal generated by the second Hall sensor based on the magnetic field change of the motor, where the second Hall sensor is located radially outside the magnetic rotor, and the first Hall sensor and the second Hall sensor are arranged at an angle centered on the magnetic rotor. Where A is the angle between the first Hall sensor and the second Hall sensor, N is the number of magnetic poles of the magnetic rotor, and x is a non-negative integer.

5. The method according to claim 4, characterized in that The included angle between the first Hall sensor and the second Hall sensor 6. The method according to claim 5, characterized in that, The included angle A between the first Hall sensor and the second Hall sensor is 90°, and the number of magnetic poles N of the magnetic rotor is 4x + 2, or the included angle A between the first Hall sensor and the second Hall sensor is 180°, and the number of magnetic poles N of the magnetic rotor is 2x + 1.

7. The method according to any one of claims 1 to 6, characterized in that, The method further includes: Adjusting the drive signal of the motor based on a speed closed-loop method; Generating the magnetic field of the coil stator of the motor based on the drive signal of the motor; the magnetic field of the motor includes the magnetic field of the coil stator of the motor and the magnetic field of the magnetic rotor of the motor.

8. A motor locked-rotor identification device, characterized in that, The device includes: an acquisition module, a timing module, a comparison module, and an identification module; The acquisition module is configured to obtain a first Hall signal and a second Hall signal generated based on the magnetic field change of the motor; The timing module is configured to obtain the duration of a first constant band based on the first Hall signal and obtain the duration of a second constant band based on the second Hall signal; The comparison module compares the duration of the first constant band with the stall time to obtain a first comparison result, and compares the duration of the second constant band with the stall time to obtain a second comparison result; The identification module, if the first comparison result and the second comparison result indicate that at least one of the duration of the first constant band and the duration of the second constant band exceeds the stall time, identifies that the motor is stalled.

9. An electric valve, characterized in that, The electric valve includes: a motor, a first Hall sensor, a second Hall sensor, and a controller; wherein, the controller is connected to the motor, the first Hall sensor, and the second Hall sensor; The first Hall sensor and the second Hall sensor respectively generate a first Hall signal and a second Hall signal based on the magnetic field change of the motor; The controller is configured to implement the motor stall recognition method according to any one of claims 1-7.

10. The electric valve according to claim 9, characterized in that, The motor includes a magnetic rotor and a coil stator. The magnetic rotor is rotatably connected to the coil stator. The first Hall sensor is located radially outside the magnetic rotor, and the second Hall sensor is located radially outside the magnetic rotor. The first Hall sensor and the second Hall sensor are arranged at an angle centered on the magnetic rotor. Wherein, A is the angle between the first Hall sensor and the second Hall sensor, N is the number of magnetic poles of the magnetic rotor, and x is a non-negative integer.

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