An angle detection device and a detection method

Abstract

The application discloses an angle detection device and method, based on the processing program built in the processing chip and the magnetic field characteristics of anisotropic magnetoresistance, after receiving the voltage signals of the Hall element and the anisotropic magnetoresistance, the device and method can accurately calculate the angle offset, compared with the prior art, the device and method have the advantages of low complexity, low maintenance requirement, low cost, small size and high angle resolution.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of angle detection, in particular to an angle detection device and a detection method. BACKGROUND

[0002] As a core device in the fields of industrial automation, automotive electronics, robots, etc., the magneto-electric angle sensor has made significant progress in material innovation, technology integration and application scenario expansion in recent years, but at the same time, it also faces the challenges of precision bottleneck and environmental adaptability. SUMMARY

[0003] In order to solve these problems, the present application provides an angle detection device and a detection method.

[0004] According to an aspect of the present application, an angle detection device is provided, comprising a first relative rotating body and a second relative rotating body, the first relative rotating body is provided with a magnet, the magnet is relatively rotated with the second relative rotating body, the second relative rotating body is provided with a first Hall element, first to third AMR anisotropic magnetoresistance, three second resistors and three third resistors, the first to third AMR anisotropic magnetoresistance are respectively located at three equal points of a virtual circle and one end is grounded, the other end is connected with one end of a second resistor and two ends of a third resistor respectively, the other end of the three second resistors is connected with an input voltage, the line connecting the center of the virtual circle and the position of the first AMR anisotropic magnetoresistance is perpendicular to the line connecting the center of the virtual circle and the position of the first Hall element and intersects at the center of the virtual circle.

[0005] According to an aspect of the present application, an angle detection method is provided, using the angle detection device of the first aspect, comprising the following steps:

[0006] S1, obtaining the voltage value of the first Hall element corresponding to the rotation angle of the magnet and the voltage difference between the first to third AMR anisotropic magnetoresistance;

[0007] S2, judging the rotation angle of the magnet corresponding to the range of the number of turns based on the voltage value of the first Hall element;

[0008] S3, dividing the angle of the magnet rotating half a circle around its rotation center into six consecutive angle intervals, defining the compensation amount and output voltage value corresponding to each angle interval, judging the angle interval corresponding to the rotation angle of the magnet according to the voltage difference between the first to third AMR anisotropic magnetoresistance, and obtaining the corresponding compensation amount and output voltage value;

[0009] S4, calculating the rotation angle of the magnet according to the range of the number of turns corresponding to the rotation angle of the magnet, the angle interval, the compensation amount and the output voltage value.

[0010] The present application has the advantages that:

[0011] (1) Compared with the prior solutions, the device and method proposed by the present application have lower complexity, maintenance requirements and cost, and realize high angular resolution while meeting miniaturization and integration requirements, on the premise of maintaining cost advantage;

[0012] (2) Based on the processing program built-in the processing chip and the magnetic field characteristics of anisotropic magnetoresistance, after receiving the voltage signals of the Hall element and the anisotropic magnetoresistance, the device and method proposed by the present application can accurately calculate the angular offset, and have the advantage of high sensitivity. At the same time, through specific circuit design, the processing chip processes the voltage difference between the anisotropic magnetoresistances under the same temperature condition, which can eliminate the error caused by the temperature condition and ensure the temperature stability and anti-interference of the device. BRIEF DESCRIPTION OF DRAWINGS

[0013] The accompanying drawings are included to provide a further understanding of embodiments and are incorporated in and constitute a part of this specification. The drawings illustrate embodiments and serve the purpose of explaining principles of the present application. Other embodiments and many of the intended advantages of the present application will be readily appreciated as the same becomes better understood by reference to the following detailed description. The elements of the drawings are not necessarily to scale relative to each other. Like reference numerals designate corresponding similar parts.

