Encoder, position data generation method and device and motor

Abstract

The invention provides an encoder, a position data generation method and device and a motor, and relates to the technical field of precision measurement, the encoder comprises a rotor part, the rotor part comprises a magnetic part and a multi-stage magnetic ring, the magnetic part is provided with a pair of magnetic poles, the multi-stage magnetic ring is provided with at least two pairs of uniformly distributed magnetic poles, the multi-stage magnetic ring is arranged on the peripheral side of the magnetic piece; the stator part comprises a first angle detection piece and a second angle detection piece, the first angle detection piece and the multi-stage magnetic ring are oppositely arranged, the first angle detection piece is used for generating a first signal according to changes of magnetic fields of the multi-stage magnetic ring and the magnetic piece, and the second angle detection piece and the magnetic piece are oppositely arranged and used for generating a second signal according to changes of magnetic fields of the multi-stage magnetic ring and the magnetic piece. The second angle detection piece is used for generating a second signal according to the change of the magnetic fields of the multi-stage magnetic ring and the magnetic piece; and the controller is used for generating absolute position data according to the first signal and the second signal. According to the encoder provided by the invention, the precision of the encoder is improved through the arrangement of the multi-stage magnetic ring.

Description

Technical Field

[0001] This invention relates to the field of precision measurement technology, and more specifically to an encoder, a method for generating position data, an apparatus for such generation, and a motor. Background Technology

[0002] In related technologies, magnetic encoders typically use a pair of magnetic poles to calculate position. However, a pair of magnetic poles can only generate a maximum of two cycles of sine and cosine signals. The number of subdivisions of the coarse code for mechanical angles is relatively small, resulting in low position accuracy and thus low encoder precision. Summary of the Invention

[0003] The present invention aims to at least solve or improve the technical problem of low accuracy of encoders in the prior art.

[0004] Therefore, a first aspect of the present invention provides an encoder.

[0005] A second aspect of the present invention provides a method for generating location data.

[0006] A third aspect of the present invention provides an apparatus for generating location data.

[0007] A fourth aspect of the present invention provides an encoder.

[0008] The fifth aspect of the present invention provides an electric motor.

[0009] In view of the above, according to a first aspect of the present invention, an encoder is provided, comprising: a rotor portion including a magnetic element and a multi-stage magnetic ring, the magnetic element having a pair of magnetic poles, the multi-stage magnetic ring having at least two pairs of uniformly distributed magnetic poles, the multi-stage magnetic ring being disposed on the outer periphery of the magnetic element; a stator portion including a first angle detection element and a second angle detection element, the first angle detection element and the multi-stage magnetic ring being disposed opposite to each other, the first angle detection element being used to generate a first signal based on changes in the magnetic field of the multi-stage magnetic ring and the magnetic element, the second angle detection element being disposed opposite to the magnetic element, the second angle detection element being used to generate a second signal based on changes in the magnetic field of the multi-stage magnetic ring and the magnetic element; and a controller electrically connected to the first angle detection element and the second angle detection element, for generating absolute position data based on the first signal and the second signal.

[0010] The encoder proposed in this invention includes a stator and a rotor. The stator includes a magnetic element and a multi-stage magnetic ring. The magnetic element has a pair of magnetic poles, and the multi-stage magnetic ring has at least two pairs of magnetic poles. That is, the entire magnetic part of the encoder has multiple pairs of magnetic poles, which can generate more complex magnetic field changes when the encoder rotates and works, increase the output signal of the angle detection element, and thus improve the accuracy of the encoder.

[0011] The encoder also includes a stator section located on one side of the rotor section. The stator section and the rotor section cooperate with each other, and the rotor section can rotate relative to the stator section. The stator section includes a first angle detection element and a second angle detection element. The first angle detection element is opposite to the multi-stage magnetic ring, and the second angle detection element is opposite to the magnetic element. When the rotor section rotates, the first angle detection element and the second angle detection element can be affected by the magnetic field changes of the magnetic element and the multi-stage magnetic ring, generating signals. The first angle detection element generates a first signal, and the second angle detection element generates a second signal.

[0012] The encoder also includes a controller, which is electrically connected to a first angle detection element and a second angle detection element. The controller is used to generate absolute position data based on the first signal and the second signal. The present invention increases the signal period by adding multi-stage magnetic rings, thereby increasing the accuracy of the encoder.

[0013] In addition, the encoder in the above-described technical solution provided by the present invention may also have the following additional technical features:

[0014] In some embodiments, the magnetic element may be a sheet-like structure, located inside the multi-level magnetic ring; or the magnetic element may be a ring-like structure, located inside the multi-level magnetic ring.

[0015] In this embodiment, the magnetic component is a sheet-like structure and is located inside the multi-level magnetic ring. Specifically, the magnetic component and the multi-level magnetic ring are concentrically arranged.

[0016] Alternatively, the magnetic component may be a ring structure, located inside the multi-level magnetic rings; specifically, the magnetic component and the multi-level magnetic rings are concentrically arranged.

[0017] In some embodiments, the first angle detection element may optionally be a first AMR (Anisotropic Magnetoresistance) magnetic sensing chip, a first TMR (Tunnel Magnetoresistance) magnetic sensing chip, or a first GMR (Giant Magnetoresistance) magnetic sensing chip.

[0018] In this embodiment, the first angle detection element can be a first AMR magnetic sensing chip, a first TMR magnetic sensing chip, or a first GMR magnetic sensing chip, and the appropriate magnetic sensing chip can be selected according to the requirements.

[0019] In some embodiments, optionally, the second angle detection element is a second AMR (Anisotropic Magnetoresistance) magnetic sensing chip, and the encoder further includes a first magnetic sensing switch and a second magnetic sensing switch, both of which are arranged opposite to the magnetic element; or the second angle detection element is a second TMR (Tunnel Magnetoresistance) magnetic sensing chip; or the second angle detection element is a second GMR (Giant Magnetoresistance) magnetic sensing chip.

[0020] In this embodiment, the second angle detection element is a second AMR magnetic sensing chip. The encoder also includes a first magnetic sensing switch and a second magnetic sensing switch. Both the first and second magnetic sensing switches are arranged opposite to the magnetic element. Since the AMR magnetic sensing chip outputs two-cycle signals, when the second angle detection element uses an AMR magnetic sensing chip, it is necessary to cooperate with the first and second magnetic sensing switches. The square wave signals generated by the first and second magnetic sensing switches are used to identify the two-cycle signals output by the AMR magnetic sensing chip, ensuring the accuracy of the identification.

[0021] Alternatively, the second angle detection element may be a second TMR magnetic sensing chip; or the second angle detection element may be a second GMR magnetic sensing chip. The appropriate magnetic sensing chip can be selected according to the requirements.

[0022] In some embodiments, optionally, the stator section further includes a calculation structure, which includes: a first acquisition circuit electrically connected to a first angle detection element for acquiring a first signal; a second acquisition circuit electrically connected to a second angle detection element for acquiring a second signal; and a data processing circuit electrically connected to both the first and second acquisition circuits, wherein the data processing circuit generates absolute position data based on the first and second signals; wherein the resolution of the first acquisition circuit is 2. M Bit, M is a positive integer, the number of bits of binary data corresponding to the absolute position data is N+M+3, N is log2(2×W), where W is the number of magnetic pole pairs of the multi-level magnetic ring.

