Method for resolving an inductive encoder, inductive encoder and actuator

Abstract

The application provides a method for solving an inductive encoder, the inductive encoder and an executor, wherein the inductive encoder comprises a single-pole pair code channel and a multi-pole pair code channel, the method comprises the following steps: collecting a first electric signal generated by the single-pole pair code channel to obtain a first angle; collecting a second electric signal generated by the multi-pole pair code channel to obtain a second angle; obtaining an original pole pair interval and an original angle of the multi-pole pair code channel based on the first angle; determining an actual pole pair interval of the multi-pole pair code channel based on the original pole pair interval, the original angle and the second angle; and obtaining an actual angle according to the second angle and the actual pole pair interval. In the above manner, the position detection can be effectively and reliably performed, the measurement accuracy 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, in particular to an inductive encoder solving method, an inductive encoder and an actuator. BACKGROUND

[0002] An inductive encoder is a measuring device based on electromagnetic induction principle, used for measuring the rotation angle and position of a mechanical device, etc. Its basic structure includes a stator and a rotor, the stator is wound with an excitation coil and an induction coil, the excitation coil will produce a changing magnetic field after the excitation signal is input. The induction coil will produce an induced electromotive force signal corresponding to the excitation signal due to the electromagnetic induction principle. The conductive material in the rotor will induce eddy current in the magnetic field, producing an electromagnetic field opposite to the direction of the magnetic field of the induction coil, weakening the original magnetic field below. When the rotor is at different positions, the electrical signal generated by the encoder is also different, so the relative angle between the rotor and the induction coil can be calculated to realize the angle calculation of the encoder.

[0003] The existing inductive encoder cannot guarantee high-precision position monitoring, which greatly affects the measurement quality. Therefore, solving the technical challenges of position detection stability, reliability and measurement accuracy has become an urgent need to improve the performance of inductive encoders. SUMMARY

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

[0005] To solve the above technical problems, the present application provides an inductive encoder solving method in the first aspect.

[0006] The inductive encoder includes a single pair of pole code channel and a plurality of pairs of pole code channels, and the solving method includes:

[0007] Collecting a first electrical signal generated by the single pair of pole code channel to obtain a first angle; collecting a second electrical signal generated by the plurality of pairs of pole code channels to obtain a second angle; based on the first angle, obtaining an original pole-pole interval and an original angle of the plurality of pairs of pole code channels; based on the original pole-pole interval, the original angle and the second angle, determining an actual pole-pole interval of the plurality of pairs of pole code channels; and based on the second angle and the actual pole-pole interval, obtaining an actual angle.

[0008] The step of determining the actual pole-pair interval of the plurality of pole-pair channels based on the original pole-pair interval, the original angle in the interval and the second angle comprises: calculating a first angle difference between the original angle and the second angle; if an absolute value of the first angle difference is less than a first preset angle difference, determining that the original pole-pair interval is consistent with the actual pole-pair interval; and if the absolute value of the first angle difference is greater than the first preset angle difference, determining that the original pole-pair interval is inconsistent with the actual pole-pair interval.

[0009] If the absolute value of the first angle difference is greater than the first preset angle difference, the step of determining that the original pole-pair interval is inconsistent with the actual pole-pair interval comprises: determining whether the original angle is greater than 180 degrees; if yes, determining that a next interval of the original pole-pair interval is the actual pole-pair interval; and if no, determining that a previous interval of the original pole-pair interval is the actual pole-pair interval.

[0010] The actual angle is obtained according to the actual pole-pair interval, and the step comprises: an actual angle calculation formula is: ; wherein, is the actual angle, is the actual pole-pair interval, is the second angle, and N is the number of pole pairs of the plurality of pole-pair channels.

[0011] The step of obtaining the original pole-pair interval and the original angle of the plurality of pole-pair channels based on the first angle comprises: an original pole-pair interval calculation formula is: ; and an original angle calculation formula is: ; wherein, is the original pole-pair interval, is the original angle, is the first angle, and N is the number of pole pairs of the plurality of pole-pair channels.

[0012] The method further comprises: collecting the second electric signal once every preset time interval, obtaining a historical second angle and a current second angle according to the second electric signal collected twice in succession, obtaining a historical actual pole-pair interval corresponding to the historical second angle, determining a current actual pole-pair interval based on the historical actual pole-pair interval, the historical second angle and the current second angle, and obtaining a current actual angle according to the current second angle and the current actual pole-pair interval.

[0013] The step of determining the current actual pole-pole interval based on the historical actual pole-pole interval, the historical second angle and the current second angle comprises: calculating a second angle difference between the historical second angle and the current second angle; if an absolute value of the second angle difference is less than a second preset angle difference, determining that the current actual pole-pole interval is consistent with the historical actual pole-pole interval; and if the absolute value of the second angle difference is greater than the second preset angle difference, determining that the current actual pole-pole interval is inconsistent with the historical actual pole-pole interval.

[0014] The step of determining that the current actual pole-pole interval is inconsistent with the historical actual pole-pole interval if the absolute value of the second angle difference is greater than the second preset angle difference comprises: if the second angle difference is positive, determining that a previous interval of the historical actual pole-pole interval is the current actual pole-pole interval; and if the second angle difference is negative, determining that a next interval of the historical actual pole-pole interval is the current actual pole-pole interval.

