Inductance type encoder system

Abstract

The invention provides an inductive encoder system, which comprises a control solution module, an excitation signal generation module and a coil PCB, and is characterized in that the control solution module is at least used for outputting excitation square waves and controlling the frequency of the excitation square waves, the excitation signal generation module is at least used for converting the excitation square waves into excitation signals, and the coil PCB comprises an excitation coil and a receiving coil; the excitation coil is used for enabling the receiving coil to output an induction signal under the action of an excitation signal; the frequency of excitation square waves is regulated and controlled through the control resolving module, the excitation signal power is enhanced in combination with the excitation signal generation module, it is ensured that the excitation magnetic field intensity is stable, and the induction signal amplitude change caused by magnetic field fluctuation is reduced; meanwhile, electromagnetic coupling between the coils is optimized, and the stability of induction signals is further improved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of signal demodulation, and particularly relates to an inductive encoder system. BACKGROUND

[0002] Encoders can be divided into photoelectric encoders, magnetic encoders, capacitive encoders and inductive encoders. Among them, the inductive encoder has the advantages of high precision, strong environmental adaptability, outstanding anti-magnetic field interference ability, compact structure and small electromagnetic interference.

[0003] The working principle of the inductive encoder is based on the inductive coupling between the excitation coil, the target object and the receiving coil. The core structure includes an excitation coil, a receiving coil and a target object (code disc), and the coil is usually made by PCB technology to reduce cost and difficulty. When working, the system needs to output a high-frequency excitation signal through the excitation coil to generate an electromagnetic field. When the target object (rotor) rotates, it will cause the magnetic field to change, and then the receiving coil will induce a voltage signal related to the angular displacement. The signal is usually in the form of an amplitude modulation wave, the carrier frequency is consistent with the excitation signal frequency, and the amplitude change of the amplitude modulation envelope directly reflects the angular position information of the target object.

[0004] However, the existing inductive encoder has the following problems in signal processing and system structure coordination: ① The induced signal amplitude is usually only in the order of mV, which is weak in itself and is not conducive to direct sampling by the subsequent ADC module; ② The frequency control of the excitation signal lacks flexibility, resulting in insufficient or unstable excitation magnetic field strength, which further aggravates the weakening of the receiving coil induced signal and affects the signal-to-noise ratio of the signal. SUMMARY

[0005] In view of this, the present application provides an inductive encoder system to solve the problem that the original induced signal amplitude is small and weak in strength, resulting in large sampling fluctuations of the ADC module, and the frequency control of the excitation signal lacks flexibility, resulting in insufficient or unstable excitation magnetic field strength, so that the position value calculation is inaccurate.

[0006] The present application provides an inductive encoder system, comprising:

[0007] A control calculation module for at least outputting an excitation square wave and controlling the frequency of the excitation square wave;

[0008] An excitation signal generation module for at least converting the excitation square wave into an excitation signal;

[0009] A coil PCB including an excitation coil and a receiving coil; the excitation coil is used to make the receiving coil output an induced signal under the action of the excitation signal.

[0010] Further optionally, the excitation signal generation module comprises a PMOS tube, an NMOS tube and an adjustable capacitor; the PMOS tube and the NMOS tube constitute a power amplifier circuit, the power amplifier circuit being configured to increase the power of the excitation signal; the adjustable capacitor and the excitation coil are respectively configured as a capacitor and an inductor of a resonant circuit, and the adjustable capacitor is configured to adjust the frequency of the excitation signal.

[0011] Further optionally, the control calculation module is connected with the adjustable capacitor; the control calculation module adjusts the frequency of the resonant circuit by controlling the adjustable capacitor, thereby adjusting the amplitude of the excitation signal.

[0012] Further optionally, when the frequency of the resonant circuit is consistent with the frequency of the excitation signal, the voltage and the current of the excitation signal reach the maximum, and the strength of the excitation magnetic field formed by the excitation coil reaches the maximum.

[0013] Further optionally, the inductive encoder system further comprises:

[0014] an induction signal demodulation module configured to demodulate the induction signal into a demodulated induction signal;

[0015] a gain amplification module configured to adjust the demodulated induction signal into an amplified induction signal, so that the amplitude of the amplified induction signal is within the sampling range of an ADC module;

[0016] wherein the induction signal is provided with an envelope.

