Hall sensing chip and delay compensation method thereof
By acquiring the initial and final angle code values from the Hall sensor chip and performing delay compensation, the angle error problem caused by signal processing delay at high speeds is solved, improving the accuracy of angle output and the stability of motor control.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-12-18
- Publication Date
- 2026-03-10
- Estimated Expiration
- Not applicable · inactive patent
AI Technical Summary
In high-speed applications, the signal processing delay of the Hall angle sensor chip causes a sharp increase in angle error, which becomes the main source of system error and affects the accuracy and stability of motor commutation control.
By acquiring the initial and final angle code values of the Hall sensor chip within a sampling period, and combining them with a preset change amount, the compensation value for the next sampling period is determined. The angle code value is then compensated based on the compensation value, and the angle output code value is output to reduce the error caused by delay.
It improves the accuracy of angle output code values, enhances the accuracy and reliability of motor commutation, and reduces the risk of torque fluctuations and system instability.
Smart Images
Figure CN121631950A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the technical field of control, in particular to a Hall sensor chip and a delay compensation method thereof. BACKGROUND
[0002] The Hall angle sensor chip is widely used in motor control, speed detection and position detection fields due to its high reliability, non-contact and long service life. The typical Hall angle sensor chip architecture includes a Hall element, an amplifier, an analog-to-digital converter, a CORDIC angle solving module, a hysteresis module and an encoding output.
[0003] In the above signal chain, the signal is generated by the Hall element, processed by signal conditioning and amplification, and then converted into a digital signal by the analog-to-digital converter. Finally, the digital logic processes and outputs the signal. This series of processing procedures will introduce an inherent input-output delay τ_delay, which is mainly caused by the establishment time of the analog circuit and the processing time of the digital logic.
[0004] In low-speed application scenarios, the delay τ_delay usually causes negligible angle error of the encoding output. However, in high-speed application scenarios, the period of the measured magnetic field becomes shorter, and the angle error caused by the delay τ_delay increases rapidly and gradually becomes the main source of system error. For example, in motor commutation control, this delay may cause inaccurate commutation points, resulting in torque fluctuations, efficiency reduction and even system instability. Therefore, how to provide an effective solution to compensate for the signal processing delay in real time and automatically within the chip has become a technical problem to be solved. SUMMARY
[0005] The present application provides a Hall sensor chip and a delay compensation method thereof, which can reduce the angle code value error caused by the delay and improve the correctness of the angle output code value.
[0006] In a first aspect, the present application provides a delay compensation method of a Hall sensor chip, comprising:
[0007] obtaining an initial angle code value of an initial clock and an ending angle code value of an ending clock of the Hall sensor chip in a sampling period;
[0008] determining a compensation value of a next sampling period according to the initial angle code value, the ending angle code value and a preset variation;
[0009] outputting an angle output code value after compensating the angle code value of the next sampling period according to the compensation value.
[0010] Optionally, before acquiring the initial angle code value of the initial clock and the end angle code value of the end clock within one sampling period of the Hall sensor chip, the method further includes:
[0011] Obtain the inherent delay duration and clock duration of the Hall sensor chip;
[0012] The sampling period is determined based on the inherent delay duration and the clock duration.
[0013] Optionally, the compensation value for the next sampling period is determined based on the initial angle code value, the ending angle code value, and a preset change amount, including:
[0014] The amount of code value change is determined based on the initial angle code value and the ending angle code value;
[0015] Determine whether the change in the code value is greater than or equal to the preset change amount;
[0016] If so, the change in the code value will be used as the compensation value for the next sampling period.
[0017] Optionally, if the change in code value is less than the preset change, the compensation value for the next sampling period is zero.
[0018] Optionally, based on the compensation value, after compensating the angle code value for the next sampling period, an angle output code value is output, including:
[0019] The rotation direction of the motor detected by the Hall sensor chip is determined based on the initial angle code value, the ending angle code value, and the direction judgment code value.
[0020] The angle output code value is determined based on the rotation direction, the real-time angle code value, and the compensation value.
[0021] Optionally, determining the rotation direction of the motor detected by the Hall sensor chip based on the initial angle code value, the ending angle code value, and the direction judgment code value includes:
[0022] The amount of code value change is determined based on the initial angle code value and the ending angle code value;
[0023] Determine whether the change in the code value is greater than the direction determination code value;
[0024] If so, then the rotation direction is determined to be counterclockwise.
[0025] Optionally, if the change in the code value is less than or equal to the direction determination code value, then the rotation direction is determined to be clockwise.
[0026] Optionally, the angle output code value is determined based on the rotation direction, the real-time angle code value, and the compensation value, including:
[0027] If the rotation direction is counterclockwise, then the sum of the real-time angle code value and the compensation value is used as the angle output code value;
[0028] If the rotation direction is clockwise, then the difference between the real-time angle code value and the compensation value is used as the angle output code value;
[0029] The counterclockwise direction is opposite to the clockwise direction.