[0015] To solve the above technical problem, the second aspect of the present application provides an inductive encoder, wherein the inductive encoder comprises: a single-pole-pair code track for generating a first electrical signal; and a multi-pole-pair code track for generating a second electrical signal; wherein the single-pole-pair code track comprises a single-pole-pair inductive coil code track and a single-pole-pair rotor code track, and the multi-pole-pair code track comprises a multi-pole-pair inductive coil code track and a multi-pole-pair rotor code track; the inductive coil code tracks are arranged coaxially opposite to the rotor code tracks, and are used to collect the first electrical signal and / or the second electrical signal, thereby realizing the solving method of any one of the inductive encoders.

[0016] The single-pole-pair rotor code track comprises a first blocking piece covering a half circumferential area of the single-pole-pair rotor code track, and the multi-pole-pair rotor code track comprises a plurality of second blocking pieces arranged corresponding to the number of pole pairs, wherein the second blocking pieces are uniformly distributed and arranged at intervals; and the position where the edges of the first blocking piece and the second blocking pieces radially coincide is the starting position of the single-pole-pair rotor code track and the multi-pole-pair rotor code track.

[0017] The inner diameter of the first blocking piece is at least smaller than the inner diameter of the single-pole-pair inductive coil code track, and the outer diameter of the first blocking piece is at least greater than the outer diameter of the single-pole-pair inductive coil code track; and the inner diameter of the second blocking piece is at least smaller than the inner diameter of the multi-pole-pair inductive coil code track, and the outer diameter of the second blocking piece is at least greater than the outer diameter of the multi-pole-pair inductive coil code track.

[0018] The inductive coil is arranged on a circuit board comprising a plurality of layout layers and a plurality of wire-out layers; the inductive coil code track comprises at least two inductive coils, a plurality of curve segments of the inductive coil are sequentially arranged on each layout layer and connected by a via, and the inductive coil is connected to each wire-out layer by the via.

[0019] The inductive coils are arranged with a phase difference of 90 degrees between each other, and the zero points of at least one period of the inductive coils of each inductive coil code track are the same.

[0020] The inductive encoder comprises at least one excitation coil code track, and the excitation coil code track comprises at least two excitation coils.

[0021] To solve the above technical problems, the third aspect of the present application provides an actuator, comprising: a motor; and the inductive encoder according to any one of the above aspects, which is connected to the motor.

[0022] Compared with the prior art, the inductive encoder, the solving method of the inductive encoder and the actuator provided by the present application can effectively and reliably perform position detection by solving the generated electrical signals of the single-pole code track and the multi-pole code track, the structure of the two code tracks can be corrected, the stability and reliability of position detection can be ensured, the measurement accuracy, convenience and safety can be improved, the reliability and stability of the inductive encoder can be improved, and the maintenance cost of the inductive encoder can be reduced. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 is a structural schematic diagram of an embodiment of the inductive encoder of the present application;

[0024] Figure 2 is a flowchart of a first embodiment of the solving method of the inductive encoder of the present application;

[0025] Figure 3 is a flowchart of a second embodiment of the solving method of the inductive encoder of the present application;

[0026] Figure 4 is a flowchart of a third embodiment of the solving method of the inductive encoder of the present application;

[0027] Figure 5 is a flowchart of a fourth embodiment of the solving method of the inductive encoder of the present application;

[0028] Figure 6 is a rotor structural schematic diagram of another embodiment of the inductive encoder of the present application;

[0029] Figure 7 is a stator coil structural schematic diagram of another embodiment of the inductive encoder of the present application;

[0030] Figure 8is a combination structure diagram of a stator coil and a rotor of another embodiment of the inductive encoder of the present application;

[0031] Figure 9 is a structure diagram of a signal processing circuit of another embodiment of the inductive encoder of the present application;

[0032] Figure 10 is a structure diagram of a receiving circuit part of another embodiment of the inductive encoder of the present application;

[0033] Figure 11 is a structure explosion diagram of an embodiment of the actuator of the present application. DETAILED DESCRIPTION

[0034] The scheme of the embodiments of the present application will be described in detail below in combination with the accompanying drawings of the specification.

[0035] Figure 1 、 Figure 6 、 Figure 7 、 Figure 8 、 Figure 9 、 Figure 10 、 Figure 11 The structure diagram of the inductive encoder or the actuator in

[0036] The present application first provides a calculation method of an inductive decoder, please refer to Figure 1 , Figure 1 is a structure diagram of an embodiment of the inductive encoder of the present application. The calculation method of the inductive decoder of the present application can be applied in the inductive encoder as shown in Figure 1 The calculation method of the present application is assisted to understand the calculation method of the embodiment, and the calculation method is not limited in structure.

[0037] The inductive encoder 100 includes a single-pole pair code channel (not shown in the figure) and a multi-pole pair code channel (not shown in the figure).

[0038] The stator 120 and the rotor 110 are provided with single-pair-pole code channels and multi-pair-pole code channels, and the single-pair-pole code channels and the multi-pair-pole code channels of the stator 120 and the rotor 110 are oppositely arranged and coaxially arranged. In an alternative embodiment, the rotor 110 is provided with a baffle to form a single-pair-pole rotor code channel (not shown in the figure) and a multi-pair-pole rotor code channel (not shown in the figure) in a circular ring shape. In some embodiments, the stator 120 forms the corresponding inductance coils by winding or setting a wire pattern on a circuit board. In a specific embodiment, the single-pair-pole code channel is arranged in the inner ring, and the multi-pair-pole code channel is arranged in the outer ring. In other embodiments, there can be multiple multi-pair-pole code channels with different numbers of pole pairs, arranged in a certain order, which can be randomly arranged or arranged in order of increasing number of pole pairs.