[0017] Further optionally, the demodulated induction signal is a sine / cosine analog signal; the inductive encoder system further comprises a rectifier circuit and a comparison circuit, the rectifier circuit being configured to rectify the sine / cosine analog signal into a direct current signal, and the comparison circuit being configured to compare the direct current signal with a preset signal.

[0018] The gain amplification module is configured to perform gain amplification processing on the demodulated induction signal according to the comparison result of the direct current signal and the preset signal to obtain the amplified induction signal.

[0019] Further optionally, the direct current signal is a direct current voltage signal, and the preset signal is a preset voltage signal and comprises a first preset voltage signal and a second preset voltage signal; wherein the first preset voltage signal is greater than the second preset voltage signal, and the range between the first preset voltage signal and the second preset voltage signal is an ADC sampling optimal range.

[0020] The gain amplification module is configured to have a gain amplification multiple of K-1 when the direct current voltage signal is greater than the first preset voltage signal.

[0021] When the direct current voltage signal is greater than the second preset voltage signal and less than or equal to the first preset voltage signal, the gain amplification multiple of the gain amplification module is K;

[0022] When the direct current voltage signal is less than the second preset voltage signal, the gain amplification multiple of the gain amplification module is K+1.

[0023] Further, the rectifier circuit comprises a diode, a capacitor C1 and a resistor R5, the diode is used for rectifying the sine / cosine analog signal, the capacitor C1 is used for filtering, and the resistor R5 is used for filtering out the peak-to-peak value of the sine / cosine analog signal.

[0024] The comparison circuit comprises a same-phase end and a reverse end, the same-phase end is used for accessing the direct current signal, and the reverse end is used for accessing a preset signal.

[0025] Further, the analog switch and the amplification resistor are further included, the analog switch and the amplification resistor are both provided with a plurality of, and the analog switch and the amplification resistor are one-to-one corresponding and connected in series.

[0026] The control calculation module is used for controlling the analog switch according to the comparison result of the direct current signal and the preset signal, and then selecting the corresponding amplification resistor.

[0027] Further, the ADC module is further included, and the ADC module samples the amplified induction signal to obtain a sampling signal.

[0028] The control calculation module is further used for calculating the sampling signal to obtain a position value.

[0029] Compared with the prior art, the present application has the following beneficial effects:

[0030] The frequency of the excitation square wave is controlled by the control calculation module to match the resonant frequency adjusted by the adjustable capacitor, and the excitation signal generation module enhances the excitation signal power, so that the excitation magnetic field intensity is stable, the amplitude change of the induction signal caused by the magnetic field fluctuation is reduced, the electromagnetic coupling between the coils is optimized, and the stability of the induction signal is further improved, so that the problem of too weak induction signal caused by insufficient excitation magnetic field intensity is solved.

[0031] The stable excitation magnetic field makes the original induction signal intensity more stable, and avoids the problem that the too weak signal is difficult to sample; in combination with the logic of dynamically adjusting the gain based on the output result of the comparison circuit, the amplitude of the induction signal is controlled within the best sampling range of the ADC module, the sampling error is significantly reduced, the reliability of the ADC module sampling is improved, and the problem that the ADC module sampling is inaccurate due to the amplitude change of the induction signal is solved.

[0032] Due to the improved stability of the induction signal and the more reliable sampling of the ADC module, the signal error input to the control solution module is reduced, and the accuracy of position solution is effectively improved, solving the solution deviation problem caused by signal fluctuation in the traditional scheme.

[0033] The coil PCB includes an excitation coil and a receiving coil, and cooperates with the control solution module and the excitation signal generation module to form a cooperative working mechanism, thereby improving the electromagnetic coupling efficiency and signal processing efficiency of the system as a whole and reducing the performance loss caused by structural design defects. BRIEF DESCRIPTION OF DRAWINGS

[0034] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed in the following embodiment or prior art description will be briefly introduced. Obviously, the drawings in the following description are only exemplary, and those skilled in the art can also obtain other implementation drawings according to the provided drawings without creative labor.

