Magnetic angle sensor, magnetic angle measuring system and method and electronic equipment

Abstract

The invention provides a magnetic angle sensor, a magnetic angle measuring system and method and electronic equipment. The magnetic angle sensor comprises a plurality of pairs of Hall sensor groups which are arranged on at least one circumference along the same axis, each Hall sensor group comprises two Hall elements which are arranged along the same circumference at an interval of a central angle of 60 degrees, and each Hall element is configured to output a Hall signal in response to a received magnetic field; the two Hall elements in each Hall sensor group are configured to be connected in parallel so as to output detection signals in parallel. The magnetic angle sensor can effectively eliminate the influence of the third harmonic component in the magnetic field on the angle measurement precision.

Description

TECHNICAL FIELD

[0001] Embodiments of the present disclosure relate to a magnetic angle sensor, a magnetic angle measurement system and method, and an electronic device. BACKGROUND

[0002] In modern industrial control and automotive electronic systems, whether it is the opening feedback of electronic throttle, steering wheel angle detection, or real-time position and speed monitoring of motor rotor, accurate and reliable angle measurement is required in these scenarios. However, in some scenarios, the electromagnetic environment is harsh, which brings great difficulty to angle measurement. SUMMARY

[0003] At least one embodiment of the present disclosure provides a magnetic angle sensor, which includes at least one circumferential arrangement of multiple pairs of Hall sensor groups along the same axis, wherein the multiple pairs of Hall sensor groups include a first pair of Hall sensor groups and a second pair of Hall sensor groups, and the plane where the at least one circumference is located is perpendicular to the axis; two Hall sensor groups in the first pair of Hall sensor groups are oppositely arranged along a first diameter direction of the at least one circumference, and two Hall sensor groups in the second pair of Hall sensor groups are oppositely arranged along a second diameter direction of the at least one circumference, and the first diameter direction is perpendicular to the second diameter direction; wherein each Hall sensor group includes two Hall elements arranged along the same circumference with a 60° central angle interval, and each Hall element is configured to output a Hall signal in response to a received magnetic field; the two Hall elements in each Hall sensor group are configured to be connected in parallel to output a detection signal after parallel superposition of two Hall signals corresponding to the two Hall elements, respectively.

[0004] At least one embodiment of the present disclosure also provides a magnetic angle measurement system, which includes the magnetic angle sensor provided by any embodiment of the present disclosure and a magnet to be measured, and the magnetic angle sensor is configured to measure the rotation angle value of the magnet to be measured.

[0005] The at least one embodiment of the present disclosure also provides a magnetic angle measurement method, which comprises determining a detection signal output after two Hall signals respectively corresponding to two Hall elements in each Hall sensor group are superimposed in parallel in response to the magnetic field received by each Hall sensor group in a plurality of pairs of Hall sensor groups, wherein the plurality of pairs of Hall sensor groups are arranged along at least one coaxial circumference, the two Hall elements are arranged along the same circumference and are spaced apart by 60° central angle, and the plane where the at least one circumference is located is perpendicular to the axis; determining a first group of differential signals according to two detection signals respectively output by two Hall sensor groups in a first pair of Hall sensor groups arranged opposite along a first diameter direction, and determining a second group of differential signals according to two detection signals respectively output by two Hall sensor groups in a second pair of Hall sensor groups arranged opposite along a second diameter direction, wherein the first diameter direction is perpendicular to the second diameter direction; and determining a measurement result according to the first group of differential signals and the second group of differential signals.

[0006] The at least one embodiment of the present disclosure also provides an electronic device, which comprises the magnetic angle sensor provided by any one of the embodiments of the present disclosure or the magnetic angle measurement system provided by any one of the embodiments of the present disclosure. BRIEF DESCRIPTION OF DRAWINGS

[0007] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings of the embodiments will be briefly introduced below. Obviously, the drawings described in the following description only relate to some embodiments of the present disclosure, but not limit the present disclosure.

[0008] Figure 1 A schematic diagram of the arrangement of Hall elements of an angle measurement device is shown.

[0009] Figure 2A A top view schematic diagram of the arrangement design of a magnetic angle sensor provided by at least one embodiment of the present disclosure is shown.

[0010] Figure 2B A top view schematic diagram of the arrangement design of a magnetic angle sensor provided by at least one embodiment of the present disclosure is shown.

[0011] Figure 3 A perspective schematic diagram of the arrangement design of a magnetic angle sensor provided by at least one embodiment of the present disclosure is shown.

[0012] Figure 4 A circuit logic block schematic diagram of a magnetic angle sensor provided by at least one embodiment of the present disclosure is shown.

[0013] Figure 5 A schematic diagram of the positional relationship between a to-be-measured magnet and a magnetic angle sensor provided by at least one embodiment of the present disclosure is shown.

[0014] Figure 6 A schematic diagram of a relationship between a magnetic body to be measured and a magnetic angle sensor is shown.

[0015] Figure 7 A block schematic diagram of an electronic device is shown.

[0016] Figure 8 A flowchart of a magnetic angle measurement method is shown. DETAILED DESCRIPTION

[0017] In order to make the objects, technical solutions and advantages of the embodiments of the present disclosure clearer, the technical solutions of the embodiments of the present disclosure will be described clearly and completely below with reference to the drawings of the embodiments of the present disclosure. Obviously, the described embodiments are some but not all of the embodiments of the present disclosure. Based on the described embodiments of the present disclosure, all other embodiments obtained by those of ordinary skill in the art without creative effort belong to the scope of the present disclosure.

[0018] Unless otherwise defined, technical terms or scientific terms used in the present disclosure shall have the ordinary meaning of the terms to a person of ordinary skill in the art to which the present disclosure belongs. The terms “first”, “second” and similar terms used in the present disclosure do not denote any order, quantity or importance, but are used to distinguish different components. Similarly, the terms “one”, “a” or “the” and similar terms do not denote quantity limitation, but mean that there is at least one. The terms “include” or “contain” and similar terms mean that the elements or objects before the terms encompass the elements or objects listed after the terms and their equivalents, and do not exclude other elements or objects. The terms “connect” or “connected” and similar terms are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. The terms “up”, “down”, “left”, “right” and the like only represent relative positional relationships, and when the absolute positions of the described objects are changed, the relative positional relationships can also be changed accordingly.