[0023] In this embodiment, the stator section further includes a calculation structure, which includes a first sampling circuit, a second sampling circuit, and a data processing circuit. The data processing circuit is electrically connected to both the first and second sampling circuits. The first acquisition circuit is electrically connected to the first angle detection element. The first sampling circuit is used to acquire a first signal output by the first angle detection element, and the second sampling circuit is used to acquire a second signal output by the second angle detection element. The data processing circuit generates absolute position data based on the first signal acquired by the first sampling circuit and the second signal acquired by the second sampling circuit.

[0024] The resolution of the first acquisition circuit is 2. M Bit, M is a positive integer, the number of bits of the binary data corresponding to the absolute position data is N+M+3, N is log2(2×W), W is the number of magnetic pole pairs of the multi-stage magnetic ring. That is, the data processing circuit generates a binary data through the first signal and the second signal, and determines the absolute position data corresponding to the binary data by looking up a table.

[0025] Furthermore, by adding magnetic poles, the number of bits in binary data can be increased, thereby making the smallest unit of mechanical angle rotation of the encoder smaller and thus improving the accuracy of the encoder.

[0026] In some embodiments, the solution structure may optionally include: a first preprocessing circuit electrically connected to a first angle detection element and a first acquisition circuit; and a second preprocessing circuit electrically connected to a second angle detection element and a second acquisition circuit.

[0027] In this embodiment, the calculation structure further includes a first preprocessing circuit and a second preprocessing circuit. The input terminal of the first preprocessing circuit is electrically connected to the first angle detection element, and the output terminal of the first preprocessing circuit is electrically connected to the first acquisition circuit, thereby enabling preprocessing of the first signal. The preprocessing method may be noise reduction or amplification, etc. The input terminal of the second preprocessing circuit is electrically connected to the second angle detection element, and the output terminal of the second preprocessing circuit is electrically connected to the second acquisition circuit, thereby enabling preprocessing of the second signal. The preprocessing method may be noise reduction or amplification, etc., thereby improving the accuracy of processing the first and second signals.

[0028] According to a second aspect of the present invention, a method for generating position data is provided, applicable to an encoder. The encoder includes: a rotor section comprising a magnetic element and a multi-stage magnetic ring, the magnetic element having a pair of magnetic poles and the multi-stage magnetic ring having at least two pairs of uniformly distributed magnetic poles, the multi-stage magnetic ring being disposed on the outer periphery of the magnetic element; and a stator section comprising a first angle detection element and a second angle detection element, the first angle detection element and the multi-stage magnetic ring being disposed opposite to each other, the first angle detection element generating a first signal based on changes in the magnetic field of the multi-stage magnetic ring and the magnetic element, the second angle detection element and the magnetic element being disposed opposite to each other, the second angle detection element generating a second signal based on changes in the magnetic field of the multi-stage magnetic ring and the magnetic element. The method for generating position data includes: acquiring the first signal output by the first angle detection element; acquiring the second signal output by the second angle detection element; and generating absolute position data based on the first signal and the second signal.

[0029] The position data generation method proposed in this invention is applicable to encoders. The encoder includes: a rotor section comprising a magnetic element and a multi-stage magnetic ring. The magnetic element has a pair of magnetic poles, and the multi-stage magnetic ring has at least two pairs of uniformly distributed magnetic poles, the multi-stage magnetic ring being disposed on the outer periphery of the magnetic element; and a stator section comprising a first angle detection element and a second angle detection element. The first angle detection element and the multi-stage magnetic ring are arranged opposite each other. The first angle detection element generates a first signal based on changes in the magnetic field of the multi-stage magnetic ring and the magnetic element. The second angle detection element and the magnetic element are arranged opposite each other. The second angle detection element generates a second signal based on changes in the magnetic field of the multi-stage magnetic ring and the magnetic element. The position data generation method includes: acquiring the first signal output by the first angle detection element; acquiring the second signal output by the second angle detection element; and generating absolute position data based on the first and second signals.

[0030] The position data generation method proposed in this invention is applicable to encoders. The encoder includes a stator and a rotor. The stator includes a magnetic element and a multi-stage magnetic ring. The magnetic element has a pair of magnetic poles, and the multi-stage magnetic ring has at least two pairs of magnetic poles. That is, the entire magnetic part of the encoder has multiple pairs of magnetic poles. As a result, when the encoder rotates, it can generate more complex magnetic field changes, increase the output signal of the angle detection element, and thus improve the accuracy of the encoder.

[0031] The encoder also includes a stator section located on one side of the rotor section. The stator section and the rotor section cooperate with each other, and the rotor section can rotate relative to the stator section. The stator section includes a first angle detection element and a second angle detection element. The first angle detection element is opposite to the multi-stage magnetic ring, and the second angle detection element is opposite to the magnetic element. When the rotor section rotates, the first angle detection element and the second angle detection element can be affected by the magnetic field changes of the magnetic element and the multi-stage magnetic ring, generating signals. The first angle detection element generates a first signal, and the second angle detection element generates a second signal.

[0032] The position data is generated by acquiring the first signal output by the first angle detection element and the second signal output by the second angle detection element, and generating absolute position data based on the first and second signals. This invention increases the signal period by adding multiple magnetic rings, thereby increasing the accuracy of the encoder.

[0033] In some embodiments, optionally, generating absolute position data based on the first signal and the second signal includes: converting the first signal into a first arctangent signal; converting the second signal into a second arctangent signal; generating 3+M bits of binary data as low-order data based on one period of the first arctangent signal, where M is a power of the resolution of the first acquisition circuit; generating N bits of binary data as high-order data based on one period of the second arctangent signal, where N is log2(2×W), where W is the number of pole pairs of the multi-stage magnetic ring; and generating absolute position data based on the low-order data and the high-order data.

[0034] In this embodiment, generating absolute position data based on the first signal and the second signal includes: converting the acquired first signal into a first arctangent signal, and reducing the acquired second signal into a second arctangent signal.

[0035] Based on one cycle of the first arctangent signal, a binary data is generated and used as the low-order data. The number of bits of this binary data is 3+M bits, where M is a power of the resolution of the first acquisition circuit. One cycle of the signal can be divided into 8 parts. After the 8 parts are converted into binary data, they are 3 bits of binary data. Therefore, the two are added together to obtain the total number of bits of the low-order data.

[0036] Based on one cycle of the second arctangent signal, a binary data is generated and used as the high-order data. The number of bits in this binary data is N, where N is log2(2×W), and W is the number of magnetic pole pairs of the multi-stage magnetic ring.

[0037] Then, absolute position data is generated using the low-order and high-order data.

[0038] As shown above, by converting the first signal and the second signal, two binary data are determined, thereby increasing the total number of bits and the total amount of binary data, thus improving the accuracy of the encoder.

[0039] In some embodiments, optionally, generating absolute position data based on low-bit data and high-bit data includes: converting low-bit data into low-bit angle data; converting high-bit data into high-bit angle data; and concatenating the low-bit angle data and high-bit angle data into absolute position data.

[0040] In this embodiment, absolute position data is generated based on low-order data and high-order data. This includes: converting low-order data into low-order angle data corresponding to the low-order data by looking up a table; converting high-order data into high-order angle data corresponding to the high-order data by looking up a table; using the low-order angle data as the low-order part of the absolute position data and the high-order angle data as the high-order part of the absolute position data, thereby concatenating absolute position data. As described above, absolute position data is obtained through data conversion and concatenation. This method is simple and has a fast processing speed.

