Angle detection method, angle sensor, electric actuator and electric valve

Abstract

The invention discloses an angle detection method, an angle sensor, an electric actuator and an electric valve.The angle detection method is applied to the angle sensor, the angle sensor is suitable for detecting the rotation angle of a magnetic sensor so as to obtain an angle control signal of the electric actuator, and the magnetic sensor is installed on an output shaft of the electric actuator. The angle detection method comprises the following steps: acquiring coordinate information of a magnetic sensor, and generating an orthogonal analog signal according to the coordinate information; performing gain adjustment on the orthogonal analog signal according to the relative position of the magnetic sensor and the angle sensor and the parameters of the magnetic sensor, and determining an angle value according to the adjusted orthogonal analog signal; and under the condition that the angle value meets the effective angle interval of the electric actuator, an angle control signal is determined according to a first gain parameter and the angle value, and the first gain parameter is determined according to the effective angle interval.

Description

Technical Field

[0001] This application relates to the technical field of angle sensors, and particularly relates to an angle detection method, an angle sensor, an electric actuator, and an electric valve. Background Art

[0002] An electric actuator is a key actuator that converts electrical energy into motion and plays an important role in the opening control of fluid pipelines. The angle control accuracy of the electric actuator directly affects the accurate opening of the valve.

[0003] In the related art, the angle detection range is 360°, and the angle value is converted into an electrical signal for angle positioning and control. The angle detection accuracy depends on the accuracy of the angle sensor. High-precision angle detection is costly and difficult to promote and use on a large scale, while the angle detection results of low-precision angle sensors have large errors, which will affect the angle control of the electric actuator. Summary of the Invention

[0004] The present invention aims to solve at least one of the technical problems in the related art to some extent. To this end, the first object of the present invention is to propose an angle detection method, which adjusts the gain of the orthogonal analog signal according to the relative position and the parameters of the magnetic sensor to improve the accuracy of the angle value, and optimizes the angle control signal according to the first gain parameter when the angle value is within the effective angle range, thereby improving the control accuracy of the electric actuator.

[0005] The second object of the present invention is to propose a computer-readable storage medium.

[0006] The third object of the present invention is to propose an angle sensor.

[0007] The fourth object of the present invention is to propose an electric actuator.

[0008] The fifth object of the present invention is to propose an electric valve.

[0009] To achieve the above object, according to an embodiment of the first aspect of the present invention, an angle detection method is proposed, which is applied to an angle sensor. The angle sensor is adapted to detect the rotation angle of a magnetic sensor to obtain an angle control signal of an electric actuator. The magnetic sensor is mounted on the output shaft of the electric actuator. The angle detection method includes: obtaining the coordinate information of the magnetic sensor and generating an orthogonal analog signal according to the coordinate information; adjusting the gain of the orthogonal analog signal according to the relative position between the magnetic sensor and the angle sensor and the parameters of the magnetic sensor, and determining the angle value according to the adjusted orthogonal analog signal; when the angle value satisfies the effective angle range of the electric actuator, determining the angle control signal according to the first gain parameter and the angle value, where the first gain parameter is determined according to the effective angle range.

[0010] According to the angle detection method of the embodiment of the present invention, the coordinate information of the magnetic sensor is obtained, an orthogonal analog signal is generated according to the coordinate information, and the gain of the orthogonal analog signal is adjusted according to the relative position between the magnetic sensor and the angle sensor and the parameters of the magnetic sensor. Since the adjusted orthogonal analog signal takes into account the relative position and the parameters of the magnetic sensor, an accurate angle value can be generated according to the adjusted orthogonal analog signal. When the angle value satisfies the effective angle range of the electric actuator, the angle control signal is determined according to the first gain parameter and the angle value. The first gain parameter is determined according to the effective angle range, and the effective angle range is the action characteristic of the electric actuator. The angle control signal corresponding to the angle value that satisfies the action characteristic is optimized by using the first gain parameter, and the electric actuator can accurately control the valve body according to the optimized angle control signal, thereby improving the control accuracy of the electric actuator.

[0011] According to an embodiment of the present invention, determining the angle control signal according to the first gain parameter and the angle value includes: adjusting the gain of the angle value according to the first gain parameter to obtain a target angle value; determining the angle control signal according to the upper limit value of the angle control signal, the lower limit value of the angle control signal, and the target angle value.

[0012] According to an embodiment of the present invention, the angle control signal is calculated according to the following formula: Vout = θ * Gain_1 * (Vmax - Vmin) / 360° + Vmin, where Vout is the angle control signal, θ * Gain_1 is the target angle value, θ is the angle value, Gain_1 is the first gain parameter, Vmax is the upper limit value of the angle control signal, and Vmin is the lower limit value of the angle control signal.

[0013] According to an embodiment of the present invention, the angle sensor is adapted to be connected to the control unit of the electric actuator. The upper limit value of the angle control signal is the input upper limit value of the control unit, and the lower limit value of the angle control signal is the input lower limit value of the control unit.

[0014] According to an embodiment of the present invention, the first gain parameter is calculated according to the following formula: Gain_1 = 360° / (θmax - θmin), where Gain_1 is the first gain parameter, θmax is the upper limit value of the effective angle range, and θmin is the lower limit value of the effective angle range.

[0015] According to an embodiment of the present invention, the effective angle range is determined according to the following steps: obtaining the operating angle range and the assembly zero position deviation of the electric actuator; taking the difference between the lower limit value of the operating angle range and the assembly zero position deviation as the lower limit value of the effective angle range, and taking the sum of the upper limit value of the operating angle range and the assembly zero position deviation as the upper limit value of the effective angle range.