[0030] In a second aspect, the present invention provides a Hall sensor chip, comprising: a Hall element, a signal processing module, and a delay compensation module;
[0031] The signal processing module is electrically connected to the Hall element and the delay compensation module respectively; the delay compensation module is used to perform the delay compensation method described in the first aspect.
[0032] Optionally, the delay compensation module includes at least a comparator and an adder.
[0033] The technical solution provided by this invention obtains the initial angle code value of the initial clock and the ending angle code value of the ending clock within a sampling period of the Hall sensor chip. Then, based on the initial angle code value, the ending angle code value and a preset change amount, the compensation value of the next sampling period is determined. After compensating the angle code value of the next sampling period according to the compensation value, the angle output code value is output. In this way, the angle code value error caused by delay can be reduced and the accuracy of the angle output code value can be improved. Attached Figure Description
[0034] Figure 1 A flowchart illustrating a delay compensation method for a Hall effect sensor chip provided in an embodiment of the present invention;
[0035] Figure 2 A flowchart illustrating another delay compensation method for a Hall effect sensor chip provided in an embodiment of the present invention;
[0036] Figure 3 A flowchart illustrating another delay compensation method for a Hall effect sensor chip provided in an embodiment of the present invention;
[0037] Figure 4 This is a schematic diagram of the structure of a Hall sensor chip provided in an embodiment of the present invention;
[0038] Figure 5 This is a schematic diagram of another Hall sensor chip provided in an embodiment of the present invention;
[0039] Figure 6 The waveform of the angle output error of a Hall sensor chip that does not use the delay compensation method provided in this invention is shown.
[0040] Figure 7 The waveform diagram shows the angle output error of the Hall sensor chip using the delay compensation method provided by the present invention. Detailed Implementation
[0041] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.
[0042] Figure 1 This flowchart illustrates a delay compensation method for a Hall effect sensor chip according to an embodiment of the present invention. It is applicable to delay compensation of the output signal in a Hall effect sensor chip. This method can be executed by the Hall effect sensor chip provided in this embodiment, which can be implemented in hardware or a combination of hardware and software. Figure 1 As shown, the delay compensation method for Hall effect sensor chips includes:
[0043] S101. Obtain the initial angle code value of the initial clock and the end angle code value of the end clock of the Hall sensor chip within one sampling period.
[0044] The sampling period is related to parameters such as the inherent delay τ_delay of the Hall sensor chip and the current clock duration, and can be set according to actual needs; no specific limitation is made here. The angle code value is a digital encoded value reflecting the angle.
[0045] Specifically, one sampling period includes multiple sampling clocks. The first sampling clock is the initial clock, and the last sampling clock is the end clock. The angle code value acquired under the initial clock is the initial angle code value, and the angle code value acquired under the end clock is the end angle code value. The Hall sensor chip includes a Hall element, which can output a Hall voltage. After processing and analyzing the Hall voltage, an angle code value can be output. For example, the duration of one sampling clock is 25.9 ns, but it can also be other durations; no specific limitation is made here.
[0046] S102. Determine the compensation value for the next sampling period based on the initial angle code value, the ending angle code value, and the preset change amount.
[0047] The preset change amount can be a fixed value or a non-fixed value. The preset change amount is related to parameters such as the maximum allowable error of the Hall sensor chip and can be set according to actual needs. No specific limitation is made here.
[0048] Specifically, the difference between the ending angle code value and the initial angle code value can be calculated. The difference is compared with a preset change amount. If the difference is greater than or equal to the preset change amount, it means that the error caused by the delay is large. The difference can be used as the compensation value for the next sampling period. If the difference is less than the preset change amount, it means that the error caused by the delay is within an acceptable range. In this case, no compensation is needed, and zero value can be used as the compensation value for the next sampling period.
[0049] S103. Based on the compensation value, after compensating the angle code value of the next sampling period, output the angle output code value.
[0050] Specifically, in the next sampling period, the sum or difference of the angle code value and the compensation value collected under each sampling clock can be used as the angle output code value that needs to be output at the current time. This reduces the angle code value error caused by delay, improves the correctness of the angle output code value, and thus improves the accuracy and reliability of commutation in subsequent operations such as motor commutation based on the angle output code value.
[0051] The technical solution of this invention obtains the initial angle code value of the initial clock and the ending angle code value of the ending clock within a sampling period of the Hall sensor chip. Then, based on the initial angle code value, the ending angle code value and a preset change amount, the compensation value of the next sampling period is determined. After compensating the angle code value of the next sampling period according to the compensation value, the angle output code value is output. In this way, the angle code value error caused by delay can be reduced and the accuracy of the angle output code value can be improved.