[0019] The present disclosure will be described below through several specific embodiments. In order to keep the following description of the embodiments of the present disclosure clear and concise, the present disclosure omits the detailed description of known functions and known components. When any component of the embodiments of the present disclosure appears in more than one figure, the component is denoted by the same or similar reference numeral in each figure.

[0020] In order to measure the angle in an electromagnetic environment, a Hall element pair can be involved in the angle measurement device in the electromagnetic environment.

[0021] The ability of a Hall element to cope with an electromagnetic environment is based on the Hall effect. A Hall element is usually made of a semiconductor wafer. By applying a perpendicular magnetic field to the Hall element, the moving charge carriers in the Hall element are deflected by the Lorentz force, and a Hall voltage is generated across the Hall element. The magnitude of the Hall voltage is proportional to the magnetic flux density, where the Hall voltage V H The relationship between the Hall voltage V H and the magnetic flux density B is expressed as:

[0022] V H = R H • I • B / t

[0023] where R is the Hall coefficient, I is the bias current through the Hall element, B is the magnetic flux density perpendicular to the element, and t is the thickness of the Hall element. The detection of a magnetic field can thus be achieved by measuring the Hall voltage generated by the Hall element in response to the magnetic field.

[0024] The Hall element has the following advantages:

[0025] (1) The Hall element is highly compatible with standard high-voltage CMOS technology and can be integrated on a semiconductor chip. This integration feature not only reduces the package size but also significantly reduces the bill of materials and assembly costs of the device.

[0026] (2) Due to the physical properties of semiconductors, the Hall element has a wide detection range for magnetic fields and maintains good linear response within a wide range of magnetic flux densities. Therefore, there is no need to worry about saturation or insufficient sensitivity when detecting magnetic fields.

[0027] In the design of an angle measurement device based on a Hall element, the layout and placement of the Hall element not only affect the circuit connection relationship of the angle measurement device, but also have an impact on the accuracy and results of the angle measurement.

[0028] Figure 1 A schematic diagram of the arrangement of Hall elements in an angle measurement device is shown.

[0029] As shown in Figure 1 , the angle measurement device 10 includes four Hall elements, namely Hall elements 20, 21, 22, and 23. The four Hall elements are arranged equidistantly along the circumference in the same plane. The central angle between the Hall element 20 and the Hall element 23 is 90°, the central angle between the Hall element 23 and the Hall element 21 is 90°, the central angle between the Hall element 21 and the Hall element 22 is 90°, and the central angle between the Hall element 22 and the Hall element 20 is 90°.

[0030] In the magnetic field angle measurement by the angle measurement device 10 shown in Figure 1 In the magnetic field angle measurement by the angle measurement device 10 shown in

[0031] For example, a differential signal is calculated according to the Hall voltages obtained by the Hall element 20 and the Hall element 21, and another differential signal is calculated according to the Hall voltages obtained by the Hall element 22 and the Hall element 23, and the magnetic field angle is calculated according to the two differential signals through arctangent calculation.

[0032] Figure 1 Although the differential operation of the Hall voltages output by the two Hall elements on the diagonal line can eliminate the external common-mode interference in the manner shown above, in a complex magnetic field environment, the magnetic field signals received by each Hall element will also carry low-order harmonic components of the magnetic field, and the angle measurement result is easily affected by the low-order harmonic components, resulting in a decrease in the angle measurement accuracy or inaccuracy.

[0033] The third harmonic component is a harmonic component with a much higher amplitude than other low-order harmonics in the magnetic field distribution, and in a complex magnetic field environment, Figure 1 The magnetic field signals received by the Hall elements 20, 21, 22 and 23 in the magnetic field angle measurement device 10 shown in i = B Z ·sin[β+(i-1)δ] +B3·sin[3β+3(i-1)δ], i=1, 2, 3, 4.

[0034] B Z is the amplitude of the magnetic field perpendicular to the Hall element, β is the rotation angle of the magnetic field source (e.g. a magnet), and δ is the included angle (i.e. the step phase) between adjacent Hall elements, δ=90°. B3 is the amplitude of the third harmonic component in the magnetic field.

[0035] Referring back to Figure 1, assuming that the Hall element 20 is the first Hall element in clockwise direction, i.e. i = 1, and the Hall element 21 is the third Hall element in clockwise direction, i.e. i = 3, the magnetic field signal received by the Hall element 20 is h1 = Bz sin β + B3 sin 3β, and the magnetic field signal received by the Hall element 21 is h3 = Bz sin (β + 180°) + B3 sin (3β + 180°) = -Bz sin β - B3 sin 3β. It can be seen that the difference signal output by the Hall element 20 and the Hall element 21 is h1 - h3 = 2Bz sin β + 2B3 sin 3β, and the difference signal obtained includes a third harmonic component part 2B3 sin 3β in addition to the effective signal part 2Bz sin β.

[0036] The difference signal obtained by the Hall element 22 and the Hall element 23 also includes the same third harmonic component, which will not be described here.

[0037] It can be seen that, when the arctangent calculation is performed on the difference signal obtained by the Hall element 20 and the Hall element 21 and the difference signal obtained by the Hall element 22 and the Hall element 23, the third harmonic component part retained will affect the accuracy of the angle value output by the angle measurement device 10, resulting in a large angle error.

[0038] Therefore, Figure 1 The Hall element arrangement design in the angle measurement device 10 cannot suppress the third harmonic component in the complex magnetic field.

[0039] If the accuracy of the output angle value is to be improved, introducing more signal processing circuits to filter and process the third harmonic component will cause additional circuit overhead and increase the processing burden of the circuit.

[0040] At least one embodiment of the present disclosure provides a magnetic angle sensor, which comprises a plurality of pairs of Hall sensor groups arranged along at least one circumference in the same axis, wherein the plurality of pairs of Hall sensor groups comprise a first pair of Hall sensor groups and a second pair of Hall sensor groups, and the plane where the at least one circumference is located is perpendicular to the axis; two Hall sensor groups in the first pair of Hall sensor groups are oppositely arranged along a first diameter direction of the at least one circumference, and two Hall sensor groups in the second pair of Hall sensor groups are oppositely arranged along a second diameter direction of the at least one circumference, and the first diameter direction is perpendicular to the second diameter direction; wherein each Hall sensor group comprises two Hall elements arranged along the same circumference with a 60° central angle, and each Hall element is configured to output a Hall signal in response to a received magnetic field; and the two Hall elements in each Hall sensor group are connected in parallel to output a detection signal by superimposing two Hall signals corresponding to the two Hall elements in parallel.