[0039] The number of pole pairs of a specific multi-pair-pole code channel can be 1 pair, 2 pairs, 3 pairs, 4 pairs, 5 pairs, 7 pairs, 8 pairs, 9 pairs, 10 pairs, etc. The number of pole pairs of the multi-pair-pole code channel cannot be increased indefinitely, and the number of pole pairs needs to be set according to the actual test error. The number of pole pairs of the outer code channel can be greater than the number of pole pairs of the inner code channel. The number of pole pairs of the multi-pair-pole code channel of the stator 120 and the rotor 110 can be set according to the position detection accuracy requirement and the size of the inductance encoder 100.

[0040] Please refer to Figure 2 , Figure 2 is a flowchart of the first embodiment of the solving method of the inductance encoder of the present application. The solving method comprises:

[0041] S101: Collecting a first electric signal generated by a single-pair-pole code channel to obtain a first angle.

[0042] S102: Collecting a second electric signal generated by a multi-pair-pole code channel to obtain a second angle.

[0043] In the inductance encoder 100, the excitation coil (not labeled in the figure) generates a concentrated axial magnetic field on the stator 120 through a specific winding method and current excitation, which has alternating N and S poles. The region between the two adjacent magnetic poles (N and S) is the pole-pair interval, and each pole-pair interval corresponds to a complete magnetic field change period. The region of the baffle on the rotor 110 is correspondingly arranged with the pole-pair interval of the stator 120. The baffle on the rotor 110 modulates the magnetic field distribution through eddy current effect to generate detectable signal changes, which affect the electric signal collected by the inductance coil.

[0044] When the shutter follows the rotor 110 to rotate to different positions, that is, the projection surface of the shutter falls in different positions of the pole-pair interval of the stator 120, the electrical signal collected by the induction coil is different, and a positive sine characteristic electrical signal is generated. The coding inductor can use the arctangent algorithm to calculate the first electrical signal and the second electrical signal into the corresponding rotation angle.

[0045] The first electrical signal and the second electrical signal are continuously collected, and the current first angle and the second angle can be obtained according to the first electrical signal and the second electrical signal collected at the same time, or the first electrical signal or the second electrical signal is collected in sequence through the switch.

[0046] S103: Based on the first angle, the original pole-pair interval and the original angle of the multi-pole code channel are obtained.

[0047] After power-on, the rotor 110 rotation angle is measured based on the calculated first angle. Since the single-pole code channel and the multi-pole code channel are synchronously rotated on the rotor 110, the rotation angle corresponding to the multi-pole code channel can be obtained, and the original pole-pair interval of the multi-pole code channel is obtained, and the original angle in the original pole-pair interval is obtained.

[0048] S104: Based on the original pole-pair interval, the original angle and the second angle, the actual pole-pair interval of the multi-pole code channel is determined.

[0049] S105: According to the second angle and the actual pole-pair interval, the actual angle is obtained.

[0050] The components connected with the stator 120 on the inductive decoder represent the rotation position of the rotor 110 through the collected electrical signal. The mechanical angle of the single-pole code channel is calculated as an electrical angle of 0-360° for each rotation of the rotor 110, and the mechanical angle of each pole on the multi-pole code channel can be calculated as an electrical angle of 0-360°, so that the 0-360° of one rotation of the rotor 110 is calculated as multiple 0-360° electrical angles. The electrical angle rotates 360° to complete one complete cycle, and the first angle obtained by using the arctangent algorithm is sinA / cosA=tanA, arctan(tanA)=A. Since the original induction signal is not a standard sine signal, the original pole-pair interval and the original angle calculated according to the first angle may have errors, which need to be corrected. The second angle is used to correct the original pole-pair interval and the original angle, which can reduce the measurement error caused by hardware, and the rotation angle measurement can be performed without initial alignment, thereby improving the accuracy of the rotation angle position detection.

[0051] Please refer to Figure 3 , Figure 3 is the flowchart of the second embodiment of the inductive encoder solving method of the present application.

[0052] S201: Collect a first electrical signal generated by a single polar code channel to obtain a first angle.

[0053] S202: Collect second electrical signals generated by multiple pairs of polar code channels to obtain a second angle.

[0054] Among them, step S201 and step 202 are the same as step S101 and step 102, and are not repeated here.

[0055] S203: Based on the first angle, original pole-to-pole intervals and original angles of multiple pole-to-pole code channels are obtained.

[0056] 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:

[0057] The calculation formula of the original pole-to-pole 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.

[0058] 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-to-pole interval, is the original angle, is the first angle, and N is the number of pole pairs of the multi-pole code channel.

[0059] 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.

[0060] 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:

[0061] Different first preset angle differences are set based on different numbers of pole pairs of the multiple pairs of pole code channels.

[0062] The rotation position of the rotor 110 is represented by the collected electrical signal through the components connected to the stator 120 on the inductive decoder. The mechanical angle of the single-pole pair code track is calculated as the electrical angle of 0-360° for each rotation of the rotor 110, and the mechanical angle of each pole pair on the multi-pole pair code track is calculated as the electrical angle of 0-360°, so that the 0-360° of one rotation of the rotor 110 is calculated as multiple 0-360°. The first angle obtained by the arctangent algorithm is sinA / cosA=tanA, arctan(tanA)=A. Since the original induction signal is not a standard sine-cosine signal, there will be errors in the original pole-pole interval and the original angle calculated according to the first angle, which need to be corrected. The second angle is used to correct the original pole-pole interval and the original angle, which can reduce the measurement error caused by hardware and can measure the rotation angle without initial alignment, thereby improving the accuracy of the rotation angle position detection. Therefore, the second angle obtained by high-precision calculation of the multi-pole code track is used to calculate the difference value of the first angle, and the original pole-pole interval is corrected.

