Pan-tilt motor rotor angle positioning method, apparatus and device, and storage medium
By using a two-stage positioning method that combines external and internal differential Hall signal values, the problem of insufficient accuracy of single-stage Hall sensors is solved, achieving high-precision rotor angle positioning and reducing costs.
Patent Information
- Application Number
- CN202511501844.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-10-21
- Publication Date
- 2026-01-02
AI Technical Summary
In existing technologies, single-stage Hall sensors are insufficient to meet the requirements for high-precision rotor angle positioning, and the addition of an encoder increases system complexity and cost.
Two-level positioning is achieved using external and internal differential Hall signal values. Coarse positioning is performed using the external Hall sensor, while fine positioning is performed using the internal Hall sensor. The differential signal values are normalized and calculated to determine the rotor magnetic pole range and initial angle, ultimately yielding the rotor positioning angle.
It improves the accuracy of rotor angle positioning, reduces positioning costs, and eliminates the need for an encoder.
Smart Images
Figure CN121261602A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the technical field of motor rotor, and particularly relates to a gimbal motor rotor angle positioning method, device, equipment and storage medium. BACKGROUND
[0002] The prior art mainly detects the rotor angle by using a single linear Hall sensor, a mechanical limit calibration or a quadrature linear Hall. In these solutions, the single-stage Hall sensor is limited by its own accuracy and is difficult to meet the high-precision positioning requirement. However, in order to realize accurate identification of the absolute position, an encoder needs to be additionally installed, which increases the system complexity and cost. SUMMARY
[0003] Therefore, the present application aims to overcome the deficiencies in the prior art and provides a gimbal motor rotor angle positioning method, device, equipment and storage medium, which is used for two-stage positioning by using an external differential Hall signal value and an internal differential Hall signal value, improves the rotor angle positioning accuracy and reduces the cost.
[0004] The present application provides the following technical solutions: In a first aspect, the present application provides a gimbal motor rotor angle positioning method, comprising: obtaining an external differential Hall signal value and an internal differential Hall signal value of a gimbal motor; determining a rotor magnetic pole interval according to the external differential Hall signal value; determining a rotor initial angle according to the internal differential Hall signal value; obtaining a rotor positioning angle according to the rotor magnetic pole interval and the rotor initial angle.
[0005] In an embodiment, the gimbal motor comprises a first external Hall sensor, a second external Hall sensor, a first internal Hall sensor and a second internal Hall sensor, and the obtaining of the external differential Hall signal value and the internal differential Hall signal value of the gimbal motor comprises: obtaining the external differential Hall signal value by the first external Hall sensor and the second external Hall sensor; obtaining the internal differential Hall signal value by the first internal Hall sensor and the second internal Hall sensor.
[0006] In an embodiment, the determination of the rotor magnetic pole interval according to the external differential Hall signal value comprises: performing normalization processing on the external differential Hall signal value to obtain a pretreatment signal value; performing down rounding on the product of the pretreatment signal value and a preset interval number to obtain the rotor magnetic pole interval.
[0007] In an embodiment, the normalization of the external differential Hall signal value to obtain a preprocessed signal value comprises: obtaining an external signal synthetic vector amplitude, a Hall signal maximum value and a Hall signal minimum value according to the external differential Hall signal value; normalizing according to the external signal synthetic vector amplitude, the Hall signal maximum value and the Hall signal minimum value to obtain the preprocessed signal value.
[0008] In an embodiment, the determination of the rotor initial angle according to the internal differential Hall signal value comprises: obtaining a differential signal ratio according to the internal differential Hall signal value; calculating the differential signal ratio based on an inverse tangent function to obtain the rotor initial angle.
[0009] In an embodiment, the obtaining of the rotor positioning angle according to the rotor magnetic pole interval and the rotor initial angle comprises: calculating a first product between the rotor magnetic pole interval and a preset interval angle; adding the first product and the rotor initial angle to obtain the rotor positioning angle.
[0010] In an embodiment, after the obtaining of the external signal synthetic vector amplitude according to the external differential Hall signal value, the method further comprises: obtaining a rotor magnetic ring internal magnetic field signal corresponding to the internal differential Hall signal value; judging whether an absolute value of a difference between the external signal synthetic vector amplitude and the rotor magnetic ring internal magnetic field signal is greater than a preset difference threshold value; if yes, calculating a second product between a preset coefficient and a magnetic field change rate, and subtracting the second product from the external differential Hall signal value and the internal differential Hall signal value respectively to obtain a compensated external differential Hall signal value and a compensated internal differential Hall signal value; and re-executing the normalization of the external differential Hall signal value to obtain the preprocessed signal value based on the compensated external differential Hall signal value, and executing the determination of the rotor initial angle according to the internal differential Hall signal value based on the compensated internal differential Hall signal value.
