Encoder coded disc magnetizing dynamic control method and system

Abstract

The invention provides an encoder code disc magnetizing dynamic control method and system, and relates to the technical field of encoder code disc magnetizing, the method comprises the steps that a sectional type magnetizing head is determined, the sectional type magnetizing head is provided with a plurality of independent controllable fan-shaped coil segments, and each fan-shaped coil segment is provided with a corresponding angle range identifier; applying a preset detection current to each fan-shaped coil section and carrying out pre-magnetizing detection on the coded disc to be magnetized to obtain detection magnetic field intensity distribution; comparing the detected magnetic field intensity distribution with the target magnetic field intensity distribution to obtain a magnetic field deviation value corresponding to each angle range identifier; determining a current compensation coefficient of each fan-shaped coil section according to the magnetic field deviation value corresponding to each angle range identifier, and generating a sectional magnetizing current; and based on the sectional type magnetizing current, executing formal magnetizing on the coded disc to be magnetized through the sectional type magnetizing head. The technical problems of poor magnetization uniformity and poor product consistency of encoder code disc magnetization in the prior art are solved.

Description

Technical Field

[0001] This invention relates to the field of encoder code disk magnetization, and more particularly to a method and system for dynamic control of encoder code disk magnetization. Background Technology

[0002] In the production of encoder code disks, the magnetization process is the core step that determines the accuracy and performance of the code disk. Existing technology uses integrated magnetization technology, which applies a fixed current to the coil through a single integrated magnetization head, completing the magnetization operation of the entire code disk in one go.

[0003] However, while this technology is simple in process, it suffers from poor magnetization uniformity and poor product consistency. On the one hand, it cannot make differentiated adjustments based on the magnetization requirements of different angle positions of the code disk and the uneven distribution of the magnetic field of the coil itself, which easily leads to inconsistent magnetic field strength in different areas of the code disk, resulting in obvious magnetization errors and directly affecting the accuracy of subsequent signal output from the encoder. On the other hand, it lacks a correction mechanism for local magnetic field deviations. During the magnetization process, the magnetization effect of the same batch of code disks fluctuates greatly due to factors such as current fluctuations. A large number of unqualified products need to be reworked or scrapped, which not only increases the cost of raw materials and labor time, but also makes it difficult to meet the mass production requirements of high-precision encoders.

[0004] Therefore, there is an urgent need for a dynamic control method for encoder code disk magnetization that can achieve local fine control and data-driven deviation correction, in order to solve the problems of poor magnetization uniformity and poor product consistency. Summary of the Invention

[0005] This invention addresses the technical problems of poor magnetization uniformity and poor product consistency in encoder code disk magnetization in the prior art by providing a dynamic control method and system for encoder code disk magnetization.

[0006] The technical solution of the present invention to solve the above-mentioned technical problems is as follows:

[0007] In a first aspect, the present invention provides a method for dynamic control of encoder code disk magnetization, comprising:

[0008] A segmented magnetizing head is defined, wherein the segmented magnetizing head has multiple independently controllable sector coil segments, and each sector coil segment has a corresponding angle range marking;

[0009] A preset detection current is applied to each of the sector coil segments and a pre-magnetization detection is performed on the code disk to be magnetized to obtain the detection magnetic field strength distribution.

[0010] The detected magnetic field strength distribution is compared with the target magnetic field strength distribution to obtain the magnetic field deviation value corresponding to each of the angle range markers;

[0011] Based on the magnetic field deviation value corresponding to each of the angle ranges, the current compensation coefficient of each of the sector coil segments is determined, and a segmented magnetizing current is generated.

[0012] Based on the segmented magnetizing current, the segmented magnetizing head performs formal magnetization on the encoder disk to be magnetized.

[0013] Secondly, the present invention provides an encoder code disk magnetization dynamic control system, comprising:

[0014] The segmented magnetizing head determination module is used to determine the segmented magnetizing head, which has multiple independently controllable sector coil segments, and each sector coil segment has a corresponding angle range identifier.

[0015] The magnetization detection module is used to apply a preset detection current to each of the sector coil segments and perform pre-magnetization detection on the code disk to be magnetized to obtain the detection magnetic field strength distribution.

[0016] The magnetic field deviation analysis module is used to compare the detected magnetic field intensity distribution with the target magnetic field intensity distribution to obtain the magnetic field deviation value corresponding to each of the angle range markers;

[0017] The current compensation module is used to determine the current compensation coefficient of each sector coil segment based on the magnetic field deviation value corresponding to each angle range identifier, and generate a segmented magnetizing current.

[0018] The magnetization execution module is used to perform formal magnetization on the code disk to be magnetized through the segmented magnetization head based on the segmented magnetization current.

[0019] The beneficial effects of this invention are:

[0020] Compared to existing technologies, this application first defines a segmented magnetizing head. This segmented magnetizing head has multiple independently controllable sector-shaped coil segments, each with a corresponding angle range indicator. This hardware-level solution addresses the limitation of traditional integral magnetizing heads, which cannot adjust for local differences in the code disk, providing a foundation for precise control during the final magnetization process. Secondly, a preset detection current is applied to each sector-shaped coil segment, and a pre-magnetization test is performed on the code disk to be magnetized, obtaining the detected magnetic field strength distribution. Through a standardized testing process, the magnetic field distribution characteristics of the code disk under uniform current conditions are accurately captured, providing a reliable data basis for subsequent deviation analysis and current compensation. Thirdly, the detected magnetic field strength distribution is compared with the target magnetic field strength distribution to obtain the magnetic field deviation value corresponding to each angle range indicator. This achieves objectivity and refinement in the calculation of magnetic field deviation, providing data support for subsequent targeted current compensation. Furthermore, based on the magnetic field deviation values ​​corresponding to each angle range, the current compensation coefficient for each sector coil segment is determined, generating a segmented magnetizing current. A compensation coefficient generator trained using historical prior data outputs a realistic current compensation coefficient, ensuring that the current in each sector coil segment can accurately correct deviations. Finally, based on the segmented magnetizing current, the code disk to be magnetized is formally magnetized using a segmented magnetizing head, ensuring that the magnetic field deviation of each sector coil segment is effectively corrected, ultimately achieving uniform magnetization of the entire code disk.

[0021] Through the above technical solution, this application improves the magnetization quality and production efficiency of encoder disks by implementing a closed-loop control system encompassing segmented magnetization heads, data detection, precise correction, and execution. On one hand, the multiple independent and controllable sector coil segments of the segmented magnetization head, combined with angle range markings, overcome the limitations of traditional integrated magnetization heads that rely on a single current and overall magnetization, achieving independent magnetization control for each angle region of the disk. On the other hand, by obtaining the full-angle magnetic field distribution through pre-magnetization detection and comparing it with the target magnetic field to locate deviations in each region, and then generating targeted segmented magnetization currents based on these deviations, the application finally performs differentiated formal magnetization. This accurately corrects local magnetic field deviations caused by differences in coil characteristics and uneven disk materials, significantly improving the overall magnetic field uniformity of the disk. Simultaneously, the data-driven deviation detection and compensation mechanism effectively reduces the impact of current fluctuations and environmental changes on the same batch of disks, improving product consistency, thereby reducing rework and scrap, and lowering production costs. Attached Figure Description

[0022] Figure 1 This is a flowchart illustrating the dynamic control method for encoder code disk magnetization provided by the present invention.