[0041] In the magnetic angle sensor of the above embodiments of this disclosure, since each Hall sensor group includes two Hall elements arranged along the same circumference with a central angle of 60° apart, and the two Hall elements in each Hall sensor group are configured to be connected in parallel, the detection signal output in parallel enables the magnetic angle sensor provided by this disclosure to effectively eliminate the influence of the third harmonic component in the magnetic field on the angle measurement accuracy, without increasing the hardware overhead of the signal processing circuit.

[0042] The various embodiments of this disclosure will now be described with reference to specific examples.

[0043] Figure 2A A top view schematic diagram of the arrangement design of a magnetic angle sensor provided in at least one embodiment of the present disclosure is shown.

[0044] For example Figure 2A As shown in the example, from a top-down view, in at least one circle along the same axis (also called "coaxial"), the circumferences at different heights (or different axial positions) are all of equal size, and the centers of all the circles in at least one coaxial circle lie on the same axis, such as... Figure 2A The central axis O shown is perpendicular to the plane of the paper. The magnetic angle sensor 100 includes four Hall sensor groups 201, 202, 203 and 204. The first diameter direction is d1 and the second diameter direction is d2. The first diameter direction d1 is perpendicular to the second diameter direction d2.

[0045] Two Hall sensor groups, Hall sensor group 201 and Hall sensor group 202, are arranged opposite each other along the first diameter direction d1, forming a first pair of Hall sensor groups; two Hall sensor groups, Hall sensor group 203 and Hall sensor group 204, are arranged opposite each other along the second diameter direction d2, forming a second pair of Hall sensor groups.

[0046] Each of the four Hall sensor groups 201, 202, 203 and 204 includes two Hall elements arranged along the same circumference with a central angle of 60° between them.

[0047] For example, the Hall sensor group 201 includes the Hall element H0 and the Hall element H1 which are arranged along the same circumference with a central angle of 60°; the Hall sensor group 202 includes the Hall element H4 and the Hall element H5 which are arranged along the same circumference with a central angle of 60°; the Hall sensor group 203 includes the Hall element H2 and the Hall element H3 which are arranged along the same circumference with a central angle of 60°; and the Hall sensor group 204 includes the Hall element H6 and the Hall element H7 which are arranged along the same circumference with a central angle of 60°. In the embodiments of the present disclosure, the Hall elements are implemented by semiconductor devices, and the specific implementation (for example, structure, process, etc.) is not limited, for example, the Hall elements can be Hall chips in the shapes of square, rectangle, cross, circle or ring, etc.

[0048] For example, in addition to the two Hall elements arranged along the same circumference with a central angle of 60°, each of the four Hall sensor groups 201, 202, 203 and 204 can further include other Hall elements. If the other Hall elements included in each of the Hall sensor groups are arranged between the above-mentioned two Hall elements arranged along the same circumference with a central angle of 60°, the central angle spacing between the Hall sensor groups will not be affected; if the other Hall elements included in each of the Hall sensor groups are arranged outside the above-mentioned two Hall elements arranged along the same circumference with a central angle of 60°, the central angle spacing between the Hall sensor groups will be affected, for example, the central angle spacing between the Hall sensor groups can be 15°, 10°, etc., and the specific angle depends on the arrangement position of the other Hall elements in each of the Hall sensor groups, which is not limited in the present disclosure.

[0049] Each of the Hall elements H0 to H7 is configured to output a Hall signal in response to a received magnetic field.

[0050] In the above-mentioned formula 1, the Hall element H1, the Hall element H3, the Hall element H5 and the Hall element H7 receive the magnetic field signals as follows. Figure 2A In the above-mentioned formula 2, the Hall element H0, the Hall element H2, the Hall element H4 and the Hall element H6 receive the magnetic field signals as follows.

[0051] Formula 1: H n = B Z •sin[α+(n-1)∆+30°]+ B3•sin[3α+3(n-1)∆+90°], n=1,3,5,7, ∆=45°.

[0052] Formula 2: H n = B Z •sin[α+n∆-30°] + B3•sin[3α+3n∆-90°], n=0,2,4,6, ∆=45°.

[0053] The formula 1 can represent the magnetic field signals received by the Hall element H1, the Hall element H3, the Hall element H5 and the Hall element H7, and the formula 2 can represent the magnetic field signals received by the Hall element H0, the Hall element H2, the Hall element H4 and the Hall element H6.

[0054] B Z B is the amplitude of the magnetic field perpendicular to the Hall element, a is the rotation angle of the magnetic field source (e.g. a magnet), and D is the step phase, since each set of Hall sensor groups includes two Hall elements, D = 90° / 2 = 45°. B3 is the amplitude of the third harmonic component in the magnetic field, the third harmonic refers to a sinusoidal signal component with a frequency of 3 times the fundamental frequency in a periodic signal or field quantity, and the third harmonic component will appear 3 complete cycles in 360°, i.e. it repeats every 120°.

[0055] In the four Hall sensor groups 201, 202, 203 and 204, the two Hall elements in each Hall sensor group are connected in parallel to output a detection signal in parallel.

[0056] For example, the Hall element H0 and the Hall element H1 in the Hall sensor group 201 are connected in parallel to output a first detection signal; the Hall element H4 and the Hall element H5 in the Hall sensor group 202 are connected in parallel to output a second detection signal. The first detection signal is a signal obtained by superimposing the Hall signals of the two Hall elements in the Hall sensor group 201 (also referred to as the first Hall sensor group); the second detection signal is a signal obtained by superimposing the Hall signals of the two Hall elements in the Hall sensor group 202 (also referred to as the second Hall sensor group).

[0057] Since the magnetic field signal received by the Hall element is proportional to the output Hall signal, it is a linearly related relationship, so in order to describe the principle conveniently and uniformly, the received magnetic field signal is described.

[0058] For example, connecting two Hall elements in the same Hall sensor group in parallel is equivalent to superimposing the magnetic field signals received by the two Hall elements.