[0011] In a second aspect, the application provides a gimbal motor rotor angle positioning device, comprising: an acquisition module configured to acquire an external differential Hall signal value and an internal differential Hall signal value of a gimbal motor; a first determination module configured to determine a rotor magnetic pole interval according to the external differential Hall signal value; A second determining module is configured to determine a rotor initial angle according to the internal differential Hall signal value; A positioning module is configured to obtain a rotor positioning angle according to the rotor magnetic pole interval and the rotor initial angle.
[0012] In a third aspect, the present application provides a computer device, which comprises a memory and a processor, and the memory stores a computer program, and the computer program is executed by the processor to implement the gimbal motor rotor angle positioning method according to the first aspect.
[0013] In a fourth aspect, the present application provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the gimbal motor rotor angle positioning method according to the first aspect.
[0014] The gimbal motor rotor angle positioning method, device, equipment and storage medium disclosed by the present application obtain an external differential Hall signal value and an internal differential Hall signal value of a gimbal motor; determine a rotor magnetic pole interval according to the external differential Hall signal value; determine a rotor initial angle according to the internal differential Hall signal value; and obtain a rotor positioning angle according to the rotor magnetic pole interval and the rotor initial angle. In this way, the rotor is coarsely positioned by the external differential Hall signal value of the gimbal motor, and the rotor is accurately positioned by the internal differential Hall signal value, so that two-stage Hall positioning with higher positioning accuracy is realized, and an encoder is not needed, so that the positioning cost can be reduced. BRIEF DESCRIPTION OF DRAWINGS
[0015] In order to more clearly illustrate the technical solutions of the present application, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as limiting the scope of protection of the present application. In each drawing, similar components are denoted by similar reference numerals.
[0016] Figure 1 A flowchart of the gimbal motor rotor angle positioning method proposed in the present embodiment is shown; Figure 2 A structural diagram of the gimbal motor proposed in the present embodiment is shown; Figure 3 Another structural diagram of the gimbal motor proposed in the present embodiment is shown; Figure 4 Still another structural diagram of the gimbal motor proposed in the present embodiment is shown; Figure 5 Another flowchart of the gimbal motor rotor angle positioning method proposed in the present embodiment is shown; Figure 6 A diagram of sector division proposed in the present embodiment is shown; Figure 7 A structural schematic diagram of the gimbal motor rotor angle positioning device proposed in the embodiment is shown.
[0017] Explanation of the drawing: 201-external Hall sensor; 202-internal Hall sensor; 203-magnetic ring; 204-rotor magnetic pole; 205-stator; 2011-first external Hall sensor; 2012-second external Hall sensor; 2021-first internal Hall sensor; 2022-second internal Hall sensor; 700-gimbal motor rotor angle positioning device; 701-acquisition module; 702-first determination module; 703-second determination module; 704-positioning module. DETAILED DESCRIPTION
[0018] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, not all the embodiments.
[0019] The components of the embodiments of the present application generally described and illustrated in the accompanying drawings can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but only represents selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.
[0020] Hereinafter, the terms "include", "have", and their conjugates used in various embodiments of the present application are only intended to denote a specific characteristic, number, step, operation, element, component, or combination of the foregoing, and should not be understood as excluding the presence or addition of one or more other characteristics, numbers, steps, operations, elements, components, or combinations of the foregoing.
[0021] In addition, the terms "first", "second", "third", and the like are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.
[0022] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which various embodiments of the present application belong. The terms (such as those defined in a generally used dictionary) will be interpreted as having the same meaning as the contextual meaning in the relevant technical field and will not be interpreted as having an idealized or overly formal meaning, unless clearly defined in various embodiments of the present application.
[0023] Embodiment 1 The embodiment of the present disclosure provides a gimbal motor rotor angle positioning method, which is used for two-stage positioning by using an external differential Hall signal value and an internal differential Hall signal value, improves rotor angle positioning accuracy, and reduces cost.
