Resolution method for inductive encoder, inductive encoder, and actuator

Abstract

The invention provides a calculation method of an inductance type encoder, the inductance type encoder and an executor, the inductance type encoder comprises a single antipode code channel and a multi-antipode code channel, the calculation method comprises the following steps: collecting a first electric signal generated by the single antipode code channel to obtain a first angle; acquiring a second electric signal generated by the multiple pairs of pole code channels to obtain a second angle; on the basis of the first angle, obtaining an original pole-to-pole interval and an original angle of the multi-pole-to-pole code channel; determining an actual pole-to-pole interval of the multiple pole-to-pole code channels based on the original pole-to-pole interval, the original angle and the second angle; and obtaining an actual angle according to the second angle and the actual pole-to-pole interval. Through the above mode, position detection can be effectively and reliably carried out, the measurement precision is improved, the measurement stability and reliability are ensured, the measurement efficiency is improved, and the maintenance cost of the inductive encoder is reduced.

Description

Technical Field

[0001] The present application relates to the technical field of inductive encoders, and in particular to a solution method of an inductive encoder, an inductive encoder, and an actuator. Background Art

[0002] An inductive encoder is a measuring device based on the principle of electromagnetic induction, used to measure parameters such as the rotation angle and position of mechanical devices. Its basic structure consists of a stator and a rotor. The stator is wound with an excitation coil and an induction coil. When an excitation signal is applied to the excitation coil, it generates a varying magnetic field. The induction coil, in turn, generates an induced electromotive force signal corresponding to the excitation signal, due to the principle of electromagnetic induction. The conductive material in the rotor induces eddy currents in the magnetic field, generating an electromagnetic field in the opposite direction to the induction coil's field, weakening the original magnetic field below it. The encoder generates different electrical signals for different rotor positions, allowing the relative angle between the rotor and the induction coil to be calculated, enabling the encoder to calculate the angle.

[0003] Existing inductive encoders have difficulty ensuring high-precision position monitoring, which greatly affects the measurement quality. Therefore, solving the technical challenges in position detection stability, reliability and measurement accuracy has become an urgent need to improve the performance of inductive encoders. Summary of the Invention

[0004] The present application provides a solution method for an inductive encoder, an inductive encoder, and an actuator, which can effectively and reliably detect the position of the rotor, improve measurement accuracy, ensure measurement stability and reliability, improve measurement efficiency, and help reduce the maintenance cost of the inductive encoder.

[0005] In order to solve the above technical problems, the first aspect of the present application provides a solution method for an inductive encoder.

[0006] Among them, the inductive encoder includes single-pole code channel and multi-pole code channel, and the solution method includes: Collect a first electrical signal generated by a single-pair-of-pole code channel to obtain a first angle; collect a second electrical signal generated by multiple-pair-of-pole code channels to obtain a second angle; based on the first angle, obtain the original pole-to-pole interval and original angle of the multiple-pair-of-pole code channels; based on the original pole-to-pole interval, the original angle and the second angle, determine the actual pole-to-pole interval of the multiple-pair-of-pole code channels; based on the second angle and the actual pole-to-pole interval, obtain the actual angle.

[0007] Among them, the step of determining the actual pole-to-pole interval of multiple pole-to-pole code channels based on the original pole-to-pole interval, the original angle within the interval and the second angle includes: calculating the first angle difference between the original angle and the second angle; if the absolute value of the first angle difference is less than the first preset angle difference, then judging that the original pole-to-pole interval is consistent with the actual pole-to-pole interval; if the absolute value of the first angle difference is greater than the first preset angle difference, then judging that the original pole-to-pole interval is inconsistent with the actual pole-to-pole interval.

[0008] Among them, if the absolute value of the first angle difference is greater than the first preset angle difference, the step of judging whether the original pole-to-pole interval and the actual pole-to-pole interval are inconsistent includes: judging whether the original angle is greater than 180 degrees; if so, the next interval of the original pole-to-pole interval is the actual pole-to-pole interval; if not, the previous interval of the original pole-to-pole interval is the actual pole-to-pole interval.

[0009] The step of obtaining the actual angle according to the actual pole-to-pole interval includes: the calculation formula of the actual angle is: ;in, is the actual angle, is the actual pole-to-pole interval, is the second angle, and N is the number of pole pairs of the multi-pole code channel.

[0010] The step of obtaining the original pole-to-pole interval and the original angle of the multiple pole-to-pole code channels based on the first angle includes: the calculation formula of the original pole-to-pole interval is: ; The calculation formula of the original angle is: ;in, is the original pole-pair level interval, is the original angle, is the first angle, and N is the number of pole pairs of the multi-pole code channel.

[0011] Among them, the method also includes: collecting a second electrical signal once at every preset time interval, and obtaining a historical second angle and a current second angle based on the second electrical signals collected twice in a row; obtaining a historical actual pole-to-pole level interval corresponding to the historical second angle, and determining the current actual pole-to-pole interval based on the historical actual pole-to-pole level interval, the historical second angle and the current second angle; and obtaining the current actual angle based on the current second angle and the current actual pole-to-pole level interval.

[0012] Among them, based on the historical actual pole-to-pole level interval, the historical second angle and the current second angle, the step of determining the current actual pole-to-pole interval includes: calculating the second angle difference between the historical second angle and the current second angle; if the absolute value of the second angle difference is less than the second preset angle difference, then judging that the current actual pole-to-pole interval is consistent with the historical actual pole-to-pole level interval; if the absolute value of the second angle difference is greater than the second preset angle difference, then judging that the current actual pole-to-pole interval is inconsistent with the historical actual pole-to-pole level interval.

[0013] Among them, if the absolute value of the second angle difference is greater than the second preset angle difference, the step of judging whether the current actual pole-to-pole interval is inconsistent with the historical actual pole-to-level interval includes: if the second angle difference is a positive number, the previous interval of the historical actual pole-to-level interval is the current actual pole-to-pole interval; if the second angle difference is a negative number, the next interval of the historical actual pole-to-level interval is the current actual pole-to-pole interval.

[0014] In order to solve the above technical problems, the second aspect of the present application provides an inductive encoder, wherein the inductive encoder includes: a single-pole code channel for generating a first electrical signal; a multi-pole code channel for generating a second electrical signal; wherein the single-pole code channel includes a corresponding single-pole induction coil code channel and a single-pole rotor code channel, and the multi-pole code channel includes a corresponding multi-pole induction coil code channel and a multi-pole rotor code channel; the induction coil code channel is respectively arranged relative to the rotor code channel and coaxially arranged, and is used to collect the first electrical signal and / or the second electrical signal, to implement the solution method of the inductive encoder described in any of the above items.