[0023] Figure 2 This is a schematic diagram of the structure of the encoder code disk magnetization dynamic control system provided by the present invention.

[0024] In the attached diagram, the components represented by each number are as follows:

[0025] The module includes a segmented magnetizing head determination module 11, a magnetizing detection module 12, a magnetic field deviation analysis module 13, a current compensation module 14, and a magnetizing execution module 15. Detailed Implementation

[0026] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0027] In the description of this invention, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the stated features. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0028] In the description of this invention, the term "for example" is used to mean "used as an example, illustration, or description." Any embodiment described as "for example" in this invention is not necessarily to be construed as being more preferred or advantageous than other embodiments. The following description is provided to enable any person skilled in the art to make and use the invention. Details are set forth in the following description for purposes of explanation. It should be understood that those skilled in the art will recognize that the invention can be made without using these specific details. In other instances, well-known structures and processes will not be described in detail to avoid obscuring the description of the invention with unnecessary detail. Therefore, the invention is not intended to be limited to the embodiments shown, but is consistent with the broadest scope of the principles and features disclosed herein.

[0029] Example 1, as Figure 1 As shown, this embodiment of the invention provides a dynamic control method for encoder code disk magnetization, including:

[0030] S10: Determine a segmented magnetizing head, wherein the segmented magnetizing head has multiple independently controllable sector coil segments, and each sector coil segment has a corresponding angle range marking.

[0031] Traditional encoder code disk magnetization generally employs an integrated magnetization technique, which uses a single integrated magnetization head to apply a fixed current to the coil, completing the magnetization operation of the entire code disk in one go. However, the integrated magnetization head cannot be adjusted according to the magnetization requirements of different angle positions on the code disk, easily leading to inconsistent magnetic field strength in different areas of the code disk, resulting in significant magnetization errors that directly affect the accuracy of subsequent signal output from the encoder.

[0032] To address the aforementioned issues, this application first defines a segmented magnetizing head. This segmented magnetizing head comprises multiple independently controllable sector-shaped coil segments, each with a corresponding angle range identifier. For example, the segmented magnetizing head consists of multiple sector-shaped coil segments, which can be uniformly divided according to a certain circumferential angle or non-uniformly divided according to actual magnetization requirements. For instance, for a 360° code disk, it can be uniformly divided into eight sector-shaped coil segments, each at 45° intervals, and each sector-shaped coil segment is marked with a unique angle range identifier, such as 0°-45°, 45°-90°, ... 315°-360°. Thus, a precise correspondence is established between the sector-shaped coil segments and the physical areas of the encoder code disk through clear angle range identifiers. The complete encoder code disk is formed by splicing together the various sector-shaped coil segments. Each sector coil segment is equipped with an independent current control module, including a dedicated power supply unit, current adjustment unit, and switching unit. This allows for the individual setting and output of differentiated current parameters, such as current intensity, duration, and rise / fall rate. Furthermore, current adjustment in one sector coil segment does not interfere with other segments. For example, to address undermagnetization issues in encoder code disks within the 0°-45° angle range, the magnetizing current of that segment coil segment can be increased individually, thus specifically correcting the local magnetic field while maintaining the current parameters of other segments, achieving precise local adjustment. This segmented, independently controllable magnetizing head design with angle markings solves the hardware-level problem of traditional integral magnetizing heads being unable to adjust for local differences in the code disk, providing a foundation for precise control during final magnetization.

[0033] S20: Apply a preset detection current to each of the sector coil segments and perform pre-magnetization detection on the code disk to be magnetized to obtain the detection magnetic field strength distribution.

[0034] Due to manufacturing process deviations and structural differences, each sector coil segment has inherent characteristic differences. When the same intensity of magnetizing current is applied to each sector coil segment, these inherent characteristic differences will directly cause deviations in the magnetic field strength generated by each coil segment. For example, the coil segment with more turns has a stronger magnetic field under the same current, while the coil segment with higher resistance has a weaker magnetic field due to the reduction in the effective value of the actual current, which in turn makes the magnetization effect of the corresponding angle area of ​​the code disk uneven.

[0035] To address the aforementioned issues, this application applies a preset detection current to each of the aforementioned sector coil segments and performs pre-magnetization detection on the code disk to be magnetized, thereby obtaining the detection magnetic field strength distribution.

[0036] Specifically, step S20 in the method includes:

[0037] The code disk to be magnetized is placed in the magnetization station, and the segmented magnetization head is installed in the magnetization station, so that the code disk to be magnetized is coaxially aligned with the segmented magnetization head.

[0038] A magnetic field sensor array is arranged around the segmented magnetizing head, and the magnetic field sensor array is used to detect the magnetic field strength of the code disk to be magnetized in each angle range.

[0039] Simultaneously, a preset detection current of the same intensity is applied to each of the aforementioned sector coil segments for pre-magnetization;

[0040] After pre-magnetization is completed, the magnetic field strength of the code disk to be magnetized is detected by the magnetic field sensor array at various angle ranges to form the detected magnetic field strength distribution.

[0041] In this embodiment, the code disk to be magnetized is first placed in the magnetization station, which is equipped with a segmented magnetization head, ensuring coaxial alignment between the code disk and the magnetization head. For example, the encoder code disk to be magnetized is placed in the magnetization station pre-installed with the segmented magnetization head. Mechanical positioning structures such as a central bushing and locating pins ensure that the geometric center of the code disk to be magnetized completely coincides with the annular center of the segmented magnetization head, with the deviation controlled within the micrometer range, such as ≤0.1mm, to achieve coaxial alignment.

[0042] Secondly, multiple magnetic field sensors are evenly arranged at circumferential angles on the outer or inner side of the segmented charging head, forming a magnetic field sensor array. This array is used to detect the magnetic field strength of the code disk to be charged within each angular range. The magnetic field sensors can be Hall effect sensors, magnetoresistive sensors, etc. The number of magnetic field sensors is consistent with the number of sector coil segments in the segmented charging head, and the detection range of each magnetic field sensor strictly corresponds to the angular range marking of a sector coil segment. For example, the 0°-45° sector coil segment corresponds to the magnetic field sensor at the 0°-45° position. In this way, the magnetic field sensor array can simultaneously acquire the magnetic field strength of each angular range, and the detection accuracy can reach the millitalas (mT) level.

[0043] Secondly, a preset detection current of the same intensity is simultaneously applied to each sector coil segment for pre-magnetization. This preset detection current must be sufficient to generate a adequate magnetization response in the code disk material for accurate detection of the magnetic field distribution, while also ensuring that this magnetization level does not adversely affect the subsequent formal magnetization process. From a magnetization mechanism perspective, the preset detection current should be set to 10%-30% of the formal magnetization current. The lower limit of this range ensures the reliability of the detection signal, meaning the generated magnetic field strength is sufficient for the magnetic field sensor to obtain a clear measurement signal; the upper limit ensures that the magnetization intensity generated by pre-magnetization is far lower than the saturation magnetization intensity of the code disk material, allowing the formal magnetization to completely cover the effect of rewriting the pre-magnetization. For example, by controlling the system to simultaneously apply a preset detection current of the same intensity, such as 1A, to all sector coil segments of the segmented magnetization head, interference from current input differences on magnetic field detection is eliminated, ensuring that each sector coil segment has the same initial magnetization current condition for the code disk to be magnetized.