[0063] S204: Calculate the first angle difference between the original angle and the second angle.

[0064] 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-pole interval is consistent with the actual pole-pole interval.

[0065] In an optional embodiment, S206: If the absolute value of the first angle difference is greater than the first preset angle difference, it is determined that the original pole-pole interval is inconsistent with the actual pole-pole interval, including: determining whether the original angle is greater than 180 degrees; if yes, the next interval of the original pole-pole interval is the actual pole-pole interval; if no, the previous interval of the original pole-pole interval is the actual pole-pole interval.

[0066] In an optional embodiment, since the mechanical angle and the calculated angle of the single-pole pair code track and the multi-pole pair code track both have errors, i.e., the absolute angle error, the interval calculated by the single-pole pair code track may have deviation, and the initial interval error will cause the final calculation of the absolute position to deviate by at least degrees.

[0067] The maximum difference between the absolute angle error of the single-pole pair code track and the absolute angle error of the multi-pole pair code track is set as , and the first preset difference is in the range of greater than and less than 180 degrees.

[0068] If is less than , it is considered that the current interval is 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.

[0069] 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.

[0070] 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.

[0071] S207: Obtaining an actual angle according to the second angle and the actual pole-to-pole interval.

[0072] 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: ;

[0073] 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.

[0074] 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.

[0075] 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:

[0076] S301: collect the second electric signal every interval of preset time, and obtain a historical second angle and a current second angle according to the second electric signals collected successively twice.

[0077] The preset measurement time interval can be between 5 microseconds and 100 milliseconds, and can be determined according to the application scene of the inductive decoder, wherein the inductive decoder can be applicable to application scenes such as high-speed motors, rotating shafts or electric valves, which require high-precision measurement and fast response control.

[0078] The historical second angle and the current second angle refer to the electrical angles calculated in the pole-pair interval, and the range is 0-360°.

[0079] S302: obtain a historical actual pole-pair interval corresponding to the historical second angle, and determine a current actual pole-pair interval based on the historical actual pole-pair interval, the historical second angle and the current second angle.

[0080] S303: obtain a current actual angle according to the current second angle and the current actual pole-pair interval.

[0081] The relative rotation angle of the rotor 110 is obtained based on the second angle difference value, so that the actual angle can be obtained based on the historical measurement data and the relative rotation angle. Since the pole-pair interval changes during the rotation of the rotor 110, the current pole-pair interval needs to be updated to realize high-precision measurement and ensure reliability and accuracy.

[0082] Please refer to Figure 5 , Figure 5 is a flowchart of the fourth embodiment of the method for calculating the inductive encoder.

[0083] S401: collect the second electric signal every interval of preset time, and obtain a historical second angle and a current second angle according to the second electric signals collected successively twice. The step S401 is the same as the step S301, and will not be repeated here.

[0084] The step of obtaining a historical actual pole-pair interval corresponding to the historical second angle, and determining a current actual pole-pair interval based on the historical actual pole-pair interval, the historical second angle and the current second angle includes: S402: calculate a second angle difference value between the historical second angle and the current second angle.

[0085] S403: if the absolute value of the second angle difference value is less than a second preset angle difference value, it is determined that the current actual pole-pair interval is consistent with the historical actual pole-pair interval.

[0086] The second angle difference value is , and the second preset angle difference value is 180 degrees. Based on the second angle difference value, the change of the pole-pair interval is detected. If If the second angle difference value is less than or equal to 180 degrees, the current actual pole-pole interval should be the original pole-pole interval; if the second angle difference value is greater than 180 degrees, it indicates that the current actual pole-pole interval is inconsistent with the historical actual pole-pole interval. If the second angle difference value is greater than 180 degrees, it indicates that the current actual pole-pole interval is inconsistent with the historical actual pole-pole interval.

[0087] In an optional embodiment, S404: if the absolute value of the second angle difference value is greater than the second preset angle difference value, it is determined that the current actual pole-pole interval is inconsistent with the historical actual pole-pole interval, including: if the second angle difference value is positive, the previous interval of the historical actual pole-pole interval is the current actual pole-pole interval; if the second angle difference value is negative, the next interval of the historical actual pole-pole interval is the current actual pole-pole interval.

[0088] When the second angle difference value is positive, it indicates that the zero-crossing pole-pole interval is reversed, that is, the rotor 110 rotates counterclockwise, and the previous interval of the historical actual pole-pole interval is the current actual pole-pole interval. The difference value is negative, indicating that the zero-crossing pole-pole interval is positive, that is, the rotor 110 rotates clockwise, and the next interval of the historical actual pole-pole interval is the current actual pole-pole interval.

[0089] S405: obtaining a current actual angle according to the current second angle and the current actual pole-pole interval.

[0090] In an optional embodiment, the calculation formula of the actual angle according to the current second angle and the actual pole-pole interval is: ;

[0091] wherein, is the actual angle, is the actual pole-pole interval, is the current second angle, and N is the number of pole pairs of the multi-pole code channel.

[0092] Based on the second angle difference value, the relative rotation angle of the rotor 110 is obtained, so that the actual angle can be obtained based on the historical measurement data and the relative rotation angle. Since the pole-pole interval of the rotor 110 changes during rotation, the current pole-pole interval needs to be updated to realize 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 calculation, realizing continuous calculation and measurement.