[0015] Among them, the single-pole rotor code track includes a first baffle, which covers half of the circumference area of the single-pole rotor code track; the multi-pole rotor code track includes multiple second baffles arranged corresponding to the number of pole pairs, and the second baffles are evenly distributed and spaced apart; the position where the edges of the first baffle and the second baffle radially overlap is the starting position of the single-pole rotor code track and the multi-pole rotor code track.

[0016] Among them, the inner diameter of the first baffle is at least smaller than the inner diameter of the single-pole induction coil code channel, and the outer diameter of the first baffle is at least larger than the outer diameter of the single-pole induction coil code channel; the inner diameter of the second baffle is at least smaller than the inner diameter of the multi-pole induction coil code channel, and the outer diameter of the second baffle is at least larger than the outer diameter of the multi-pole induction coil code channel.

[0017] Among them, the induction coil is arranged on a circuit board including multiple layout layers and multiple output line layers; the induction coil code channel includes at least two induction coils, and multiple curved segments of the induction coil are arranged in sequence on each layout layer and connected using vias, and the induction coil uses vias to output wires to access each output line layer.

[0018] The induction coils are wired with a phase difference of 90 degrees; and the zero points of at least one cycle of the induction coils in each induction coil code channel are the same.

[0019] Among them, the inductive encoder includes: at least one excitation coil code channel, the excitation coil code channel includes at least two excitation coils; the excitation coils are arranged on each layout layer, and each excitation coil is arranged in one-to-one correspondence with the layout layer and the output line layer; and the output line is connected to each output line layer through one of the excitation coil code channels; the excitation coil code channels and the induction coil code channels are arranged alternately, and at least one excitation coil code channel is arranged between adjacent induction coil code channels.

[0020] To solve the above technical problems, the third aspect of the present application provides an actuator, comprising: a motor; and an inductive encoder as described in any one of the above items, wherein the inductive encoder is connected to the motor.

[0021] Different from the existing technology, the present application provides an inductive encoder solution method, an inductive encoder and an actuator, which can effectively and reliably perform position detection by solving the electrical signals generated by single-pair-of-pole code channels and multi-pair-of-pole code channels. The structural settings of the two code channels can be corrected to each other, which can ensure the stability and reliability of position detection, improve the accuracy, convenience and safety of measurement, improve the reliability and stability of the inductive encoder, and help reduce the maintenance cost of the inductive encoder. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a schematic structural diagram of an embodiment of an inductive encoder of the present application; Figure 2 This is a flow chart of a first embodiment of the method for calculating an inductive encoder of the present application; Figure 3 This is a flow chart of a second embodiment of the method for calculating an inductive encoder of the present application; Figure 4 1 is a flow chart of a third embodiment of the method for calculating an inductive encoder of the present application; Figure 5 1 is a flow chart of a fourth embodiment of the method for calculating an inductive encoder according to the present application; Figure 6 Schematic diagram of the rotor structure of another embodiment of the inductive encoder of the present application; Figure 7 1 is a schematic diagram of the stator coil structure of another embodiment of the inductive encoder of the present application; Figure 8 Schematic diagram of the combined structure of the stator coil and the rotor of another embodiment of the inductive encoder of the present application; Figure 9 This is a schematic diagram of the signal processing circuit structure of another embodiment of the inductive encoder of the present application; Figure 10 This is a schematic diagram of the structure of a receiving circuit portion of another embodiment of the inductive encoder of the present application; Figure 11 It is a structural explosion diagram of an embodiment of the actuator of the present application. DETAILED DESCRIPTION

[0023] The following describes the embodiments of the present application in detail with reference to the accompanying drawings.

[0024] Figure 1 、 Figure 6 、 Figure 7 、 Figure 8 、 Figure 9 、 Figure 10 、 Figure 11 The schematic diagrams of the inductive encoder or actuator are for structural or circuit logic purposes only. The specific connection structures are based on actual production structures. The following description, for purposes of illustration and not limitation, provides specific details such as specific system structures, interfaces, and technologies to facilitate a thorough understanding of this application.

[0025] This application first provides a solution method for an inductive decoder. Figure 1 , Figure 1 This is a schematic diagram of the structure of an embodiment of the inductive encoder of the present application. The solution method of the inductive decoder of the present application can be applied to the following Figure 1 The inductive encoder shown is provided to assist in understanding the calculation method of this embodiment, without imposing any structural limitation on the calculation method.

[0026] The inductive encoder 100 includes a single-pole code channel (not shown) and multiple-pole code channels (not shown).

[0027] Both the stator 120 and the rotor 110 are provided with single-pole-pair code channels and multi-pole-pair code channels, and the single-pole-pair code channels and multi-pole-pair code channels of the stator 120 and the rotor 110 are respectively arranged opposite to each other and coaxially. In an optional embodiment, a baffle is provided on the rotor 110 to form a circular ring-shaped single-pole rotor code channel (not shown) and a multi-pole rotor code channel (not shown). In some embodiments, the stator 120 forms a corresponding induction coil by winding or setting a conductor pattern on a circuit board. In a specific embodiment, the single-pole code channel is provided on the inner ring, and the multi-pole code channel is provided on the outer ring. In other embodiments, there may also be multiple pole-pair code channels with different pole pairs, arranged in a certain order, which may be randomly arranged or arranged from small to large according to the number of pole pairs.

[0028] The specific number of pole pairs of the multi-pole code channel can be 1 pole pair, 2 pole pairs, 3 pole pairs, 4 pole pairs, 5 pole pairs, 7 pole pairs, 8 pole pairs, 9 pole pairs, 10 pole pairs, etc. The number of pole pairs of the multi-pole code channel cannot be increased indefinitely and needs to be set according to the error conditions of the actual test. The number of pole pairs of the external code channel can be greater than the number of pole pairs of the internal code channel. The number of pole pairs of the corresponding multi-pole code channels of the stator 120 and the rotor 110 can be set according to the accuracy requirements of the position detection and the size of the inductive encoder 100.

[0029] Please refer to Figure 2 , Figure 2 : This is a flow chart of the first embodiment of the solution method for the inductive encoder of the present application. The solution method includes: S101: Collect a first electrical signal generated by a single polar code channel to obtain a first angle.

[0030] S102: Collect second electrical signals generated by multiple pairs of polar code channels to obtain a second angle.