[0016] According to an embodiment of the present invention, the gain adjustment of the quadrature analog signal according to the relative position between the magnetic sensor and the angle sensor and the parameters of the magnetic sensor includes: determining a second gain parameter according to the relative position and the parameters of the magnetic sensor; adjusting the amplitude of the quadrature analog signal according to the second gain parameter so that the amplitude of the quadrature analog signal meets the preset amplitude range.

[0017] According to an embodiment of the present invention, when the angle value does not satisfy the effective angle range, the method further includes: determining that the angle control signal is 0.

[0018] According to an embodiment of the present invention, after the gain adjustment of the quadrature analog signal according to the relative position between the magnetic sensor and the angle sensor and the parameters of the magnetic sensor, the method further includes: performing distributed parameter compensation on the adjusted quadrature analog signal to obtain a target quadrature analog signal, so as to generate an angle value according to the target quadrature analog signal.

[0019] To achieve the above object, according to the second aspect embodiment of the present invention, a computer-readable storage medium is proposed, on which an angle detection program is stored, and when the angle detection program is executed by a processor, the angle detection method of any one of the foregoing embodiments is implemented.

[0020] According to the computer-readable storage medium of the embodiment of the present invention, by executing the computer program of the above angle detection method, the gain of the quadrature analog signal is adjusted according to the relative position and the parameters of the magnetic sensor to improve the accuracy of the angle value, and when the angle value is within the effective angle range, the angle control signal is optimized according to the first gain parameter, thereby improving the control accuracy of the electric actuator.

[0021] To achieve the above object, according to the third aspect embodiment of the present invention, an angle sensor is proposed, which includes a memory, a processor, and an angle detection program stored on the memory and operable on the processor. When the processor executes the angle detection program, the angle detection method of any one of the foregoing embodiments is implemented.

[0022] The angle sensor according to the embodiment of the present invention executes the computer program of the above angle detection method through a processor, adjusts the gain of the orthogonal analog signal according to the relative position and the parameters of the magnetic sensor, so as to improve the accuracy of the angle value, and optimizes the angle control signal according to the first gain parameter when the angle value is within the effective angle range, thereby improving the control accuracy of the electric actuator.

[0023] To achieve the above object, an electric actuator according to an embodiment of the fourth aspect of the present invention includes: a motor and a transmission mechanism, the transmission mechanism is adapted to be connected to a valve body, the motor is connected to the transmission mechanism, and the motor is adapted to drive the transmission mechanism to operate to control the opening degree of the valve body; a magnetic sensor, the magnetic sensor is installed on the output shaft of the transmission mechanism; an angle sensor, the angle sensor is connected to the magnetic sensor, the angle sensor is configured to obtain the coordinate information of the magnetic sensor, generate an orthogonal analog signal according to the coordinate information, adjust the gain of the orthogonal analog signal according to the relative position between the magnetic sensor and the angle sensor and the parameters of the magnetic sensor, determine the angle value according to the adjusted orthogonal analog signal, and determine the angle control signal according to the first gain parameter and the angle value when the angle value satisfies the effective angle range of the electric actuator, wherein the first gain parameter is determined according to the effective angle range; a control unit, the control unit is connected to the angle sensor, and the control unit is configured to control the operation of the motor according to the angle control signal to control the opening degree of the valve body.

[0024] For the electric actuator according to the embodiment of the present invention, the angle sensor obtains the coordinate information of the magnetic sensor, generates an orthogonal analog signal according to the coordinate information, and adjusts the gain of the orthogonal analog signal according to the relative position between the magnetic sensor and the angle sensor and the parameters of the magnetic sensor. Since the adjusted orthogonal analog signal takes into account the relative position and the parameters of the magnetic sensor, an accurate angle value can be generated according to the adjusted orthogonal analog signal. When the angle value satisfies the effective angle range of the electric actuator, the angle control signal is determined according to the first gain parameter and the angle value. The first gain parameter is determined according to the effective angle range, and the effective angle range is the action characteristic of the electric actuator. The angle control signal corresponding to the angle value satisfying the action characteristic is optimized by using the first gain parameter, and the electric actuator can accurately control the valve body according to the optimized angle control signal, thereby improving the control accuracy of the electric actuator.

[0025] To achieve the above object, an electric valve according to an embodiment of the fifth aspect of the present invention includes: a valve body; the aforementioned electric actuator, and the electric actuator is connected to the valve body to control the opening degree of the valve body.

[0026] According to the electric valve of the embodiment of the present invention, by adopting the above-mentioned electric actuator, the orthogonal analog signal is gain-adjusted according to the relative position and the parameters of the magnetic sensor to improve the accuracy of the angle value. And when the angle value is within the effective angle range, the angle control signal is optimized according to the first gain parameter, thereby improving the accuracy of the angle sensor. The control unit can accurately control the valve body according to the angle control signal with high accuracy, thereby improving the operating efficiency of the electric valve.

[0027] Additional aspects and advantages of the present invention will be given in part in the following description, become apparent in part from the following description, or be learned through the practice of the present invention. Description of the Drawings

[0028] Figure 1 is a schematic structural diagram of an electric valve according to an embodiment of the present invention;

[0029] Figure 2 is a schematic flowchart of an angle detection method according to an embodiment of the present invention;

[0030] Figure 3 is a schematic diagram of the assembly zero position deviation of a 16-tooth spline according to an embodiment of the present invention;

[0031] Figure 4 is a schematic flowchart of an angle detection method according to a specific embodiment of the present invention;

[0032] Figure 5 is a schematic diagram of the angle deviation obtained by the angle detection method of the related art according to an embodiment of the present invention and the angle deviation obtained by the method of this embodiment;

[0033] Figure 6 is a schematic system diagram of an angle sensor according to an embodiment of the present invention. Detailed Embodiments

[0034] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and are intended to explain the present invention and should not be construed as limiting the present invention.