[0093] The method for resolving the inductive encoder provided in the above embodiments can determine the actual pole-pole interval by collecting the electrical signals of two code tracks with different pole pairs, and determine and correct the electrical angle obtained based on the electrical signals, so as to effectively and reliably detect the position, achieve high-precision measurement, ensure the stability and reliability of the position detection, improve the accuracy, convenience and safety of the control, improve the reliability and stability of the inductive encoder 100, and reduce the maintenance cost of the inductive encoder.

[0094] 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 the structure schematic diagram of an embodiment of the inductive encoder of the present application. Figure 1

[0095] The inductive encoder 100 includes a stator 120 and a rotor 110, the stator 120 is wound with an excitation coil code track 122 and an induction coil code track 121, the excitation coil (not marked in the figure) will generate a changing magnetic field after the excitation signal is input. And the induction coil code track 121 will generate an induced electromotive force signal corresponding to the excitation signal due to the principle of electromagnetic induction. The conductive material in the rotor 110 will induce eddy current in the magnetic field, generating an electromagnetic field opposite to the direction of the magnetic field of the induction coil, weakening the original induction magnetic field below it.

[0096] Please refer to Figure 6 , Figure 6 is a structure schematic diagram of the rotor 110 of another embodiment of the inductive encoder of the present application.

[0097] The inductive encoder 100 includes: a single-pole code track (not shown in the figure) for generating a first electrical signal; and a multi-pole code track (not shown in the figure) for generating a second electrical signal. The single-pole code track includes a single-pole induction coil code track (not shown in the figure) and a single-pole rotor code track 1111, and the multi-pole code track includes a multi-pole induction coil code track (not shown in the figure) and a multi-pole rotor code track 1112. The induction coil code track is arranged opposite to the rotor code track and coaxially arranged, used for collecting the first electrical signal and / or the second electrical signal, and realizing the resolving method of the inductive encoder described in any one of the above embodiments.

[0098] The stator 120 and the rotor 110 are provided with a single-pole code track and a multi-pole code track, and the single-pole code track and the multi-pole code track of the stator 120 and the rotor 110 are arranged opposite to each other and coaxially.

[0099] ​The rotor 110 is provided with a baffle 112, and a single-pair-pole rotor code channel 1111 and a multi-pair-pole rotor code channel 1112 in a circular ring shape. In some embodiments, the stator 120 is provided with a corresponding inductive coil code channel 121 by winding or setting a wire pattern on a circuit board, etc. In a specific embodiment, the single-pair-pole code channel is provided in the inner ring, and the multi-pair-pole code channel is provided in the outer ring. In other embodiments, a plurality of multi-pair-pole code channels with different numbers of pole pairs can be provided, arranged in a certain order, which can be random or arranged in order of increasing number of pole pairs.

[0100] In a specific embodiment, the number of pole pairs of the multi-pair-pole code channel is eight pairs, which can perform higher-precision angle calculation.

[0101] The number of pole pairs of the multi-pair-pole code channel can be 1 pair, 2 pairs, 3 pairs, 4 pairs, 5 pairs, 7 pairs, 8 pairs, 9 pairs, 10 pairs, etc. The number of pole pairs of the multi-pair-pole code channel cannot be increased indefinitely, and the number of pole pairs needs to be set according to the actual test error. The number of pole pairs of the outer code channel can be greater than that of the inner code channel. The number of pole pairs of the multi-pair-pole code channel of the stator 120 and the rotor 110 can be set according to the accuracy requirement of position detection and the size of the inductive encoder 100. In some embodiments, the stator 120 is provided with a corresponding excitation coil code channel by winding or setting a wire pattern on a circuit board, etc.

[0102] The electrical signal collected by the components connected to the stator 120 on the inductive decoder represents the rotation position of the rotor 110. The mechanical angle of the single-pair-pole rotor code channel 1111 is calculated as an electrical angle of 0-360° for each rotation of the rotor 110, and each pair of poles on the multi-pair-pole rotor code channel 1112 can calculate the mechanical angle as an electrical angle of 0-360°, so that one rotation of the rotor 110 is calculated as a plurality of electrical angles of 0-360°. The electrical angle rotates 360° to complete one complete cycle, and the first angle obtained by the arctangent algorithm is sinA / cosA=tanA, arctan(tanA)=A. Since the original induction signal has errors and is not a standard sine and cosine signal, the original pole pair interval and the original angle calculated from the first angle may have errors and need to be corrected. The second angle is used to revise the original pole pair interval and the original angle, which can reduce the measurement error caused by hardware, and the rotation angle can be measured without initial alignment, improving the accuracy of rotation angle position detection.

[0103] The electrical signal generated by the inductive coil code channel 121 is different when the rotor 110 is at different positions, so the relative angle between the rotor 110 and the stator 120 can be calculated to realize the angle calculation of the encoder.

[0104] Please refer toFigure 7 , Figure 7 is a schematic diagram of a stator coil structure of another embodiment of the inductive encoder.

[0105] A single-pole pair inductive coil code track 1211 is arranged corresponding to a single-pole pair rotor code track 1111, and a multi-pole pair inductive coil code track 1212 is arranged corresponding to a multi-pole pair rotor code track 1112.

[0106] The inductive coil code tracks 121 corresponding to the code tracks are composed of two or more sinusoidal curves drawn with a reference circle as the axis of symmetry, for sensing the alternating magnetic field generated by the excitation coil code track 122, collecting the magnetic field signal to generate an electric signal, and the sinusoidal curves are at a certain angle, so that there is a phase difference between the inductive output signals.