[0031] In the inductive encoder 100, the excitation coil (not shown) generates a concentrated axial magnetic field on the stator 120 through a specific winding method and current excitation. The magnetic field has alternating north and south poles. The area between two adjacent magnetic poles (the north pole and the south pole) is the pole-to-pole interval. Each pole-to-pole interval corresponds to a complete magnetic field change cycle. The area of the baffle on the code track of the rotor 110 is set to correspond to the pole-to-pole interval of the stator 120. The baffle on the rotor 110 modulates the magnetic field distribution through the eddy current effect, generating detectable signal changes, which affect the electrical signal collected by the induction coil.

[0032] When the baffle rotates to different positions with the rotor 110, that is, when the baffle's projection falls on different pole-to-pole intervals of the stator 120, the electrical signals collected by the induction coil vary, generating electrical signals with sine and cosine characteristics. The coded inductor uses an inverse tangent algorithm to convert the first and second electrical signals into corresponding rotation angles.

[0033] The first electrical signal and the second electrical signal are continuously collected, and the current first angle and the second angle can be obtained based on the first electrical signal and the second electrical signal collected at the same time, or the first electrical signal or the second electrical signal can be collected in sequence through switch switching.

[0034] S103: Based on the first angle, original pole-to-pole intervals and original angles of multiple pole-to-pole code channels are obtained.

[0035] After power-on, the rotation angle of the rotor 110 is measured based on the first angle obtained by the solution. Since the single-pair-of-pole code channel and the multi-pair-of-pole code channel rotate synchronously on the rotor 110, the corresponding rotation angle of the multi-pair-of-pole code channel can be obtained, and the original pole-to-pole interval of the multi-pair-of-pole code channel can be obtained, and the original angle within the original pole-to-pole interval can be obtained.

[0036] S104: Determine actual pole-to-pole intervals of the plurality of pole-to-pole code channels based on the original pole-to-pole intervals, the original angle, and the second angle.

[0037] S105: Obtaining an actual angle according to the second angle and the actual pole-to-pole interval.

[0038] The components connected to the stator 120 on the inductive decoder use the collected electrical signals to represent the rotational position of the rotor 110. For each rotation of the rotor 110, the mechanical angle of the single-pole code channel is resolved into an electrical angle of 0 to 360 degrees. Each pole pair on the multi-pole code channel can have its mechanical angle resolved into an electrical angle of 0 to 360 degrees, thereby resolving the 0 to 360 degrees of one cycle of the rotor 110 into multiple electrical angles of 0 to 360 degrees. A full cycle of the electrical angle is completed when the electrical angle rotates 360 degrees. The first angle obtained by the inverse tangent algorithm is sinA / cosA=tanA, arctan(tanA)=A. Since the original sensing signal is not a standard sine and cosine signal, the original pole-to-pole interval and original angle calculated based on the first angle may have errors and need to be corrected. Using the second angle to correct the original pole-to-pole interval and original angle can reduce the measurement error caused by hardware, and can measure the rotation angle without initial alignment, thereby improving the accuracy of rotation angle position detection.

[0039] Please refer to Figure 3 , Figure 3 It is a flow chart of the second embodiment of the solution method of the inductive encoder of the present application.

[0040] S201: Collect a first electrical signal generated by a single polar code channel to obtain a first angle.

[0041] S202: Collect second electrical signals generated by multiple pairs of polar code channels to obtain a second angle.

[0042] Among them, step S201 and step 202 are the same as step S101 and step 102, and are not repeated here.

[0043] S203: Based on the first angle, original pole-to-pole intervals and original angles of multiple pole-to-pole code channels are obtained.

[0044] In an optional embodiment, the first electrical signal of the single polar code channel is SIN and COS The second electrical signal of the multi-pole code channel is SIN and COS The first angle of a single pole pair is obtained by using the inverse tangent algorithm. and the second angle of multiple pairs of polar channels . Then we have: The calculation formula of the original pole pair level interval is: ); Use in the calculation formula The function is rounded down to ensure that the original pole-to-pole interval is an integer, which conforms to the structure of the actual pole-to-pole interval.

[0045] The original angle is calculated as: ; That is, the calculation formula of the original angle is The product of N and divided by 360, and then taking the remainder is ,in, is the original pole-pair level interval, is the original angle, is the first angle, and N is the number of pole pairs of the multi-pole code channel.

[0046] In a specific embodiment, the number of pole pairs of the multi-pair code channel is eight pole pairs, which can perform angle calculation with higher accuracy.

[0047] In an optional embodiment, the step of determining the actual pole-to-pole intervals of the plurality of pole-to-pole code channels based on the original pole-to-pole intervals, the original angle, and the second angle includes: Different first preset angle differences are set based on different numbers of pole pairs of the multiple pairs of pole code channels.

[0048] The components connected to the stator 120 on the inductive decoder collect electrical signals to represent the rotational position of the rotor 110. Every time the rotor 110 rotates one circle, the mechanical angle of the single-pole code channel is resolved into an electrical angle of 0 to 360 degrees, and each pole pair on the multi-pole code channel can have its mechanical angle resolved into an electrical angle of 0 to 360 degrees, thereby resolving the 0 to 360 degrees of one circle of the rotor 110 into multiple 0 to 360 degrees. The first angle obtained by the inverse tangent algorithm is sinA / cosA=tanA, arctan(tanA)=A. Since the original induction signal is not a standard sine and cosine signal, the original pole-to-pole interval and the original angle calculated according to the first angle will have errors and need to be corrected. The second angle is used to correct the original pole-to-pole interval and the original, which can reduce the measurement error caused by hardware, and the rotation angle can be measured without initial alignment, thereby improving the accuracy of rotation angle position detection. Therefore, the difference between the second angle and the first angle calculated with high precision using multiple pole-to-pole code channels is calculated to correct the original pole-to-pole interval.

[0049] S204: Calculate a first angle difference between the original angle and the second angle.

[0050] S205: If the absolute value of the first angle difference is less than the first preset angle difference, it is determined that the original pole-to-pole interval is consistent with the actual pole-to-pole interval.

[0051] In an optional embodiment, S206: If the absolute value of the first angle difference is greater than the first preset angle difference, the original pole-to-pole interval is judged to be inconsistent with the actual pole-to-pole interval, including: judging whether the original angle is greater than 180 degrees; if so, the next interval of the original pole-to-pole interval is the actual pole-to-pole interval; if not, the previous interval of the original pole-to-pole interval is the actual pole-to-pole interval.

[0052] In an optional embodiment, since there is an error between the mechanical angle and the solved angle of the single-pair-of-pole code channel and the multi-pair-of-pole code channel, that is, the absolute angle error, if only the single-pair-of-pole code channel is used for angle calculation, there may be a deviation in the interval. The initial interval judgment error will cause the final solved absolute position to deviate by at least Spend.