[0014] Figure 1 A cross-sectional structure schematic diagram of an angle detection device according to the present application is shown;

[0015] Figure 2 A surface structure schematic diagram of an angle detection device according to the present application is shown;

[0016] Figure 3 A structure schematic diagram of an angle detection device according to the present application for measuring potential difference by a Hall current sensor is shown;

[0017] Figure 4 A circuit equivalent schematic diagram of an angle detection device according to the present application for measuring potential difference by a Hall current sensor is shown;

[0018] Figure 5 A structure schematic diagram of a difference operator for measuring potential difference according to the present application is shown;

[0019] Figure 6 A circuit equivalent schematic diagram of an angle detection device according to the present application for measuring potential difference by a difference operator is shown;

[0020] Figure 7 Fig. 1 shows a circuit equivalent schematic diagram of measuring the zero-crossing times of the voltage value of the first Hall element by the zero-crossing detection circuit according to the angle detection device of the present application;

[0021] Figure 8 Fig. 2 shows a flow schematic diagram of the angle detection method according to the present application;

[0022] Figure 9 Fig. 3 shows a voltage-rotation angle relationship schematic diagram of the Hall element obtained by the angle detection method according to the present application;

[0023] Figure 10 Fig. 4 shows a voltage-rotation angle relationship schematic diagram of the AMR anisotropic magnetoresistance obtained by the angle detection method according to the present application;

[0024] Figure 11 Fig. 5 shows a voltage difference-rotation angle relationship schematic diagram of the AMR anisotropic magnetoresistance obtained by the angle detection method according to the present application.

[0025] BRIEF DESCRIPTION OF DRAWINGS

[0026] 1. first relative rotating body; 101. rotating shaft; 102. magnet; 103. bearing; 104. fastening screw; 105. processing chip;

[0027] 2. second relative rotating body; 201. first Hall element; 202. first AMR anisotropic magnetoresistance; 203. second AMR anisotropic magnetoresistance; 204. third AMR anisotropic magnetoresistance; 205. second resistor; 206. third resistor; 207. Hall current sensor; 21. non-inverting input terminal of differential operator; 22. inverting input terminal of differential operator; 23. output terminal of differential operator; 24. zero-crossing detection circuit; D1-D3. node; R1. first differential resistor; R2. second differential resistor; ①. first angle interval; ②. second angle interval; ③. third angle interval; ④. fourth angle interval; ⑤. fifth angle interval; ⑥. sixth angle interval. DETAILED DESCRIPTION

[0028] The present application will be further described below in conjunction with the drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the related application, and are not a limitation on the application. In addition, it should be noted that, for the convenience of description, only the parts related to the application are shown in the drawings.

[0029] REFERENCE Figure 1 and Figure 2 According to the first aspect of the present application, an angle detection device is provided, comprising a second relative rotating body 2 and a first relative rotating body 1.

[0030] The first Hall element 201, the first AMR anisotropic magnetoresistance 202, the second AMR anisotropic magnetoresistance 203, the third AMR anisotropic magnetoresistance 204, the three second resistances 205, and the three third resistances 206 are fixedly arranged on the second relative rotating body 2, the first to third AMR anisotropic magnetoresistances are respectively located at three equal parts of a virtual circle and grounded at one end, and connected with one end of a second resistance 205 and one end of two third resistances 206 at the other end, and the other end of the three second resistances 205 is connected with the input voltage VCC. The line connecting the center of the virtual circle and the position of the first AMR anisotropic magnetoresistance 202 is perpendicular to the line connecting the center of the virtual circle and the position of the first Hall element 201 and intersects at the center of the virtual circle.

[0031] The device has strict requirements on the relative positions of the Hall element and the AMR resistance arrangement, so that the amplitude and phase of the voltage signals generated on both sides of the AMR resistance and the Hall element are one-to-one corresponding, thereby ensuring the high precision and accuracy of angle measurement.

[0032] The first relative rotating body 1 is provided with a magnet 102, and the magnet 102 is relatively rotated with the second relative rotating body 2.

[0033] In one embodiment, the first relative rotating body is provided with a rotating shaft 101, the magnet 102 is arranged on the end face of one end of the rotating shaft 101, and the center of the virtual circle is located on the center line of the magnet 102, and the rotating shaft 101 is rotationally connected with the first relative rotating body.

[0034] In one embodiment, the second relative rotating body 2 is fixedly arranged on the outer surface of the first relative rotating body 1, one end of the rotating shaft 101 is close to the inner surface of the first relative rotating body 1 relative to the second relative rotating body 2, the other end of the rotating shaft 101 penetrates the first relative rotating body 1, and the rotating shaft 101 is rotationally connected with the first relative rotating body 1.

[0035] The first relative rotating body 1 is further provided with a bearing 103 and a fastening screw 104, the other end of the rotating shaft 101 is inserted into the bearing 103, the rotating shaft 101 is rotationally connected with the bearing 103, and is fixed by the fastening screw 104.

[0036] The resistance value of the third resistance 206 is set to be much larger than the resistance value of the second resistance 205, so as to measure the potential difference of the AMR anisotropic magnetoresistance and stabilize the circuit.