[0035] The angle detection method, angle sensor, electric actuator, electric valve and storage medium of the embodiments of the present invention will be described below with reference to the drawings.

[0036] Figure 1 is a schematic structural diagram of an electric valve according to an embodiment of the present invention. As Figure 1As shown in the figure, the electric valve 1000 includes a valve body 200 and an electric actuator 100. The electric actuator 100 is connected to the valve body 200 to control the opening degree of the valve body 200.

[0037] Among them, the electric actuator 100 includes a motor 10, a transmission mechanism 20, a magnetic sensor 30, an angle sensor 40, and a control unit 50. The transmission mechanism 20 is connected to the valve body 200, the motor 10 is connected to the transmission mechanism 20, and the motor 10 is adapted to drive the transmission mechanism 20 to operate to control the opening degree of the valve body 200. The magnetic sensor 30 is installed on the output shaft of the transmission mechanism 20. The angle sensor 40 is connected to the magnetic sensor 30. The angle sensor 40 generates an angle control signal according to the rotation angle of the magnetic sensor 30. The control unit 50 controls the operation of the motor 10 according to the angle control signal to control the opening degree of the valve body 200.

[0038] Specifically, the control unit 50 of the electric control actuator controls the operation of the motor 10 according to the angle control signal of the angle sensor 40. The motor 10 drives the transmission mechanism 20, so that the transmission mechanism 20 moves. The transmission mechanism 20 drives the valve body 200 to operate to realize the control of the opening degree of the valve body 200. The angle control accuracy of the electric actuator 100 will affect the opening degree of the valve body 200. Therefore, it is necessary to detect the output angle of the electric actuator. The magnetic sensor 30 (such as a magnetic ring) is installed on the output shaft of the transmission mechanism 20, that is, on the output shaft of the electric actuator 100. When the electric actuator 100 controls the operation of the valve body 200, the magnetic sensor 30 will rotate with the movement of the transmission mechanism 20. Therefore, the angle sensor 40 generates an angle control signal according to the rotation angle of the magnetic sensor 30. The angle control signal is a voltage signal. In this way, the control unit 50 controls the opening degree of the valve body 200 based on the angle control signal.

[0039] In actual applications, the effective angle positioning range (or action angle range) of most electric valves 1000 is less than 180°, and the action angle range of multi-way valves is usually less than 90°. The electric actuator 100 is used to control the opening degree of the valve body 200. Therefore, the action angle range of the electric actuator 100 is determined by the action angle range of the electric valve 1000. For example, if the action angle range of the electric valve 1000 is 0° - 80°, then the action angle range of the electric actuator 100 is also 0° - 80°. The detection range of the angle sensor 40 is 0° - 360°. The detection range of the angle sensor 40 is greater than the action angle range of the electric actuator 100. If the accuracy of the angle sensor 40 is poor, the error of the angle control signal output by the angle sensor 40 will be relatively large. Therefore, it will affect the control of the electric actuator 100.

[0040] Figure 2is a schematic flowchart of an angle detection method according to an embodiment of the present invention. The angle detection method is applied to an angle sensor 40 as shown in Figure 1 as shown, and the angle detection method includes: Figure 2 as shown, the angle detection method includes:

[0041] S101, obtaining coordinate information of the magnetic sensor and generating an orthogonal analog signal according to the coordinate information.

[0042] Specifically, when the rotation angle of the magnetic sensor changes, the coordinate information of the magnetic sensor will change. Therefore, an angle value can be obtained according to the coordinate information of the magnetic sensor. Two orthogonal analog signals can be generated according to the coordinate information, and then the two orthogonal analog signals are synthesized to generate an orthogonal analog signal.

[0043] Taking the angle sensor as an x-y plane angle sensor as an example, the coordinate information includes x-axis coordinate information and y-axis coordinate information. Two orthogonal analog signals are generated respectively according to the x-axis coordinate information and the y-axis coordinate information, and then the two orthogonal analog signals are synthesized to generate an orthogonal analog signal.

[0044] S102, performing gain adjustment on the orthogonal analog signal according to the relative position between the magnetic sensor and the angle sensor and the parameters of the magnetic sensor, and determining the angle value according to the adjusted orthogonal analog signal.

[0045] Specifically, the relative position between the magnetic sensor and the angle sensor and the parameters of the magnetic sensor (such as magnetic field strength) will affect the amplitude of the orthogonal analog signal. If the amplitude of the orthogonal analog signal is too large or too small, it will affect the accuracy of the angle value. Therefore, it is necessary to perform gain adjustment on the orthogonal analog signal. By performing tangent calculation or inverse tangent calculation on the adjusted orthogonal analog signal, the angle value can be obtained. Since the adjusted orthogonal analog signal takes into account the installation characteristics of the angle sensor and the magnetic sensor and the parameters of the magnetic sensor, an accurate angle value can be generated according to the adjusted orthogonal analog signal.

[0046] In some embodiments, performing gain adjustment on the orthogonal analog signal according to the relative position between the magnetic sensor and the angle sensor and the parameters of the magnetic sensor includes: determining a second gain parameter according to the relative position and the parameters of the magnetic sensor; adjusting the amplitude of the orthogonal analog signal according to the second gain parameter so that the amplitude of the orthogonal analog signal satisfies a preset amplitude range.