[0053] Set the maximum difference between the absolute angle error of a single-pair-of-epipolar code channel and the absolute angle error of a multi-pair-of-epipolar code channel to , then the first preset difference The value range is: greater than And less than 180 degrees.

[0054] like Less than , then the current interval is considered Equal to the original interval ;like Greater than , then determine the original angle Is it greater than 180 degrees? If so, it is considered to be the actual pole-to-pole interval is the original pole-to-pole interval If not, the current interval is considered is the original pole-to-pole interval Previous one.

[0055] If the original angle is greater than 180°, the calculated original pole-to-pole interval may lag, meaning it is one interval less than the actual pole-to-pole interval. Compensation logic requires advancing the original pole-to-pole interval to offset the lag error and obtain the actual pole-to-pole interval. The actual pole-to-pole interval should be the interval immediately following the original pole-to-pole interval. If the original angle is less than or equal to 180°, the solution may be ahead, and the actual interval should be the interval immediately preceding the original pole-to-pole interval.

[0056] The first pole-to-pole interval can be set, with the single-pole code track and the multi-pole code track magnetic pole as the starting point. The next clockwise or counterclockwise pole-to-pole interval can be set according to the rotation direction of the rotor 110. In some embodiments, it is clockwise, and in other embodiments, it can also be set counterclockwise.

[0057] S207: Obtaining an actual angle according to the second angle and the actual pole-to-pole interval.

[0058] In an optional embodiment, the calculation formula for obtaining the actual angle according to the second angle and the actual pole-to-pole interval is: ; in, is the actual angle, is the actual pole-to-pole interval, is the second angle, and N is the number of pole pairs of the multi-pole code channel.

[0059] In this embodiment, the step of using the first angle and the second angle to determine the original pole-to-pole interval and the actual pole-to-pole angle is performed when the inductive encoder 100 is powered on. During the operation of the inductive encoder 100, there is no need to correct the original pole-to-pole interval and the original angle again to obtain the actual pole-to-pole interval and the actual angle.

[0060] Please refer to Figure 4 , Figure 4 : is a flow chart of the third embodiment of the method for solving the inductive encoder of the present application. In an optional embodiment, the method further includes: S301: collecting a second electrical signal once at a preset time interval, and obtaining a historical second angle and a current second angle based on two consecutive collected second electrical signals.

[0061] The preset measurement time interval can be between 5 microseconds and 100 milliseconds, which can be determined according to the application scenario of the inductive decoder. It can be suitable for application scenarios such as high-speed motors, rotating shafts or electric valves that require high-precision measurement and fast response control.

[0062] The historical second angle and the current second angle refer to the electrical angle calculated within the pole-to-pole interval, ranging from 0 to 360 degrees.

[0063] S302: Obtain a historical actual pole-to-pole level interval corresponding to the historical second angle, and determine a current actual pole-to-pole interval based on the historical actual pole-to-pole level interval, the historical second angle, and the current second angle.

[0064] S303: Obtain the current actual angle according to the current second angle and the current actual pole-pair level interval.

[0065] The relative rotation angle of the rotor 110 is obtained based on the second angle difference, and thus the actual angle can be obtained based on the historical measurement data and the relative rotation angle. Since the pole-to-pole interval of the rotor 110 changes during the rotation process, the current pole-to-pole interval needs to be updated to achieve high-precision measurement and ensure reliability and accuracy.

[0066] Please refer to Figure 5 , Figure 5 It is a flowchart of the fourth embodiment of the solution method of the inductive encoder of the present application.

[0067] S401: Collect a second electrical signal once at a preset time interval, and obtain a historical second angle and a current second angle based on two consecutive collected second electrical signals. Step S401 and step S301 are not described in detail here.

[0068] The steps of obtaining the historical actual pole-to-pole level interval corresponding to the historical second angle and determining the current actual pole-to-pole interval based on the historical actual pole-to-pole level interval, the historical second angle and the current second angle include: S402: calculating the second angle difference between the historical second angle and the current second angle.

[0069] S403: If the absolute value of the second angle difference is less than the second preset angle difference, determining that the current actual pole-to-pole interval is consistent with the historical actual pole-to-pole interval; The second angle difference is , the second preset angle difference is 180 degrees, based on the second angle difference detection pole to pole interval change, if If the current actual pole-to-pole interval is less than or equal to 180°, the original pole-to-pole interval should be used. If it is greater than 180 degrees, it means that the current actual pole-to-pole interval is inconsistent with the historical actual pole-to-pole interval.

[0070] In an optional embodiment, S404: if the absolute value of the second angle difference is greater than the second preset angle difference, it is determined that the current actual pole-to-pole interval is inconsistent with the historical actual pole-to-level interval, including: if the second angle difference is a positive number, the previous interval of the historical actual pole-to-level interval is the current actual pole-to-pole interval; if the second angle difference is a negative number, the next interval of the historical actual pole-to-level interval is the current actual pole-to-pole interval.

[0071] When the second angle difference is positive, it indicates a reverse zero crossing across the pole pair, i.e., rotor 110 is rotating counterclockwise, and the interval preceding the historical actual pole-pair level interval is the current actual pole-pole interval. A negative difference indicates a positive zero crossing across the pole pair, i.e., rotor 110 is rotating clockwise, and the interval following the historical actual pole-pair level interval is the current actual pole-pole interval.

[0072] S405: Obtain the current actual angle according to the current second angle and the current actual pole-pair level interval.

[0073] In an optional implementation, the calculation formula for obtaining the actual angle based on the current second angle and the actual pole-to-pole interval is: ; in, is the actual angle, is the actual pole-to-pole interval, is the current second angle, and N is the number of pole pairs of the multiple pole code channels.

[0074] The relative rotation angle of rotor 110 is calculated based on the second angle difference, and the actual angle can be calculated by combining the historical measurement data with the relative rotation angle. Since the pole-to-pole interval of rotor 110 changes during rotation, the current pole-to-pole interval must be updated to achieve high-precision measurement and ensure reliability and accuracy. In some embodiments, the current second angle can be used as the historical second angle for the next solution, enabling continuous solution and measurement.

[0075] The above-mentioned embodiment provides a solution method for an inductive encoder, which collects electrical signals from two code channels with different pole pairs, determines the actual pole-to-pole interval to obtain the actual angle, and the electrical angles obtained based on the electrical signal solution can be determined and corrected with each other to achieve effective and reliable position detection and high-precision measurement, thereby ensuring the stability and reliability of position detection, improving the accuracy, convenience and safety of control, and improving the reliability and stability of the inductive encoder 100, which is conducive to reducing the maintenance cost of the inductive encoder.