[0037] The second relative rotating body 2 is provided with a processing chip 105, which is used to obtain the voltage value of the first Hall element corresponding to the rotation angle of the magnet and the voltage difference value between the first to third AMR anisotropic magnetoresistances to calculate the rotation angle of the magnet 102.

[0038] With reference to Figure 3 and Figure 4 In one embodiment, the second relative rotating body 2 is provided with three Hall current sensors, which are respectively used to measure the current values flowing through the three third resistances to calculate the voltage difference values between the first to third AMR anisotropic magnetoresistances. For example, the voltage difference value V 12 between the first AMR anisotropic magnetoresistance 202 and the second AMR anisotropic magnetoresistance 203 is measured by the Hall current sensor 207, which multiplies the obtained current value by the resistance value of the third resistance to obtain the voltage difference value V 12 . Similarly, when the current of the branch corresponding to the node D2 and the node D3 is measured, the voltage difference value V 23 is obtained by multiplying the obtained current value by the resistance value of the third resistance; when the current of the branch corresponding to the node D3 and the node D1 is measured, the voltage difference value V 31 is obtained by multiplying the obtained current value by the resistance value of the third resistance.

[0039] With reference to Figure 5 and Figure 6 In one embodiment, the second relative rotating body 2 is provided with three differential operators, which are respectively used to calculate the voltage difference values between the first to third AMR anisotropic magnetoresistances. The structure of the differential operator is shown in Figure 5 For example, the voltage difference value V 12 between the first AMR anisotropic magnetoresistance 202 and the second AMR anisotropic magnetoresistance 203 is measured by the differential operator, in which the branch corresponding to the non-inverting input terminal 21 of the differential operator and the branch corresponding to the inverting input terminal 22 of the differential operator are connected to the node D1 and the node D2 respectively to measure the voltage difference value corresponding to the node D1 and the node D2, and the output terminal 23 of the differential operator outputs the voltage difference value V 12 . Wherein R1 is the first differential resistance of the differential operator, and R2 is the second differential resistance of the differential operator. When measuring, the resistance value of R1 is set to be equal to the resistance value of R2, and the voltage difference value V 12 is obtained. Similarly, the voltage difference value V 23 between the second AMR anisotropic magnetoresistance 203 and the third AMR anisotropic magnetoresistance 204 is measured by the differential operator; the voltage difference value V 31 between the third AMR anisotropic magnetoresistance 204 and the first AMR anisotropic magnetoresistance 202 is measured by the differential operator.

[0040] AsFigure 7 As shown in the figure, in one embodiment, the second relative rotating body 2 is provided with a zero-crossing detection circuit 24, which is used to obtain the zero-crossing number of the voltage value of the first Hall element 201 according to the voltage value of the first Hall element 201, so as to determine the range of the number of turns corresponding to the rotation angle of the magnet 102. In the prior art, there are various specific circuit settings of the zero-crossing detection circuit 24, which can be selected and set by those skilled in the art according to the actual needs of the present application when applied to the present application.

[0041] Referring to Figure 8 According to the second aspect of the present application, an angle detection method is provided, which is based on the angle detection device of the first aspect, and includes the following steps:

[0042] S1, obtaining the voltage value of the first Hall element corresponding to the rotation angle of the magnet and the voltage difference between the first to third AMR anisotropic magnetoresistances;

[0043] S2, determining the range of the number of turns corresponding to the rotation angle of the magnet based on the voltage value of the first Hall element;

[0044] S3, dividing the angle of the magnet rotating half a circle around its rotation center into six consecutive angle intervals, defining the compensation amount and output voltage value corresponding to each angle interval, and determining the angle interval corresponding to the rotation angle of the magnet based on the voltage difference between the first to third AMR anisotropic magnetoresistances, to obtain the corresponding compensation amount and output voltage value;

[0045] S4, calculating the rotation angle of the magnet according to the range of the number of turns corresponding to the rotation angle of the magnet, the angle interval, the compensation amount and the output voltage value.

[0046] In S2, the range of the number of turns corresponding to the rotation angle of the magnet is determined based on the voltage value of the first Hall element, which specifically includes:

[0047] When the magnet is at the initial position, the number of turns range flag is initially assigned as 0,

[0048] When the number of zero-crossings of the voltage value of the first Hall element is detected to be even, the number of turns range flag = 0;

[0049] When the number of zero-crossings of the voltage value of the first Hall element is detected to be odd, the number of turns range flag = 1.