[0024] Please refer to Figure 1 , the gimbal motor rotor angle positioning method comprises steps S101-S104, and each step will be described in detail below.
[0025] Step S101, obtaining an external differential Hall signal value and an internal differential Hall signal value of a gimbal motor.
[0026] In the embodiment, the external differential Hall signal value is obtained by an external Hall sensor of the gimbal motor, and the internal differential Hall signal value is obtained by an internal Hall sensor of the gimbal motor. Generally, the positioning accuracy of a single-stage Hall sensor is insufficient, and therefore, the positioning accuracy of the rotor angle of the gimbal motor can be improved by obtaining differential signal values by multiple Hall sensors.
[0027] In a specific embodiment, the gimbal motor comprises a first external Hall sensor, a second external Hall sensor, a first internal Hall sensor and a second internal Hall sensor, and step S101 comprises: obtaining the external differential Hall signal value by the first external Hall sensor and the second external Hall sensor; and obtaining the internal differential Hall signal value by the first internal Hall sensor and the second internal Hall sensor.
[0028] In the embodiment, please refer to Figure 2 , the gimbal motor comprises an external Hall sensor 201, an internal Hall sensor 202, and a magnetic ring 203, a rotor magnetic pole 204 and a stator 205. The external Hall sensor 201 is installed close to the magnetic ring 203 and the stator 205, and the internal Hall sensor 202 is installed close to the rotor magnetic pole 204. Please refer to Figure 3 , the external Hall sensor 201 comprises a first external Hall sensor 2011 and a second external Hall sensor 2012, and please refer to Figure 4 , the internal Hall sensor 202 comprises a first internal Hall sensor 2021 and a second internal Hall sensor 2022.
[0029] The external differential Hall signal value is acquired by the first external Hall sensor 2011 and the second external Hall sensor 2012, and the internal differential Hall signal value is acquired by the first internal Hall sensor 2021 and the second internal Hall sensor 2022. Since the first external Hall sensor 2011 and the second external Hall sensor 2012 are close to the magnetic ring 203, and the first internal Hall sensor 2021 and the second internal Hall sensor 2022 are close to the rotor magnetic pole 204, the external Hall-magnetic ring combination can be used to realize coarse positioning, and the internal Hall-rotor magnetic pole can be used to realize fine positioning.
[0030] In step S102, the rotor magnetic pole interval is determined according to the external differential Hall signal value.
[0031] In this embodiment, coarse positioning is performed according to the external differential Hall signal value to determine the rotor magnetic pole interval, so that a relatively accurate rotor magnetic pole interval is obtained by using the high-precision external differential Hall signal value.
[0032] In a specific embodiment, referring to Figure 5 , step S102 includes steps S1021-S1022, which are described in detail below.
[0033] In step S1021, the external differential Hall signal value is normalized to obtain a pretreatment signal value.
[0034] In this embodiment, the external differential Hall signal value is normalized to obtain a pretreatment signal value that eliminates the influence of signal drift.
[0035] In a specific embodiment, step S1021 includes: acquiring an external signal synthesis vector amplitude, a Hall signal maximum value and a Hall signal minimum value according to the external differential Hall signal value; and performing normalization according to the external signal synthesis vector amplitude, the Hall signal maximum value and the Hall signal minimum value to obtain the pretreatment signal value.
[0036] In this embodiment, the synthesis vector amplitude of two external Hall signals is acquired according to the external differential Hall signal value to obtain an external signal synthesis vector amplitude , the Hall signal maximum value and the Hall signal minimum value are acquired.
[0037] Further, normalization is performed according to the external signal synthesis vector amplitude , the Hall signal maximum value and the Hall signal minimum value to obtain the pretreatment signal value. The normalization formula is: .
[0038] Step S1022, down-rounding the product of the pre-processed signal value and the preset interval number to obtain the rotor magnetic pole interval.
[0039] In this example, the product of the pre-processed signal value and the preset interval number is down-rounded to obtain the rotor magnetic pole interval . The calculation formula of the rotor magnetic pole interval is as follows: , wherein, is a down-rounding function, and 14 is the preset interval number. The calculation result is mapped to the integer interval (1-14) corresponding to 14 sectors, and a sector division schematic diagram is shown in Figure 6 . The preset interval number is the number of rotor magnetic poles.
[0040] Step S103, determining the rotor initial angle according to the internal differential Hall signal value.