[0076] In order to solve the above technical problems, the second aspect of the present application provides an inductive encoder. The structure of the inductive encoder 100 can refer to Figure 1 A structural diagram of an embodiment of an inductive encoder of the present application.

[0077] The basic structure of the inductive encoder 100 consists of a stator 120 and a rotor 110. The stator 120 is wound with an excitation coil track 122 and an induction coil track 121. When an excitation signal is applied to the excitation coil (not shown), it generates a varying magnetic field. The induction coil track 121, in turn, generates an induced electromotive force signal corresponding to the excitation signal due to the principle of electromagnetic induction. The conductive material in the rotor 110 induces eddy currents in the magnetic field, generating an electromagnetic field in the opposite direction to the induction coil's magnetic field, weakening the original induced magnetic field below it.

[0078] Please refer to Figure 6 , Figure 6 1 is a schematic structural diagram of a rotor 110 of another embodiment of the inductive encoder of the present application.

[0079] Inductive encoder 100 includes a single-pole code channel (not shown) for generating a first electrical signal and a multi-pole code channel (not shown) for generating a second electrical signal. The single-pole code channel includes a corresponding single-pole induction coil code channel (not shown) and a single-pole rotor code channel 1111, while the multi-pole code channel includes a corresponding multi-pole induction coil code channel (not shown) and a multi-pole rotor code channel 1112. The induction coil code channel is arranged opposite and coaxially with the rotor code channel to collect the first electrical signal and / or the second electrical signal, thereby implementing any of the aforementioned inductive encoder resolution methods.

[0080] The stator 120 and the rotor 110 are both provided with a single-pole code track and a multi-pole code track. The single-pole code track and the multi-pole code track of the stator 120 and the rotor 110 are respectively arranged opposite to each other and coaxially.

[0081] The rotor 110 is provided with baffles 112, forming a circular single-pole rotor track 1111 and a multi-pole rotor track 1112. In some embodiments, the stator 120 forms corresponding induction coil tracks 121 by winding wire or by patterning a conductor on a circuit board. In one specific embodiment, the single-pole track is provided on the inner circle, and the multi-pole track is provided on the outer circle. In other embodiments, multiple multi-pole tracks with different numbers of pole pairs may be provided, arranged in a specific order, either randomly or in ascending order of pole pair number.

[0082] In a specific embodiment, the number of pole pairs of the multi-pair code channel is eight pole pairs, which can perform angle calculation with higher accuracy.

[0083] The specific number of pole pairs of the multi-pole code channel can be 1 pair of poles, 2 pairs of poles, 3 pairs of poles, 4 pairs of poles, 5 pairs of poles, 7 pairs of poles, 8 pairs of poles, 9 pairs of poles, 10 pairs of poles, etc. The number of pole pairs of the multi-pole code channel cannot be increased indefinitely, and the number of pole pairs needs to be set according to the error conditions of the actual test. The number of pole pairs of the external code channel can be greater than the number of pole pairs of the internal code channel. The number of pole pairs of the corresponding multi-pole code channels of the stator 120 and the rotor 110 can be set according to the accuracy requirements of the position detection and the size of the inductive encoder 100. In some embodiments, the stator 120 forms a corresponding excitation coil code channel by winding or setting a wire pattern on a circuit board.

[0084] The components connected to the stator 120 on the inductive decoder use the collected electrical signals to represent the rotational position of the rotor 110. Each time the rotor 110 rotates one circle, the mechanical angle of the single-pole rotor code channel 1111 is resolved into an electrical angle of 0 to 360 degrees. Each pair of poles on the multi-pole rotor code channel 1112 can have its mechanical angle resolved into an electrical angle of 0 to 360 degrees. Thus, the 0 to 360 degrees of one circle of the rotor 110 is resolved into multiple electrical angles of 0 to 360 degrees. A full cycle is completed when the electrical angle rotates 360 degrees. The first angle obtained by the inverse tangent algorithm is sinA / cosA=tanA, arctan(tanA)=A. Since the original sensing signal has errors and is not a standard sine and cosine signal, the original pole-to-pole interval and original angle calculated based on the first angle may have errors and need to be corrected. Using the second angle to revise the original pole-to-pole interval and original can reduce the measurement error caused by hardware, and the rotation angle can be measured without initial alignment, thereby improving the accuracy of rotation angle position detection.

[0085] When the rotor 110 is at different positions, the electrical signals generated by the induction coil code channel 121 are also different, so the relative angle between the rotor 110 and the stator 120 can be calculated to achieve the angle calculation of the encoder.

[0086] Please refer to Figure 7 , Figure 7 This is a schematic diagram of the stator coil structure of another embodiment of the inductive encoder of the present application.

[0087] The single-pole induction coil code channel 1211 is set to correspond to the single-pole rotor code channel 1111, and the multi-pole induction coil code channel 1212 is set to correspond to the multi-pole rotor code channel 1112.

[0088] The induction coil code channel 121 of the corresponding code channel is composed of two or more sinusoidal curves drawn with a reference circle as the symmetry axis, which is used to sense the alternating magnetic field generated by the excitation coil code channel 122 and collect the magnetic field signal to generate an electrical signal of voltage. The sinusoidal curves differ by a certain angle, so that there is a phase difference between the induced output signals.

[0089] In the inductive encoder 100, the excitation coil code track 122 generates a concentrated axial magnetic field on the stator 120 through a specific winding method and current excitation. The magnetic field has alternating north and south poles. The area between two adjacent magnetic poles (north pole and south pole) is a pole-to-pole interval. Each pole-to-pole interval corresponds to a complete magnetic field change cycle. The baffle area on the code track of the rotor 110 is set corresponding to the pole-to-pole interval of the stator 120. The baffle 112 on the rotor 110 modulates the magnetic field distribution through the eddy current effect, generating detectable signal changes, which affect the electrical signal collected by the induction coil code track 121.

[0090] Alternating the excitation coil code channel 122 and the induction coil code channel 121 can better control the distribution of the magnetic field, making the magnetic field more concentrated and more sensitively capturing changes in the rotor 110; alternating the excitation coil code channel 122 and the induction coil code channel 121 can also effectively reduce the mutual inductance between the excitation coil code channel 122 and the induction coil code channel 121, avoid mutual interference, and improve the stability and accuracy of the system.

[0091] The rotor 110 and the stator 120 are arranged parallel and coaxially with each other and fall within the range of the excitation coil track 122 and the induction coil track 121 .