[0041] According to a third aspect of the present invention, a position data generation apparatus is provided, applicable to an encoder, the encoder comprising: a rotor portion including a magnetic element and a multi-stage magnetic ring, the magnetic element having a pair of magnetic poles, the multi-stage magnetic ring having at least two pairs of uniformly distributed magnetic poles, the multi-stage magnetic ring being disposed on the outer periphery of the magnetic element; a stator portion including a first angle detection element and a second angle detection element, the first angle detection element and the multi-stage magnetic ring being disposed opposite to each other, the first angle detection element being used to generate a first signal based on changes in the magnetic field of the multi-stage magnetic ring and the magnetic element, the second angle detection element and the magnetic element being disposed opposite to each other, the second angle detection element being used to generate a second signal based on changes in the magnetic field of the multi-stage magnetic ring and the magnetic element; and a position data generation method, the position data generation apparatus comprising: a first acquisition module for acquiring the first signal output by the first angle detection element; a second acquisition module for acquiring the second signal output by the second angle detection element; and a data processing module for generating absolute position data based on the first signal and the second signal.

[0042] The position data generation device proposed in this invention is applicable to encoders. The encoder includes a stator and a rotor. The stator includes a magnetic element and a multi-stage magnetic ring. The magnetic element has a pair of magnetic poles, and the multi-stage magnetic ring has at least two pairs of magnetic poles. That is, the entire magnetic part of the encoder has multiple pairs of magnetic poles. As a result, when the encoder rotates, it can generate more complex magnetic field changes, increase the output signal of the angle detection element, and thus improve the accuracy of the encoder.

[0043] The encoder also includes a stator section located on one side of the rotor section. The stator section and the rotor section cooperate with each other, and the rotor section can rotate relative to the stator section. The stator section includes a first angle detection element and a second angle detection element. The first angle detection element is opposite to the multi-stage magnetic ring, and the second angle detection element is opposite to the magnetic element. When the rotor section rotates, the first angle detection element and the second angle detection element can be affected by the magnetic field changes of the magnetic element and the multi-stage magnetic ring, generating signals. The first angle detection element generates a first signal, and the second angle detection element generates a second signal.

[0044] The position data is generated by acquiring the first signal output by the first angle detection element and the second signal output by the second angle detection element, and generating absolute position data based on the first and second signals. This invention increases the signal period by adding multiple magnetic rings, thereby increasing the accuracy of the encoder.

[0045] According to a fourth aspect of the invention, an encoder is provided, including a processor and a memory, the memory storing a program or instructions executable on the processor, the program or instructions, when executed by the processor, implementing the steps of the method for generating position data as provided in the second aspect embodiment.

[0046] The encoder proposed in this invention includes a processor and a memory. The memory stores a program or instructions that can run on the processor. Since the program or instructions, when executed by the processor, implement the steps of the position data generation method provided in the second aspect embodiment, the encoder has all the beneficial effects of the position data generation method provided in the second aspect embodiment, which will not be described in detail here.

[0047] According to a fifth aspect of the present invention, the present invention provides an electric motor comprising: an encoder as provided in the first aspect embodiment; or an encoder as provided in the fourth aspect embodiment.

[0048] The motor proposed in this invention includes the encoder proposed in the first aspect embodiment or the encoder proposed in the fourth aspect embodiment, and therefore has all the beneficial effects of the encoder proposed in the first aspect embodiment or the encoder proposed in the fourth aspect embodiment, which will not be described in detail here.

[0049] Additional aspects and advantages of the invention will become apparent in the following description or may be learned by practice of the invention. Attached Figure Description

[0050] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0051] Figure 1 A schematic diagram of the encoder provided in one embodiment of the present invention is shown;

[0052] Figure 2 A schematic diagram of the encoder provided in one embodiment of the present invention is shown;

[0053] Figure 3 A schematic diagram of a portion of the encoder structure provided in one embodiment of the present invention is shown;

[0054] Figure 4 A schematic diagram of a portion of the encoder structure provided in one embodiment of the present invention is shown;

[0055] Figure 5 A schematic diagram of a portion of the encoder structure provided in one embodiment of the present invention is shown;

[0056] Figure 6 A schematic diagram of the magnetic pole structure of a multi-stage magnetic ring and magnetic components in an encoder provided by an embodiment of the present invention is shown.

[0057] Figure 7 A schematic diagram of the magnetic pole structure of a multi-stage magnetic ring and magnetic components in an encoder provided by an embodiment of the present invention is shown.

[0058] Figure 8 The diagram shows waveforms of a first signal output by a first angle detection element and a second signal output by a second angle detection element in an encoder provided according to an embodiment of the present invention.

[0059] Figure 9 One of the flowcharts of a method for generating location data according to an embodiment of the present invention is shown;

[0060] Figure 10 A second flowchart of a method for generating location data according to an embodiment of the present invention is shown;

[0061] Figure 11 A structural block diagram of a location data generation apparatus provided in one embodiment of the present invention is shown.

[0062] Figure 12 A structural block diagram of an encoder provided in one embodiment of the present invention is shown.

[0063] in, Figures 1 to 7 The correspondence between the reference numerals and component names in the attached drawings is as follows:

[0064] 100 Encoder, 110 Rotor, 112 Magnetic Component, 114 Multi-stage Magnetic Ring, 120 Stator, 122 First Angle Detector, 124 Second Angle Detector, 130 Controller, 132 Data Processing Unit, 134 Position Determination Unit, 136 Data Compensation and Fusion Unit, 140 Solving Structure, 142 First Acquisition Circuit, 144 Second Acquisition Circuit, 146 Data Storage Circuit, 148 First Preprocessing Circuit, 150 Second Preprocessing Circuit, 152 Circuit Board, 160 First Magnetic Switch, 170 Second Magnetic Switch. Detailed Implementation

[0065] To better understand the above-mentioned objectives, features, and advantages of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0066] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and therefore the scope of protection of the invention is not limited to the specific embodiments disclosed below.

[0067] The following reference Figures 1 to 12 This describes an encoder 100, a method for generating position data, an apparatus for generating position data, and a motor provided according to some embodiments of the present invention. Figure 6 and Figure 7 In this context, N represents the North Pole and S represents the South Pole.

[0068] like Figure 1 and Figure 2 As shown, according to a first aspect of the present invention, an encoder 100 is provided. The encoder 100 includes a rotor portion 110 and a stator portion 120. A positioning portion is located on one side of the rotor portion 110. The rotor portion 110 is rotatable relative to the stator portion 120. The rotor portion 110 includes a magnetic element 112 and a multi-stage magnetic ring 114. The magnetic element 112 is disposed inside the multi-stage magnetic ring 114 and has a pair of magnetic poles. The multi-stage magnetic ring 114 has at least two pairs of magnetic poles. The multi-stage magnetic ring 114 and the magnetic element 112 can rotate synchronously. The magnetic poles on the multi-stage magnetic ring 114 are evenly distributed.

[0069] The encoder 100 also includes a first angle detection element 122 and a second angle detection element 124. The first angle detection element 122 and the multi-stage magnetic ring 114 are arranged opposite to each other, and the second angle detection element 124 and the magnetic element 112 are arranged opposite to each other. Furthermore, the multi-stage magnetic ring 114 and the magnetic element 112 can rotate relative to the stator portion 120.