[0044] Finally, after pre-magnetization is completed, the magnetic field strength of the code disk to be magnetized is detected in each angular range using a magnetic field sensor array. These magnetic field strengths are then sorted in circumferential order to form a detected magnetic field strength distribution. For example, after pre-magnetization, the magnetic field sensor array is activated to synchronously collect the magnetic field strength of the code disk to be magnetized in each angular range. For instance, the detected magnetic field strength in the 0°-45° angle range is 480mT, and the magnetic field strength in the 45°-90° angle range is 510mT, etc. Then, they are sorted in circumferential order to form a complete detected magnetic field strength distribution, such as [480mT(0°-45°), 510mT(45°-90°), ...]. The detected magnetic field strength distribution can intuitively present the magnetic field state of the code disk to be magnetized under uniform current conditions, providing a direct basis for subsequent comparison with the target magnetic field strength distribution to calculate the deviation value.

[0045] In summary, compared to existing technologies, this application applies a preset detection current to each of the aforementioned sector coil segments and performs pre-magnetization detection on the code disk to be magnetized, thereby obtaining the detection magnetic field strength distribution. In this way, through a standardized detection process, the magnetic field distribution characteristics of the code disk to be magnetized under uniform current conditions are accurately captured, providing a reliable data foundation for subsequent deviation analysis and current compensation.

[0046] S30: Compare the detected magnetic field strength distribution with the target magnetic field strength distribution to obtain the magnetic field deviation value corresponding to each of the angle range markers.

[0047] The magnetic field deviation value can accurately reflect the specific degree to which the magnetic field strength of each angle area of ​​the code disk deviates from the qualified standard. Based on this, the angle area with abnormal magnetization can be directly located. However, in the traditional whole magnetization method, due to the lack of segment detection and comparison mechanism, only the average deviation of the overall magnetic field of the code disk can be obtained. It is impossible to distinguish the specific problems in local areas, which leads to the hidden danger of uneven magnetization being masked by the overall data, making it difficult to achieve targeted correction.

[0048] To address the aforementioned issues, this application compares the detected magnetic field strength distribution with the target magnetic field strength distribution to obtain the magnetic field deviation value corresponding to each of the aforementioned angle range markers.

[0049] Specifically, step S30 in the method includes:

[0050] Obtain the target magnetic field strength distribution, and obtain the target magnetic field strength value based on the target magnetic field strength distribution;

[0051] Based on the angle range identifier, a first angle range identifier is extracted, and a first detection magnetic field strength value corresponding to the first angle range identifier is extracted from the detection magnetic field strength distribution.

[0052] The first detected magnetic field strength value is compared with the target magnetic field strength value to obtain the first magnetic field deviation value corresponding to the first angle range identifier;

[0053] By obtaining the first magnetic field deviation value corresponding to the first angle range identifier in the same way as obtaining the first magnetic field deviation value corresponding to the first angle range identifier, the magnetic field deviation values ​​corresponding to the other angle range identifiers are obtained, thus obtaining the magnetic field deviation values ​​corresponding to each of the angle range identifiers.

[0054] In this embodiment, the target magnetic field strength distribution is first obtained, and the target magnetic field strength value is obtained based on the target magnetic field strength distribution. For example, the target magnetic field strength value for each angular range is obtained based on the target magnetic field strength distribution. If the magnetic field strength requirement is consistent for each angular range, then the target magnetic field strength value is 500mT.

[0055] Secondly, based on the angle range identifier, the first angle range identifier, such as 0°-45°, is extracted in ascending or descending order of the angle range as the first angle range identifier, and the first detected magnetic field strength value corresponding to the first angle range identifier, such as 500mT, is extracted from the detected magnetic field strength distribution.

[0056] Next, the first detected magnetic field strength value is compared with the target magnetic field strength value to obtain the first magnetic field deviation value corresponding to the first angle range identifier. Wherein, the first magnetic field deviation value = first detected magnetic field strength value - target magnetic field strength value. For example, if the first detected magnetic field strength value is 480 mT and the target magnetic field strength value is 500 mT, then the first magnetic field deviation value = 480 mT - 500 mT = -20 mT. The negative first magnetic field deviation value indicates that the system is in a state of undermagnetization.

[0057] Finally, in the same way as obtaining the first magnetic field deviation value corresponding to the first angle range identifier, the magnetic field deviation values ​​corresponding to the other angle range identifiers are obtained, such as [-20mT(0°-45°), 10mT(45°-90°), ...]. In this way, the magnetic field deviation calculation of each angle range is realized, ensuring that the subsequent current compensation can cover all problem areas in a targeted manner.

[0058] Specifically, the "acquiring the target magnetic field intensity distribution" includes:

[0059] Obtain the model identifier of the magnetic code disk to be charged, construct a first search condition based on the model identifier, and construct a second search condition based on the preset detection current;

[0060] Based on the first search condition and the second search condition, a magnetization sample retrieval is performed to obtain multiple historical magnetization samples, each of which has a sample magnetic field strength value.

[0061] Statistical analysis was performed on the sample magnetic field strength values ​​of each of the historical magnetized samples to obtain the baseline magnetic field strength value, which was then used as the target magnetic field strength value.

[0062] The target magnetic field strength value is expanded according to the angle range identifier to form the target magnetic field strength distribution.

[0063] In this embodiment, the model identifier of the code disk to be charged is first obtained. A first search condition is constructed based on the model identifier, and a second search condition is constructed based on a preset detection current. This is because different code disks have different sizes, magnetic materials, and magnetization requirements. The preset detection current directly affects the magnetic field strength; the larger the current, the stronger the magnetic field. Therefore, the model identifier of the code disk to be charged and the preset detection current are used as dual constraints to ensure that the selected historical samples are comparable to the code disk to be charged. For example, the model identifier of the code disk to be charged, A-200, can be obtained from the nameplate of the code disk to be charged, as the first search condition, and the preset detection current, 1A, can be obtained as the second search condition.

[0064] Secondly, based on the first and second search conditions, magnetization samples are retrieved from the historical database to obtain multiple historical magnetization samples that passed the magnetization test. Each historical magnetization sample has a sample magnetic field strength value. For example, the sample magnetic field strength value of a certain historical magnetization sample is 510mT. In this way, the magnetic field strength value of the historical qualified samples retrieved from the historical prior data is more in line with the actual production scenario.

[0065] Next, statistical analysis is performed on the sample magnetic field strength values ​​of each historical magnetized sample to obtain a baseline magnetic field strength value, which is then used as the target magnetic field strength value. For example, outlier removal and mean calculation are performed on the sample magnetic field strength values ​​of each historical magnetized sample to obtain a baseline magnetic field strength value, such as 500 mT, which is then used as the target magnetic field strength value. This reduces the influence of randomness in individual samples, and the baseline magnetic field strength value after statistical analysis is more stable and better represents the magnetic field level of most historical magnetized samples.

[0066] Finally, the target magnetic field strength value is expanded according to the angle range identifier to form the target magnetic field strength distribution. For example, the reference magnetic field strength value is mapped and expanded one by one according to the angle range identifier of the segmented magnetizing head: if the magnetic field strength requirement is consistent for each angle range, the target magnetic field strength value for each angle range is set as the reference magnetic field strength value, such as the target magnetic field strength value for the angle ranges of 0°-45°, 45°-90°, ... 315°-360° is set to 500mT; if there are special requirements for a specific area, it is finely adjusted based on the reference magnetic field strength value, such as the target magnetic field strength value for the 0°-90° angle range is set to 510mT, and the other angle ranges are set to 500mT, ultimately forming a complete target magnetic field strength distribution.