[0092] When baffle 112 rotates to different positions with rotor 110 (i.e., when the projection of baffle 112 falls on different pole-to-pole intervals of stator 120), the electrical signals collected by induction coil code channel 121 vary, generating electrical signals with sine and cosine characteristics. The coded inductor uses an inverse tangent algorithm to convert the first and second electrical signals into corresponding rotation angles, thereby determining the actual angle of rotor 110.

[0093] The first electrical signal and the second electrical signal are continuously collected, and the current first angle and the second angle can be obtained based on the first electrical signal and the second electrical signal collected at the same time, or the first electrical signal or the second electrical signal can be collected in sequence through switch switching.

[0094] In an optional embodiment, the single-pole rotor code track 1111 includes a first baffle 1121, which covers half of the circumference of the single-pole rotor code track 1111; the multi-pole rotor code track 1112 includes a plurality of second baffles 1122 arranged corresponding to the number of pole pairs, and the second baffles 1122 are evenly distributed and spaced apart; the position where the edges of the first baffle 1121 and the second baffle 1122 radially overlap is the starting position of the single-pole and multi-pole rotor code tracks 1112.

[0095] Both the single-pole rotor track 1111 and the multi-pole rotor track 1112 on rotor 110 are provided with sector-shaped regions that equally divide the circular track. The number of sector-shaped regions on each rotor track 110 is equal to the number of pole pairs in the corresponding rotor track. Spacing pieces 112 are interspersed between the sector-shaped regions. The sector-shaped area of each spacing piece 112 should cover one cycle of the excitation coil track 122. Spacing pieces 112 are formed by applying a conductive material layer axially on the corresponding track of rotor 110, toward the stator 120 coil. Spacing pieces 112 can be conductive metal sheets. They are used to generate a magnetic field signal that is opposite to the magnetic field signal of the corresponding excitation coil track 122.

[0096] The location where the edges of the baffles 112 of the single-pole rotor track 1111 and the multi-pole rotor track 1112 radially overlap is set as the initial position of the induction rotor 110. With the initial position as a reference point, the angle of rotation at the initial position is the rotation angle between the induction rotor 110 and the rotor 110. The initial position and the positions of the other baffles 112 are relatively fixed. The actual rotational angle of the entire rotor 110 can be calculated based on the pole-to-pole interval position of the initial position.

[0097] The baffle 112 is formed by arranging a metal layer axially on the rotor 110 in the direction of the stator 120 coil on the corresponding code track. The induction rotor 110 outside the baffle 112 is far away from the stator 120 coil and will not affect the collection of electrical signals.

[0098] Please refer to Figure 8 , Figure 8 1 is a schematic diagram of the combined structure of the stator 120 coil and the rotor 110 of another embodiment of the inductive encoder of the present application.

[0099] In an optional embodiment, the inner diameter of the first baffle 1121 is at least smaller than the inner diameter of the single-pole induction coil code track 1211, and the outer diameter of the first baffle 1121 is at least larger than the outer diameter of the single-pole induction coil code track 1211; the inner diameter of the second baffle 1122 is at least smaller than the inner diameter of the multi-pole induction coil code track 1212, and the outer diameter of the second baffle 1122 is at least larger than the outer diameter of the multi-pole induction coil code track 1212.

[0100] The diameter of the rotor 110 is greater than or equal to the stator 120 coil, so that the rotor 110 can receive the magnetic field signal generated by the excitation coil code 122 to the maximum extent, and the induction coil code 121 can receive the magnetic field signal between the rotor 110 and the stator 120 to the maximum extent.

[0101] In an optional embodiment, the induction coil code channel 121 is arranged on a circuit board including multiple layout layers and multiple output line layers; the induction coil code channel 121 includes at least two induction coils, and multiple curved segments of the induction coils are arranged in sequence on each layout layer and connected using vias, and the induction coil code channel 121 uses vias to output lines to access each output line layer.

[0102] In an optional embodiment, the induction coils are wired with a phase difference of 90 degrees; the zero points of at least one cycle of the induction coils in each induction coil code channel 121 are the same.

[0103] Two induction wires are wired with a phase difference of 90 degrees to form an induction coil. Each pair of poles of the induction coil collects a complete sine and cosine magnetic field signal at two points radially spaced 90 degrees apart in electrical angle. The induction coil code 121 collects the sine and cosine magnetic field signals affected by the rotor 110. Through the inverse tangent algorithm, the mechanical angle corresponding to each pair of poles of the rotor 110 can be resolved into an electrical angle of 0 to 360 degrees.

[0104] In an optional embodiment, the period of the induction coil corresponding to the single-pole rotor code channel 1111 is 2 The period of the induction coil corresponding to the multi-pole rotor code 1112 is N*2 , N is the number of pole pairs. When the rotor 110 moves, the generated electrical signal changes in a sine-cosine shape with N cycles.

[0105] In other embodiments, four coils may be arranged with a 90-degree difference to form a differential, three coils may be arranged with a 0.5-degree difference, and six coils may be arranged with a 60-degree difference to form a differential. The angle calculation algorithms under different arrangement modes will also be different.

[0106] In an optional embodiment, the inductive encoder 100 includes: at least one excitation coil code track 122, each excitation coil code track 122 including at least two excitation coils; the excitation coils are arranged on each layout layer, and each excitation coil is arranged in a one-to-one correspondence with the layout layer and the output layer; and the output wires are connected to each output layer through one of the excitation coils; the excitation coil code tracks 122 and the induction coil code tracks 121 are arranged alternately, and at least one excitation coil code track 122 is arranged between adjacent induction coil code tracks 121. When current passes through the excitation coil, a magnetic field signal is generated. In the case of multiple code tracks, the excitation coils of each excitation coil code track 122 are interconnected, and the entire excitation coil is drawn to form a continuous conductor.

[0107] Each induction coil code channel 121 is composed of two or more sinusoidal curves drawn with a reference circle as the axis of symmetry. It is used to sense the alternating magnetic field generated by its excitation coil code channel 122 and collect the magnetic field signal to generate an electrical signal of voltage. The sinusoidal curves differ by a certain angle, so that there is a phase difference between the induced output signals.

[0108] In some embodiments, there are three excitation coil code channels 122 , so that there are excitation coil code channels 122 on both the inner and outer sides of the induction coil code channel 121 , thereby ensuring the quality of the induction signal of the induction coil code channel 121 .

[0109] Alternating the excitation coil code channel 122 and the induction coil code channel 121 can better control the distribution of the magnetic field, making the magnetic field more concentrated and more sensitively capturing changes in the induction rotor 110; alternating the excitation coil code channel 122 and the induction coil code channel 121 can also effectively reduce the mutual inductance between the excitation coil code channel 122 and the induction coil code channel 121, avoid mutual interference, and improve the stability and accuracy of the system.