[0059] For example, with reference to the Hall element H1, the Hall element H3, the Hall element H5 and the Hall element H7, after the two Hall elements in the same group are connected in parallel, the equivalent magnetic field signal H n +H n-1 received by the Hall sensor group is:

[0060] H n +H n-1

[0061] =B Z •sin[α+(n-1) ∆+30°]+B3•sin[3α+3(n-1)∆+90°]+B Z •sin[α+(n-1)∆-30°]+B3•sin[3α+3(n-1)∆-90°]

[0062] = B Z • sin [a + (n-1)D + 30°] + B Z • sin [a + (n-1)D - 30°]

[0063] Since the third harmonic component in H n + H n-1 is cancelled, the arrangement of the Hall elements provided by the embodiments of the present disclosure can make the measurement result of the angle of the magnetic angle sensor not deviate due to the interference of the third harmonic component.

[0064] Therefore, in the embodiments of the present disclosure, two Hall elements spaced 60° central angle and arranged along the same circumference are included in each Hall sensor group, and the two Hall elements in each Hall sensor group are connected in parallel, so that the magnetic angle sensor with the above-mentioned multiple Hall sensor groups can effectively eliminate the influence of the third harmonic component in the magnetic field on the angle measurement accuracy.

[0065] In addition, the two Hall elements in each Hall sensor group are connected in parallel, which can also improve the signal-to-noise ratio of the output signal of the magnetic angle sensor and reduce the DC offset of the output signal of the magnetic angle sensor.

[0066] For example, the two Hall elements in the same Hall sensor group can be connected in parallel by output voltage shorting, thereby avoiding the introduction of additional circuits, and it should be noted that the specific parallel connection manner is not limited by the present disclosure.

[0067] For example, the Hall element H2 and the Hall element H3 in the Hall sensor group 203 are connected in parallel to output a third detection signal; the Hall element H6 and the Hall element H7 in the Hall sensor group 204 are connected in parallel to output a fourth detection signal. The third detection signal is a signal obtained by superimposing the Hall signals of the two Hall elements in the Hall sensor group 203 (also referred to as the third Hall sensor group) in parallel; the fourth detection signal is a signal obtained by superimposing the Hall signals of the two Hall elements in the Hall sensor group 204 (also referred to as the fourth Hall sensor group) in parallel. Each detection signal is proportional to the magnetic field signal H n + H n-1 received by the Hall sensor group.

[0068] It should be noted that the magnetic angle sensor 100 can also include more pairs of Hall sensor groups in addition to the first pair of Hall sensor groups and the second pair of Hall sensor groups according to actual needs, that is, more pairs of Hall sensor groups can be included which are arranged opposite to each other in the diameter direction, and the present disclosure is not limited thereto.

[0069] For example, the Hall element H2 and the Hall element H3 in the Hall sensor group 203 are connected in parallel to output a third detection signal; the Hall element H6 and the Hall element H7 in the Hall sensor group 204 are connected in parallel to output a fourth detection signal. The third detection signal is a signal obtained by superimposing the Hall signals of the two Hall elements in the Hall sensor group 203 (also referred to as the third Hall sensor group) in parallel; the fourth detection signal is a signal obtained by superimposing the Hall signals of the two Hall elements in the Hall sensor group 204 (also referred to as the fourth Hall sensor group) in parallel. Each detection signal is proportional to the magnetic field signal H Figure 2AFor example, the two Hall sensor groups in the first pair of Hall sensor groups (Hall sensor group 201 and Hall sensor group 202) and the two Hall sensor groups in the second pair of Hall sensor groups (Hall sensor group 203 and Hall sensor group 204) can be arranged on the same circumference, or the two Hall sensor groups in the first pair of Hall sensor groups and the two Hall sensor groups in the second pair of Hall sensor groups are arranged on different circumferences with equal circumference size, respectively. For example, in some embodiments of the present disclosure, at least one circumference includes a first circumference and a second circumference. The first circumference and the second circumference are different circumferences with the same center.

[0070] For example, the two Hall sensor groups in the first pair of Hall sensor groups are arranged on the first circumference, and the two Hall sensor groups in the second pair of Hall sensor groups are arranged on the second circumference.

[0071] Figure 2B A schematic diagram of an arrangement design of a magnetic angle sensor is shown.

[0072] As shown in Figure 2B For example, the first circumference can be a smaller-diameter circumference R1, and the second circumference can be a larger-diameter circumference R2. The Hall sensor group 201 and the Hall sensor group 202 in the first pair of Hall sensor groups can be arranged on the first circumference R1, and the Hall sensor group 203 and the Hall sensor group 204 in the second pair of Hall sensor groups can be arranged on the second circumference R2.

[0073] For example, the first circumference and the second circumference can be on the same plane.

[0074] The two Hall sensor groups in the first pair of Hall sensor groups (Hall sensor group 201 and Hall sensor group 202) and the two Hall sensor groups in the second pair of Hall sensor groups (Hall sensor group 203 and Hall sensor group 204) are arranged on the same plane.

[0075] For example, the first circumference can be on a first plane, and the second circumference can be on a second plane. The first plane and the second plane are two parallel planes.

[0076] Figure 3 A three-dimensional schematic diagram of an arrangement design of a magnetic angle sensor is shown.

[0077] As shown in Figure 3 The first circumference R1 and the second circumference R2 with the same center axis O are at different heights (or different axial positions) of the center axis O, respectively. The first plane on which the first circumference R1 is located and the second plane on which the second circumference R2 is located are parallel.

[0078] The two Hall sensor groups (Hall sensor group 201 and Hall sensor group 202) in the first pair of Hall sensor groups are arranged on a first plane, and the two Hall sensor groups (Hall sensor group 203 and Hall sensor group 204) in the second pair of Hall sensor groups are arranged on a second plane. The second plane is parallel to the first plane and perpendicular to the axial position. It should be noted that the above-mentioned diagrams are only exemplary, and in some cases, each Hall sensor group can be arranged on a different plane, and each Hall sensor group can be arranged on a circle with the same circle size or different circle sizes, and the present disclosure does not limit this. It should be noted that if the Hall sensor groups are arranged on different planes or arranged on circles with different circle sizes, the amplitude of the magnetic field signals received by the Hall sensor groups may differ, and in at least one embodiment, the amplitude difference can be solved by processing and calibration, and the processing method of the amplitude difference is not limited by the embodiments of the present disclosure.

[0079] In some embodiments of the present disclosure, the projection interval between the Hall elements of the first pair of Hall sensor groups and the Hall elements of the adjacent second pair of Hall sensor groups projected on the same plane is 30° of the central angle.