[0041] In this embodiment, accurate positioning is performed according to the internal differential Hall signal value to determine the position in the rotor magnetic pole interval, and a relatively fine rotor initial angle of the rotor is obtained.
[0042] In a specific embodiment, step S103 includes: obtaining a differential signal ratio according to the internal differential Hall signal value; and calculating the differential signal ratio based on an arctangent function to obtain the rotor initial angle.
[0043] In this embodiment, a differential signal ratio is obtained according to the internal differential Hall signal value, wherein, is a magnetic field signal difference value of the internal differential Hall signal value, forming a quadrature component; the differential signal ratio is calculated based on an arctangent function arctan() to obtain a rotor initial angle . The calculation formula of the rotor initial angle is as follows: .
[0044] Step S104, obtaining a rotor positioning angle according to the rotor magnetic pole interval and the rotor initial angle.
[0045] In this embodiment, the rotor positioning angle is obtained by superimposing the rotor magnetic pole interval and the rotor initial angle, so as to realize two-stage Hall accurate positioning, and an encoder is not needed, which can reduce the positioning cost.
[0046] In a specific embodiment, step S104 includes: calculating a first product between the rotor magnetic pole interval and a preset interval angle; and adding the first product and the rotor initial angle to obtain the rotor positioning angle.
[0047] In the embodiment, a first product between the rotor magnetic pole interval and the preset interval angle is calculated; the first product is added with the rotor initial angle to obtain a rotor positioning angle . The calculation formula of the rotor positioning angle is as follows: .
[0048] In a specific embodiment, after the external signal synthesis vector amplitude is obtained according to the external differential Hall signal value, the following steps are included: obtaining a rotor magnetic ring internal magnetic field signal corresponding to the internal differential Hall signal value; judging whether the absolute value of the difference between the external signal synthesis vector amplitude and the rotor magnetic ring internal magnetic field signal is greater than a preset difference threshold value; if yes, calculating a second product between a preset coefficient and a magnetic field change rate, and subtracting the second product from the external differential Hall signal value and the internal differential Hall signal value respectively to obtain a compensated external differential Hall signal value and a compensated internal differential Hall signal value; and re-executing the step of performing the normalization processing on the external differential Hall signal value based on the compensated external differential Hall signal value to obtain a preprocessed signal value, and executing the step of determining the rotor initial angle according to the internal differential Hall signal value based on the compensated internal differential Hall signal value.
[0049] In the embodiment, after the external signal synthesis vector amplitude is obtained according to the external differential Hall signal value, a rotor magnetic ring internal magnetic field signal corresponding to the internal differential Hall signal value is obtained. The rotor magnetic ring internal magnetic field signal is a magnetic field signal directly measured by the internal Hall sensor on the rotor magnetic ring.
[0050] Further, it is judged whether the absolute value of the difference between the external signal synthesis vector amplitude and the rotor magnetic ring internal magnetic field signal is greater than a preset difference threshold value; if yes, a second product between a preset coefficient and a magnetic field change rate (time derivative) is calculated, and the second product is subtracted from the external differential Hall signal value and the internal differential Hall signal value respectively to obtain a compensated external differential Hall signal value and a compensated internal differential Hall signal value, so that the original Hall signal measurement value is corrected by subtracting the interference component; and the step S1021 is re-executed based on the compensated external differential Hall signal value, and the step S103 is executed based on the compensated internal differential Hall signal value.
[0051] The gimbal motor rotor angle positioning method provided in the embodiment obtains an external differential Hall signal value and an internal differential Hall signal value of a gimbal motor; determines a rotor magnetic pole interval according to the external differential Hall signal value; determines a rotor initial angle according to the internal differential Hall signal value; and obtains a rotor positioning angle according to the rotor magnetic pole interval and the rotor initial angle. In this way, the rotor is coarsely positioned through the external differential Hall signal value of the gimbal motor, and the rotor is accurately positioned through the internal differential Hall signal value, so that two-stage Hall positioning with higher positioning accuracy is realized, the positioning cost can be reduced, and an encoder is not needed, so that the positioning cost can be reduced.