[0067] Specifically, the phrase "statistical analysis of the sample magnetic field strength values ​​of each of the historical magnetized samples to obtain a baseline magnetic field strength value" includes:

[0068] The sample magnetic field strength values ​​of each of the historical magnetized samples are sorted to form a sample magnetic field strength sequence;

[0069] The magnetic field strength sequence of the sample is analyzed to determine the lower limit benchmark value and the upper limit benchmark value of the magnetic field strength.

[0070] An effective sample interval is constructed based on the lower limit benchmark value and the upper limit benchmark value of the magnetic field strength, and data is extracted from the sample magnetic field strength sequence based on the effective sample interval to obtain the sample effective magnetic field strength sequence.

[0071] The mean value of the sample magnetic field strength in the effective magnetic field strength sequence of the sample is calculated to obtain the reference magnetic field strength value.

[0072] In this embodiment, the magnetic field strength values ​​of each historical magnetized sample are first sorted in descending or ascending order to form a sample magnetic field strength sequence. For example, the magnetic field strength values ​​of all historical magnetized samples are arranged in ascending order to form a sample magnetic field strength sequence, such as 490mT, 492mT, 495mT, 500mT, 505mT, 508mT, 510mT, and 700mT.

[0073] Secondly, the sample magnetic field strength sequence is analyzed to determine the lower and upper limits of the magnetic field strength. For example, statistical outlier identification methods, such as the 3σ principle or interquartile range method, can be used to analyze the sample magnetic field strength sequence. For instance, using the 3σ principle, the mean (e.g., 525 mT) and standard deviation (e.g., 53 mT) of the sample magnetic field strength sequence are first calculated. Then, the lower limit of the magnetic field strength = mean - 3 × standard deviation = 525 - 3 × 53 = 366 mT, and the upper limit of the magnetic field strength = mean + 3 × standard deviation = 525 + 3 × 53 = 684 mT. In this way, the boundaries of valid data are established using objective statistical methods.

[0074] Next, based on the lower and upper limits of the magnetic field strength, an effective sample interval is constructed as [lower limit of magnetic field strength, upper limit of magnetic field strength]. Data is then extracted from the sample magnetic field strength sequence based on this effective sample interval to obtain the effective magnetic field strength sequence. For example, if the lower limit of the magnetic field strength is 366 mT and the upper limit is 684 mT, the effective sample interval is [366 mT, 684 mT]. Data exceeding this range, such as 700 mT, is removed from the sample magnetic field strength sequence, while other data are retained, resulting in the effective magnetic field strength sequences of 490 mT, 492 mT, 495 mT, 500 mT, 505 mT, 508 mT, and 510 mT.

[0075] Finally, the mean of the sample magnetic field strength values ​​in the effective magnetic field strength sequence is calculated to obtain the baseline magnetic field strength value. For example, the mean of the sample magnetic field strength values ​​in the effective magnetic field strength sequence is calculated as (490+492+495+500+505+508+510) / 7 = 500mT, yielding the baseline magnetic field strength value. This baseline magnetic field strength value reflects the magnetic field strength level of most valid and qualified samples. Using the baseline magnetic field strength value as the target magnetic field strength value ensures that the encoder disk to be magnetized meets the qualification standard after magnetization, while also being compatible with normal minor fluctuations during production.

[0076] In summary, compared to existing technologies, this application compares the detected magnetic field strength distribution with the target magnetic field strength distribution to obtain the magnetic field deviation value corresponding to each of the stated angle ranges. This achieves objectivity and refinement of the magnetic field deviation calculation standard, providing data support for subsequent targeted current compensation.

[0077] S40: Based on the magnetic field deviation value corresponding to each of the angle range identifiers, determine the current compensation coefficient of each of the sector coil segments and generate a segmented magnetizing current.

[0078] When a magnetic field deviation occurs, it can be compensated by current. However, the magnetic field deviation is different for each sector of the coil, and the corresponding current compensation is different.

[0079] When a magnetic field deviation occurs in the encoder, the physical property that current intensity is positively correlated with magnetic field intensity can be used to correct the magnetic field deviation by changing the current parameters. However, there are different magnetic field deviations in the angular regions corresponding to the sector coil segments in the segmented magnetizing head. The difference in the direction (undermagnetization / overmagnetization) and amplitude (deviation magnitude) of this deviation directly leads to the need for precise adaptation of the current compensation coefficient of each sector coil segment: the current intensity needs to be increased in the undermagnetized area, and the current intensity needs to be reduced in the overmagnetized area. This fine compensation feature is completely different from the limitation of traditional integral magnetization with single current adjustment, which cannot adapt to local differences, and achieves precise and differentiated magnetic field compensation.

[0080] To address the aforementioned issues, this application determines the current compensation coefficient for each sector coil segment based on the magnetic field deviation value corresponding to each of the aforementioned angle range identifiers, thereby generating a segmented magnetizing current.

[0081] Specifically, step S40 in the method includes:

[0082] Construct a compensation coefficient generator for the code disk to be magnetized, and obtain the initial formal magnetization current of the code disk to be magnetized;

[0083] The first magnetic field deviation value is input into the compensation coefficient generator to obtain the first current compensation coefficient of the first sector coil segment, and the first sector coil segment corresponds to the first angle range identifier;

[0084] Based on the first current compensation coefficient, the initial formal magnetizing current is corrected to obtain the first magnetizing current of the first sector coil segment.

[0085] According to the method of obtaining the first magnetizing current of the first sector coil segment, the magnetizing current corresponding to the other sector coil segments is obtained, and the magnetizing current corresponding to each sector coil segment is obtained to generate the segmented magnetizing current.

[0086] In this embodiment, a compensation coefficient generator for the code disk to be magnetized is first constructed, and the initial formal magnetization current of the code disk to be magnetized is obtained. The compensation coefficient generator can predict the output current compensation coefficient based on the magnetic field deviation value. The initial formal magnetization current is the basic magnetization current of this type of code disk, such as 5A, which is preset by the magnetic characteristics of the code disk and the magnetization process standard, and is a general magnetization current without considering local deviations.

[0087] Next, the first magnetic field deviation value (e.g., the magnetic field deviation value of 0°-45° angle range -20mT) is input into the compensation coefficient generator to obtain the first current compensation coefficient of the first sector coil segment (e.g., 1.2), indicating that the initial formal magnetizing current needs to be increased to 1.2 times the original value. Among them, the first sector coil segment corresponds to the first angle range mark.

[0088] Next, the initial formal magnetizing current is corrected based on the first current compensation coefficient to obtain the first magnetizing current of the first sector coil segment. Wherein, the first magnetizing current = the first current compensation coefficient × the initial formal magnetizing current. For example, if the first current compensation coefficient is 1.2 and the initial formal magnetizing current is 5A, then the first magnetizing current = 1.2 × 5 = 6A. Thus, by increasing the current to compensate for the undermagnetized state, the magnetic field is replenished, ensuring that the current of each sector coil segment accurately matches the actual deviation correction requirements.