[0070] When the rotor 110 rotates, the positions of the multi-stage magnetic ring 114 and the magnetic element 112 change. The first angle detection element 122 can generate a first signal based on the change in the magnetic field of the multi-stage magnetic ring 114 and the magnetic element 112, and the second angle detection element 124 can generate a second signal based on the change in the magnetic field of the multi-stage magnetic ring 114 and the magnetic element 112.

[0071] The encoder 100 also includes a controller 130, which is electrically connected to a first angle detection element 122 and a second angle detection element 124. The controller 130 is used to generate absolute position data based on the first signal and the second signal.

[0072] The encoder 100 proposed in this invention includes a stator 120 and a rotor 110. The stator 120 includes a magnetic element 112 and a multi-stage magnetic ring 114. The magnetic element 112 has a pair of magnetic poles, and the multi-stage magnetic ring 114 has at least two pairs of magnetic poles. That is, the entire magnetic part of the encoder 100 has multiple pairs of magnetic poles. As a result, when the encoder 100 rotates, it can generate more complex magnetic field changes, increase the output signal of the angle detection element, and thus improve the accuracy of the encoder 100.

[0073] The encoder 100 also includes a stator 120, which is located on one side of the rotor 110. The stator 120 and the rotor 110 cooperate with each other, and the rotor 110 can rotate relative to the stator 120. The stator 120 includes a first angle detection element 122 and a second angle detection element 124. The first angle detection element 122 is opposite to the multi-stage magnetic ring 114, and the second angle detection element 124 is opposite to the magnetic element 112. When the rotor 110 rotates, the first angle detection element 122 and the second angle detection element 124 can be affected by the magnetic field changes of the magnetic element 112 and the multi-stage magnetic ring 114 to generate signals. The first angle detection element 122 generates a first signal, and the second angle detection element 124 generates a second signal.

[0074] The encoder 100 also includes a controller 130, which is electrically connected to a first angle detection element 122 and a second angle detection element 124. The controller 130 is used to generate absolute position data based on the first signal and the second signal. The present invention increases the signal period by adding a multi-stage magnetic ring 114, thereby increasing the accuracy of the encoder 100.

[0075] like Figure 3 and Figure 6 As shown, in some embodiments, the magnetic element 112 is optionally a sheet-like structure, and the magnetic element 112 is located inside the multi-level magnetic ring 114.

[0076] That is, the magnetic component 112 is a magnetic sheet or disk, etc. The magnetic component 112 is disposed inside the multi-level magnetic ring 114. The positions of the multi-level magnetic ring 114 and the magnetic component 112 are relatively fixed. The multi-level magnetic ring 114 has at least two pairs of magnetic poles, and the magnetic component 112 has one pair of magnetic poles. The magnetic component 112 is disposed inside the multi-level magnetic ring 114, and the multi-level magnetic ring 114 and the magnetic component 112 can rotate synchronously.

[0077] In this embodiment, the magnetic element 112 has a sheet-like structure and is located inside the multi-level magnetic ring 114. Specifically, the magnetic element 112 and the multi-level magnetic ring 114 are concentrically arranged.

[0078] Specifically, the magnetic component 112 is in the shape of a disc, and the multi-level magnetic ring 114 is in the shape of a ring. The magnetic component 112 and the multi-level magnetic ring 114 are arranged concentrically.

[0079] In some embodiments, the magnetic element 112 is optionally a ring structure, and the magnetic element 112 is located inside the multi-level magnetic ring 114.

[0080] That is, the magnetic component 112 is the first magnetic ring, which is located inside the multi-level magnetic ring 114. The positions of the multi-level magnetic ring 114 and the first magnetic ring are relatively fixed. The multi-level magnetic ring 114 has at least two pairs of magnetic poles, and the first magnetic ring has one pair of magnetic poles. The first magnetic ring is located inside the multi-level magnetic ring 114, and the multi-level magnetic ring 114 and the first magnetic ring can rotate synchronously.

[0081] In this embodiment, the magnetic element 112 has a sheet-like structure and is located inside the multi-level magnetic ring 114. Specifically, the magnetic element 112 and the multi-level magnetic ring 114 are concentrically arranged.

[0082] Specifically, the magnetic component 112 is circular, the multi-level magnetic ring 114 is circular, and the magnetic component 112 and the multi-level magnetic ring 114 are concentrically arranged.

[0083] like Figure 3 , Figure 4 and Figure 5 As shown, in some embodiments, the first angle detection element 122 may optionally be a first AMR (Anisotropic Magnetoresistance) magnetic sensing chip, a first TMR (Tunnel Magnetoresistance) magnetic sensing chip, or a first GMR (Giant Magnetoresistance) magnetic sensing chip.

[0084] The second angle detection element 124 is a second AMR (Anisotropic Magnetoresistance) magnetic sensing chip, a second TMR (Tunnel Magnetoresistance) magnetic sensing chip, or a second GMR (Giant Magnetoresistance) magnetic sensing chip.

[0085] In this embodiment, the first angle detection element 122 may be a first AMR magnetic sensing chip, a first TMR magnetic sensing chip, or a first GMR magnetic sensing chip, and the appropriate magnetic sensing chip can be selected according to the requirements.

[0086] The second angle detection element 124 can be a second AMR magnetic sensing chip, a second TMR magnetic sensing chip, or a second GMR magnetic sensing chip, and the appropriate magnetic sensing chip can be selected according to the requirements.

[0087] The types of the first angle detection element 122 and the second angle detection element 124 may be the same or different. The number of the first angle detection element 122 may be one or more, and the number of the second angle detection element 124 may be one or more. The number of the first angle detection element 122 and the number of the second angle detection element 124 may be the same or different.

[0088] like Figure 5 As shown, in some embodiments, the second angle detection element 124 is optionally a second AMR magnetic sensing chip, and the encoder 100 also includes a first magnetic sensing switch 160 and a second magnetic sensing switch 170, both of which are arranged opposite to the magnetic element 112.

[0089] In this embodiment, the second angle detection element 124 is a second AMR magnetic sensing chip. The encoder 100 also includes a first magnetic sensing switch 160 and a second magnetic sensing switch 170. Both the first magnetic sensing switch 160 and the second magnetic sensing switch 170 are arranged opposite to the magnetic element 112. Since the AMR magnetic sensing chip outputs two-cycle signals, when the second angle detection element 124 uses an AMR magnetic sensing chip, it is necessary to cooperate with the first magnetic sensing switch 160 and the second magnetic sensing switch 170. The square wave signals generated by the first magnetic sensing switch 160 and the second magnetic sensing switch 170 are used to identify the two-cycle signals output by the AMR magnetic sensing chip, ensuring the accuracy of identification.

[0090] The first magnetic switch 160 and the second magnetic switch 170 are installed orthogonally.

[0091] like Figure 6 and Figure 7 As shown, in some embodiments, optionally, the number of pole pairs of the multi-stage magnetic ring 114 is W, where W = 2. B , where B is a positive integer.

[0092] In this embodiment, the number of pole pairs of the multi-stage magnetic ring 114 is greater than or equal to 2, specifically, it can be W, where W = 2. B Where B is a positive integer, which facilitates the conversion of the angle detection component's signal into binary data, reducing the difficulty of signal processing.

[0093] The value of B can be 1, 2, 3, 4, 5, 6, 7, 8, 9, or 10, etc. That is, the value of W can be 2, 4, 8, 16, 32, 64, 128, 256, 512, or 1024, etc.