[0052] Embodiment 2 In addition, the embodiment of the present disclosure provides a gimbal motor rotor angle positioning device 700, please see Figure 7 , comprising: An acquisition module 701 is configured to acquire an external differential Hall signal value and an internal differential Hall signal value of a gimbal motor. A first determination module 702 is configured to determine a rotor magnetic pole interval according to the external differential Hall signal value. A second determination module 703 is configured to determine a rotor initial angle according to the internal differential Hall signal value. A positioning module 704 is configured to obtain a rotor positioning angle according to the rotor magnetic pole interval and the rotor initial angle.
[0053] Optionally, the gimbal motor comprises a first external Hall sensor, a second external Hall sensor, a first internal Hall sensor and a second internal Hall sensor, and the acquisition module 701 is further configured to acquire the external differential Hall signal value through the first external Hall sensor and the second external Hall sensor, and acquire the internal differential Hall signal value through the first internal Hall sensor and the second internal Hall sensor.
[0054] Optionally, the first determination module 702 is further configured to perform normalization processing on the external differential Hall signal value to obtain a pretreatment signal value, and perform down rounding on a product of the pretreatment signal value and a preset interval number to obtain the rotor magnetic pole interval.
[0055] Optionally, the first determination module 702 is further configured to acquire an external signal synthesis vector amplitude, a Hall signal maximum value and a Hall signal minimum value according to the external differential Hall signal value, and perform normalization on the external signal synthesis vector amplitude, the Hall signal maximum value and the Hall signal minimum value to obtain the pretreatment signal value.
[0056] Optionally, the second determination module 703 is further configured to obtain a differential signal ratio according to the internal differential Hall signal value; and calculate the differential signal ratio based on an inverse tangent function to obtain the rotor initial angle.
[0057] Optionally, the positioning module 704 is further configured to calculate a first product between the rotor magnetic pole interval and a preset interval angle; and add the first product to the rotor initial angle to obtain the rotor positioning angle.
[0058] Optionally, the apparatus further includes a processing module configured to obtain a rotor magnetic ring internal magnetic field signal corresponding to the internal differential Hall signal value; determine whether an absolute value of a difference between the external signal synthesis vector amplitude and the rotor magnetic ring internal magnetic field signal is greater than a preset difference threshold value; if yes, calculate a second product between a preset coefficient and a magnetic field change rate, and subtract the second product from the external differential Hall signal value and the internal differential Hall signal value respectively to obtain a compensated external differential Hall signal value and a compensated internal differential Hall signal value. The first determination module 702 is further configured to re-perform the step of performing normalization processing on the external differential Hall signal value based on the compensated external differential Hall signal value to obtain a preprocessed signal value. The second determination module 703 is further configured to perform the step of determining a rotor initial angle according to the internal differential Hall signal value based on the compensated internal differential Hall signal value.
[0059] The apparatus provided in the embodiments of the present disclosure can perform the steps of the gimbal motor rotor angle positioning method provided in Embodiment 1, and thus will not be described again.
[0060] The gimbal motor rotor angle positioning apparatus provided in the embodiments obtains an external differential Hall signal value and an internal differential Hall signal value of a gimbal motor; determines a rotor magnetic pole interval according to the external differential Hall signal value; determines a rotor initial angle according to the internal differential Hall signal value; and obtains a rotor positioning angle according to the rotor magnetic pole interval and the rotor initial angle. In this way, the rotor is coarsely positioned by the external differential Hall signal value of the gimbal motor, and then precisely positioned by the internal differential Hall signal value, so that two-stage Hall positioning with higher positioning accuracy is achieved, the positioning cost is reduced, and an encoder is not needed, so that the positioning cost is reduced.
[0061] Embodiment 3 In addition, the embodiments of the present disclosure provide a computer device including a memory and a processor, the memory stores a computer program, and the computer program is executed by the processor to implement the gimbal motor rotor angle positioning method in Embodiment 1.
[0062] The device provided by the embodiments of the present disclosure can execute the steps of the gimbal motor rotor angle positioning method provided in Embodiment 1, and details are not repeated.
[0063] Embodiment 4 The embodiments of the present disclosure provide a computer readable storage medium, which stores a computer program. The computer program is executed by a processor to implement the gimbal motor rotor angle positioning method in Embodiment 1.
[0064] In the embodiment, the computer readable storage medium can be a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.
[0065] The computer readable storage medium provided by the embodiments can implement the gimbal motor rotor angle positioning method provided in Embodiment 1, and details are not repeated.
[0066] In all examples shown and described herein, any specific values should be interpreted as merely exemplary and not as a limitation, and thus, other examples of the example embodiments can have different values.