[0107] 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, with alternating N and S poles, and the area between the adjacent two magnetic poles (N and S) is the pole-pole interval, each pole-pole interval corresponds to a complete magnetic field change period, the baffle area on the code track of the rotor 110 is arranged corresponding to the pole-pole interval of the stator 120, and the vane 112 on the rotor 110 modulates the magnetic field distribution through the eddy current effect to generate detectable signal changes, which affect the electric signal collected by the inductive coil code track 121.

[0108] The alternating arrangement of the excitation coil code track 122 and the inductive coil code track 121 can better control the distribution of the magnetic field, making the magnetic field more concentrated, and enabling more sensitive collection of changes in the rotor 110; the alternating arrangement of the excitation coil code track 122 and the inductive coil code track 121 can also effectively reduce the mutual inductance between the excitation coil code track 122 and the inductive coil code track 121, avoid interference between them, and improve the stability and accuracy of the system.

[0109] The coils of the rotor 110 and the stator 120 are arranged in parallel and coaxially, and fall within the range of the excitation coil code track 122 and the inductive coil code track 121.

[0110] When the vane 112 follows the rotor 110 to different positions, i.e., the projection plane of the vane 112 falls in different pole-pole interval positions of the stator 120, the electric signal collected by the inductive coil code track 121 is different, and a positive and negative sine characteristic electric signal is generated. The inductive encoder can use the arctangent algorithm to calculate the first electric signal and the second electric signal into the corresponding rotation angle, so as to obtain the actual angle of the rotor 110.

[0111] The first and second electrical signals are continuously collected, and the current first and second angles can be obtained according to the first and second electrical signals collected at the same time, or the first or second electrical signal is collected in sequence through switching.

[0112] In an optional embodiment, the single-pole-pair rotor code channel 1111 includes a first blocking piece 1121 covering a semicircular region of the single-pole-pair rotor code channel 1111, and the multi-pole-pair rotor code channel 1112 includes a plurality of second blocking pieces 1122 arranged in correspondence with the number of pole pairs, which are uniformly distributed and arranged at intervals. The position where the edges of the first blocking piece 1121 and the second blocking piece 1122 radially coincide is the starting position of the single-pole-pair and multi-pole-pair rotor code channels 1112.

[0113] The single-pole-pair rotor code channel 1111 and the multi-pole-pair rotor code channel 1112 on the rotor 110 are each provided with a sector region of an equally divided circular ring channel, the number of sector regions on the code channel of each rotor 110 is the same as the number of pole pairs of the corresponding rotor code channel, and the sector regions are arranged at intervals. Each sector blocking piece 112 is provided with a sector region, and the area of each sector blocking piece 112 covers one period of the excitation coil code channel 122. The blocking piece 112 is formed by axially arranging a conductive material layer on the corresponding code channel of the rotor 110 in the direction of the coil of the stator 120, which can be a conductive metal sheet. The blocking piece 112 is used to generate a reverse magnetic field signal corresponding to the magnetic field signal of the excitation coil code channel 122.

[0114] The position where the edges of the blocking pieces 112 of the single-pole-pair rotor code channel 1111 and the multi-pole-pair rotor code channel 1112 radially coincide is set as the initial position of the inductive rotor 110. Taking the initial position as a reference point, the angle of rotation of the initial position is the rotation angle of the inductive rotor 110 and the rotor 110. The positions of the initial position and other blocking pieces 112 are relatively fixed, and the actual angle position of the rotation of the entire rotor 110 can be calculated according to the position of the pole pair interval where the initial position is located.

[0115] The blocking piece 112 is formed by axially arranging a metal layer on the corresponding code channel of the rotor 110 in the direction of the coil of the stator 120. The inductive rotor 110 other than the blocking piece 112 is far away from the coil of the stator 120, and does not affect the collection of electrical signals.

[0116] Please refer to Figure 8 , Figure 8 is a schematic diagram of the combination structure of the stator 120 coil and the rotor 110 of another embodiment of the inductive encoder.

[0117] In an optional embodiment, the inner diameter of the first baffle 1121 is at least smaller than the inner diameter of the single-pair-pole inductive coil channel 1211, and the outer diameter of the first baffle 1121 is at least larger than the outer diameter of the single-pair-pole inductive coil channel 1211; the inner diameter of the second baffle 1122 is at least smaller than the inner diameter of the multi-pair-pole inductive coil channel 1212, and the outer diameter of the second baffle 1122 is at least larger than the outer diameter of the multi-pair-pole inductive coil channel 1212.

[0118] The diameter of the rotor 110 is greater than or equal to the diameter of the stator 120 coil, so that the rotor 110 can receive the magnetic field signal generated by the excitation coil channel 122 to the maximum extent, and so that the inductive coil channel 121 can receive the magnetic field signal between the rotor 110 and the stator 120 to the maximum extent.

[0119] In an optional embodiment, the inductive coil channel 121 is arranged on a circuit board including a plurality of arrangement layers and a plurality of wire-out layers; the inductive coil channel 121 includes at least two inductive coils, a plurality of curve segments of the inductive coils are arranged on the arrangement layers in sequence and connected by vias, and the inductive coil channel 121 is wired out by the vias to access the wire-out layers.

[0120] In an optional embodiment, the inductive coils are wired with a phase difference of 90 degrees; and the zero points of at least one period of the inductive coils of each inductive coil channel 121 are the same.