[0094] like Figure 1As shown, in some embodiments, optionally, the stator section 120 further includes a calculation structure 140, which includes a first acquisition circuit 142, a second acquisition circuit 144, and a data processing unit 132. The input terminal of the first acquisition circuit 142 is electrically connected to the first angle detection element 122, and the output terminal of the first acquisition circuit 142 is electrically connected to the data processing unit 132. The first acquisition circuit 142 is used to acquire a first signal output by the first angle detection element 122. The input terminal of the second acquisition circuit 144 is electrically connected to the second angle detection element 124, and the output terminal of the second acquisition circuit 144 is electrically connected to the data processing unit 132. The second acquisition circuit 144 is used to acquire a second signal output by the second angle detection element 124. The data processing unit 132 generates absolute position data based on the first and second signals. The resolution of the first acquisition circuit 142 is 2. M Bit, M is a positive integer, the number of bits of binary data corresponding to the absolute position data is N+M+3, N is log2(2×W), where W is the number of magnetic pole pairs of the multi-level magnetic ring 114.

[0095] In this embodiment, the stator section 120 further includes a calculation structure 140, which includes a first sampling circuit, a second sampling circuit, and a data processing unit 132. The data processing unit 132 is electrically connected to both the first and second sampling circuits. The first acquisition circuit 142 is electrically connected to the first angle detection element 122. The first sampling circuit is used to acquire the first signal output by the first angle detection element 122, and the second sampling circuit is used to acquire the second signal output by the second angle detection element 124. The data processing unit 132 generates absolute position data based on the first signal acquired by the first sampling circuit and the second signal acquired by the second sampling circuit.

[0096] The resolution of the first acquisition circuit 142 is 2. M Bit, M is a positive integer, the number of bits of the binary data corresponding to the absolute position data is N+M+3, N is log2(2×W), W is the number of magnetic pole pairs of the multi-level magnetic ring 114, that is, the data processing unit 132 generates a binary data through the first signal and the second signal, and determines the absolute position data corresponding to the binary data by looking up a table.

[0097] Furthermore, by adding magnetic poles, the number of bits in binary data can be increased, thereby making the smallest unit of mechanical angle rotation of encoder 100 smaller, thus improving the accuracy of encoder 100.

[0098] In this context, M varies with the resolution of the first acquisition circuit 142. For example, the value of M can be 10, 16, or 20, etc. The value of W can be 2, 4, 8, 16, 32, 64, 128, 256, 512, or 1024, etc. Therefore, the value of N can be 2, 3, 4, 5, 6, 7, 8, 9, or 10, etc.

[0099] The first acquisition circuit can be a first digital-to-analog converter circuit, and the second acquisition circuit 144 can be a second digital-to-analog converter circuit.

[0100] like Figure 1 As shown, in some embodiments, optionally, the solution structure 140 further includes a first preprocessing circuit 148 and a second preprocessing circuit 150. The input terminal of the first preprocessing circuit 148 is electrically connected to the first angle detection element 122, and the output terminal of the first preprocessing circuit 148 is electrically connected to the first acquisition circuit 142. The first preprocessing circuit 148 can perform preprocessing such as filtering or amplification on the first signal. The input terminal of the second preprocessing circuit 150 is electrically connected to the second angle detection element 124, and the output terminal of the second preprocessing circuit 150 is electrically connected to the second acquisition circuit 144. The second preprocessing circuit 150 can perform preprocessing such as filtering or amplification on the second signal.

[0101] In this embodiment, the calculation structure 140 further includes a first preprocessing circuit 148 and a second preprocessing circuit 150. The input terminal of the first preprocessing circuit 148 is electrically connected to the first angle detection element 122, and the output terminal of the first preprocessing circuit 148 is electrically connected to the first acquisition circuit 142, thereby enabling preprocessing of the first signal. The preprocessing method can be noise reduction or amplification, etc. The input terminal of the second preprocessing circuit 150 is electrically connected to the second angle detection element 124, and the output terminal of the second preprocessing circuit 150 is electrically connected to the second acquisition circuit 144, thereby enabling preprocessing of the second signal. The preprocessing method can be noise reduction or amplification, etc., thereby improving the accuracy of processing the first and second signals.

[0102] like Figure 1 As shown, in some embodiments, optionally, the controller 130 includes a data processing unit 132 for storing compensation data. The data processing unit 132 includes a position determination unit 134 and a data compensation fusion unit 136. The position determination unit 134 is used to process the first signal and the second signal, and the data compensation fusion unit 136 is used to compensate the position data.

[0103] like Figure 1 As shown, in some embodiments, optionally, the calculation structure 140 further includes a circuit board 152, on which a first angle detection element 122 and a second angle detection element 124 are disposed. Optionally, a controller 130 is disposed on the circuit board 152.

[0104] According to a second aspect of the present invention, a method for generating position data is provided, applicable to an encoder. The encoder includes: a rotor portion comprising a magnetic element and a multi-stage magnetic ring, the magnetic element having a pair of magnetic poles and the multi-stage magnetic ring having at least two pairs of uniformly distributed magnetic poles, the multi-stage magnetic ring being disposed on the outer periphery of the magnetic element; and a stator portion comprising a first angle detection element and a second angle detection element, the first angle detection element and the multi-stage magnetic ring being disposed opposite to each other, the first angle detection element generating a first signal based on changes in the magnetic field of the multi-stage magnetic ring and the magnetic element, the second angle detection element and the magnetic element being disposed opposite to each other, the second angle detection element generating a second signal based on changes in the magnetic field of the multi-stage magnetic ring and the magnetic element. The method for generating position data includes: acquiring the first signal output by the first angle detection element; acquiring the second signal output by the second angle detection element; and generating absolute position data based on the first signal and the second signal.

[0105] Figure 9 One of the flowcharts of a method for generating location data according to an embodiment of the present invention is shown, such as... Figure 9 As shown, the specific process of the location data generation method provided by the present invention is as follows:

[0106] Step 902: Acquire the first signal output by the first angle detection component.

[0107] Specifically, the first signal output by the first angle detection element is acquired through the first acquisition circuit.

[0108] Step 904: Acquire the second signal output by the second angle detection component.

[0109] Specifically, the second signal output by the second angle detection device is acquired through the second acquisition circuit.

[0110] Step 906: Generate absolute position data based on the first signal and the second signal.

[0111] Specifically, absolute position data is generated by analyzing the first and second signals.

[0112] The position data generation method provided by this invention is applicable to encoders. The encoder includes a stator and a rotor. The stator includes a magnetic element and a multi-stage magnetic ring. The magnetic element has a pair of magnetic poles, and the multi-stage magnetic ring has at least two pairs of magnetic poles. That is, the entire magnetic part of the encoder has multiple pairs of magnetic poles. As a result, when the encoder rotates, it can generate more complex magnetic field changes, increase the output signal of the angle detection element, and thus improve the accuracy of the encoder.

[0113] The encoder also includes a stator section located on one side of the rotor section. The stator section and the rotor section cooperate with each other, and the rotor section can rotate relative to the stator section. The stator section includes a first angle detection element and a second angle detection element. The first angle detection element is opposite to the multi-stage magnetic ring, and the second angle detection element is opposite to the magnetic element. When the rotor section rotates, the first angle detection element and the second angle detection element can be affected by the magnetic field changes of the magnetic element and the multi-stage magnetic ring, generating signals. The first angle detection element generates a first signal, and the second angle detection element generates a second signal.