[0047] It can be understood that since the relative position and the parameters of the magnetic sensor will affect the amplitude of the orthogonal analog signal, it is necessary to determine the second gain parameter according to the relative position and the parameters of the magnetic sensor, and use the second gain parameter to adjust the amplitude of the orthogonal analog signal to within the preset amplitude range, thereby reducing the error of the angle value.

[0048] In some embodiments, after adjusting the gain of the quadrature analog signals according to the relative positions of the magnetic sensor and the angle sensor and the parameters of the magnetic sensor, the method further includes: compensating for the distributed parameters of the adjusted quadrature analog signals to obtain target quadrature analog signals, so as to generate an angle value according to the target quadrature analog signals.

[0049] Specifically, the coordinate information includes x-axis coordinate information and y-axis coordinate information. The x-axis coordinate information and the y-axis coordinate information may be inconsistent due to factors such as coordinate transformation, resulting in a deviation in the angle value, which in turn affects the opening control of the electric actuator. Therefore, compensating for the distributed parameters of the adjusted quadrature analog signals eliminates the inconsistency between the x-axis coordinate information and the y-axis coordinate information, thereby further reducing the deviation of the angle value.

[0050] In the above embodiments, by compensating for the distributed parameters of the adjusted quadrature analog signals, the inconsistency between the x-axis coordinate information and the y-axis coordinate information is eliminated, thereby further improving the accuracy of the angle value, and further obtaining a more accurate angle control signal.

[0051] S103. When the angle value satisfies the effective angle range of the electric actuator, determine an angle control signal according to the first gain parameter and the angle value, where the first gain parameter is determined according to the effective angle range.

[0052] Specifically, the effective angle range is the action characteristic of the electric actuator. When the angle value satisfies the effective angle range, the first gain parameter is used to optimize the angle control signal. The first gain parameter is the amplification factor of the angle control signal, so as to adjust the angle control signal corresponding to the angle value. The adjusted angle control signal is the optimal signal that satisfies the action characteristic and control requirements of the electric actuator.

[0053] In some embodiments, determining the angle control signal according to the first gain parameter and the angle value includes: adjusting the gain of the angle value according to the first gain parameter to obtain a target angle value; determining the angle control signal according to the upper limit value of the angle control signal, the lower limit value of the angle control signal, and the target angle value.

[0054] Specifically, since the detection range of the angle sensor is greater than the effective angle range, when the angle value is within the effective angle range, the angle value is amplified using the first gain parameter to obtain a target angle value, and then the angle control signal is obtained based on the upper limit value of the angle control signal, the lower limit value of the angle control signal, and the target angle value. In this way, the obtained angle control signal will be greater than the angle control signal without gain adjustment. The electric actuator controls the opening degree of the valve body based on the angle control signal. If the voltage value of the angle control signal is too small, the electric actuator may have a deviation when performing analog-to-digital conversion on the angle control signal, thereby affecting the control accuracy of the electric actuator. Therefore, amplifying the angle value within the effective angle range according to the first gain parameter can improve the control accuracy of the electric actuator within the effective angle range.

[0055] Further, in some embodiments, the angle control signal is calculated according to the following formula (1):

[0056] Vout = θ * Gain_1 * (Vmax - Vmin) / 360° + Vmin (1)

[0057] Wherein, Vout is the angle control signal, θ * Gain_1 is the target angle value, θ is the angle value, Gain_1 is the first gain parameter, Vmax is the upper limit value of the angle control signal, and Vmin is the lower limit value of the angle control signal.

[0058] Specifically, when the angle value θ is the minimum value of the effective angle range, the angle control signal Vout is the lower limit value Vmin of the angle control signal. When the angle value θ is the maximum value of the effective angle range, the angle control signal Vout is the upper limit value Vmax of the angle control signal. When the angle value θ is within the effective angle range, the first gain parameter Gain_1 is multiplied by the angle value θ to amplify the angle value θ to obtain the target angle value θ * Gain_1, thereby obtaining an angle control signal Vout with a larger voltage value to improve the accuracy of angle detection. Moreover, it can be seen from formula (1) that the angle control signal Vout is an analog quantity signal linearly related to the angle value θ within the effective angle range. Based on this analog quantity signal, the computing amount of the electric actuator can be reduced, thereby reducing the cost of the electric actuator.

[0059] For example, if the angle value θ is 60°, the first gain parameter Gain_1 is 4, the upper limit value Vmax of the angle control signal is 3.3V, and the lower limit value Vmin of the angle control signal is 0, substituting the above values into formula (1), the first angle control signal Vout1 can be calculated as 2.2V. If the angle control signal Vout is not amplified using the first gain parameter Gain_1, then the second angle control signal Vout2 is 0.55V. The second angle control signal Vout2 is less than the first angle control signal Vout1, and it is easy to have a deviation when the electric actuator performs analog-to-digital conversion on the second angle control signal Vout2, resulting in a lower control accuracy of the electric actuator. When the electric actuator performs analog-to-digital conversion according to the first angle control signal Vout1, since the value of the first angle control signal Vout1 is larger, the obtained angle deviation is smaller, thereby improving the control accuracy of the electric actuator.

[0060] In some embodiments, as Figure 1 shown, the angle sensor 40 is adapted to be connected to the control unit 50 of the electric actuator 100. The upper limit value of the angle control signal is the input upper limit value of the control unit 50, and the lower limit value of the angle control signal is the input lower limit value of the control unit 50.