[0080] Since the two Hall sensor groups in the first pair of Hall sensor groups are oppositely arranged along the first diameter direction, and the two Hall sensor groups in the second pair of Hall sensor groups are oppositely arranged along the second diameter direction. Therefore, whether the first circle and the second circle are coaxial and coplanar, or coaxial but not coplanar, the Hall elements of the first pair of Hall sensor groups and the Hall elements of the second pair of Hall sensor groups are projected on the same plane, and the Hall sensor groups in the first pair of Hall sensor groups and the Hall sensor groups in the second pair of Hall sensor groups are adjacent in projection on the plane. The projection interval (angle) between the two adjacent Hall elements of the two pairs of Hall sensor groups is 30° of the central angle.

[0081] Continuing to refer to the top view schematic diagram examples shown in Figure 2A and Figure 2B , the top view schematic diagram can be regarded as the Hall elements of the first pair of Hall sensor groups and the Hall elements of the second pair of Hall sensor groups being projected on the same plane. In Figure 2A and Figure 2B , the Hall sensor group 201 (also referred to as the first Hall sensor group) in the first pair of Hall sensor groups includes a first Hall element (H0) and a second Hall element (H1), and the Hall sensor group 202 (also referred to as the second Hall sensor group) includes a third Hall element (H4) and a fourth Hall element (H5).

[0082] The Hall sensor group 203 (also referred to as the third Hall sensor group) in the second pair of Hall sensor groups includes a fifth Hall element (H2) and a sixth Hall element (H3), and the Hall sensor group 204 (also referred to as the fourth Hall sensor group) includes a seventh Hall element (H6) and an eighth Hall element (H7).

[0083] For example, the projection interval between the second Hall element (H1) of the first pair of Hall sensor groups and the fifth Hall element (H2) of the projection-adjacent second pair of Hall sensor groups is 30° of central angle.

[0084] For example, the projection interval between the second Hall element (H1) of the first pair of Hall sensor groups and the fifth Hall element (H2) of the projection-adjacent second pair of Hall sensor groups is 30° of central angle.

[0085] For example, the projection interval between the second Hall element (H1) of the first pair of Hall sensor groups and the fifth Hall element (H2) of the projection-adjacent second pair of Hall sensor groups is 30° of central angle.

[0086] For example, the projection interval between the second Hall element (H1) of the first pair of Hall sensor groups and the fifth Hall element (H2) of the projection-adjacent second pair of Hall sensor groups is 30° of central angle.

[0087] In some embodiments of the present disclosure, the projection interval between the Hall element of the first pair of Hall sensor groups and the Hall element of the second pair of Hall sensor groups is 90° of central angle, with one Hall element of the first pair of Hall sensor groups or one Hall element of the second pair of Hall sensor groups in between.

[0088] For example, the projection interval between the second Hall element (H1) of the first pair of Hall sensor groups and the fifth Hall element (H2) of the projection-adjacent second pair of Hall sensor groups is 30° of central angle.

[0089] For example, the projection interval between the second Hall element (H1) of the first pair of Hall sensor groups and the fifth Hall element (H2) of the projection-adjacent second pair of Hall sensor groups is 30° of central angle.

[0090] For example, the projection between the third Hall element (H4) of the first pair of Hall sensor groups and the seventh Hall element (H6) of the second pair of Hall sensor groups is separated by one fourth Hall element (H5) of the first pair of Hall sensor groups, and the projection interval between the third Hall element (H4) of the first pair of Hall sensor groups and the seventh Hall element (H6) of the second pair of Hall sensor groups is 90° of the central angle.

[0091] For example, the projection between the fourth Hall element (H5) of the first pair of Hall sensor groups and the eighth Hall element (H7) of the second pair of Hall sensor groups is separated by one seventh Hall element (H6) of the second pair of Hall sensor groups, and the projection interval between the fourth Hall element (H5) of the first pair of Hall sensor groups and the eighth Hall element (H7) of the second pair of Hall sensor groups is 90° of the central angle.

[0092] In some embodiments of the present disclosure, the magnetic angle sensor is realized in the form of a chip, so as to include a chip, and each Hall element in the plurality of pairs of Hall sensor groups is integrated in the chip and is electrically connected or communicatively connected through a wire in the chip; or the magnetic angle sensor is realized in the form of a printed circuit board, so as to include a printed circuit board, and each Hall element in the plurality of pairs of Hall sensor groups is arranged on the printed circuit board and is electrically connected or communicatively connected through a wire in the printed circuit board.

[0093] For example, the chip is an integrated circuit system for internal communication of the chip through a network-on-chip (NoC); the printed circuit board (PCB) is a circuit substrate, for example, each Hall element in the plurality of pairs of Hall sensor groups can be arranged on the printed circuit board through welding.

[0094] For example, each Hall sensor group in the plurality of pairs of Hall sensor groups can be arranged on different planes, which can be realized through a multi-layer printed circuit board, and each layer of the multi-layer printed circuit board can be electrically connected or communicatively connected through a wire. For different arrangement conditions of each Hall sensor group in the plurality of pairs of Hall sensor groups, a corresponding implementation form can be used as needed, and the present disclosure does not limit this.

[0095] In some embodiments of the present disclosure, the magnetic angle sensor further includes a signal processing module, and the signal processing module includes a first signal processing circuit and a second signal processing circuit.

[0096] The first signal processing circuit is configured to determine a first set of differential signals according to first detection signals and second detection signals respectively output by two Hall sensor groups in the first pair of Hall sensor groups; the second signal processing circuit is configured to determine a second set of differential signals according to third detection signals and fourth detection signals respectively output by two Hall sensor groups in the second pair of Hall sensor groups; and the signal processing module is configured to determine a measurement result according to the first set of differential signals and the second set of differential signals. These signal processing circuits can be implemented by, for example, analog circuits, digital circuits, or any combination thereof, and embodiments of the present disclosure do not limit this.

[0097] Figure 4 A circuit logic block diagram of a magnetic angle sensor is provided in at least one embodiment of the present disclosure.

[0098] As Figure 4 As shown in an example, the magnetic angle sensor 100 further includes a signal processing module 30, which includes a first signal processing circuit, a second signal processing circuit, and a digital signal processor 340; the first signal processing circuit can include a first operational amplifier 310, a first amplifier 320, and / or a first analog-to-digital converter 330; and the second signal processing circuit can include a second operational amplifier 311, a second amplifier 321, and / or a second analog-to-digital converter 331.