[0114] The position data is generated by acquiring the first signal output by the first angle detection element and the second signal output by the second angle detection element, and generating absolute position data based on the first and second signals. This invention increases the signal period by adding multiple magnetic rings, thereby increasing the accuracy of the encoder.

[0115] The first signal can reflect the incremental position information, while the second signal can determine the absolute position information.

[0116] In some embodiments, optionally, generating absolute position data based on the first signal and the second signal includes: converting the first signal into a first arctangent signal; converting the second signal into a second arctangent signal; generating 3+M bits of binary data as low-order data based on one period of the first arctangent signal, where M is a power of the resolution of the first acquisition circuit; generating N bits of binary data as high-order data based on one period of the second arctangent signal, where N is log2(2×W), where W is the number of pole pairs of the multi-stage magnetic ring; and generating absolute position data based on the low-order data and the high-order data.

[0117] In this embodiment, generating absolute position data based on the first signal and the second signal includes: converting the acquired first signal into a first arctangent signal, and reducing the acquired second signal into a second arctangent signal.

[0118] Based on one cycle of the first arctangent signal, a binary data is generated and used as the low-order data. The number of bits of this binary data is 3+M bits, where M is a power of the resolution of the first acquisition circuit. One cycle of the signal can be divided into 8 parts. After the 8 parts are converted into binary data, they are 3 bits of binary data. Therefore, the two are added together to obtain the total number of bits of the low-order data.

[0119] Based on one cycle of the second arctangent signal, a binary data is generated and used as the high-order data. The number of bits in this binary data is N, where N is log2(2×W), and W is the number of magnetic pole pairs of the multi-stage magnetic ring.

[0120] Then, absolute position data is generated using the low-order and high-order data.

[0121] As shown above, by converting the first signal and the second signal, two binary data are determined, thereby increasing the total number of bits and the total amount of binary data, thus improving the accuracy of the encoder.

[0122] The first signal includes a first sine signal U1sinθ and a first cosine signal U1cosθ, and the second signal includes a second sine signal U2sinθ and a second cosine signal U2cosθ.

[0123] The first signal is converted into a linear first arctangent signal by using the arctangent signal φ = arctan(Usinθ ÷ Ucosθ). One period of the first arctangent signal is then subdivided into 3 + M parts.

[0124] The second signal is converted into a linear second arctangent signal, which retains N bits. In other words, one cycle is roughly divided into 2×W parts.

[0125] 3+M and N are concatenated together to form the final binary data.

[0126] In some embodiments, optionally, generating absolute position data based on low-bit data and high-bit data includes: converting low-bit data into low-bit angle data; converting high-bit data into high-bit angle data; and concatenating the low-bit angle data and high-bit angle data into absolute position data.

[0127] In this embodiment, absolute position data is generated based on low-order data and high-order data. This includes: converting low-order data into low-order angle data corresponding to the low-order data by looking up a table; converting high-order data into high-order angle data corresponding to the high-order data by looking up a table; using the low-order angle data as the low-order part of the absolute position data and the high-order angle data as the high-order part of the absolute position data, thereby concatenating absolute position data. As described above, absolute position data is obtained through data conversion and concatenation. This method is simple and has a fast processing speed.

[0128] For example: A multi-stage magnetic ring has 64 pairs of magnetic poles. The first angle detection device is a first AMR sensor chip, and the first signal is a 2×64-cycle first signal. Each cycle of the first signal is divided into 128 parts. The second angle detection device is a second TMR sensor chip, which outputs a single-cycle second signal. The second signal output by the second angle detection device is acquired, processed, and its log2128 = 7 bits are retained, thus determining the high 7 bits of the current position. The first signal is subdivided into 3 bits + 16 bits = 2 19This obtains the lower 19 bits of the current position. Concatenating the higher 7 bits and the lower 19 bits outputs the 26-bit absolute position data. The specific waveforms of the first and second signals are as follows: Figure 8 As shown.

[0129] Figure 10 A second flowchart of a method for generating location data according to an embodiment of the present invention is shown, as follows: Figure 10 As shown, the specific process of the location data generation method provided by the present invention is as follows:

[0130] Step 1002: Obtain the first signal output by the first angle detection component.

[0131] Specifically, the controller acquires a first signal, which includes a first sine signal and a first cosine signal.

[0132] Step 1004: Obtain the second signal output by the second angle detection component.

[0133] Specifically, the controller acquires a second signal, which includes a second sine signal and a second cosine signal.

[0134] Step 1006: Calculate the first arctangent signal of the first angle detection element.

[0135] Specifically, the first arctangent signal is calculated using the first sine signal and the first cosine signal.

[0136] Step 1008: Look up the table based on the first arctangent signal and determine the low-order angle data of the current position.

[0137] Specifically, the first arctangent signal is converted into low-order data, and the low-order angle data of the current position is determined by looking up the low-order data in a table.

[0138] Step 1010: Calculate the second arctangent signal of the second angle detection element.

[0139] Specifically, the second arctangent signal is calculated using the second sine signal and the second cosine signal.

[0140] Step 1012: Look up the table based on the second arctangent signal and determine the high-angle data of the current position.

[0141] Specifically, the second arctangent signal is converted into high-order data, and the high-order angle data of the current position is determined by looking up the table based on the high-order data.

[0142] Step 1014: Combine the low-angle data and the high-angle data to form the absolute position data.

[0143] Specifically, the low-angle data and the high-angle data are stitched together to form the absolute position data.

[0144] The total angle is 360 degrees, meaning the largest digit is the hundreds place. Depending on the situation, some digits can be designated as high-order digits and others as low-order digits, with the hundreds place being the high-order digit.

[0145] Step 1016: Output absolute position data.

[0146] Specifically, output the absolute position data.

[0147] In this embodiment, the encoder includes a rotor section, a stator section, and a controller. The rotor section includes multi-stage magnetic rings and magnetic components, and the stator section includes a first angle detection component and a second angle detection component.

[0148] The magnetization of the multi-stage magnetic ring and magnetic components involves changing the magnetic poles along the circumference. The first angle detection component is located on one side of the magnetic circuit formed by the multi-stage magnetic ring, and the second angle detection component is located on one side of the magnetic circuit formed by the magnetic components. The controller determines the absolute position data through the first signal output by the first angle detection component and the second signal output by the second angle detection component, and then outputs the data.

[0149] Based on related technologies, this invention adds a multi-stage magnetic ring with at least two pairs of magnetic poles. The number of magnetic pole pairs W of the multi-stage magnetic ring is a positive integer greater than or equal to 1. Therefore, the resolution of the absolute position data output by the encoder provided by this invention can be increased by log2 (2×W) bits compared to the single-pair magnetic block in related technologies.

[0150] The multi-stage magnetic ring has at least two pairs of magnetic poles. The magnetic poles on the multi-stage magnetic ring are evenly distributed. After the multi-stage magnetic ring rotates, it generates a change in the magnetic field. After the first angle detection element senses the change in the magnetic field, it outputs an incremental first signal.

[0151] The second signal generated by the magnetic component can provide a coarse code of log2 (2×W) bits for the first signal generated by the multi-stage magnetic ring, while also providing absolute position information for the encoder.

[0152] If the second angle detection device uses a second AMR sensing chip, then a first sensing switch and a second sensing switch need to be added. Since the second AMR sensing chip outputs a second signal for two cycles, a first sensing switch and a second sensing switch can be added to determine the starting position of the second signal. The first and second sensing switches can be TMR (Tunnel Magnetoresistance) switching chips.