[0061] That is to say, the voltage value range of the angle control signal is the input voltage value range of the analog-to-digital converter of the control unit 50. Therefore, the voltage value range of the angle control signal is the optimal range of the control unit 50, and the voltage value of the angle control signal will not be too large or too small, which can further reduce the angle deviation and thus further improve the control accuracy.

[0062] It should be noted that the angle sensor in this embodiment is not limited to being applied in the electric actuator, and can also be applied in other electrical devices that require angle detection. Among them, a magnetic sensor is provided in the electrical device, and specific details are not limited here.

[0063] In the above embodiment, the orthogonal analog signal is adjusted to the preset amplitude range according to the relative position and the parameters of the magnetic sensor, which increases the accuracy of the angle value. And, when the angle value is within the effective angle interval, the angle value is amplified using the first gain parameter to optimize the angle control signal, improving the control accuracy of the electric actuator. In addition, the angle control signal is an analog quantity signal that is linearly related to the angle value within the effective angle interval, which can reduce the computing amount of the electric actuator, thereby reducing the cost of the electric actuator.

[0064] In some embodiments, the first gain parameter is calculated according to the following formula (2):

[0065] Gain_1 = 360° / (θmax - θmin) (2)

[0066] Among them, Gain_1 is the first gain parameter, θmax is the upper limit value of the effective angle range, and θmin is the lower limit value of the effective angle range.

[0067] It can be understood that since the detection range of the angle sensor is 0° - 360°, and the effective angle range is less than the detection range of the angle sensor, the first gain parameter is calculated based on 360° and the effective angle range, and then the angle value is amplified using the first gain parameter to amplify the angle value to the range of 0° - 360°, thereby improving the control accuracy of the electric actuator.

[0068] In some embodiments, the effective angle range is determined according to the following steps: obtaining the operating angle range and the assembly zero - position deviation of the electric actuator; taking the difference between the lower limit value of the operating angle range and the assembly zero - position deviation as the lower limit value of the effective angle range, and taking the sum of the upper limit value of the operating angle range and the assembly zero - position deviation as the upper limit value of the effective angle range.

[0069] Specifically, the operating angle range of the electric actuator is also the operating angle range of the valve body. The assembly zero - position deviation is an assembly feature between the electric actuator and the valve body, which is a mechanical design deviation. The assembly zero - position deviation can be calculated using formula (3):

[0070] delta = 360° / (2*N) = 180° / N (3)

[0071] Among them, delta is the assembly zero - position deviation, and N is the number of teeth of the polygon spline.

[0072] Taking Figure 3 the 16 - tooth spline shown as an example, N is 16, so the assembly zero - position deviation delta is 11.25°.

[0073] It should be noted that the assembly zero - position deviation delta is a mechanical design deviation and needs to be calculated according to actual design requirements. For example, in the application of non - polygon spline connection structures, the assembly zero - position deviation delta is calculated according to specific structural characteristics. Formula (3) is exemplary and does not limit this application.

[0074] The value of the assembly zero - position deviation delta cannot be ignored. Therefore, it is necessary to determine the effective angle range based on the assembly zero - position deviation and the operating angle range. Take the difference between the lower limit value of the operating angle range and the assembly zero - position deviation delta as the lower limit value of the effective angle range, and take the sum of the upper limit value of the operating angle range and the assembly zero - position deviation delta as the upper limit value of the effective angle range, thereby determining the effective angle range.

[0075] For example, assume that the operating angle range is (A, B), where A is the lower limit value of the operating angle range and B is the upper limit value of the operating angle range. Then, the effective angle range is (θmin, θmax), where θmin = A - delta and θmax = B + delta.

[0076] Therefore, the first gain parameter can also be calculated by formula (4):

[0077] Gain_1 = 360° / (θmax - θmin) = 360° / (B - A + 2*delta) (4)

[0078] In the above embodiment, the effective angle range is obtained based on the operating angle range and the assembly zero deviation, and the first gain parameter is obtained based on the effective angle range. Therefore, the target angle value takes into account the installation characteristics of the electric actuator, and the accuracy of the angle control signal is higher. Based on this, the control unit can obtain a more accurate angle value according to the angle control signal, thereby achieving more precise control.

[0079] In some embodiments, when the angle value does not satisfy the effective angle range, the method further includes: determining that the angle control signal is 0.

[0080] That is, when the angle value is less than the lower limit value of the effective angle range or the angle value is greater than the upper limit value of the effective angle range, the angle value does not meet the control requirements of the electric actuator. Therefore, the voltage value of the angle control signal is determined to be 0, and the angle detection that does not satisfy the effective angle range is ignored, thereby further reducing the computing amount of the control unit and further reducing the control cost of the electric actuator.

[0081] The technical solution of the present application will be further described in detail below in combination with specific embodiments:

[0082] As Figure 4 shown, the angle detection method includes the following steps:

[0083] S201, obtain the x-axis coordinate information and y-axis coordinate information of the magnetic sensor.

[0084] S202, generate an orthogonal analog signal according to the x-axis coordinate information and y-axis coordinate information.

[0085] S203, determine the second gain parameter according to the relative position between the magnetic sensor and the angle sensor and the parameters of the magnetic sensor, and use the second gain parameter to adjust the amplitude of the orthogonal analog signal so that the amplitude of the orthogonal analog signal meets the preset amplitude range.

[0086] S204, perform distributed parameter compensation on the adjusted orthogonal analog signal to obtain the target orthogonal analog signal.

[0087] S205. Determine the angle value according to the target orthogonal analog signal.

[0088] S206. Perform gain adjustment on the angle value according to the first gain parameter to obtain the target angle value, where the first gain parameter is determined according to the effective angle range, and the effective angle range is determined according to the operating angle range and the assembly zero deviation.