[0050] S3 specifically includes:

[0051] When (V 12 <0 &V 23 ≥0 &V 31When >0), the corresponding angle range =1, output voltage value V=V 23 The compensation amount α = 0°;

[0052] When (V) 12 <0 &V 23 >0 &V 31 When ≤0), the corresponding angle interval =2, output voltage value V=V 12 The compensation amount α = 30°;

[0053] When (V) 12 ≥0 &V 23 >0 &V 31 When <0), the corresponding angle interval =3, output voltage value V=V 12 The compensation amount α = 60°;

[0054] When (V) 12 >0 &V 23 ≤0 &V 31 When <0), the corresponding angle interval =4, output voltage value V=V 31 The compensation amount α = 90°;

[0055] When (V) 12 >0 &V 23 <0 &V 31 When ≥0), the corresponding angle range =5, output voltage value V=V 31 The compensation amount α = 120°;

[0056] When (V) 12 ≤0 &V 23 <0 &V 31 When >0), the corresponding angle range =6, output voltage value V=V 23 The compensation amount α = 150°.

[0057] S4 specifically includes:

[0058] When the rotation angle of the magnet corresponds to the number of revolutions range flag=0, the rotation angle of the magnet ;

[0059] When the rotation angle of the magnet corresponds to the number of revolutions range flag=1, the rotation angle of the magnet ;

[0060] in, Indicates the amount of compensation. represents the corresponding angle interval, represents the output voltage value, represents the maximum value of the AMR anisotropic magnetoresistance voltage value.

[0061] The detection method of the above-mentioned angle detection device has the following specific embodiments:

[0062] When the angle detection device is running, the Hall element outputs a sinusoidal voltage signal as the magnet rotates, and the amplitude is as shown in the following figure. Figure 9

[0063] The voltage value of the first Hall element can be used to determine the rotation range of the rotation angle. That is, by detecting the number of times the voltage value of the first Hall element passes zero during the process of the magnet from the initial position to the final stop position, the rotation range of the rotation degree is determined. When the number of times the voltage value of the first Hall element passes zero is detected to be even, the number of turns range flag=0; when the number of times the voltage value of the first Hall element passes zero is detected to be odd, the number of turns range flag=1.

[0064] The resistivity of AMR changes with the change of the angle between the magnetization intensity and the current direction. When the current direction is parallel to the magnetization intensity, the resistance is the smallest; when the current direction is perpendicular to the magnetization intensity, the resistance is the largest. Therefore, the three AMR anisotropic magnetoresistances output voltage signals with a phase difference of 60°, and the image is as shown in the following figure. Figure 10 Figure 11 Among them, V1, V2 and V3 are respectively the voltage corresponding to the first AMR anisotropic magnetoresistance, the second AMR anisotropic magnetoresistance and the third AMR anisotropic magnetoresistance, and the processing chip calculates the potential difference between the voltage values of the two AMR anisotropic magnetoresistances, and the obtained image is as shown in the following figure.

[0065] Therefore, through the specific arrangement design of AMR resistance and Hall element, the phase correspondence of the voltage values of AMR resistance and Hall element can be realized, so as to judge the angle deviation in the range of 0°~360° through the two-by-two correspondence.

[0066] Based on the curve of the voltage difference of the AMR anisotropic magnetoresistance, the angle of the magnet rotating half a circle around its rotation center is divided into six consecutive angle intervals with an interval of 30°, according to the positive and negative relationship of the potential difference, including the first angle interval, the second angle interval, the third angle interval, the fourth angle interval, the fifth angle interval and the sixth angle interval. Among them, Figure 11 The line segment highlighted in black solid line in the figure represents the function value of the output voltage value V in each angle interval, Figure 11 ​​The first, second, third, fourth, fifth and sixth angle intervals are respectively marked by the black dotted lines ①, ②, ③, ④, ⑤ and ⑥. The details are as follows:

[0067] The angle range of the first angle interval is , the corresponding compensation amount is equal to 0°, and the output voltage value V is equal to the voltage difference V 23 between the first AMR anisotropic magnetoresistance and the second AMR anisotropic magnetoresistance.

[0068] The angle range of the second angle interval is , the corresponding compensation amount is equal to 30°, and the output voltage value V is equal to the voltage difference V 12 between the first AMR anisotropic magnetoresistance and the second AMR anisotropic magnetoresistance.

