Angle signal redundancy method and device based on eddy current sensor

Abstract

The invention relates to an angle signal redundancy method and device based on an eddy current sensor, and the method comprises the following steps: S1, initializing an output signal of an eddy current, S2, collecting four paths of eddy current signals, and carrying out the differential processing, thereby obtaining Sin and Cos signals, S3, continuously monitoring the Sin and Cos signals, calculating an output angle and an output speed if the signal out-of-tolerance meets the range requirement, and S4, carrying out the calculation of the output angle and the output speed if the signal out-of-tolerance meets the range requirement. S4, if the signal out-of-tolerance does not meet the range requirement, calculating an output angle and an output speed by using an eddy current redundancy method; the method has the advantage of improving the stability and robustness of the angle acquisition system.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of intelligent sensors, and particularly relates to an angle signal redundancy method and equipment based on an eddy current sensor. BACKGROUND

[0002] As a non-contact detection device based on Faraday electromagnetic induction principle, the eddy current sensor generates high-frequency alternating magnetic field through the probe coil, which induces eddy current on the surface of the approaching metal conductor, and further causes the change of the impedance parameters of the probe coil to realize accurate measurement. Its significant advantages are high detection sensitivity to metal objects, millisecond-level fast dynamic response capability, excellent long-term working stability, strong anti-interference to complex environmental factors such as oil stains, dust, water mist and light changes, and non-invasive characteristics without direct contact with the measured object to complete detection. It has excellent performance and irreplaceable role in many fields such as industrial automation, condition monitoring, precision displacement measurement and intelligent transportation system, especially in critical application scenarios such as demanding vehicle existence detection, high-precision vehicle distance monitoring, real-time speed capture and metal object classification identification, and becomes one of the core sensing technologies to obtain reliable sensing data.

[0003] At present, in actual application, the Sin / Cos signals output by the eddy current sensor may occur signal distortion or even signal loss under extreme working conditions (such as signal interference, temporary over-voltage or under-voltage of the circuit, etc.). The traditional method is: after detecting that the signal is out of limit, it is considered that the angle signal at this time is not reliable, and the angle signal acquisition is terminated. However, when the angle signal of the eddy current sensor is applied to large industrial products, the stop of the angle signal acquisition may cause shutdown or even product damage. SUMMARY

[0004] The purpose of the present application is to overcome the shortcomings of the prior art and provide an angle signal redundancy method and equipment based on an eddy current sensor.

[0005] The technical scheme of the present application is as follows:

[0006] An angle signal redundancy method based on an eddy current sensor, comprising the following steps:

[0007] S1: initialization of the output signal of the eddy current;

[0008] S2: collecting four-way eddy current signals Sin+, Sin-, Cos+ and Cos-, and performing differential processing to obtain Sin and Cos signals;

[0009] S3: continuously monitoring the Sin and Cos signals, if the signals are out of the range, then calculating the output angle θ=Arctan(Sin / Cos) and the output speed ω=Δθ / Δt, wherein Δθ is the change of the angle and Δt is the change of the time;

[0010] S4: if the signals are not out of the range, then using the eddy current redundancy method to calculate the output angle and the output speed.

[0011] Further, the eddy current redundancy method of the step S4 comprises the following steps:

[0012] S41, monitoring the Sin and Cos signals, if Sin+ / - is out of Sin_max and Sin_min, then judging that the Sin signal is abnormal, if Cos+ / - is out of Cos_max and Cos_min, then judging that the Cos signal is abnormal, wherein if the Sin single signal is abnormal, then Sin=Cos+π / 2, if the Cos single signal is abnormal, then Cos=Sin-π / 2;

[0013] S42, if the Sin / Cos signals are all out of Sin_max and Sin_min at a certain time, then judging that the Sin / Cos signals are abnormal in this period, at this time, the output speed is ω=ω -1 , the output angle θ=θ -1 +ω*Δt, and the angle fault counter is calculated +1.

[0014] Further, the eddy current redundancy method further comprises:

[0015] S43, if the Sin / Cos signals are still abnormal in the next period, then the angle fault counter is still +1, when the angle fault counter accumulates to the threshold value, then stopping the eddy current angle sampling and reporting the fault, if the original angle signal returns to the normal range in the next period, then the angle fault counter is reset to zero.

[0016] Further, the range requirement is the interval value from Sin_max to Sin_min and from Cos_max to Cos_min, the Sin_max, Sin_min, Cos_max and Cos_min signals are tested under the environment of low interference and stable signals.

[0017] Further, the eddy current redundancy method further comprises:

[0018] Compared with the prior art, the present application has the following advantages:

[0019] 1. This invention improves the stability and robustness of the angle acquisition system by calculating the output angle and output speed through the eddy current redundancy method after a brief loss of a single or even all of the sin / Cos signal of the eddy current.