[0089] S207. Calculate the angle control signal according to the upper limit value of the angle control signal, the lower limit value of the angle control signal, and the target angle value.

[0090] In the above embodiment, the orthogonal analog signal is adjusted to the preset amplitude range according to the relative position and the parameters of the magnetic sensor, which improves the accuracy of the angle value. Moreover, when the angle value is within the effective angle range, the angle value is amplified by using the first gain parameter to optimize the angle control signal, thereby improving the control accuracy of the electric actuator.

[0091] Furthermore, Figure 5 shows the angle detection values (360° calibration) obtained by the angle detection method in the related art and the angle detection values (180° calibration) obtained by applying the method of the embodiment of the present invention. It can be seen from Figure 5 that the deviation of the angle detection values obtained by the angle detection method in the related art is between -0.7° and 0.7°, and the deviation of the angle detection values obtained by applying the method of the embodiment of the present invention is between -0.4° and 0.4°. Therefore, the angle value obtained by the method of the embodiment of the present invention has a smaller deviation from the actual angle, thereby improving the accuracy of angle detection. Furthermore, the electric actuator controls the valve body opening according to the angle value with higher accuracy, thereby improving the control accuracy of the electric actuator.

[0092] In summary, according to the angle detection method of the embodiments of the present invention, coordinate information of a magnetic sensor is obtained, orthogonal analog signals are generated based on the coordinate information, and the orthogonal analog signals are gain-adjusted according to the relative position between the magnetic sensor and an angle sensor and the parameters of the magnetic sensor. Since the adjusted orthogonal analog signals take into account the relative position and the parameters of the magnetic sensor, accurate angle values can be generated based on the adjusted orthogonal analog signals. When the angle values satisfy the effective angle range of the electric actuator, an angle control signal is determined according to a first gain parameter, and the first gain parameter is determined according to the effective angle range, and the effective angle range is the action characteristic of the electric actuator. The angle control signal corresponding to the angle value that satisfies the action characteristic is optimized by using the first gain parameter, and the electric actuator can accurately control the valve body according to the optimized angle control signal, thereby improving the control accuracy of the electric actuator. Further, the angle control signal is an analog quantity signal linearly related to the angle value within the effective angle range, which can reduce the computing amount of the electric actuator, thereby reducing the cost of the electric actuator.

[0093] Corresponding to the above embodiments, an embodiment of the present invention further provides a computer-readable storage medium, on which an angle detection program is stored. When the angle detection program is executed by a processor, the angle detection method of any one of the foregoing embodiments is implemented.

[0094] According to the computer-readable storage medium of the embodiments of the present invention, by executing the computer program of the above angle detection method, the orthogonal analog signals are gain-adjusted according to the relative position and the parameters of the magnetic sensor to improve the accuracy of the angle values, and when the angle values are within the effective angle range, the angle control signals are optimized according to the first gain parameter, thereby improving the control accuracy of the electric actuator.

[0095] Corresponding to the above embodiments, an embodiment of the present invention further provides an angle sensor. As Figure 6 shown, the angle sensor 40 includes a memory 41, a processor 42, and an angle detection program stored on the memory 41 and executable on the processor 42. When the processor 42 executes the angle detection program, the angle detection method of any one of the foregoing embodiments is implemented.

[0096] According to the angle sensor of the embodiments of the present invention, by the processor executing the computer program of the above angle detection method, the orthogonal analog signals are gain-adjusted according to the relative position and the parameters of the magnetic sensor to improve the accuracy of the angle values, and when the angle values are within the effective angle range, the angle control signals are optimized according to the first gain parameter, thereby improving the control accuracy of the electric actuator.

[0097] Corresponding to the above embodiments, an embodiment of the present invention further provides an electric actuator. As Figure 1As shown in the figure, the electric actuator 100 includes: a motor 10, a transmission mechanism 20, a magnetic sensor 30, an angle sensor 40, and a control unit 50. Among them, the transmission mechanism 20 is adapted to be connected to the valve body. The motor 10 is connected to the transmission mechanism 20, and the motor 10 is adapted to drive the transmission mechanism 20 to operate to control the opening degree of the valve body. The magnetic sensor 30 is installed on the output shaft of the transmission mechanism 20. The angle sensor 40 is connected to the magnetic sensor 30. The angle sensor 40 is configured to obtain the coordinate information of the magnetic sensor 30, generate an orthogonal analog signal according to the coordinate information, adjust the gain of the orthogonal analog signal according to the relative position between the magnetic sensor 30 and the angle sensor 40 and the parameters of the magnetic sensor 30, determine the angle value according to the adjusted orthogonal analog signal, and determine the angle control signal according to the first gain parameter and the angle value when the angle value satisfies the effective angle range of the electric actuator 100, where the first gain parameter is determined according to the effective angle range. The control unit 50 is connected to the angle sensor 40, and the control unit 50 is configured to control the operation of the motor 10 according to the angle control signal to control the opening degree of the valve body.

[0098] In some embodiments, the angle sensor 40 is further configured to: adjust the gain of the angle value according to the first gain parameter to obtain a target angle value; determine the angle control signal according to the upper limit value of the angle control signal, the lower limit value of the angle control signal, and the target angle value.

[0099] In some embodiments, the angle control signal is calculated according to the following formula: Vout = θ * Gain_1 * (Vmax - Vmin) / 360° + Vmin, where Vout is the angle control signal, θ * Gain_1 is the target angle value, θ is the angle value, Gain_1 is the first gain parameter, Vmax is the upper limit value of the angle control signal, and Vmin is the lower limit value of the angle control signal.