[0069] The angle range of the third angle interval is , the corresponding compensation amount is equal to 60°, and the output voltage value V is equal to the voltage difference V 12 between the first AMR anisotropic magnetoresistance and the second AMR anisotropic magnetoresistance.

[0070] The angle range of the fourth angle interval is , the corresponding compensation amount is equal to 90°, and the output voltage value V is equal to the voltage difference V 31 between the third AMR anisotropic magnetoresistance and the first AMR anisotropic magnetoresistance.

[0071] The angle range of the fifth angle interval is , the corresponding compensation amount is equal to 120°, and the output voltage value V is equal to the voltage difference V 31 between the third AMR anisotropic magnetoresistance and the first AMR anisotropic magnetoresistance.

[0072] The angle range of the sixth angle interval is , the corresponding compensation amount is equal to 150°, and the output voltage value V is equal to the voltage difference V 23 between the second AMR anisotropic magnetoresistance and the third AMR anisotropic magnetoresistance.

[0073] The output voltage value V obtained by the processing chip is not a continuous change in the six equal angle intervals during the rotation of the magnet in the same direction, but a periodic function with a period of 60°, the amplitude of each angle interval has a jump phenomenon, and the value in the odd interval is positive and the value in the even interval is negative. Therefore, the actual rotation angle can be obtained by using the increase and decrease ratio of the defined output voltage value V and rotation angle and the corresponding compensation amount.

[0074] In the range of 0°-180° defined by the first to sixth angle intervals, when the magnet rotates to a certain position, as long as the corresponding angle interval is determined, the current rotation angle can be accurately calculated through the compensation amount and the output voltage value. In the range of 180°-360°, since the change trend of the output voltage value V and the rotation angle is the same as that of the first to sixth angle intervals, the rotation angle in the range of 180°-360° can be calculated according to the rule of the range of 0°-180° and then added by 180°. Whether the rotation angle is greater than 180° can be judged by the voltage value of the Hall element.

[0075] Therefore, when the rotation angle of the magnet corresponds to the range of the number of turns flag=0, the rotation angle of the magnet When the rotation angle of the magnet corresponds to the range of the number of turns flag=1, the rotation angle of the magnet In this embodiment, the voltage difference value has a maximum value Vp =1.

[0076] Suppose the relationship of the three obtained AMR anisotropic magnetoresistance voltage difference values is: V 12 <0 、V 23 <0 、V 31 >0, the relationship of the voltage values of the Hall element is: the zero-crossing times are even, that is, the rotation angle corresponds to the sixth angle interval, flag=0, the angle interval =6, the output voltage value V=V 23 , the compensation amount a =150°, .

[0077] The angle detection device designed in the scheme is based on the processing program built in the processing chip and the magnetic field characteristics of the anisotropic magnetoresistance. After receiving the voltage signals of the Hall element and the anisotropic magnetoresistance, the device and method proposed by the application can accurately calculate the angle offset, and has the advantage of high sensitivity. At the same time, through the specific circuit design, the processing chip processes the voltage difference between the anisotropic magnetoresistances under the same temperature condition, which can eliminate the error caused by the temperature condition and ensure that the device has temperature stability and anti-interference.

[0078] It should be noted that the embodiments and features of the embodiments in the present application can be combined with each other without conflict. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0079] The above description is merely the preferred embodiments of the present application and the explanation of the technical principles used. It should be understood by those skilled in the art that the scope of the application involved in the present application is not limited to the technical solutions formed by the specific combinations of the above technical features, and should also cover other technical solutions formed by the combinations of the above technical features or equivalent features without departing from the above inventive concept. For example, the technical solutions formed by the mutual replacement of the above features and the technical features disclosed in the present application (but not limited to) with similar functions.