[0089] Finally, following the method of obtaining the first magnetizing current of the first sector coil segment, the magnetizing current corresponding to the remaining sector coil segments is obtained, and the magnetizing current corresponding to each sector coil segment is obtained, generating segmented magnetizing currents, such as [6A (0°-45°), 4.7A (45°-90°), ...]. In this way, the current of each sector coil segment is customized for its own deviation, realizing fine control of the sector coil segments.

[0090] Specifically, the "compensation coefficient generator for constructing the magnetic code disk to be filled" includes:

[0091] Based on the sample magnetic field strength values ​​of multiple historical magnetized samples and the target magnetic field strength value, a set of sample magnetic field strength deviation values ​​is constructed;

[0092] The magnetic field strength deviation values ​​of each sample in the sample magnetic field strength deviation value set are labeled with current compensation coefficients to obtain the sample current compensation coefficient set;

[0093] The compensation coefficient generator is trained based on the sample magnetic field strength deviation value set and the sample current compensation coefficient set.

[0094] In this embodiment of the application, a sample magnetic field strength deviation value set is first constructed based on the sample magnetic field strength values ​​and target magnetic field strength values ​​of multiple historical magnetized samples. For example, the sample magnetic field strength deviation value of each historical magnetized sample is calculated, where the sample magnetic field strength deviation value = sample magnetic field strength value - target magnetic field strength value. Then, all sample magnetic field strength deviation values ​​are integrated to form a sample magnetic field strength deviation value set, such as [-5mT, +2mT, -3mT, ...].

[0095] Secondly, current compensation coefficients are labeled for each sample magnetic field strength deviation value in the sample magnetic field strength deviation value set to obtain a sample current compensation coefficient set. For example, the corresponding sample current compensation coefficient is labeled for each sample magnetic field strength deviation value in the sample magnetic field strength deviation value set. For example, the sample current compensation coefficient corresponding to the sample magnetic field strength deviation value of -5mT is 1.05, and the sample current compensation coefficient corresponding to the sample magnetic field strength deviation value of +2mT is 0.98. All the sample current compensation coefficients are organized into a sample current compensation coefficient set, such as [1.05, 0.98, ...].

[0096] Finally, a compensation coefficient generator is trained based on the sample magnetic field strength deviation value set and the sample current compensation coefficient set. For example, since there is a strong linear correlation between the magnetic field strength deviation value and the current compensation coefficient, a compensation coefficient generator can be constructed based on linear regression. Its core model structure is a single-input, single-output linear mapping relationship: the sample magnetic field strength deviation value (denoted as x) is used as the input variable, and the sample current compensation coefficient (denoted as y) is used as the output variable. The model expression is y = kx + b, where k is the slope parameter and b is the intercept parameter. By learning the values ​​of k and b, an accurate mapping from the magnetic field strength deviation value to the current compensation coefficient is achieved. During training, the sample magnetic field strength deviation set and the sample current compensation coefficient set are randomly divided into a training set and a validation set in an 8:2 ratio. The training set is used for model parameter learning, and the validation set is used to monitor the model's generalization ability. The sample magnetic field strength deviation values ​​from the training set are used as input, and the corresponding sample current compensation coefficients are used as supervision labels. The gradient descent method is employed to minimize the mean squared error (MSE) between the model's predicted values ​​and the true labels. Parameters k and b are iteratively updated through backpropagation. The MSE of the validation set is calculated after each training round. When the change in the MSE of the validation set is less than 1 × 10⁻⁶ for five consecutive iterations, the validation set is considered successful. -5 When the preset maximum number of iterations is reached, the model is determined to have converged. The k and b parameters at this point are saved to obtain the final compensation coefficient generator.

[0097] Specifically, the phrase "labeling the magnetic field strength deviation values ​​of each sample in the sample magnetic field strength deviation value set with current compensation coefficients to obtain a sample current compensation coefficient set" includes:

[0098] Obtain the historical formal magnetization current corresponding to each of the historical magnetization samples, wherein the historical formal magnetization current is the actual magnetization current used when each of the historical magnetization samples reaches the qualified magnetization state.

[0099] Based on the historical formal magnetization current and the initial formal magnetization current of each historical magnetization sample, the sample current compensation coefficient corresponding to the magnetic field strength deviation value of each sample is determined. The sample current compensation coefficient is equal to the ratio of the historical formal magnetization current to the initial formal magnetization current.

[0100] The magnetic field strength deviation of each sample is labeled and associated with its corresponding sample current compensation coefficient to establish labeled data pairs.

[0101] The sample current compensation coefficients are extracted from all labeled data pairs to form the sample current compensation coefficient set.

[0102] In this embodiment, the historical formal magnetization current corresponding to the sample magnetic field strength value of each historical magnetized sample is first obtained. The historical formal magnetization current is the actual magnetization current used when each historical magnetized sample reaches the qualified magnetization state. The historical formal magnetization current is the effective magnetization current that has been verified in practice. For example, the historical formal magnetization current corresponding to historical magnetized sample 1 is 5.25A, the historical formal magnetization current corresponding to historical magnetized sample 2 is 4.9A, and so on. In this way, the actual effectiveness of the sample current compensation coefficient is ensured by using historical prior data.

[0103] Secondly, based on the historical formal magnetization current and initial formal magnetization current of each historical magnetization sample, the sample current compensation coefficient corresponding to the magnetic field strength deviation value of each sample is determined. The sample current compensation coefficient is equal to the ratio of the historical formal magnetization current to the initial formal magnetization current. For example, if the initial formal magnetization current is 5A, the historical formal magnetization current corresponding to historical magnetization sample 1 is 5.25A, and the historical formal magnetization current corresponding to historical magnetization sample 2 is 4.9A, then the sample current compensation coefficient corresponding to the sample magnetic field strength deviation value of historical magnetization sample 1 (-5mT) is 5.25 / 5 = 1.05. This indicates that when there is an undermagnetization deviation of -5mT, the initial magnetization current needs to be increased by 5% to compensate for the insufficient magnetic field strength. The sample current compensation coefficient corresponding to the sample magnetic field strength deviation value of historical magnetization sample 2 (+2mT) is 4.9 / 5 = 0.98. This indicates that when there is an overmagnetization deviation of +2mT, the initial magnetization current needs to be reduced by 2% to weaken the magnetic field strength, so that the final magnetized magnetic field meets the qualified standard.

[0104] Next, the magnetic field strength deviation value of each sample is labeled and associated with its corresponding sample current compensation coefficient one-to-one, for example, -5mT with 1.05, +2mT with 0.98, ..., to obtain labeled data pairs. The labeled data pairs are the data units for training the compensation coefficient generator.

[0105] Finally, the sample current compensation coefficients are extracted from all labeled data pairs to form a sample current compensation coefficient set corresponding to the sample magnetic field strength deviation value set, such as the sample current compensation coefficient set [1.05, 0.98, ...] corresponding to the sample magnetic field strength deviation value set [-5mT, +2mT, -3mT, ...]. In this way, structured output labels are provided for the model training of the compensation coefficient generator.

[0106] In summary, compared to existing technologies, this application determines the current compensation coefficient for each sector coil segment based on the magnetic field deviation value corresponding to each of the aforementioned angle ranges, thereby generating a segmented magnetizing current. In this way, the compensation coefficient generator, trained using historical prior data, can output a current compensation coefficient that closely matches reality, ensuring that the current in each sector coil segment can accurately correct deviations.