[0035] The structures, proportions, sizes, etc. shown in the specification are only used to cooperate with the content disclosed in the specification for understanding and reading by those skilled in the art, and do not define the limiting conditions for implementing the present application, so they do not have technical significance. Any modification of structure, change of proportion relationship or adjustment of size, without affecting the effect and purpose that can be achieved by the present application, should still fall within the scope of the technical content disclosed by the present application.

[0036] Figure 1 The embodiment structure schematic diagram of the inductive encoder system provided by the present application is shown in the following figure:

[0037] Figure 2 The embodiment structure schematic diagram of the excitation signal generation module provided by the present application is shown in the following figure:

[0038] Figure 3 The embodiment structure schematic diagram of the induction signal demodulation module provided by the present application is shown in the following figure:

[0039] Figure 4 The embodiment structure schematic diagram of the gain amplification circuit provided by the present application is shown in the following figure: DETAILED DESCRIPTION

[0040] The embodiments of the present application are described below by specific specific embodiments, and those skilled in the art can easily understand other advantages and effects of the present application from the content disclosed in the specification. Obviously, the described embodiments are part of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0041] The terminology used in the description of the application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in the description of the application and the appended claims, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be understood that the terms "and / or", "at least one of", "one or more of", and "and / or at least one of" as used herein refer to and encompass any possible combination of one or more of the associated listed items, including but not limited to the use of only a single one of the associated listed items.

[0042] It should be understood that the term "and / or" as used herein merely describes an association between associated objects, and can represent three relationships, for example, A and / or B, which can represent three cases: A exists alone, A and B exist together, and B exists alone. In addition, the character " / " herein generally represents an "or" relationship between the front and rear associated objects.

[0043] It should also be noted that the terms "comprising", "including", or any other variant thereof are intended to cover non-exclusive inclusion, so that a product or system including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or further includes elements inherent to such product or system. Without more limitations, the element defined by the statement "including a" does not exclude the presence of other identical elements in the product or system including the element.

[0044] The existing inductive encoder has the following problems in the coordination of signal processing and system structure: ① The amplitude of the induction signal is usually only mV level, which is weak in itself and is not conducive to direct sampling by the subsequent ADC module; ② The frequency control of the excitation signal lacks flexibility, resulting in insufficient or unstable excitation magnetic field strength, which further exacerbates the weakening of the induction signal of the receiving coil, affecting the signal-to-noise ratio of the signal.

[0045] The application creatively provides an inductive encoder system, which comprises a control and calculation module, an excitation signal generation module and a coil PCB, the control and calculation module is at least used for outputting an excitation square wave and controlling the frequency of the excitation square wave, the excitation signal generation module is at least used for converting the excitation square wave into an excitation signal, and the coil PCB comprises an excitation coil and a receiving coil; the excitation coil is used for outputting an induction signal of the receiving coil under the action of the excitation signal.

[0046] By controlling and regulating the frequency of the excitation square wave through the control and calculation module and enhancing the power of the excitation signal through the excitation signal generation module, the stability of the excitation magnetic field strength is ensured, and the change of the induction signal amplitude caused by the fluctuation of the magnetic field is reduced; at the same time, the electromagnetic coupling between the coils is optimized, and the stability of the induction signal is further improved.

[0047] As shown in Figure 1 The embodiment provides an inductive encoder system, which comprises:

[0048] The control and calculation module (MCU) is used at least to output an excitation square wave and control the frequency of the excitation square wave;

[0049] An excitation signal generation module, which is at least used to convert an excitation square wave into an excitation signal;

[0050] The coil PCB includes an excitation coil and a receiving coil; the excitation coil is used to cause the receiving coil to output an induced signal under the action of an excitation signal.

[0051] The larger the amplitude of the excitation signal, the stronger the induced signal and the more accurate the position calculation; increasing the frequency of the excitation square wave and increasing the power of the excitation signal can both enhance the strength of the excitation magnetic field.

[0052] Furthermore, the excitation signal generation module includes a PMOS transistor, an NMOS transistor, and an adjustable capacitor; the PMOS transistor and the NMOS transistor constitute a power amplifier circuit, which is used to increase the power of the excitation signal; the adjustable capacitor and the excitation coil serve as the capacitor and inductor of the resonant circuit, respectively, and the adjustable capacitor is used to adjust the frequency of the excitation signal.