[0099] In some embodiments of the present disclosure, the first signal processing circuit includes the first operational amplifier 310, and the second signal processing circuit includes the second operational amplifier 311.

[0100] The first operational amplifier 310 is in communication connection with two Hall sensor groups in the first pair of Hall sensor groups, respectively, and the second operational amplifier 311 is in communication connection with two Hall sensor groups in the second pair of Hall sensor groups, respectively.

[0101] The first operational amplifier 310 is configured to perform differential operation on the first detection signal and the second detection signal to output a first set of differential signals, and the second operational amplifier 311 is configured to perform differential operation on the third detection signal and the fourth detection signal to output a second set of differential signals.

[0102] For example, for the first detection signal output by the first Hall element (H0) and the second Hall element (H1) in parallel in the Hall sensor group 201 (also referred to as the first Hall sensor group) and the second detection signal output by the third Hall element (H4) and the fourth Hall element (H5) in parallel in the Hall sensor group 202 (also referred to as the second Hall sensor group), the second detection signal can be inverted (a minus sign “—” shown in the figure) and then differential operated with the first detection signal by the first operational amplifier 310 to output a first set of differential signals S1.

[0103] For example, the first group of differential signals S1 = (H0+H1)-(H4+H5).

[0104] For example, for the third detection signal output by the fifth Hall element (H2) and the sixth Hall element (H3) in the Hall sensor group 203 (also referred to as the third Hall sensor group) in parallel and the fourth detection signal output by the seventh Hall element (H6) and the eighth Hall element (H7) in the Hall sensor group 204 (also referred to as the fourth Hall sensor group) in parallel, the fourth detection signal can be inverted and then subjected to differential operation with the third detection signal by the second operational amplifier 311 to output the second group of differential signals S2.

[0105] For example, the second group of differential signals S2 = (H2+H3)-(H6+H7).

[0106] For example, the first signal processing circuit can include a first amplifier 320 for signal amplification processing of the first group of differential signals, and the second signal processing circuit can include a second amplifier 321 for signal amplification processing of the second group of differential signals.

[0107] In some embodiments of the present disclosure, the signal processing module further includes a digital signal processor (DSP) 340, the first signal processing circuit further includes a first analog-to-digital converter 330, and the second signal processing circuit includes a second analog-to-digital converter 331.

[0108] The input end of the first analog-to-digital converter 330 is in communication connection with the first operational amplifier 310, the output end of the first analog-to-digital converter 330 is in communication connection with the digital signal processor 340, the input end of the second analog-to-digital converter 331 is in communication connection with the second operational amplifier 311, and the output end of the second analog-to-digital converter 331 is in communication connection with the digital signal processor 340.

[0109] The first analog-to-digital converter 330 is configured to perform analog-to-digital conversion on the first group of differential signals to output a first group of digital differential signals.

[0110] The second analog-to-digital converter 331 is configured to perform analog-to-digital conversion on the second group of differential signals to output a second group of digital differential signals.

[0111] The digital signal processor 340 is configured to perform an arctangent calculation according to the received first group of digital differential signals and the second group of digital differential signals to determine a measurement result, for example, the measurement result is a rotation angle value θ of a measured magnet measured by the magnetic angle sensor 100.

[0112] For example, the rotation angle value θ of the measured magnet measured by the magnetic angle sensor 100 is θ = atan(S1 / S2)

[0113] At least one embodiment of the present disclosure also provides a magnetic angle measurement system, which comprises the magnetic angle sensor as described in any of the above embodiments.

[0114] For example, the magnetic field can be generated by energizing the wire or by configuring a magnet, and the present disclosure does not limit the specific generation method of the magnetic field.

[0115] For example, the magnetic angle measurement system has a magnetic field, and the magnetic angle sensor is configured to measure the magnetic field in the magnetic angle measurement system.

[0116] In some embodiments of the present disclosure, the magnetic angle measurement system includes a to-be-measured magnet, for example, the to-be-measured magnet serves as a magnetic field source in the magnetic angle measurement system.

[0117] For example, the magnetic angle sensor is configured to measure the rotation angle value of the to-be-measured magnet.

[0118] Figure 5 A schematic diagram of the positional relationship between the to-be-measured magnet and the magnetic angle sensor is shown.

[0119] As shown in Figure 5 The magnetic angle measurement system 200 includes a to-be-measured magnet 40 and the magnetic angle sensor 100 provided by any of the above embodiments of the present disclosure.

[0120] The magnetic axis of the to-be-measured magnet is perpendicular to the plane where the magnetic angle sensor is located, and the geometric center of the to-be-measured magnet is located on the axis where each Hall element in the magnetic angle sensor is located, for example, on the center axis O as shown in Figure 2A and Figure 2B The to-be-measured magnet is configured to rotate when measuring the magnetic angle.

[0121] The magnetic axis (Magnetic Axis) is the boundary between the south pole (S) and the north pole (N) of the magnet; for example, the geometric center of the to-be-measured magnet and the center of the circle along the circumference of the arrangement of each Hall sensor group in the magnetic angle sensor can be on a vertical line perpendicular to the plane where the magnetic angle sensor is located.

[0122] For example, the to-be-measured magnet is an axial magnetization magnet, that is, the to-be-measured magnet is generated by axial magnetization.

[0123] For example, the to-be-measured magnet is a circular magnet or a ring-shaped magnet.

[0124] It should be noted that the circular or annular magnet generated by the axial magnetization method has a stronger third harmonic component, and therefore the magnetic angle sensor provided in any of the above embodiments of the present disclosure has a significant effect of eliminating the third harmonic component for the to-be-measured magnet.

[0125] For example, the to-be-measured magnet can rotate around the magnetic axis, and the to-be-measured magnet can be attached to the to-be-measured object, for example, the to-be-measured object is an electric motor, and the to-be-measured magnet can be installed at a corresponding position of the electric motor, so as to measure the rotation angle of the electric motor. It should be noted that the installation method of the to-be-measured magnet and the to-be-measured object is not limited by the present disclosure, and the rotation method of the to-be-measured magnet is determined by the to-be-measured object, and the present disclosure does not limit the rotation method of the to-be-measured magnet.