[0121] The two inductive wires are wired with a phase difference of 90 degrees to form an inductive coil, each pair of poles of the inductive coil collects a complete sine and cosine magnetic field signal at two points with a radial interval of 90° in electrical angle, the inductive coil channel 121 collects the sine and cosine magnetic field signals affected by the rotor 110, and through the arctangent algorithm, the mechanical angle corresponding to each pair of poles of the rotor 110 can be calculated into 0-360° electrical angle.

[0122] In an optional embodiment, the period of the inductive coil corresponding to the single-pair-pole rotor channel 1111 is 2 The period of the inductive coil corresponding to the multi-pair-pole rotor channel 1112 is N*2 , N is the number of pole pairs. During the movement of the rotor 110, the electrical signal generated presents N periods of sine and cosine changes.

[0123] In other embodiments, four coils each with a phase difference of 90 degrees, three coils with a phase difference, and six coils with a phase difference of 60 degrees can also be used for wiring, and the angle calculation algorithm will be different under different wiring modes.

[0124] In an alternative embodiment, the inductive encoder 100 comprises at least one excitation coil code track 122, the excitation coil code track 122 comprising at least two excitation coils; the excitation coils are arranged on each arrangement layer, and each excitation coil is arranged one-to-one with the arrangement layer and the outgoing line layer; and one of the excitation coils is connected to each outgoing line layer; the excitation coil code track 122 is arranged alternately with the induction coil code track 121, and at least one excitation coil code track 122 is arranged between adjacent induction coil code tracks 121. When a 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 connected to each other, and the entire excitation coil forms a continuous wire.

[0125] Each induction coil code track 121 is composed of two or more sinusoidal curves drawn with a reference circle as the axis of symmetry, for sensing the alternating magnetic field generated by its excitation coil code track 122, collecting the voltage signal generated by the magnetic field signal, and the sinusoidal curves are at a certain angle, so that there is a phase difference between the induction output signals.

[0126] In some embodiments, the excitation coil code track 122 is three, so that the inner and outer sides of the induction coil code track 121 have excitation coil code tracks 122, ensuring the quality of the induction signal of the induction coil code track 121.

[0127] The excitation coil code track 122 and the induction coil code track 121 are arranged alternately, which can better control the distribution of the magnetic field, make the magnetic field more concentrated, and more sensitively collect the changes of the induction rotor 110; the excitation coil code track 122 and the induction coil code track 121 are arranged alternately, which can effectively reduce the mutual inductance between the excitation coil code track 122 and the induction coil code track 121, avoid interference between them, and improve the stability and accuracy of the system.

[0128] In some embodiments, the gap width of the baffle 112 between the rotors 110 is less than the width of the excitation coil code track 122, which can ensure that the baffle 112 of the adjacent code track of the rotor 110 can receive the magnetic field signal generated by the middle excitation coil code track 122. In a specific embodiment, the width of the baffle 112 is greater than the width of the gap, so that the baffle 112 can receive the magnetic field signal generated by the excitation coil code track 122 to the greatest extent.

[0129] In an alternative embodiment, the multiple-pole rotor code track 1112 is eight pairs of poles, which converts the mechanical angle of 0-360° of the rotor 110 into 8 electrical angles of 0-360°.

[0130] Please refer to Figure 9 , Figure 9 is a signal processing circuit 130 structure diagram of another embodiment of the inductive encoder of the present application.

[0131] In an alternative embodiment, the inductive encoder 100 comprises a signal processing circuit 130 connected to the excitation coil code track 122 and the induction coil code track 121 respectively, which processes and corrects the electric signal generated by the magnetic field signal, such as the angle determined by the magnetic field signal of the single-pole code track to determine the period where the magnetic field of the multi-pole code track is located, to obtain the electric signal representing the electric angle of the single-pole rotor code track 1111 and the multi-pole rotor code track 1112, to improve the resolution and accuracy of the solution, and to accurately obtain the rotation angle of the rotor 110.

[0132] In an alternative embodiment, the signal processing circuit 130 comprises a receiving circuit 131 connected to the induction coil code track 121, and the receiving circuit 131 is further connected to a control chip 132, which is used to switch the induction coil code track 121 connected to the receiving circuit 131.

[0133] Since the electric signal of the single-pole induction coil code track 1211 needs to be collected only when the actuator 200 is powered on, the electric signal of the different induction coil code track 121 collected by switching connection can be realized by 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, and the collected electric signal of the induction coil code track 121 of the single-pole induction coil code track 1211 or the multi-pole induction coil code track 1212 can be transmitted; and the collected electric signal of the induction coil code track 121 is processed and solved.

[0134] The signal processing circuit 130 comprises a generating circuit 133 connected to the excitation coil code track 122 to form a resonance circuit; the generating circuit 133 is further connected to the control chip 132, which controls the generating circuit 133 to generate a sinusoidal signal to make the excitation coil code track 122 generate an alternating magnetic field signal.

[0135] Please refer to Figure 10 , Figure 10 is the receiving circuit part structure schematic diagram of another embodiment of the inductive encoder of the present application.