[0053] Specifically, such as Figure 2 As shown, the power amplifier circuit is a class AB complementary symmetry push-pull power amplifier circuit. The input terminal of the power amplifier circuit is connected to the output terminal of the excitation square wave in the control calculation module. The output terminal of the power amplifier circuit is connected to one end of the inductor, and the other end of the inductor is connected to the excitation coil. The power amplifier circuit receives and amplifies the excitation square wave output by the control calculation module, and the inductor receives the amplified excitation square wave and outputs the excitation signal. One end of the adjustable capacitor is connected to the control terminal in the control calculation module, and the other end of the adjustable capacitor is connected to the other end of the inductor.

[0054] The control and calculation module is connected to the adjustable capacitor; the control and calculation module can adjust the frequency of the resonant circuit by controlling the adjustable capacitor, thereby adjusting the amplitude of the excitation signal; the adjustable capacitor is a digital adjustable capacitor.

[0055] When the frequency of the resonant circuit matches the frequency of the excitation signal, the voltage and current of the excitation signal reach their maximum, and the strength of the excitation magnetic field formed by the excitation coil reaches its maximum, ensuring the strength of the excitation magnetic field; this avoids the problem of a weak induced signal caused by insufficient excitation signal magnetic field strength.

[0056] In addition, the inductive encoder system also includes:

[0057] The induction signal demodulation module is used to demodulate the induction signal into a demodulated induction signal;

[0058] The gain amplifier module is used to adjust the demodulated sensing signal into an amplified sensing signal so that the amplitude of the amplified sensing signal is within the sampling range of the ADC module.

[0059] The induction signal carries an envelope.

[0060] Further, the receiving coil generates an induction signal carrying position information after the rotor rotates, and the induction signal is processed by an induction signal demodulation module to generate a demodulated induction signal, which is a sine / cosine analog signal.

[0061] The inductive encoder system further includes a rectifier circuit and a comparison circuit, the rectifier circuit being configured to rectify the sine / cosine analog signal into a direct current signal, and the comparison circuit being configured to compare the direct current signal with a preset signal.

[0062] The gain amplification module is configured to perform gain amplification processing on the demodulated induction signal to obtain an amplified induction signal according to a comparison result of the direct current signal and the preset signal.

[0063] Specifically, as shown in Figure 3 the input end of the rectifier circuit is connected to the output end of the induction signal demodulation module, the rectifier circuit receives the sine / cosine analog signal output by the induction signal demodulation module and rectifies it into a direct current signal; the direct current signal is a direct current voltage signal, the preset signal is a preset voltage signal and includes a first preset voltage signal U H and a second preset voltage signal U L ; the first input end of the comparison circuit is connected to the output end of the rectifier circuit, and the second input end and the third input end of the comparison circuit respectively receive the first preset voltage signal U H and the second preset voltage signal U L , the comparison circuit receives the direct current voltage signal output by the rectifier circuit and the preset voltage signal, and compares the direct current signal with the preset voltage signal; the input end of the gain amplification module is connected to the output end of the comparison circuit, and the output end of the gain amplification module is connected to the ADC module.

[0064] The first preset voltage signal U H is greater than the second preset voltage signal U L , and the range between the first preset voltage signal U H and the second preset voltage signal U L is the optimal sampling range of the ADC module.

[0065] The gain amplification module is configured to, when the direct current voltage signal U i is greater than the first preset voltage signal U H , the gain amplification factor of the gain amplification module is K-1, and the gain amplification module performs gain amplification processing on the demodulated induction signal with a gain amplification factor of K-1 to obtain a first amplified induction signal, thereby reducing the gain to avoid signal saturation.

[0066] When the direct current voltage signal U iGreater than the second preset voltage signal U L And less than or equal to the first preset voltage signal U H When the gain amplification factor of the gain amplification module is K, the gain amplification module will amplify the demodulated induced signal with a gain amplification factor of K to obtain the second amplified induced signal, thereby improving the gain to compensate for weak signals.

[0067] When DC voltage signal U i Less than the second preset voltage signal U L When the gain amplification factor of the gain amplification module is K+1, the gain amplification module will amplify the demodulated inductive signal with a gain amplification factor of K+1 to obtain the third amplified inductive signal.