[0126] Figure 6 A schematic diagram of the position relationship between the to-be-measured magnet and the magnetic angle sensor is shown.

[0127] In the magnetic angle measurement system 200, the position relationship between the to-be-measured magnet 40 and the magnetic angle sensor 100 can be as shown in Figure 5 , that is, the to-be-measured magnet 40 is arranged on at least one side of the plane where the magnetic angle sensor 100 is located. For example, the to-be-measured magnet 40 can be arranged on the upper side or the lower side opposite to the magnetic angle sensor 100, and the present disclosure does not limit this.

[0128] The position relationship between the to-be-measured magnet 40 and the magnetic angle sensor 100 can also be as shown in Figure 6 , that is, the to-be-measured magnet 40 can also pass through the plane where the magnetic angle sensor 100 is located, and is surrounded by the Hall elements of each Hall sensor group in the plurality of pairs of Hall sensor groups in the magnetic angle sensor 100.

[0129] The technical effects of the magnetic angle measurement system in the above embodiments of the present disclosure are the same as those of the magnetic angle sensor described above, and therefore will not be repeated.

[0130] At least one embodiment of the present disclosure also provides a device, wherein the device includes the magnetic angle measurement system or the magnetic angle sensor described in the above at least one embodiment, for example, an electronic device.

[0131] Figure 7 A block schematic diagram of an electronic device is shown.

[0132] As Figure 7As shown, the electronic device 300 in this embodiment includes a magnetic angle measurement system 200 or a magnetic angle sensor 100 according to any embodiment of this disclosure. The electronic device 300 can be, but is not limited to, mobile devices or terminals requiring magnetic angle measurement, such as wearable devices, in-vehicle terminals (e.g., in-vehicle navigation terminals), and intelligent transportation devices such as smart cars (electric vehicles, hybrid vehicles, or gasoline vehicles), and smart electric vehicles. The electronic device 300 can also be a large mechanical device with motors, turntables, gears, etc., requiring magnetic angle measurement.

[0133] For example, the electronic device 300 can be a smart car, and the magnetic angle measurement system 200 or magnetic angle sensor 100 equipped on the electronic device 300 can be used to assist the smart car in various application scenarios such as steering wheel control and car seat angle adjustment.

[0134] The technical effects of the electronic device in the above embodiments of this disclosure are the same as those of the magnetic angle sensor described above, and therefore will not be repeated.

[0135] At least one embodiment of this disclosure also provides a method for measuring magnetic angles. Figure 8 A schematic flowchart of a magnetic angle measurement method provided in at least one embodiment of the present disclosure is shown.

[0136] like Figure 8 As shown, in some embodiments of this disclosure, the magnetic angle measurement method includes steps S10 to S13.

[0137] Step S10: In response to the magnetic field received by each Hall sensor group in the multiple pairs of Hall sensor groups in the magnetic angle sensor, determine the detection signal output by the parallel superposition of the two Hall signals corresponding to the two Hall elements in each Hall sensor group.

[0138] Step S11: Determine the first set of differential signals based on the two detection signals output by the two Hall sensor groups in the first pair of Hall sensor groups that are set opposite each other along the first diameter direction.

[0139] Step S12: Determine the second set of differential signals based on the two detection signals output by the two Hall sensor groups in the second pair of Hall sensor groups that are set opposite each other along the second diameter direction.

[0140] Step S13: Determine the measurement results based on the first set of differential signals and the second set of differential signals.

[0141] Among them, multiple pairs of Hall sensor groups are arranged along at least one circumference on the same axis, with two Hall elements spaced 60° apart at the central angle and arranged along the same circumference, and the plane of the at least one circumference is perpendicular to the axis; the first diameter direction is perpendicular to the second diameter direction.

[0142] For example, the measurement result is a rotation angle value of the measured magnet measured by the magnetic angle sensor.

[0143] For example, the step S11 of the magnetic angle measurement method further comprises: determining the first group of differential signals according to the first detection signal and the second detection signal respectively output by the two Hall sensor groups in the first pair of Hall sensor groups.

[0144] For example, the step S12 of the magnetic angle measurement method further comprises: determining the second group of differential signals according to the third detection signal and the fourth detection signal respectively output by the two Hall sensor groups in the second pair of Hall sensor groups.

[0145] In some embodiments of the present disclosure, the step S13 of the magnetic angle measurement method further comprises: determining the first group of digital differential signals output after the first group of differential signals is subjected to analog-to-digital conversion, determining the second group of digital differential signals output after the second group of differential signals is subjected to analog-to-digital conversion, and performing arctangent calculation according to the first group of digital differential signals and the second group of digital differential signals to determine the measurement result.

[0146] For example, the step S13 of the magnetic angle measurement method further comprises: before the first group of differential signals and the second group of differential signals are subjected to analog-to-digital conversion, respectively performing signal amplification processing on the first group of differential signals and the second group of differential signals, so as to respectively perform analog-to-digital conversion according to the amplified first group of differential signals and the amplified second group of differential signals.

[0147] The principle and process of determining the measurement result in the above embodiments of the present disclosure are the same as those described above, and will not be repeated here.

[0148] The technical effects of the magnetic angle measurement method of the above embodiments of the present disclosure are the same as those of the above magnetic angle sensor, and will not be repeated here.

[0149] For the present disclosure, the following points need to be explained:

[0150] (1) In the drawings of the embodiments of the present disclosure, only the structures related to the embodiments of the present disclosure are involved, and other structures can be referred to the general design.

[0151] (2) In the case of no conflict, the features in the same embodiment and different embodiments of the present disclosure can be combined with each other.

[0152] The above is only a specific embodiment of the present disclosure, but the protection scope of the present disclosure is not limited thereto, and any person skilled in the art can easily think of changes or replacements within the technical range disclosed by the present disclosure, which should be covered within the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be subject to the protection scope of the claims.

Claims

1. A magnetic angle sensor, comprising: a plurality of pairs of Hall sensor groups arranged along a same axis, wherein the plurality of pairs of Hall sensor groups comprise a first pair of Hall sensor groups and a second pair of Hall sensor groups, and a plane in which the at least one circle is located is perpendicular to the axis; two Hall sensor groups in the first pair of Hall sensor groups are oppositely arranged along a first diameter direction of the at least one circle, and two Hall sensor groups in the second pair of Hall sensor groups are oppositely arranged along a second diameter direction of the at least one circle, the first diameter direction being perpendicular to the second diameter direction; wherein each of the Hall sensor groups comprises two Hall elements arranged along a same circle with a 60° central angle, and each of the Hall elements is configured to output a Hall signal in response to a received magnetic field; the two Hall elements in each of the Hall sensor groups are configured to be connected in parallel to output a detection signal by superimposing two Hall signals corresponding to the two Hall elements in parallel.