[0067] It should be noted that like reference numerals and letters refer to like items in the drawings, and thus, once an item is defined in one drawing, it need not be further defined and explained in subsequent drawings.
[0068] The above embodiments only express several implementation manners of the present application, and the description is more specific and detailed, but it should not be understood as a limitation on the scope of the present application. It should be noted that, for those skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are all within the protection scope of the present application.
Claims
1. A method for positioning a rotor angle of a gimbal motor, characterized in that, The method comprises the following steps: obtaining an external differential Hall signal value and an internal differential Hall signal value of a gimbal motor; determining a rotor magnetic pole interval according to the external differential Hall signal value; determining a rotor initial angle according to the internal differential Hall signal value; obtaining a rotor positioning angle according to the rotor magnetic pole interval and the rotor initial angle.
2. The method of claim 1, wherein, The gimbal motor comprises a first external Hall sensor, a second external Hall sensor, a first internal Hall sensor and a second internal Hall sensor, and the obtaining of the external differential Hall signal value and the internal differential Hall signal value of the gimbal motor comprises the following steps: obtaining the external differential Hall signal value through the first external Hall sensor and the second external Hall sensor; obtaining the internal differential Hall signal value through the first internal Hall sensor and the second internal Hall sensor.
3. The method of claim 1, wherein, The determination of the rotor magnetic pole interval according to the external differential Hall signal value comprises the following steps: performing normalization processing on the external differential Hall signal value to obtain a pretreatment signal value; downwardly rounding the product of the pretreatment signal value and a preset interval number to obtain the rotor magnetic pole interval.
4. The method of claim 3, wherein, The normalization processing on the external differential Hall signal value to obtain a pretreatment signal value comprises the following steps: obtaining an external signal synthesis vector amplitude, a Hall signal maximum value and a Hall signal minimum value according to the external differential Hall signal value; performing normalization according to the external signal synthesis vector amplitude, the Hall signal maximum value and the Hall signal minimum value to obtain the pretreatment signal value.
5. The method of claim 1, wherein, The determination of the rotor initial angle according to the internal differential Hall signal value comprises the following steps: obtaining a differential signal ratio according to the internal differential Hall signal value; calculating the differential signal ratio based on an inverse tangent function to obtain the rotor initial angle.
6. The method of claim 1, wherein, The obtaining of the rotor positioning angle according to the rotor magnetic pole interval and the rotor initial angle comprises the following steps: calculating a first product between the rotor magnetic pole interval and a preset interval angle; adding the first product and the rotor initial angle to obtain the rotor positioning angle.
7. The method of claim 4, wherein, After the obtaining of the external signal synthesis vector amplitude according to the external differential Hall signal value, the following steps are further included: obtaining a rotor magnetic ring internal magnetic field signal corresponding to the internal differential Hall signal value; judging whether the absolute value of the difference between the external signal synthesis vector amplitude and the rotor magnetic ring internal magnetic field signal is greater than a preset difference threshold value; if yes, calculating a second product between a preset coefficient and a magnetic field change rate, and subtracting the second product from the external differential Hall signal value and the internal differential Hall signal value respectively to obtain a compensated external differential Hall signal value and a compensated internal differential Hall signal value; and based on the compensated external differential Hall signal value, the normalization processing on the external differential Hall signal value to obtain a pretreatment signal value is re-executed, and based on the compensated internal differential Hall signal value, the determination of the rotor initial angle according to the internal differential Hall signal value is executed.
8. A gimbal motor rotor angle positioning device, characterized in that, The method comprises the following steps: an obtaining module, configured to obtain an external differential Hall signal value and an internal differential Hall signal value of a gimbal motor; A first determining module is configured to determine a rotor magnetic pole interval according to the external differential Hall signal value; A second determining module is configured to determine a rotor initial angle according to the internal differential Hall signal value; A positioning module is configured to obtain a rotor positioning angle according to the rotor magnetic pole interval and the rotor initial angle.
9. A computer device, comprising: The cloud platform comprises a memory and a processor, the memory stores a computer program, and the computer program is executed by the processor to implement the gimbal motor rotor angle positioning method according to any one of claims 1 to 7.
10. A computer-readable storage medium, characterized in that, The cloud platform stores a computer program, and the computer program is executed by the processor to implement the gimbal motor rotor angle positioning method according to any one of claims 1 to 7.