[0107] S50: Based on the segmented magnetizing current, the segmented magnetizing head performs formal magnetization on the code disk to be magnetized.

[0108] The aforementioned steps obtain the segmented magnetizing head and the segmented magnetizing current, which can be used to perform formal magnetization on the code disk to be magnetized.

[0109] To address the aforementioned issues, this application utilizes the segmented magnetizing current to perform formal magnetization on the code disk to be magnetized via the segmented magnetizing head.

[0110] Specifically, step S50 in the method includes:

[0111] Based on the segmented magnetizing current, a corresponding magnetizing current parameter is set for each of the sector coil segments;

[0112] Each of the aforementioned sector coil segments is started simultaneously, and the code disk to be magnetized is magnetized at the same time according to the corresponding magnetizing current parameters.

[0113] In this embodiment, firstly, corresponding magnetizing current parameters are set for each sector coil segment according to the segmented magnetizing current. For example, complete magnetizing current parameters are configured for each sector coil segment according to the segmented magnetizing current [6A (0°-45°), 4.7A (45°-90°), ...]. For instance, a current intensity of 6A is set for the sector coil segment with an angle range of 0°-45°, and a current intensity of 4.7A is set for the sector coil segment with an angle range of 45°-90°. In this way, the magnetizing conditions of each sector coil segment are fully adapted to its deviation correction requirements.

[0114] Secondly, each sector coil segment is started simultaneously, and the code disk to be magnetized is magnetized at the same time according to the corresponding magnetization current parameters. After the magnetization process of all sector coil segments is completed synchronously, the formal magnetization is completed, and the code disk enters the subsequent magnetic field detection and qualification judgment stage. In this way, the code disk to be magnetized is magnetized at the same time, which can avoid electromagnetic interference between the sector coil segments.

[0115] In summary, compared to existing technologies, this application utilizes the segmented magnetizing current and the segmented magnetizing head to perform formal magnetization on the code disk to be magnetized. This ensures that the magnetic field deviation of each sector coil segment is effectively corrected, ultimately achieving uniform magnetization of the entire code disk.

[0116] In summary, the embodiments of this application have at least the following technical effects:

[0117] Compared to existing technologies, this application first defines a segmented magnetizing head, which has multiple independently controllable sector-shaped coil segments, each with a corresponding angle range marking. This solves the problem at the hardware level that traditional integral magnetizing heads cannot adjust for local differences in the code disk, providing a foundation for precise control during the final magnetization process.

[0118] Secondly, this application applies a preset detection current to each of the aforementioned sector coil segments and performs pre-magnetization detection on the code disk to be magnetized, thereby obtaining the detection magnetic field strength distribution. In this way, through a standardized detection process, the magnetic field distribution characteristics of the code disk to be magnetized under uniform current conditions are accurately captured, providing a reliable data foundation for subsequent deviation analysis and current compensation.

[0119] Furthermore, this application compares the detected magnetic field strength distribution with the target magnetic field strength distribution to obtain the magnetic field deviation value corresponding to each of the stated angle ranges. This achieves objectivity and refinement of the magnetic field deviation calculation standard, providing data support for subsequent targeted current compensation.

[0120] Furthermore, this application determines the current compensation coefficient for each of the aforementioned sector coil segments based on the magnetic field deviation value corresponding to each of the angle range identifiers, thereby generating a segmented magnetizing current. In this way, the compensation coefficient generator, trained using historical prior data, can output a current compensation coefficient that closely matches reality, ensuring that the current in each sector coil segment can accurately correct deviations.

[0121] Finally, based on the segmented magnetizing current, this application performs formal magnetization on the code disk to be magnetized through the segmented magnetizing head. This ensures that the magnetic field deviation of each sector coil segment is effectively corrected, ultimately achieving uniform magnetization of the entire code disk.

[0122] Through the above technical solution, this application improves the magnetization quality and production efficiency of encoder disks by implementing a closed-loop control system encompassing segmented magnetization heads, data detection, precise correction, and execution. On one hand, the multiple independent and controllable sector coil segments of the segmented magnetization head, combined with angle range markings, overcome the limitations of traditional integrated magnetization heads that rely on a single current and overall magnetization, achieving independent magnetization control for each angle region of the disk. On the other hand, by obtaining the full-angle magnetic field distribution through pre-magnetization detection and comparing it with the target magnetic field to locate deviations in each region, and then generating targeted segmented magnetization currents based on these deviations, the application finally performs differentiated formal magnetization. This accurately corrects local magnetic field deviations caused by differences in coil characteristics and uneven disk materials, significantly improving the overall magnetic field uniformity of the disk. Simultaneously, the data-driven deviation detection and compensation mechanism effectively reduces the impact of current fluctuations and environmental changes on the same batch of disks, improving product consistency, thereby reducing rework and scrap, and lowering production costs.

[0123] Example 2, as Figure 2 As shown, based on the same inventive concept as the encoder code disk magnetization dynamic control method provided in Embodiment 1, this embodiment of the invention also provides an encoder code disk magnetization dynamic control system, including:

[0124] The segmented magnetizing head determination module 11 is used to determine the segmented magnetizing head, wherein the segmented magnetizing head has multiple independently controllable sector coil segments, and each sector coil segment has a corresponding angle range identifier.

[0125] The magnetization detection module 12 is used to apply a preset detection current to each of the sector coil segments and perform pre-magnetization detection on the code disk to be magnetized to obtain the detection magnetic field strength distribution.

[0126] The magnetic field deviation analysis module 13 is used to compare the detected magnetic field intensity distribution with the target magnetic field intensity distribution to obtain the magnetic field deviation value corresponding to each of the angle range markers.

[0127] The current compensation module 14 is used to determine the current compensation coefficient of each sector coil segment according to the magnetic field deviation value corresponding to each angle range identifier, and generate a segmented magnetizing current.

[0128] The magnetization execution module 15 is used to perform formal magnetization on the code disk to be magnetized through the segmented magnetization head based on the segmented magnetization current.

[0129] The segmented magnetizing head determination module 11 is specifically used for:

[0130] A segmented magnetizing head is defined, wherein the segmented magnetizing head has multiple independently controllable sector coil segments, and each sector coil segment has a corresponding angle range marking.

[0131] The magnetization detection module 12 is specifically used for:

[0132] The code disk to be magnetized is placed in the magnetization station, and the segmented magnetization head is installed in the magnetization station, so that the code disk to be magnetized is coaxially aligned with the segmented magnetization head.

[0133] A magnetic field sensor array is arranged around the segmented magnetizing head, and the magnetic field sensor array is used to detect the magnetic field strength of the code disk to be magnetized in each angle range.

[0134] Simultaneously, a preset detection current of the same intensity is applied to each of the aforementioned sector coil segments for pre-magnetization;

[0135] After pre-magnetization is completed, the magnetic field strength of the code disk to be magnetized is detected by the magnetic field sensor array at various angle ranges to form the detected magnetic field strength distribution.

[0136] Specifically, the magnetic field deviation analysis module 13 is used for:

[0137] Obtain the target magnetic field strength distribution, and obtain the target magnetic field strength value based on the target magnetic field strength distribution;

[0138] Based on the angle range identifier, a first angle range identifier is extracted, and a first detection magnetic field strength value corresponding to the first angle range identifier is extracted from the detection magnetic field strength distribution.