2. The magnetic angle sensor of claim 1, wherein, the at least one circle comprises a first circle and a second circle, the two Hall sensor groups in the first pair of Hall sensor groups are arranged on the first circle, and the two Hall sensor groups in the second pair of Hall sensor groups are arranged on the second circle; or the two Hall sensor groups in the first pair of Hall sensor groups and the two Hall sensor groups in the second pair of Hall sensor groups are arranged on a same circle.

3. The magnetic angle sensor of claim 2, wherein, the first circle and the second circle are on a same plane; or the first circle is on a first plane, and the second circle is on a second plane, the first plane being parallel to the second plane.

4. The magnetic angle sensor of claim 3, wherein, a projection interval between a Hall element of the first pair of Hall sensor groups and a Hall element of an adjacent second pair of Hall sensor groups projected on a same plane is 30° central angle.

5. The magnetic angle sensor of any one of claims 1-4, further comprising a signal processing module, wherein, the signal processing module comprises a first signal processing circuit and a second signal processing circuit; the first signal processing circuit is configured to determine a first set of differential signals according to a first detection signal and a second detection signal output by two Hall sensor groups in the first pair of Hall sensor groups, respectively; the second signal processing circuit is configured to determine a second set of differential signals according to a third detection signal and a fourth detection signal output by two Hall sensor groups in the second pair of Hall sensor groups, respectively; the signal processing module is configured to determine a measurement result according to the first set of differential signals and the second set of differential signals.

6. The magnetic angle sensor of claim 5, wherein, the measurement result is a rotation angle value of a magnet to be measured measured by the magnetic angle sensor.

7. The magnetic angle sensor of claim 5, wherein, the first signal processing circuit comprises a first operational amplifier, and the second signal processing circuit comprises a second operational amplifier; the first operational amplifier is communicatively connected with the two Hall sensor groups in the first pair of Hall sensor groups, respectively, and the second operational amplifier is communicatively connected with the two Hall sensor groups in the second pair of Hall sensor groups, respectively; the first operational amplifier is configured to perform differential operation on the first detection signal and the second detection signal to output the first set of differential signals, and the second operational amplifier is configured to perform differential operation on the third detection signal and the fourth detection signal to output the second set of differential signals. The second operational amplifier is configured to perform differential operation on the third detection signal and the fourth detection signal, and output the second set of differential signals.

8. The magnetic angle sensor of claim 7, wherein, The signal processing module further comprises a digital signal processor, the first signal processing circuit further comprises a first analog-to-digital converter, and the second signal processing circuit further comprises a second analog-to-digital converter. An input end of the first analog-to-digital converter is communicatively connected to the first operational amplifier, an output end of the first analog-to-digital converter is communicatively connected to the digital signal processor, an input end of the second analog-to-digital converter is communicatively connected to the second operational amplifier, and an output end of the second analog-to-digital converter is communicatively connected to the digital signal processor. The first analog-to-digital converter is configured to perform analog-to-digital conversion on the first set of differential signals, and output a first set of digital differential signals. The second analog-to-digital converter is configured to perform analog-to-digital conversion on the second set of differential signals, and output a second set of digital differential signals. The digital signal processor is configured to perform arctangent calculation according to the received first set of digital differential signals and the second set of digital differential signals, to determine the measurement result.

9. The magnetic angle sensor of any one of claims 1-4, wherein, The magnetic angle sensor comprises a chip, and each of the Hall elements in the plurality of Hall sensor groups is integrated in the chip, or The magnetic angle sensor comprises a printed circuit board, and each of the Hall elements in the plurality of Hall sensor groups is arranged on the printed circuit board.

10. A magnetic angle measurement system, comprising: the magnetic angle sensor according to any one of claims 1-9; and a magnet to be measured; wherein the magnetic angle sensor is configured to measure a rotation angle value of the magnet to be measured.

11. The magnetic angle measurement system according to claim 10, wherein a magnetic axis of the magnet to be measured is perpendicular to a plane in which the magnetic angle sensor is located, and a geometric center of the magnet to be measured is located on the axis; the magnet to be measured is configured to rotate during the measurement.

12. The magnetic angle measurement system according to claim 10 or 11, wherein the magnet to be measured is arranged on at least one side of the plane in which the magnetic angle sensor is located, or the magnet to be measured passes through the plane in which the magnetic angle sensor is located, and is surrounded by each of the Hall elements in the plurality of Hall sensor groups.

13. An electronic device, comprising: the magnetic angle sensor according to any one of claims 1-9, or the magnetic angle measurement system according to any one of claims 10-12.

14. A magnetic angle measurement method, comprising: in response to each Hall sensor group in a plurality of Hall sensor groups in a magnetic angle sensor receiving a magnetic field, determining a detection signal output after two Hall signals corresponding to two Hall elements in the each Hall sensor group are connected in parallel, wherein the plurality of Hall sensor groups are arranged along at least one circumference of an axis, the two Hall elements are spaced apart by 60° central angle and arranged along the same circumference, and a plane in which the at least one circumference is located is perpendicular to the axis. determine a first group of differential signals according to two detection signals respectively output by two Hall sensor groups of a first pair of Hall sensor groups arranged opposite along a first diameter direction, determine a second group of differential signals according to two detection signals respectively output by two Hall sensor groups of a second pair of Hall sensor groups arranged opposite along a second diameter direction, wherein the first diameter direction is perpendicular to the second diameter direction; determine a measurement result according to the first group of differential signals and the second group of differential signals.

15. The magnetic angle measurement method of claim 14, wherein, The determining the measurement result according to the first group of differential signals and the second group of differential signals comprises: determining a first group of digital differential signals output after analog-to-digital conversion of the first group of differential signals, determining a second group of digital differential signals output after analog-to-digital conversion of the second group of differential signals, performing an inverse tangent calculation according to the first group of digital differential signals and the second group of digital differential signals to determine the measurement result.

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