[0020] 2. When a single signal is lost, the present invention outputs the lost signal by acquiring the Sin signal or Cos signal. When all signals are lost, since the use of eddy currents is generally in a high-precision environment with a very short sampling period, the lost signal is obtained by back-calculating the output angle and output speed of the previous cycle, so as to ensure the stability and robustness of the angle acquisition system. Attached Figure Description

[0021] Figure 1 This is a flowchart of the angle signal redundancy method of the present invention. Detailed Implementation

[0022] 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.

[0023] like Figure 1 As shown, an angle signal redundancy method based on an eddy current sensor includes the following:

[0024] S1: Initialize the output signal of the eddy current;

[0025] S2: Acquire four eddy current signals Sin+, Sin-, Cos+, and Cos- and perform differential processing to obtain the Sin and Cos signals;

[0026] S3: Continuously monitor the sin and cos signals. If the signal exceeds the tolerance but meets the range requirements, calculate the output angle θ = Arctan(Sin / Cos) and the output velocity ω = Δθ / Δt, where Δθ is the change in angle and Δt is the change in time.

[0027] S4: If the signal exceeds the tolerance and does not meet the range requirements, the eddy current redundancy method is used to calculate the output angle and output speed.

[0028] S41. Monitor the Sin and Cos signals. If Sin+ / Sin- exceeds the limit, the Sin signal is judged to be abnormal. If Cos+ / Cos- exceeds the limit, the Cos signal is judged to be abnormal. If only the Sin signal is abnormal, then Sin = Cos + π / 2. If only the Cos signal is abnormal, then Cos = Sin - π / 2.

[0029] S42, if Sin / Cos signals are both out of range at a certain time, it is determined that the Sin / Cos signals are abnormal in the period, at this time, the output speed is ω = ω -1 , the output angle θ = θ -1 + ω * Δt, at the same time, the angle fault counter is calculated +1;

[0030] S43, if the Sin / Cos signals are still abnormal in the next period, the angle fault counter is still +1, when the angle fault counter accumulates to the threshold value, the eddy current angle sampling is stopped and the fault is reported, if the angle original signal returns to the normal range in the next period, the angle fault counter is reset to zero.

[0031] The range requirement is the interval value from Sin_max to Sin_min and from Cos_max to Cos_min, the out-of-range is out of Sin_max, Sin_min, Cos_max and Cos_min, the Sin_max, Sin_min, Cos_max and Cos_min signals can be tested in a low interference and stable signal environment or given by the sensor manufacturer.

[0032] Embodiment 2

[0033] An electronic device, comprising: a processor, a memory and a computer program stored on the memory and capable of running on the processor, when the computer program is executed by the processor, the steps of the eddy current redundancy method as described in embodiment 1 are implemented.

[0034] Although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacements to part of the technical features, any modification, equivalent replacement, improvement, etc. within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. An eddy current sensor based angle signal redundancy method, characterized by: The method comprises the following steps: S1: initializing the output signal of the eddy current; S2: collecting four-way eddy current signals Sin+, Sin-, Cos+ and Cos-, and performing differential processing to obtain Sin and Cos signals; S3: continuously monitoring the Sin and Cos signals, and if the signals exceed the range requirements, calculating the output angle θ = Arctan(Sin / Cos) and the output speed ω = Δθ / Δt, wherein Δθ is the change of the angle and Δt is the change of the time; S4: if the signals do not meet the range requirements, using the eddy current redundancy method to calculate the output angle and the output speed.

2. The method of claim 1, wherein: The eddy current redundancy method of step S4 comprises the following steps: S41: monitoring the Sin and Cos signals, if Sin+ / Sin- exceeds Sinmax and Sinmin, it is judged that the Sin signal is abnormal, and if Cos+ / Cos- exceeds Cos_max and Cos_min, it is judged that the Cos signal is abnormal, wherein if the Sin single signal is abnormal, Sin = Cos+π / 2, and if the Cos single signal is abnormal, Cos = Sin-π / 2; S42, if the Sin / Cos signals exceed Sin_max and Sin_min at a certain time, it is determined that the Sin / Cos signals are abnormal in the period, at this time, the output speed is ω=ω-1, and the output angle θ=θ -1 +ω*Δt, and at the same time, the angle fault counter is calculated +1.

3. The method of claim 2, wherein: The eddy current redundancy method further comprises: S43: if the Sin / Cos signal is still abnormal in the next cycle, the angle fault counter is still +1, and when the angle fault counter accumulates to the threshold value, the eddy current angle sampling is stopped and the fault is reported, and if the original angle signal returns to the normal range in the next cycle, the angle fault counter is reset to zero.

4. The method of claim 3, wherein: The range requirements are the interval values of Sin_max to Sin_min and Cos_max to Cos_min, and the Sin_max, Sin_min, Cos_max and Cos_min signals are tested in a low-interference and signal-stable environment.

5. An electronic device, comprising: The method comprises: a processor, a memory, and a computer program stored on the memory and capable of running on the processor, wherein the computer program is executed by the processor to implement the steps of the eddy current redundancy method according to any one of claims 1-4.

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