[0139] The first detected magnetic field strength value is compared with the target magnetic field strength value to obtain the first magnetic field deviation value corresponding to the first angle range identifier;

[0140] By obtaining the first magnetic field deviation value corresponding to the first angle range identifier in the same way as obtaining the first magnetic field deviation value corresponding to the first angle range identifier, the magnetic field deviation values ​​corresponding to the other angle range identifiers are obtained, thus obtaining the magnetic field deviation values ​​corresponding to each of the angle range identifiers.

[0141] Specifically, the "acquiring the target magnetic field intensity distribution" includes:

[0142] Obtain the model identifier of the magnetic code disk to be charged, construct a first search condition based on the model identifier, and construct a second search condition based on the preset detection current;

[0143] Based on the first search condition and the second search condition, a magnetization sample retrieval is performed to obtain multiple historical magnetization samples, each of which has a sample magnetic field strength value.

[0144] Statistical analysis was performed on the sample magnetic field strength values ​​of each of the historical magnetized samples to obtain the baseline magnetic field strength value, which was then used as the target magnetic field strength value.

[0145] The target magnetic field strength value is expanded according to the angle range identifier to form the target magnetic field strength distribution.

[0146] Specifically, the phrase "statistical analysis of the sample magnetic field strength values ​​of each of the historical magnetized samples to obtain a baseline magnetic field strength value" includes:

[0147] The sample magnetic field strength values ​​of each of the historical magnetized samples are sorted to form a sample magnetic field strength sequence;

[0148] The magnetic field strength sequence of the sample is analyzed to determine the lower limit benchmark value and the upper limit benchmark value of the magnetic field strength.

[0149] An effective sample interval is constructed based on the lower limit benchmark value and the upper limit benchmark value of the magnetic field strength, and data is extracted from the sample magnetic field strength sequence based on the effective sample interval to obtain the sample effective magnetic field strength sequence.

[0150] The mean value of the sample magnetic field strength in the effective magnetic field strength sequence of the sample is calculated to obtain the reference magnetic field strength value.

[0151] Specifically, the current compensation module 14 is used for:

[0152] Construct a compensation coefficient generator for the code disk to be magnetized, and obtain the initial formal magnetization current of the code disk to be magnetized;

[0153] The first magnetic field deviation value is input into the compensation coefficient generator to obtain the first current compensation coefficient of the first sector coil segment, and the first sector coil segment corresponds to the first angle range identifier;

[0154] Based on the first current compensation coefficient, the initial formal magnetizing current is corrected to obtain the first magnetizing current of the first sector coil segment.

[0155] According to the method of obtaining the first magnetizing current of the first sector coil segment, the magnetizing current corresponding to the other sector coil segments is obtained, and the magnetizing current corresponding to each sector coil segment is obtained to generate the segmented magnetizing current.

[0156] Specifically, the "compensation coefficient generator for constructing the magnetic code disk to be filled" includes:

[0157] Based on the sample magnetic field strength values ​​of multiple historical magnetized samples and the target magnetic field strength value, a set of sample magnetic field strength deviation values ​​is constructed;

[0158] The magnetic field strength deviation values ​​of each sample in the sample magnetic field strength deviation value set are labeled with current compensation coefficients to obtain the sample current compensation coefficient set;

[0159] The compensation coefficient generator is trained based on the sample magnetic field strength deviation value set and the sample current compensation coefficient set.

[0160] Specifically, the phrase "labeling the magnetic field strength deviation values ​​of each sample in the sample magnetic field strength deviation value set with current compensation coefficients to obtain a sample current compensation coefficient set" includes:

[0161] Obtain the historical formal magnetization current corresponding to each of the historical magnetization samples, wherein the historical formal magnetization current is the actual magnetization current used when each of the historical magnetization samples reaches the qualified magnetization state.

[0162] Based on the historical formal magnetization current and the initial formal magnetization current of each historical magnetization sample, the sample current compensation coefficient corresponding to the magnetic field strength deviation value of each sample is determined. The sample current compensation coefficient is equal to the ratio of the historical formal magnetization current to the initial formal magnetization current.

[0163] The magnetic field strength deviation of each sample is labeled and associated with its corresponding sample current compensation coefficient to establish labeled data pairs.

[0164] The sample current compensation coefficients are extracted from all labeled data pairs to form the sample current compensation coefficient set.

[0165] The magnetization execution module 15 is specifically used for:

[0166] Based on the segmented magnetizing current, a corresponding magnetizing current parameter is set for each of the sector coil segments;

[0167] Each of the aforementioned sector coil segments is started simultaneously, and the code disk to be magnetized is magnetized at the same time according to the corresponding magnetizing current parameters.

[0168] In summary, the embodiments of this application have at least the following technical effects:

[0169] Compared to existing technologies, this application firstly utilizes a segmented magnetizing head determination module to define a segmented magnetizing head. This segmented magnetizing head has multiple independently controllable sector coil segments, each with a corresponding angle range indicator. This hardware-level solution addresses the limitation of traditional integral magnetizing heads, which cannot adjust for local differences in the code disk, providing a foundation for precise control during the final magnetization process. Secondly, a magnetization detection module applies a preset detection current to each sector coil segment and performs pre-magnetization detection on the code disk to be magnetized, obtaining the detected magnetic field strength distribution. Through a standardized detection process, the magnetic field distribution characteristics of the code disk under uniform current conditions are accurately captured, providing a reliable data basis for subsequent deviation analysis and current compensation. Thirdly, a magnetic field deviation analysis module compares the detected magnetic field strength distribution with the target magnetic field strength distribution to obtain the magnetic field deviation value corresponding to each angle range indicator. This achieves objectivity and refinement in the magnetic field deviation calculation standard, providing data support for subsequent targeted current compensation. Furthermore, through the current compensation module, based on the magnetic field deviation value corresponding to each angle range, the current compensation coefficient of each sector coil segment is determined, generating a segmented magnetizing current. A compensation coefficient generator trained using historical prior data outputs a realistic current compensation coefficient, ensuring that the current in each sector coil segment can accurately correct deviations. Finally, through the magnetization execution module, based on the segmented magnetizing current, the segmented magnetization head performs formal magnetization on the code disk to be magnetized, ensuring that the magnetic field deviation of each sector coil segment is effectively corrected, ultimately achieving uniform magnetization of the entire code disk. This improves the magnetization quality and production efficiency of the encoder code disk.

[0170] It should be noted that the descriptions of each embodiment in the above embodiments have different focuses. For parts that are not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0171] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0172] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0173] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0174] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0175] Although preferred embodiments of the invention have been described, those skilled in the art, once they have learned the basic inventive concept, can make other changes and modifications to these embodiments.

[0176] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of this invention and its equivalents, this invention also intends to include these modifications and variations.

Claims

1. A method for dynamic control of encoder code disk magnetization, characterized in that, The method includes: A segmented magnetizing head is defined, wherein the segmented magnetizing head has multiple independently controllable sector coil segments, and each sector coil segment has a corresponding angle range marking; A preset detection current is applied to each of the sector coil segments and a pre-magnetization detection is performed on the code disk to be magnetized to obtain the detection magnetic field strength distribution. The detected magnetic field strength distribution is compared with the target magnetic field strength distribution to obtain the magnetic field deviation value corresponding to each of the angle range markers; Based on the magnetic field deviation value corresponding to each of the angle ranges, the current compensation coefficient of each of the sector coil segments is determined, and a segmented magnetizing current is generated. Based on the segmented magnetizing current, the segmented magnetizing head performs formal magnetization on the encoder disk to be magnetized.