[0100] In some embodiments, the angle sensor 40 is adapted to be connected to the control unit 50 of the electric actuator 100. The upper limit value of the angle control signal is the input upper limit value of the control unit 50, and the lower limit value of the angle control signal is the input lower limit value of the control unit 50.

[0101] In some embodiments, the first gain parameter is calculated according to the following formula: Gain_1 = 360° / (θmax - θmin), where Gain_1 is the first gain parameter, θmax is the upper limit value of the effective angle range, and θmin is the lower limit value of the effective angle range.

[0102] In some embodiments, the effective angle range is determined according to the following steps: obtaining the operating angle range and the assembly zero - position deviation of the electric actuator 100; taking the difference between the lower limit value of the operating angle range and the assembly zero - position deviation as the lower limit value of the effective angle range, and taking the sum of the upper limit value of the operating angle range and the assembly zero - position deviation as the upper limit value of the effective angle range.

[0103] In some embodiments, the angle sensor 40 is further configured to: determine a second gain parameter according to the relative position and the parameters of the magnetic sensor 30; adjust the amplitude of the quadrature analog signal according to the second gain parameter so that the amplitude of the quadrature analog signal meets a preset amplitude range.

[0104] In some embodiments, the angle sensor 40 is further configured to: when the angle value does not meet the effective angle range, determine that the angle control signal is 0.

[0105] In some embodiments, the angle sensor 40 is further configured to: after performing gain adjustment on the quadrature analog signal according to the relative position between the magnetic sensor 30 and the angle sensor 40 and the parameters of the magnetic sensor 30, perform distributed parameter compensation on the quadrature analog signal to generate an angle value according to the compensated quadrature analog signal.

[0106] It should be noted that the specific implementation manners of the electric actuator in the embodiments of the present invention correspond one - to - one with the specific implementation manners of the angle detection method in the foregoing embodiments of the present invention, and will not be elaborated herein.

[0107] For the electric actuator according to the embodiment of the present invention, the angle sensor obtains the coordinate information of the magnetic sensor, generates a quadrature analog signal according to the coordinate information, and performs gain adjustment on the quadrature analog signal according to the relative position between the magnetic sensor and the angle sensor and the parameters of the magnetic sensor. Since the adjusted quadrature analog signal takes into account the relative position and the parameters of the magnetic sensor, an accurate angle value can be generated according to the adjusted quadrature analog signal. When the angle value meets the effective angle range of the electric actuator, the angle control signal is determined according to the first gain parameter and the angle value. The first gain parameter is determined according to the effective angle range, and the effective angle range is the action characteristic of the electric actuator. The angle control signal corresponding to the angle value that meets the action characteristic is optimized by using the first gain parameter. The electric actuator can accurately control the valve body according to the optimized angle control signal, thereby improving the control accuracy of the electric actuator. Further, the angle control signal is an analog quantity signal linearly related to the angle value within the effective angle range, which can reduce the computing amount of the electric actuator, thereby reducing the cost of the electric actuator.

[0108] Corresponding to the above - mentioned embodiments, an embodiment of the present invention also provides an electric valve. As Figure 1As shown, the electric valve 1000 includes: a valve body 200 and the aforementioned electric actuator 100. Among them, the electric actuator 100 is connected to the valve body 200 to control the opening degree of the valve body 200.

[0109] For the electric valve according to the embodiment of the present invention, by adopting the above-mentioned electric actuator, the orthogonal analog signal is gain-adjusted according to the relative position and the parameters of the magnetic sensor to improve the accuracy of the angle value. And when the angle value is within the effective angle range, the angle control signal is optimized according to the first gain parameter, thereby improving the accuracy of the angle sensor. The control unit can accurately control the valve body according to the angle control signal with high accuracy, thus improving the operating efficiency of the electric valve.

[0110] It should be noted that the logic and / or steps represented in the flowchart or described in other ways herein, for example, can be considered as a definite sequence list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable medium for use by an instruction execution system, apparatus, or device (such as a computer-based system, a system including a processor, or other systems that can fetch and execute instructions from the instruction execution system, apparatus, or device), or used in combination with these instruction execution systems, apparatus, or devices. For the purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. More specific examples (non-exhaustive list) of computer-readable media include the following: an electrical connection portion (electronic device) having one or more wirings, a portable computer diskette (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium can even be paper or other suitable media on which the program can be printed, because the program can be obtained electronically, for example, by optically scanning the paper or other media, then editing, interpreting, or otherwise processing it as appropriate, and then storing it in a computer memory.

[0111] It should be understood that each part of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, any one or a combination of the following techniques well known in the art can be used: discrete logic circuits having logic gate circuits for implementing logical functions on data signals, application specific integrated circuits having appropriate combinational logic gate circuits, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), etc.

[0112] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc. means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0113] In addition, the terms "first", "second", etc. used in the embodiments of the present invention are only for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated in this embodiment. Thus, the features defined with the terms "first", "second", etc. in the embodiments of the present invention can explicitly or implicitly indicate that at least one such feature is included in this embodiment. In the description of the present invention, the meaning of the word "plurality" is at least two or more than two, such as two, three, four, etc., unless otherwise specifically defined in the embodiments.

[0114] In the present invention, unless otherwise clearly specified or limited by relevant regulations in the embodiments, the terms "installed", "connected", "connected", and "fixed" etc. appearing in the embodiments should be understood in a broad sense. For example, the connection can be a fixed connection, a detachable connection, or integrated. It can be understood that it can also be a mechanical connection, an electrical connection, etc.; of course, it can also be directly connected, or indirectly connected through an intermediate medium, or it can be the communication inside two elements, or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific implementation situations.