[0110] In some embodiments, the gap width between the baffles 112 between the rotors 110 is smaller than the width of the excitation coil track 122, ensuring that the baffles 112 in adjacent tracks of the rotor 110 can receive the magnetic field signal generated by the intermediate excitation coil track 122. In a specific embodiment, the width of the baffles 112 is greater than the gap width, allowing the baffles 112 to receive the magnetic field signal generated by the excitation coil track 122 to the greatest extent possible.

[0111] In an optional embodiment, the multi-pole rotor code channel 1112 has eight pole pairs, and the mechanical angle of the rotor 110 rotating from 0 to 360° is resolved into eight electrical angles of 0 to 360°.

[0112] Please refer to Figure 9 , Figure 9 FIG. 1 is a structural diagram of a signal processing circuit 130 of another embodiment of the inductive encoder of the present application.

[0113] In an optional embodiment, the inductive encoder 100 includes a signal processing circuit 130, which is respectively connected to the excitation coil code channel 122 and the induction coil code channel 121 to process and correct the electrical signal generated by the magnetic field signal. For example, the period of the magnetic field of the multi-pole code channel is determined by the angle of the magnetic field signal of the single-pole code channel, and the electrical signals representing the electrical angles of the single-pole rotor code channel 1111 and the multi-pole rotor code channel 1112 are obtained, thereby improving the resolution and accuracy of the solution and accurately obtaining the rotation angle of the rotor 110.

[0114] In an optional embodiment, the signal processing circuit 130 includes a receiving circuit 131 connected to the induction coil code channel 121 . The receiving circuit 131 is also connected to a control chip 132 . The control chip 132 is used to switch the induction coil code channel 121 connected to the receiving circuit 131 .

[0115] Since the electrical signal of the single-pole induction coil code channel 1211 needs to be collected only when the actuator 200 is powered on, the electrical signals of different induction coil code channels 121 can be switched by switching the connection of the receiving circuit 131; the output end of the receiving circuit 131 can be connected to the first input port or the second input port to transmit the collected electrical signals of the induction coil code channel 121 of the single-pole induction coil code channel 1211 or the multi-pole induction coil code channel 1212; and the electrical signals collected by the induction coil code channel 121 can be processed and resolved.

[0116] The signal processing circuit 130 includes a generating circuit 133, which is connected to the excitation coil code channel 122 to form a resonant circuit; the generating circuit 133 is also connected to the control chip 132, which controls the generating circuit 133 to generate a sinusoidal signal, so that the excitation coil code channel 122 generates an alternating magnetic field signal.

[0117] Please refer to Figure 10 , Figure 10 This is a partial structural diagram of a receiving circuit of another embodiment of the inductive encoder of the present application.

[0118] In a specific embodiment, the induction coil channel 121 includes a single-pole induction coil channel 1211 and a multi-pole induction coil channel 1212. The corresponding rotor 110 includes a single-pole rotor channel 1111 and a multi-pole rotor channel 1112. The single-pole induction coil channel 1211 is the inner ring induction coil channel 121, and the multi-pole induction coil channel 1212 is the outer ring induction coil channel 121. The switch is a double-pole double-throw analog switch, with com1 and com2 connected to the signal amplification structure as output ports, NC1 and NC2 connected to the induction coils of the multi-pole induction coil channel 1212 as second output ports, and NO1 and NO2 connected to the induction coil channel 121 of the multi-pole induction coil channel 1212 as second output ports. A0 is the control terminal for switching. When A0 is low, com1 and com2 connect to NC1 and NC2, analog switches outputting the electrical signal from the inner induction coil channel 121. When A0 is high, com1 and com2 connect to NO1 and NO2, analog switches outputting the electrical signal from the outer induction coil. A0 is connected to control chip 132, which controls the selection of magnetic field signals from a single-pole channel or multiple-pole channels.

[0119] In other embodiments, two signal receiving circuits 131 may be connected to two induction coil code channels 121 respectively to collect corresponding electrical signals.

[0120] To solve the above technical problems, the third aspect of the present application provides an actuator 200 , comprising: a motor 201 ; and an inductive encoder 100 as described in any one of the above items, wherein the inductive encoder 100 is connected to the motor 201 .

[0121] Figure 11 This is an exploded diagram of the structure of an embodiment of the actuator of this application. Among them, the structure of the inductive encoder can refer to Figure 1 A structural diagram of an embodiment of the inductive encoder of the present application or Figure 8 This is a schematic diagram of the combined structure of the stator coil and the rotor of another embodiment of the inductive encoder of the present application, which will not be described in detail here.

[0122] In an optional embodiment, the actuator 200 includes a rotating shaft, and the motor 201 is connected to the rotating shaft for connecting to and driving an external device; the rotating shaft is provided with a rotor 110, and the rotor 110 is arranged around the rotating shaft and coaxially with the rotating shaft; the rotation angle of the rotor 110 can directly reflect the rotation angle of the rotating shaft, and then the driving condition of the driven external device can be intuitively obtained through the rotation angle of the rotor 110, and the operating state of the motor 201 can be controlled according to the angular position of the rotating shaft.

[0123] In an optional embodiment, actuator 200 is connected to a water valve. Actuator 200 includes a rotating shaft (not shown) connected to a motor 201, which drives the rotating shaft. One end of the rotating shaft is splined to connect to the valve core, driving the valve core to rotate and control the flow rate and direction of the fluid within the valve core. In other embodiments, the rotating shaft is connected to an operating device, transport device, or other external equipment that requires actuator 200 to drive.

[0124] Different from the existing technology, the present application provides an inductive encoder solution method, an inductive encoder and an actuator, which can effectively and reliably perform position detection by solving the electrical signals generated by single-pair-of-pole code channels and multi-pair-of-pole code channels. The structural settings of the two code channels can be corrected to each other, which can ensure the stability and reliability of position detection, improve the accuracy, convenience and safety of measurement, improve the reliability and stability of the inductive encoder, and help reduce the maintenance cost of the inductive encoder.

[0125] In the several embodiments provided in this application, it should be understood that the disclosed systems and devices can be implemented in other ways. For the technical solutions in the embodiments of this application, it is obvious that the described embodiments are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application. For example, the device implementation methods described above are only schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0126] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back, etc.), such directional indications are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0127] In the description of this application, it should be noted that, unless otherwise expressly specified or limited, the terms "coupled," "connected," "connected," "set," and "installed" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0128] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of this embodiment.