[0136] In a specific embodiment, the inductive coil code track 121 has a single-pole inductive coil code track 1211 and a multi-pole inductive coil code track 1212, and the corresponding rotor 110 has a single-pole rotor code track 1111 and a multi-pole rotor code track 1112, the single-pole inductive coil code track 1211 is an inner inductive coil code track 121, and the multi-pole inductive coil code track 1212 is an outer inductive coil code track 121. The switch is a double-pole double-throw analog switch, com1 and com2 are connected to the signal amplification structure, NC1 and NC2 are connected to the inductive coils of the multi-pole inductive coil code track 1212, and NO1 and NO2 are connected to the inductive coil code track 121 of the multi-pole inductive coil code track 1212. A0 is a control terminal for controlling the switching of the switch, when A0 is at a low level, com1 and com2 are connected to NC1 and NC2, and the analog switch outputs the electrical signal of the inner inductive coil code track 121; when A0 is at a high level, com1 and com2 are connected to NO1 and NO2, and the analog switch outputs the electrical signal of the outer inductive coil. A0 is connected to the control chip 132, and the control chip 132 controls the selection of the magnetic field signal of the single-pole code track or the multi-pole code track.

[0137] In other embodiments, two inductive coil code tracks 121 can be connected by two signal receiving circuits 131 respectively to collect corresponding electrical signals.

[0138] 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 according to any one of the above, wherein the inductive encoder 100 is connected to the motor 201.

[0139] Figure 11 is a structural explosion diagram of an embodiment of the actuator of the present application. The structure of the inductive encoder can be referred to Figure 1 the structural schematic diagram of an embodiment of the inductive encoder of the present application or Figure 8 is a combined structure schematic diagram of the stator coil and the rotor of another embodiment of the inductive encoder of the present application, which will not be described here.

[0140] In an optional embodiment, the actuator 200 comprises a rotating shaft, the motor 201 is connected to the rotating shaft for connecting and driving external equipment; the rotating shaft is provided with the rotor 110, the rotor 110 is arranged around the rotating shaft and coaxially arranged with the rotating shaft; the rotation angle of the rotor 110 can directly reflect the rotation angle of the rotating shaft, so that the driving condition of the driven external equipment can be directly and intuitively obtained through the rotation angle of the rotor 110, and the running state of the motor 201 can be controlled according to the angle position of the rotating shaft.

[0141] In an alternative embodiment, the actuator 200 is connected to a water valve, the actuator 200 comprises a rotating shaft (not shown in the figure), the motor 201 is connected to the rotating shaft, and the motor 201 drives the rotating shaft to rotate; one end of the rotating shaft is provided with a spline connected to a valve core of the water valve, and the rotating shaft can drive the valve core of the water valve to rotate to control the flow and flow direction of the fluid in the valve core. In other embodiments, the rotating shaft is connected to an operating instrument, a transportation device, or other external equipment that needs to be driven by the actuator 200.

[0142] Different from the prior art, the application provides a kind of inductance encoder decoding method, inductance encoder and actuator, by decoding the electrical signal generated by single pair of polar code channel and multiple pairs of polar code channel, position detection can be effectively and reliably carried out, the structure of two code channels can be mutually corrected, the stability and reliability of position detection can be guaranteed, the accuracy, convenience and safety of measurement are improved, the reliability and stability of inductance encoder are improved, which is beneficial to reduce the maintenance cost of inductance encoder.

[0143] In several embodiments provided in the present application, it should be understood that the disclosed system and device can be implemented in other ways. For the technical solutions in the embodiments of the present application, it is obvious that the described embodiments are only a part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application. For example, the above-described device embodiments are only schematic, for example, the division of the modules or units is only a logical function division, and actual implementation can have another division manner, for example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the displayed or discussed each other can be indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0144] It should be noted that if the present application has involved directional indication (such as up, down, left, right, front, back, …), the directional indication is only used to explain the relative position relationship, motion condition, etc. between components in a certain posture (as shown in the drawings), if the certain posture changes, the directional indication also changes accordingly.

[0145] In the description of the present application, it should be noted that unless specifically stated and limited otherwise, the terms "coupled", "connected", "connected", "set", "mounted" should be understood in a broad sense, for example, can be fixedly connected, can also be detachably connected, or integrally connected; can be mechanically connected, can also be electrically connected; can be directly connected, can also be indirectly connected through an intermediate medium, can be internal communication of two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0146] The units described as separate components can or can not be physically separated, and the components shown as units can or can not be physical units, that is, they can be located in one place, or they can be distributed to multiple network units. Part or all of the units can be selected to achieve the purpose of the present embodiment scheme according to actual needs.

[0147] In addition, the technical solutions among various embodiments can be combined with each other, but it must be based on the realization of ordinary skilled in the art, when the combination of technical solutions appears contradictory or cannot be realized, it should be considered that the combination of technical solutions does not exist, also not within the scope of protection claimed by the present application.

[0148] The above is only the embodiment of the present application, and does not limit the patent scope of the present application, any equivalent structure or equivalent process transformation using the content of the present application specification and drawings, 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 multiple 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 specifically 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 the first preset angle difference, it is determined 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, and then it is determined 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; 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 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.

3. 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 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-to-pole 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.

4. 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 interval corresponding to the historical second angle, and determining a current actual pole-to-pole interval based on the historical actual pole-to-pole interval, the historical second angle, and the current second angle; The current actual angle is obtained according to the current second angle and the current actual pole-to-pole interval.

5. The solution method according to claim 4, 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, it is determined 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.

6. The solution method according to claim 5, 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.

7. 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 to 6.

8. The inductive encoder according to claim 7, 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.

9. The inductive encoder according to claim 8, characterized in that: 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.

10. The inductive encoder according to claim 7, 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.

11. The inductive encoder according to claim 10, 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.

12. The inductive encoder according to claim 10, 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.

13. An actuator, characterized in that: include: Motor; The inductive encoder according to any one of claims 7 to 12, wherein the inductive encoder is connected to the motor.

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