2. The method according to claim 1, characterized in that, A preset detection current is applied to each of the aforementioned sector coil segments, and a pre-magnetization detection is performed on the code disk to be magnetized to obtain the detection magnetic field strength distribution, including: The code disk to be magnetized is placed in the magnetization station, and the segmented magnetization head is installed in the magnetization station, so that the code disk to be magnetized is coaxially aligned with the segmented magnetization head. A magnetic field sensor array is arranged around the segmented magnetizing head, and the magnetic field sensor array is used to detect the magnetic field strength of the code disk to be magnetized in each angle range. Simultaneously, a preset detection current of the same intensity is applied to each of the aforementioned sector coil segments for pre-magnetization; After pre-magnetization is completed, the magnetic field strength of the code disk to be magnetized is detected by the magnetic field sensor array at various angle ranges to form the detected magnetic field strength distribution.

3. The method according to claim 1, characterized in that, The detected magnetic field strength distribution is compared with the target magnetic field strength distribution to obtain the magnetic field deviation value corresponding to each of the angle range markers, including: Obtain the target magnetic field strength distribution, and obtain the target magnetic field strength value based on the target magnetic field strength distribution; Based on the angle range identifier, a first angle range identifier is extracted, and a first detection magnetic field strength value corresponding to the first angle range identifier is extracted from the detection magnetic field strength distribution. The first detected magnetic field strength value is compared with the target magnetic field strength value to obtain the first magnetic field deviation value corresponding to the first angle range identifier; By obtaining the first magnetic field deviation value corresponding to the first angle range identifier in the same way as obtaining the first magnetic field deviation value corresponding to the first angle range identifier, the magnetic field deviation values ​​corresponding to the other angle range identifiers are obtained, thus obtaining the magnetic field deviation values ​​corresponding to each of the angle range identifiers.

4. The method according to claim 3, characterized in that, Obtain the target magnetic field intensity distribution, including: Obtain the model identifier of the magnetic code disk to be charged, construct a first search condition based on the model identifier, and construct a second search condition based on the preset detection current; Based on the first search condition and the second search condition, a magnetization sample retrieval is performed to obtain multiple historical magnetization samples, each of which has a sample magnetic field strength value. Statistical analysis was performed on the sample magnetic field strength values ​​of each of the historical magnetized samples to obtain the baseline magnetic field strength value, which was then used as the target magnetic field strength value. The target magnetic field strength value is expanded according to the angle range identifier to form the target magnetic field strength distribution.

5. The method according to claim 4, characterized in that, Statistical analysis was performed on the sample magnetic field strength values ​​of each of the historical magnetized samples to obtain the baseline magnetic field strength values, including: The sample magnetic field strength values ​​of each of the historical magnetized samples are sorted to form a sample magnetic field strength sequence; The magnetic field strength sequence of the sample is analyzed to determine the lower limit benchmark value and the upper limit benchmark value of the magnetic field strength. An effective sample interval is constructed based on the lower limit benchmark value and the upper limit benchmark value of the magnetic field strength, and data is extracted from the sample magnetic field strength sequence based on the effective sample interval to obtain the sample effective magnetic field strength sequence. The mean value of the sample magnetic field strength in the effective magnetic field strength sequence of the sample is calculated to obtain the reference magnetic field strength value.

6. The method according to claim 4, characterized in that, Based on the magnetic field deviation value corresponding to each of the aforementioned angle ranges, the current compensation coefficient for each of the aforementioned sector coil segments is determined, and a segmented magnetizing current is generated, including: Construct a compensation coefficient generator for the code disk to be magnetized, and obtain the initial formal magnetization current of the code disk to be magnetized; The first magnetic field deviation value is input into the compensation coefficient generator to obtain the first current compensation coefficient of the first sector coil segment, and the first sector coil segment corresponds to the first angle range identifier; Based on the first current compensation coefficient, the initial formal magnetizing current is corrected to obtain the first magnetizing current of the first sector coil segment. According to the method of obtaining the first magnetizing current of the first sector coil segment, the magnetizing current corresponding to the other sector coil segments is obtained, and the magnetizing current corresponding to each sector coil segment is obtained to generate the segmented magnetizing current.

7. The method according to claim 6, characterized in that, Construct a compensation coefficient generator for the code disk to be filled, including: Based on the sample magnetic field strength values ​​of multiple historical magnetized samples and the target magnetic field strength value, a set of sample magnetic field strength deviation values ​​is constructed; The magnetic field strength deviation values ​​of each sample in the sample magnetic field strength deviation value set are labeled with current compensation coefficients to obtain the sample current compensation coefficient set; The compensation coefficient generator is trained based on the sample magnetic field strength deviation value set and the sample current compensation coefficient set.

8. The method according to claim 7, characterized in that, The magnetic field strength deviation values ​​of each sample in the sample magnetic field strength deviation value set are labeled with current compensation coefficients to obtain a sample current compensation coefficient set, including: Obtain the historical formal magnetization current corresponding to each of the historical magnetization samples, wherein the historical formal magnetization current is the actual magnetization current used when each of the historical magnetization samples reaches the qualified magnetization state. Based on the historical formal magnetization current and the initial formal magnetization current of each historical magnetization sample, the sample current compensation coefficient corresponding to the magnetic field strength deviation value of each sample is determined. The sample current compensation coefficient is equal to the ratio of the historical formal magnetization current to the initial formal magnetization current. The magnetic field strength deviation of each sample is labeled and associated with its corresponding sample current compensation coefficient to establish labeled data pairs. The sample current compensation coefficients are extracted from all labeled data pairs to form the sample current compensation coefficient set.

9. The method according to claim 1, characterized in that, Based on the segmented magnetizing current, the segmented magnetizing head performs formal magnetization on the code disk to be magnetized, including: Based on the segmented magnetizing current, a corresponding magnetizing current parameter is set for each of the sector coil segments; Each of the aforementioned sector coil segments is started simultaneously, and the code disk to be magnetized is magnetized at the same time according to the corresponding magnetizing current parameters.

10. An encoder code disk magnetization dynamic control system, characterized in that, For performing the method according to any one of claims 1-9, comprising: The segmented magnetizing head determination module is used to determine the segmented magnetizing head, which has multiple independently controllable sector coil segments, and each sector coil segment has a corresponding angle range identifier. The magnetization detection module is used to apply a preset detection current to each of the sector coil segments and perform pre-magnetization detection on the code disk to be magnetized to obtain the detection magnetic field strength distribution. The magnetic field deviation analysis module is used to compare the detected magnetic field intensity distribution with the target magnetic field intensity distribution to obtain the magnetic field deviation value corresponding to each of the angle range markers; The current compensation module is used to determine the current compensation coefficient of each sector coil segment based on the magnetic field deviation value corresponding to each angle range identifier, and generate a segmented magnetizing current. The magnetization execution module is used to perform formal magnetization on the code disk to be magnetized through the segmented magnetization head based on the segmented magnetization current.

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