Claims

1. An angle detection device, characterized in that, The system includes a first relative rotating body and a second relative rotating body. The first relative rotating body is equipped with a magnet, which rotates relative to the second relative rotating body. The second relative rotating body is equipped with a first Hall element, first to third AMR anisotropic magnetoresistors, three second resistors, and three third resistors. The first to third AMR anisotropic magnetoresistors are located at the trisection points of the same virtual circle, with one end grounded and the other end connected to one end of one of the second resistors and one end of each of the three third resistors, respectively. The other ends of the three second resistors are connected to the input voltage. The center of the virtual circle and the first... The line connecting the positions of the AMR anisotropic magnetoresistors is perpendicular to the center of the virtual circle and the line connecting the positions of the first Hall element, intersecting at the center of the virtual circle. Based on the voltage value of the first Hall element, the range of revolutions corresponding to the rotation angle of the magnet is determined. Based on the voltage difference between the first and third AMR anisotropic magnetoresistors, the angle range corresponding to the rotation angle of the magnet is determined, and the corresponding compensation amount and output voltage value are obtained. Based on the range of revolutions, angle range, compensation amount, and output voltage value corresponding to the rotation angle of the magnet, the rotation angle of the magnet is calculated, specifically including: When the rotation angle of the magnet corresponds to the number of revolutions range flag=0, the rotation angle of the magnet ; When the rotation angle of the magnet corresponds to the number of revolutions range flag=1, the rotation angle of the magnet ; in, Indicates the amount of compensation. This indicates the corresponding angle range. Indicates the output voltage value. This represents the maximum value of the anisotropic magnetoresistance voltage in an AMR.

2. The angle detection device according to claim 1, characterized in that, The first relative rotating body is provided with a rotating shaft, the magnet is disposed on the end face of one end of the rotating shaft, and the center of the virtual circle is located on the center line of the magnet. The rotating shaft is rotatably connected to the first relative rotating body.

3. The angle detection device according to claim 1, characterized in that, The second relative rotating body is provided with a processing chip for obtaining the voltage value of the first Hall element and the voltage difference between the first and third AMR anisotropic magnetoresistances to calculate the rotation angle of the magnet.

4. The angle detection device according to claim 3, characterized in that, The second relative rotating body is provided with three Hall current sensors, which are used to measure the current values ​​flowing through the three third resistors to calculate the voltage difference between the first to third AMR anisotropic magnetoresistance.

5. The angle detection device according to claim 3, characterized in that, The second relative rotating body is provided with three differential operators, which are used to calculate the voltage difference between the anisotropic magnetoresistance of the first to third AMRs.

6. The angle detection device according to claim 3, characterized in that, The second relative rotating body is provided with a zero-crossing detection circuit, which is used to obtain the number of zero-crossings of the voltage value of the first Hall element based on the voltage value of the first Hall element, thereby determining the range of rotation angles of the magnet.

7. An angle detection method, characterized in that, The method utilizes the angle detection device according to any one of claims 1-6, and includes the following steps: S1, obtain the voltage value of the first Hall element corresponding to the rotation angle of the magnet and the voltage difference between the first and third AMR anisotropic magnetoresistances; S2, determine the range of rotation angles corresponding to the magnet based on the voltage value of the first Hall element; S3, divide the angle of the magnet's half-rotation around its rotation center into six consecutive angle intervals, and define the compensation amount and output voltage value corresponding to each angle interval. Based on the voltage difference between the anisotropic magnetoresistance of the first to third AMRs, determine the angle interval corresponding to the rotation angle of the magnet, and obtain the corresponding compensation amount and output voltage value. S4. The rotation angle of the magnet is calculated based on the range of revolutions, angle interval, compensation amount, and output voltage value corresponding to the rotation angle of the magnet.

8. The angle detection method according to claim 7, characterized in that, The range of rotation angles corresponding to the magnet's rotation in S2, determined based on the voltage value of the first Hall element, specifically includes: Assume that when the magnet is in its initial position, the initial value of the rotation range flag is 0. When the number of zero-crossings of the voltage value of the first Hall element is detected to be an even number, the number of cycles range flag = 0; When the number of zero-crossings of the voltage value of the first Hall element is detected to be an odd number, the number of cycles flag = 1.

9. The angle detection method according to claim 7, characterized in that, S3 specifically includes: When V 12 <0 &V 23 ≥0 &V 31 When >0, the corresponding angle range =1, output voltage value V=V 23 The compensation amount α = 0°; When V 12 <0 &V 23 >0 &V 31 When ≤0, the corresponding angle interval =2, output voltage value V=V 12 The compensation amount α = 30°; When V 12 ≥0 &V 23 >0 &V 31 When < 0, the corresponding angle interval =3, output voltage value V=V 12 The compensation amount α = 60°; When V 12 >0 &V 23 ≤0 &V 31 When < 0, the corresponding angle interval =4, output voltage value V=V 31 The compensation amount α = 90°; When V 12 >0 &V 23 <0 &V 31 When ≥0, the corresponding angle interval =5, output voltage value V=V 31 The compensation amount α = 120°; When V 12 ≤0 &V 23 <0 &V 31 When >0, the corresponding angle range =6, output voltage value V=V 23 The compensation amount α = 150°.

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