[0153] The first acquisition circuit acquires the first signal of the first angle detection device, and the second acquisition circuit acquires the second signal of the second angle detection device. The first signal includes a first sine signal U1sinθ and a first cosine signal U1cosθ, and the second signal includes a second sine signal U2sinθ and a second cosine signal U2cosθ.

[0154] The first signal is converted into a linear first arctangent signal by using the arctangent signal φ = arctan(Usinθ ÷ Ucosθ). One period of the first arctangent signal is then subdivided into 3 + M parts.

[0155] The second signal is converted into a linear second arctangent signal, which retains N bits. In other words, one cycle is roughly divided into 2×W parts.

[0156] 3+M and N are concatenated together to form the final binary data.

[0157] For example: A multi-stage magnetic ring has 64 pairs of magnetic poles. The first angle detection device is a first AMR sensor chip, and the first signal is a 2×64-cycle first signal. Each cycle of the first signal is divided into 128 parts. The second angle detection device is a second TMR sensor chip, which outputs a single-cycle second signal. The second signal output by the second angle detection device is acquired, processed, and its log2128 = 7 bits are retained, thus determining the high 7 bits of the current position. The first signal is subdivided into 3 bits + 16 bits = 2 19 This process obtains the lower 19 bits of the current position. By concatenating the higher 7 bits and the lower 19 bits, the absolute position data of the current position, which is 26 bits, can be output. Here, "bits" represents a bit.

[0158] The encoder provided by this invention adds an incremental multi-pole, multi-stage magnetic ring to the single-pole magnetic encoder in related technologies. Processing the first signal generated by the multi-pole, multi-stage magnetic ring improves the encoder's accuracy. The number of magnetic poles in the first magnetic ring can be freely designed according to cost and performance requirements, resulting in a small increase in overall cost but a significant improvement in accuracy.

[0159] The first angle detection component uses a first AMR sensor chip, which can output a dual-cycle first signal and a first signal with twice the number of pole pairs. Because the more pole pairs a multi-stage magnetic ring has, the higher the manufacturing cost, using an AMR sensor chip reduces the required number of pole pairs, thus lowering costs. Furthermore, the AMR sensor chip has low noise, which improves sampling accuracy when acquiring incremental first signals.

[0160] The first angle detection device uses a second TMR sensor chip. This second TMR sensor chip outputs a single-cycle second signal in a single-pole magnetic field, thus eliminating the need for a first and second sensing switch, thereby reducing costs. Simultaneously, the TMR sensor chip has high sensitivity, and when the number of pole pairs is relatively small, the second preprocessing circuit can be omitted, allowing direct connection to the second acquisition circuit.

[0161] like Figure 11 As shown, according to a third aspect of the present invention, the present invention provides a position data generation apparatus 1100, applicable to an encoder, the encoder comprising: a rotor portion including a magnetic element and a multi-stage magnetic ring, the magnetic element having a pair of magnetic poles, the multi-stage magnetic ring having at least two pairs of uniformly distributed magnetic poles, the multi-stage magnetic ring being disposed on the outer periphery of the magnetic element; a stator portion including a first angle detection element and a second angle detection element, the first angle detection element and the multi-stage magnetic ring being disposed opposite each other, the first angle detection element being used to generate a first signal according to the change in the magnetic field of the multi-stage magnetic ring and the magnetic element, the second angle detection element and the magnetic element being disposed opposite each other, the second angle detection element being used to generate a second signal according to the change in the magnetic field of the multi-stage magnetic ring and the magnetic element; and a position data generation method, the position data generation apparatus 1100 comprising: a first acquisition module 1102 for acquiring the first signal output by the first angle detection element; a second acquisition module 1104 for acquiring the second signal output by the second angle detection element; and a data processing module 1106 for generating absolute position data based on the first signal and the second signal.

[0162] The position data generation device provided by this invention is applicable to encoders. The encoder includes a stator and a rotor. The stator includes a magnetic element and a multi-stage magnetic ring. The magnetic element has a pair of magnetic poles, and the multi-stage magnetic ring has at least two pairs of magnetic poles. That is, the entire magnetic part of the encoder has multiple pairs of magnetic poles. As a result, when the encoder rotates, it can generate more complex magnetic field changes, increase the output signal of the angle detection element, and thus improve the accuracy of the encoder.

[0163] The encoder also includes a stator section located on one side of the rotor section. The stator section and the rotor section cooperate with each other, and the rotor section can rotate relative to the stator section. The stator section includes a first angle detection element and a second angle detection element. The first angle detection element is opposite to the multi-stage magnetic ring, and the second angle detection element is opposite to the magnetic element. When the rotor section rotates, the first angle detection element and the second angle detection element can be affected by the magnetic field changes of the magnetic element and the multi-stage magnetic ring, generating signals. The first angle detection element generates a first signal, and the second angle detection element generates a second signal.

[0164] The position data is generated by acquiring the first signal output by the first angle detection element and the second signal output by the second angle detection element, and generating absolute position data based on the first and second signals. This invention increases the signal period by adding multiple magnetic rings, thereby increasing the accuracy of the encoder.

[0165] In some embodiments, optionally, the data processing module includes: a first conversion submodule for converting a first signal into a first arctangent signal; a second conversion submodule for converting a second signal into a second arctangent signal; a generation submodule for generating 3+M bits of binary data as low-order data based on one cycle of the first arctangent signal, where M is a power of the resolution of the first acquisition circuit; generating N bits of binary data as high-order data based on one cycle of the second arctangent signal, where N is log2(2×W), where W is the number of pole pairs of the multi-stage magnetic ring; and generating absolute position data based on the low-order data and the high-order data.

[0166] In this embodiment, generating absolute position data based on the first signal and the second signal includes: converting the acquired first signal into a first arctangent signal, and reducing the acquired second signal into a second arctangent signal.

[0167] Based on one cycle of the first arctangent signal, a binary data is generated and used as the low-order data. The number of bits of this binary data is 3+M bits, where M is a power of the resolution of the first acquisition circuit. One cycle of the signal can be divided into 8 parts. After the 8 parts are converted into binary data, they are 3 bits of binary data. Therefore, the two are added together to obtain the total number of bits of the low-order data.

[0168] Based on one cycle of the second arctangent signal, a binary data is generated and used as the high-order data. The number of bits in this binary data is N, where N is log2(2×W), and W is the number of magnetic pole pairs of the multi-stage magnetic ring.

[0169] Then, absolute position data is generated using the low-order and high-order data.

[0170] As shown above, by converting the first signal and the second signal, two binary data are determined, thereby increasing the total number of bits and the total amount of binary data, thus improving the accuracy of the encoder.

[0171] In some embodiments, the generation submodule may optionally include: a first conversion unit for converting low-order data into low-order angle data; a second conversion unit for converting high-order data into high-order angle data; and a splicing unit for splicing the low-order angle data and the high-order angle data into absolute position data.

[0172] In this embodiment, absolute position data is generated based on low-order data and high-order data. This includes: converting low-order data into low-order angle data corresponding to the low-order data by looking up a table; converting high-order data into high-order angle data corresponding to the high-order data by looking up a table; using the low-order angle data as the low-order part of the absolute position data and the high-order angle data as the high-order part of the absolute position data, thereby concatenating absolute position data. As described above, absolute position data is obtained through data conversion and concatenation. This method is simple and has a fast processing speed.