[0115] In the present invention, unless otherwise expressly specified or limited, a first feature being "on" or "under" a second feature may mean that the first and second features are in direct contact, or that the first and second features are indirectly in contact via an intermediate medium. Further, a first feature being "above", "over" and "on top of" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the horizontal height of the first feature is higher than that of the second feature. A first feature being "under", "below" and "beneath" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the horizontal height of the first feature is less than that of the second feature.

[0116] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art may make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. An angle detection method, characterized in that, Applied to an angle sensor, the angle sensor is adapted to detect the rotation angle of a magnetic sensor to obtain an angle control signal of an electric actuator. The magnetic sensor is mounted on the output shaft of the electric actuator. The angle detection method includes: Obtaining coordinate information of the magnetic sensor and generating an orthogonal analog signal based on the coordinate information; Adjusting the gain of the orthogonal analog signal according to the relative position between the magnetic sensor and the angle sensor and the parameters of the magnetic sensor, and determining an angle value based on the adjusted orthogonal analog signal; When the angle value satisfies the effective angle range of the electric actuator, determining the angle control signal according to a first gain parameter and the angle value, where the first gain parameter is determined according to the effective angle range.

2. The angle detection method according to claim 1, characterized in that Determining the angle control signal according to the first gain parameter and the angle value includes: Adjusting the gain of the angle value according to the first gain parameter to obtain a target angle value; Determining the angle control signal according to the upper limit value of the angle control signal, the lower limit value of the angle control signal, and the target angle value.

3. The angle detection method according to claim 2, characterized in that The angle control signal is calculated according to the following formula: Vout = θ * Gain_1 * (Vmax - Vmin) / 360° + Vmin Where Vout is the angle control signal, θ * Gain_1 is the target angle value, θ is the angle value, Gain_1 is the first gain parameter, Vmax is the upper limit value of the angle control signal, and Vmin is the lower limit value of the angle control signal.

4. The angle detection method according to claim 2, wherein The angle sensor is adapted to connect to the control unit of the electric actuator. The upper limit value of the angle control signal is the input upper limit value of the control unit, and the lower limit value of the angle control signal is the input lower limit value of the control unit.

5. The angle detection method according to any one of claims 1-4, characterized in that, The first gain parameter is calculated according to the following formula: Gain_1 = 360° / (θmax - θmin) Where Gain_1 is the first gain parameter, θmax is the upper limit value of the effective angle range, and θmin is the lower limit value of the effective angle range.

6. The angle detection method according to any one of claims 1-4, characterized in that, The effective angle range is determined according to the following steps: Obtaining the operating angle range and the assembly zero position deviation of the electric actuator; Taking the difference between the lower limit value of the operating angle range and the assembly zero position deviation as the lower limit value of the effective angle range, and taking the sum of the upper limit value of the operating angle range and the assembly zero position deviation as the upper limit value of the effective angle range.

7. The angle detection method according to any one of claims 1-4, characterized in that Adjusting the gain of the orthogonal analog signal according to the relative position between the magnetic sensor and the angle sensor and the parameters of the magnetic sensor includes: Determining a second gain parameter according to the relative position and the parameters of the magnetic sensor; Adjusting the amplitude of the orthogonal analog signal according to the second gain parameter so that the amplitude of the orthogonal analog signal satisfies a preset amplitude range.

8. The angle detection method according to claim 1, wherein When the angle value does not satisfy the effective angle range, the method further includes: Determining the angle control signal to be 0.

9. The angle detection method according to claim 1, wherein After adjusting the gain of the quadrature analog signal according to the relative position of the magnetic sensor and the angle sensor and the parameters of the magnetic sensor, the method further includes: Performing distributed parameter compensation on the adjusted quadrature analog signal to obtain a target quadrature analog signal, so as to generate the angle value according to the target quadrature analog signal.

10. A computer-readable storage medium, characterized in that, A storage medium stores an angle detection program, and when the angle detection program is executed by a processor, the angle detection method according to any one of claims 1-9 is implemented.

11. An angle sensor, characterized in that, It includes a memory, a processor, and an angle detection program stored on the memory and executable on the processor. When the processor executes the angle detection program, the angle detection method according to any one of claims 1-9 is implemented.

12. An electric actuator, characterized in that, Comprising: A motor and a transmission mechanism, the transmission mechanism is adapted to be connected to a valve body, the motor is connected to the transmission mechanism, and the motor is adapted to drive the transmission mechanism to operate to control the opening degree of the valve body; A magnetic sensor, the magnetic sensor is mounted on the output shaft of the transmission mechanism; An angle sensor, the angle sensor is connected to the magnetic sensor, and the angle sensor is configured to obtain the coordinate information of the magnetic sensor, generate a quadrature analog signal according to the coordinate information, adjust the gain of the quadrature analog signal according to the relative position of the magnetic sensor and the angle sensor and the parameters of the magnetic sensor, determine the angle value according to the adjusted quadrature analog signal, and determine an angle control signal according to a first gain parameter and the angle value when the angle value satisfies the effective angle range of the electric actuator, wherein the first gain parameter is determined according to the effective angle range; A control unit, the control unit is connected to the angle sensor, and the control unit is configured to control the operation of the motor according to the angle control signal to control the opening degree of the valve body.

13. An electric valve, characterized in that, Comprising: A valve body; The electric actuator according to claim 12, the electric actuator is connected to the valve body to control the opening degree of the valve body.

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