[0068] The ADC module receives the first amplified sensing signal, the second amplified sensing signal, and the third amplified sensing signal output by the gain amplification module and samples them to obtain the sampled signal.

[0069] The above approach ensures the stability of the sensed signal and improves the sampling accuracy of the ADC module.

[0070] like Figure 4 As shown, the rectifier circuit and comparator circuit are further explained below. The rectifier circuit includes a diode, a capacitor C1 and a resistor R5. The diode is used to rectify the sine / cosine analog signal. The capacitor C1 is used for filtering and the resistor R5 is used to filter out the peak-to-peak value of the sine / cosine analog signal.

[0071] The comparator circuit includes a non-inverting input and an inverting input. The non-inverting input is used to receive a DC signal, and the inverting input is used to receive a preset signal.

[0072] The inductive encoder system also includes analog switches and amplifying resistors. Multiple analog switches and amplifying resistors are provided, and they are connected in series in a one-to-one correspondence.

[0073] The control and calculation module is used to control the analog switch based on the comparison result between the DC signal and the preset signal, and then select the corresponding amplification resistor to determine the amplification factor.

[0074] The inductive encoder system also includes an ADC module, which samples the amplified inductive signal to obtain a sampled signal;

[0075] The control and calculation module is also used to calculate the sampled signal to obtain the position value.

[0076] Specifically, the rectifier circuit further comprises a first rectifier, a second rectifier and a third rectifier; one end of the resistor R1 and an output end of the inductive signal demodulation module are connected, and the other end of the resistor R1, one end of the resistor R2 and one end of the diode D1 are all connected with a negative input end of the first rectifier; a positive input end of the first rectifier and a positive input end of the second rectifier are both grounded; the other end of the resistor R2 and one end of the resistor R3 are both connected with one end of the diode D2, and the other end of the diode D1 and the other end of the diode D2 are both connected with an output end of the first rectifier; one end of the resistor R4 and one end of the resistor R1 are connected, the other end of the resistor R3, the other end of the resistor R4, one end of the resistor R5 and one end of the capacitor C1 are all connected with a negative input end of the second rectifier; the other end of the resistor R5 and the other end of the capacitor C1 are both connected with an output end of the second rectifier; the output end of the second rectifier is further connected with a positive input end of the first comparator and a positive input end of the second comparator;

[0077] The comparison circuit further comprises a first comparator and a second comparator, one end of the resistor R6 is connected with a power supply, the other end of the resistor R6, a first preset voltage signal U H and one end of the resistor R7 are all connected with a negative input end of the first comparator, the other end of the resistor R7, one end of the resistor R8 and a second preset voltage signal U L are all connected with a negative input end of the second comparator; an output end of the first comparator and an output end of the second comparator are respectively connected with two input ends of the analog switch;

[0078] One end of the resistor R12 and one end of the resistor R1 are connected, the other end of the resistor R12 and a positive input end of the third rectifier are connected, a negative input end of the third rectifier and one end of the resistor R13 are connected, and the other end of the resistor R13 is grounded; the other end of the resistor R12 is further connected with one end of the resistor R9, one end of the resistor R10 and one end of the resistor R11 respectively, and the other end of the resistor R9, the other end of the resistor R10 and the other end of the resistor R11 are respectively connected with the other three input ends of the analog switch; an output end of the analog switch is connected with an output end of the third rectifier and outputs an amplified inductive signal U0.

[0079] In summary, by controlling the frequency and power of the excitation signal, the strength of the excitation magnetic field is controlled, and the stability of the inductive signal output is improved; by monitoring the amplitude of the demodulated inductive signal, the gain of the demodulated inductive signal is adjusted; by automatically adjusting the gain voltage amplification circuit, the amplification multiple can be automatically adjusted according to the change of the inductive signal amplitude, the amplitude of the inductive signal after gain is ensured to be within the best sampling range of the ADC module, the reliability of the ADC module sampling is ensured, and the accuracy of the position calculation is improved.

[0080] The exemplary embodiments of this disclosure are specifically illustrated and described herein. But, it is to be understood that the disclosure is not limited to the detailed construction, arrangements, or implementation methods described herein; rather, the disclosure is intended to cover any and all modifications and equivalent arrangements included within the spirit and scope of the appended claims.