[0129] In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the fact that ordinary technicians in this field can implement them. When the combination of technical solutions is mutually contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0130] The above description is only an implementation method of the present application and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the description and drawings of this application, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A method for calculating an inductive encoder, characterized in that: The inductive encoder includes a single-pole code channel and a multi-pole code channel, and the solution method includes: Collecting a first electrical signal generated by a single polar code channel to obtain a first angle; collecting a second electrical signal generated by the plurality of pairs of polar code channels to obtain a second angle; Based on the first angle, obtaining original pole-to-pole intervals and original angles of the plurality of pole-to-pole code channels; Determining actual pole-to-pole intervals of the plurality of pole-to-pole code channels based on the original pole-to-pole interval, the original angle, and the second angle; An actual angle is obtained according to the second angle and the actual pole-to-pole interval.

2. The solution method according to claim 1, characterized in that: The step of determining the actual pole-to-pole interval of the multiple pole-to-pole code channels based on the original pole-to-pole interval, the original angle within the interval, and the second angle includes: Calculating a first angle difference between the original angle and the second angle; If the absolute value of the first angle difference is less than a first preset angle difference, determining that the original pole-to-pole interval is consistent with the actual pole-to-pole interval; If the absolute value of the first angle difference is greater than a first preset angle difference, it is determined that the original pole-to-pole interval is inconsistent with the actual pole-to-pole interval.

3. The solution method according to claim 2, characterized in that: If the absolute value of the first angle difference is greater than a first preset angle difference, the step of determining that the original pole-to-pole interval is inconsistent with the actual pole-to-pole interval includes: Determine whether the original angle is greater than 180 degrees; If so, the next interval of the original pole-to-pole interval is the actual pole-to-pole interval; If not, the previous interval of the original pole-to-pole interval is the actual pole-to-pole interval.

4. The solution method according to claim 1, characterized in that: The step of obtaining the actual angle according to the actual pole-to-pole interval comprises: The calculation formula of the actual angle is: ; in, is the actual angle, is the actual pole-to-pole interval, is the second angle, and N is the number of pole pairs of the multiple pairs of pole code channels.

5. The solution method according to claim 1, characterized in that: The step of obtaining the original pole-to-pole intervals and original angles of the plurality of pole-to-pole code channels based on the first angle includes: The calculation formula of the original pole pair level interval is: ; The calculation formula of the original angle is: ; in, is the original pole pair level interval, is the original angle, is the first angle, and N is the number of pole pairs of the multiple pairs of pole code channels.

6. The solution method according to claim 1, characterized in that: The method further comprises: collecting the second electrical signal once at a preset time interval, and obtaining a historical second angle and a current second angle based on two consecutive collections of the second electrical signals; Obtaining a historical actual pole-to-pole level interval corresponding to the historical second angle, and determining a current actual pole-to-pole interval based on the historical actual pole-to-pole level interval, the historical second angle, and the current second angle; A current actual angle is obtained according to the current second angle and the current actual pole pair level interval.

7. The solution method according to claim 6, characterized in that: The step of determining the current actual pole-to-pole interval based on the historical actual pole-to-pole interval, the historical second angle, and the current second angle includes: Calculating a second angle difference between the historical second angle and the current second angle; If the absolute value of the second angle difference is less than the second preset angle difference, determining that the current actual pole-to-pole interval is consistent with the historical actual pole-to-pole interval; If the absolute value of the second angle difference is greater than the second preset angle difference, it is determined that the current actual pole-to-pole interval is inconsistent with the historical actual pole-to-pole interval.

8. The solution method according to claim 7, characterized in that: If the absolute value of the second angle difference is greater than the second preset angle difference, the step of determining whether the current actual pole-to-pole interval is inconsistent with the historical actual pole-to-pole interval includes: If the second angle difference is a positive number, the previous interval of the historical actual pole-to-pole interval is the current actual pole-to-pole interval; If the second angle difference is a negative number, the next interval of the historical actual pole-to-pole interval is the current actual pole-to-pole interval.

9. An inductive encoder, characterized in that: The inductive encoder comprises: A single polar code channel for generating a first electrical signal; Multiple polar code channels for generating a second electrical signal; Wherein, the single-pole code channel includes a corresponding single-pole induction coil code channel and a single-pole rotor code channel, and the multi-pole code channel includes a corresponding multi-pole induction coil code channel and a multi-pole rotor code channel; The induction coil code tracks are respectively arranged opposite to and coaxially with the rotor code tracks, and are used to collect the first electrical signal and / or the second electrical signal to implement the solution method of the inductive encoder according to any one of claims 1-8.

10. The inductive encoder according to claim 9, wherein: The single-pole rotor code track includes a first baffle, which covers a half circumference area of the single-pole rotor code track; The multi-pole rotor code track includes a plurality of second baffles arranged corresponding to the number of pole pairs, and the second baffles are evenly distributed and spaced apart; The position where the edges of the first baffle and the second baffle radially overlap is the starting position of the single-pole rotor code track and the multi-pole rotor code track.

11. The inductive encoder according to claim 10, wherein: The inner diameter of the first baffle is at least smaller than the inner diameter of the single-pole induction coil code track, and the outer diameter of the first baffle is at least larger than the outer diameter of the single-pole induction coil code track; The inner diameter of the second baffle is at least smaller than the inner diameter of the multi-pole induction coil code track, and the outer diameter of the second baffle is at least larger than the outer diameter of the multi-pole induction coil code track.

12. The inductive encoder according to claim 9, wherein: The induction coil is arranged on a circuit board comprising a plurality of layout layers and a plurality of outgoing line layers; One induction coil code channel includes at least two induction coils, and a plurality of curved segments of the induction coils are sequentially arranged on each of the arrangement layers and connected using vias. The induction coils are connected to each of the output layers through output wires through the vias.

13. The inductive encoder according to claim 12, wherein: The induction coils are wired with a phase difference of 90 degrees; and the zero points of at least one cycle of the induction coils in each of the induction coil code channels are the same.

14. The inductive encoder according to claim 12, wherein: The inductive encoder comprises: at least one excitation coil code track, wherein the excitation coil code track includes at least two excitation coils; The excitation coil code channel is arranged on each of the layout layers, and each of the excitation coils is arranged in one-to-one correspondence with the layout layer and the output layer; and an output line is connected to each of the output layers through one of the excitation coil code channels; The excitation coil code tracks and the induction coil code tracks are alternately arranged, and at least one excitation coil code track is arranged between adjacent induction coil code tracks.

15. An actuator, characterized in that: include: Motor; The inductive encoder according to any one of claims 9 to 14, wherein the inductive encoder is connected to the motor.

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