[0173] like Figure 12 As shown, according to a fourth aspect of the present invention, the present invention provides an encoder 1200, including a processor 1202 and a memory 1204, the memory 1204 storing a program or instructions that can run on the processor 1202, the program or instructions being executed by the processor 1202 to implement the steps of the method for generating position data as provided in the second aspect embodiment.

[0174] The encoder provided by the present invention includes a processor and a memory. The memory stores a program or instructions that can run on the processor. Since the program or instructions, when executed by the processor, implement the steps of the position data generation method provided in the second aspect embodiment, the encoder has all the beneficial effects of the position data generation method provided in the second aspect embodiment, which will not be described in detail here.

[0175] According to a fifth aspect of the present invention, the present invention provides an electric motor, comprising: an encoder as provided in the first aspect embodiment; or an encoder as provided in the fourth aspect embodiment.

[0176] The motor provided by the present invention includes the encoder provided in the first aspect embodiment or the encoder proposed in the fourth aspect embodiment, and therefore has all the beneficial effects of the encoder provided in the first aspect embodiment or the encoder proposed in the fourth aspect embodiment, which will not be described in detail here.

[0177] The angle of rotation of the motor rotor can be determined by the absolute position data output by the encoder.

[0178] In this invention, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance; the term "multiple" refers to two or more unless otherwise explicitly defined. The terms "install," "connect," "link," and "fix" should be interpreted broadly. For example, "connect" can be a fixed connection, a detachable connection, or an integral connection; "link" can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0179] In the description of this invention, it should be understood that the terms "upper", "lower", "left", "right", "front", "rear", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the components or units referred to must have a specific orientation or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0180] In the description of this specification, the terms "one embodiment," "some embodiments," "specific embodiment," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0181] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. An encoder, characterized in that, include: The rotor section includes a magnetic element and a multi-stage magnetic ring. The magnetic element has a pair of magnetic poles, and the multi-stage magnetic ring has at least two pairs of uniformly distributed magnetic poles. The multi-stage magnetic ring is disposed on the outer periphery of the magnetic element. The stator section includes a first angle detection element and a second angle detection element. The first angle detection element and the multi-stage magnetic ring are arranged opposite to each other. The first angle detection element is used to generate a first signal based on the change in the magnetic field of the multi-stage magnetic ring and the magnetic element. The second angle detection element and the magnetic element are arranged opposite to each other. The second angle detection element is used to generate a second signal based on the change in the magnetic field of the multi-stage magnetic ring and the magnetic element. The controller is electrically connected to the first angle detection element and the second angle detection element, and is used to generate absolute position data based on the first signal and the second signal.

2. The encoder according to claim 1, characterized in that, The magnetic component has a sheet-like structure and is located inside the multi-level magnetic ring; or The magnetic component has a ring-shaped structure and is located inside the multi-level magnetic ring.

3. The encoder according to claim 1, characterized in that, The first angle detection device is a first AMR magnetic sensing chip, a first TMR magnetic sensing chip, or a first GMR magnetic sensing chip.

4. The encoder according to any one of claims 1 to 3, characterized in that, The second angle detection element is a second AMR magnetic sensing chip. The encoder also includes a first magnetic sensing switch and a second magnetic sensing switch, both of which are arranged opposite to the magnetic element; or The second angle detection element is a second TMR magnetic sensing chip; or The second angle detection element is the second GMR magnetic sensing chip.

5. The encoder according to any one of claims 1 to 3, characterized in that, The stator section further includes a solution structure, which includes: The first acquisition circuit is electrically connected to the first angle detection element and is used to acquire the first signal; The second acquisition circuit is electrically connected to the second angle detection element and is used to acquire the second signal; The data processing circuit is electrically connected to both the first acquisition circuit and the second acquisition circuit. The data processing circuit generates the absolute position data based on the first signal and the second signal. The resolution of the first acquisition circuit is 2. M Bit, where M is a positive integer, the number of bits of the binary data corresponding to the absolute position data is N+M+3, N is log2(2×W), where W is the number of magnetic pole pairs of the multi-level magnetic ring.

6. The encoder according to claim 5, characterized in that, The solution structure also includes: The first preprocessing circuit is electrically connected to the first angle detection device and the first acquisition circuit. The second preprocessing circuit is electrically connected to the second angle detection device and the second acquisition circuit.

7. A method for generating location data, characterized in that, An encoder is applicable to an encoder comprising: a rotor section including a magnetic element and a multi-stage magnetic ring, the magnetic element having a pair of magnetic poles and the multi-stage magnetic ring having at least two pairs of uniformly distributed magnetic poles, the multi-stage magnetic ring being disposed on the outer periphery of the magnetic element; and a stator section including a first angle detection element and a second angle detection element, the first angle detection element and the multi-stage magnetic ring being disposed opposite to each other, the first angle detection element being used to generate a first signal based on changes in the magnetic fields of the multi-stage magnetic ring and the magnetic element, the second angle detection element and the magnetic element being disposed opposite to each other, the second angle detection element being used to generate a second signal based on changes in the magnetic fields of the multi-stage magnetic ring and the magnetic element, the method for generating position data including: Collect the first signal output by the first angle detection device; Acquire the second signal output by the second angle detection element; Absolute position data is generated based on the first signal and the second signal.

8. The method for generating location data according to claim 7, characterized in that, Based on the first signal and the second signal, absolute position data is generated, including: Convert the first signal into a first arctangent signal; Convert the second signal into a second arctangent signal; Based on one cycle of the first arctangent signal, 3+M bits of binary data are generated as the low-order data, where M is a power of the resolution of the first acquisition circuit. Based on one cycle of the second arctangent signal, N bits of binary data are generated as the high-order bits, where N is log2(2×W), and W is the number of magnetic pole pairs of the multi-stage magnetic ring. The absolute position data is generated based on the low-order data and the high-order data.

9. The method for generating location data according to claim 8, characterized in that, The absolute position data is generated based on the low-order data and the high-order data, including: Convert the low-bit data into low-bit angle data; Convert the high-bit data into high-bit angle data; The low-angle data and the high-angle data are concatenated to form the absolute position data.

10. A location data generation device, characterized in that, An encoder is applicable to an encoder, the encoder comprising: a rotor portion, the rotor portion including a magnetic element and a multi-stage magnetic ring, the magnetic element having a pair of magnetic poles, the multi-stage magnetic ring having at least two pairs of uniformly distributed magnetic poles, the multi-stage magnetic ring being disposed on the outer periphery of the magnetic element; a stator portion, including a first angle detection element and a second angle detection element, the first angle detection element and the multi-stage magnetic ring being disposed opposite to each other, the first angle detection element being used to generate a first signal based on changes in the magnetic fields of the multi-stage magnetic ring and the magnetic element, the second angle detection element and the magnetic element being disposed opposite to each other, the second angle detection element being used to generate a second signal based on changes in the magnetic fields of the multi-stage magnetic ring and the magnetic element, the position data generation device comprising: The first acquisition module is used to acquire the first signal output by the first angle detection component; The second acquisition module is used to acquire the second signal output by the second angle detection element; The data processing module is used to generate absolute position data based on the first signal and the second signal.

11. An encoder, characterized in that, It includes a processor and a memory, the memory storing a program or instructions that can run on the processor, the program or instructions being executed by the processor to implement the steps of the method for generating location data as described in any one of claims 7 to 9.

12. An electric motor, characterized in that, include: The encoder as described in any one of claims 1 to 6; or The encoder as described in claim 11.

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