Claims

1. An inductive encoder system, characterized by The inductive encoder system comprises: a control calculation module configured to output an excitation square wave and control a frequency of the excitation square wave; an excitation signal generation module configured to convert the excitation square wave into an excitation signal; a coil PCB comprising an excitation coil and a receiving coil, wherein the excitation coil is configured to output an induction signal from the receiving coil under the action of the excitation signal.

2. The inductive encoder system of claim 1, wherein, The excitation signal generation module comprises a PMOS tube, an NMOS tube, and an adjustable capacitor, wherein the PMOS tube and the NMOS tube form a power amplifier circuit configured to increase a power of the excitation signal, and the adjustable capacitor and the excitation coil are respectively a capacitor and an inductor of a resonance circuit, and the adjustable capacitor is configured to adjust a frequency of the excitation signal.

3. The inductive encoder system of claim 2, wherein, The control calculation module is connected to the adjustable capacitor, and the control calculation module adjusts the frequency of the resonance circuit by controlling the adjustable capacitor, thereby adjusting an amplitude of the excitation signal. When the frequency of the resonance circuit is consistent with the frequency of the excitation signal, the amplitude of the excitation signal reaches a maximum.

4. The inductive encoder system of claim 3, wherein, When the frequency of the resonance circuit is consistent with the frequency of the excitation signal, the voltage and current of the excitation signal reach a maximum, and the strength of an excitation magnetic field formed by the excitation coil reaches a maximum.

5. The inductive encoder system of claim 1, wherein, The inductive encoder system further comprises: an induction signal demodulation module configured to demodulate the induction signal into a demodulated induction signal; a gain amplification module configured to adjust the demodulated induction signal into an amplified induction signal, so that an amplitude of the amplified induction signal is within a sampling range of an ADC module. The induction signal has an envelope.

6. The inductive encoder system of claim 5, wherein, The demodulated induction signal is a sine / cosine analog signal, and the inductive encoder system further comprises a rectifier circuit and a comparison circuit, wherein the rectifier circuit is configured to rectify the sine / cosine analog signal into a direct current signal, and the comparison circuit is configured to compare the direct current signal with a preset signal. The gain amplification module is configured to perform gain amplification processing on the demodulated induction signal according to a comparison result of the direct current signal and the preset signal to obtain the amplified induction signal.

7. The inductive encoder system of claim 6, wherein, The direct current signal is a direct current voltage signal, and the preset signal is a preset voltage signal and comprises a first preset voltage signal and a second preset voltage signal, wherein the first preset voltage signal is greater than the second preset voltage signal, and a range between the first preset voltage signal and the second preset voltage signal is an optimal sampling range of the ADC module. When the direct current voltage signal is greater than the first preset voltage signal, a gain amplification multiple of the gain amplification module is K-1. When the direct current voltage signal is greater than the second preset voltage signal and less than or equal to the first preset voltage signal, the gain amplification multiple of the gain amplification module is K. When the direct current voltage signal is less than the second preset voltage signal, the gain amplification multiple of the gain amplification module is K+1.

8. The inductive encoder system of claim 6, wherein, The rectifier circuit comprises a diode, a capacitor C1 and a resistor R5, the diode is used for rectifying the sine / cosine analog signal, the capacitor C1 is used for filtering, and the resistor R5 is used for filtering out the peak-to-peak value of the sine / cosine analog signal; The comparison circuit comprises a same-phase end and a reverse end, the same-phase end is used for accessing the direct current signal, and the reverse end is used for accessing the preset signal.

9. The inductive encoder system of claim 8, wherein, Analog switches and amplification resistors are further included, the analog switches and the amplification resistances are provided in plurality, and the analog switches and the amplification resistances are provided in one-to-one correspondence and are connected in series. The control calculation module is used for controlling the analog switch according to the comparison result of the direct current signal and the preset signal, and then selecting the corresponding amplification resistance.

10. An inductive encoder system according to any one of claims 5 to 9, characterised in that, An ADC module is further included, and the ADC module samples the amplified induced signal to obtain a sampling signal. The control calculation module is further used for calculating the sampling signal to obtain a position value.

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