[0052] It should be noted that the delay compensation process includes multiple sampling periods. After determining the compensation value for the second sampling period based on the initial angle code value, the ending angle code value, and the preset change amount in the first sampling period, the compensation value for the third sampling period is determined simultaneously with sampling the angle code value in the second sampling period, based on the initial angle code value, the ending angle code value, and the preset change amount in the second sampling period. In this way, the angle code value in other sampling periods besides the first sampling period can be compensated, improving the accuracy and reliability of the angle output code value.
[0053] Optionally, before acquiring the initial angle code value of the initial clock and the ending angle code value of the ending clock of the Hall sensor chip within one sampling period, the method further includes: acquiring the inherent delay duration and clock duration of the Hall sensor chip; and determining the sampling period based on the inherent delay duration and clock duration.
[0054] The inherent delay duration is a fixed value, representing the time required for the Hall sensor chip to analyze and process the signal output by the Hall element after acquiring it, and then output the angle code value. The clock duration represents the duration of one clock cycle.
[0055] Specifically, the inherent delay duration can be stored in the register of the Hall sensor chip. The inherent delay duration can be read through the register. The clock duration is related to the current clock frequency. The ratio of 1 to the clock frequency is the clock duration. The ratio of the inherent delay duration to the clock duration is used as the sampling period.
[0056] Based on the above embodiments, this embodiment of the invention describes how to determine the compensation value for the next sampling period based on the initial angle code value, the end angle code value, and the preset change amount. Figure 2 A flowchart of another delay compensation method for a Hall effect sensor chip provided in an embodiment of the present invention is shown below. Figure 2 As shown, the delay compensation method for this Hall effect sensor chip includes:
[0057] S201. Obtain the initial angle code value of the initial clock and the end angle code value of the end clock of the Hall sensor chip within one sampling period.
[0058] S202. Determine the change in code value based on the initial angle code value and the ending angle code value.
[0059] The change in code value represents the degree of difference between the ending angle code value and the initial angle code value.
[0060] Specifically, the difference between the ending angle code value and the initial angle code value is calculated, and the absolute value of this difference is used as the code value change.
[0061] S203. Determine whether the change in code value is greater than or equal to the preset change amount; if yes, execute S204; if no, execute S205.
[0062] The preset change amount can be the maximum permissible error of the Hall sensor chip.
[0063] S204. Use the change in code value as the compensation value for the next sampling period.
[0064] Specifically, if the change in code value is greater than or equal to the preset change, it indicates that the change in code value is large, and the error caused by the delay is large. It is necessary to compensate for the angle code value output later, and then use the current change in code value as the compensation value for the next sampling period.
[0065] S205, The compensation value for the next sampling period is zero.
[0066] Specifically, if the change in code value is less than the preset change, it means that the change in code value is small and the error caused by the delay is small and within an acceptable range. In this case, there is no need to compensate for the angle code value output later, and the zero value is used as the compensation value for the next sampling period.
[0067] S206. Based on the compensation value, after compensating the angle code value of the next sampling period, output the angle output code value.
[0068] The technical solution of this invention determines the code value change based on the initial and final angle code values. If the code value change is greater than or equal to a preset change, it is used as the compensation value for the next sampling period. If the code value change is less than the preset change, the compensation value for the next sampling period is zero, meaning no compensation is needed for the subsequently output angle code values. Thus, compensation for the angle code values can be adjusted based on the specific delay conditions, improving the accuracy and reliability of the final output angle code values.
[0069] Based on the above embodiments, this embodiment of the invention describes the case where the angle code value is output after compensating the angle code value of the next sampling period according to the compensation value. Figure 3 A flowchart of another delay compensation method for a Hall effect sensor chip provided in an embodiment of the present invention is shown below. Figure 3 As shown, the delay compensation method for this Hall effect sensor chip includes:
[0070] S301. Obtain the initial angle code value of the initial clock and the end angle code value of the end clock of the Hall sensor chip within one sampling period.
[0071] S302. Determine the compensation value for the next sampling period based on the initial angle code value, the ending angle code value, and the preset change amount.
[0072] S303. Determine the rotation direction of the motor detected by the Hall sensor chip based on the initial angle code value, the ending angle code value, and the direction judgment code value.
[0073] The direction determination code value can be a fixed value. In an optional embodiment, the direction determination code value is the digital code value corresponding to half of the full scale.
[0074] Specifically, the difference between the ending angle code value and the initial angle code value can be calculated. If the absolute value of the difference is greater than the direction judgment code value, it means that the motor detected by the Hall sensor chip is rotating in the counterclockwise direction; if the absolute value of the difference is less than or equal to the direction judgment code value, it means that the motor detected by the Hall sensor chip is rotating in the clockwise direction.
[0075] Optionally, the rotation direction of the motor detected by the Hall sensor chip is determined based on the initial angle code value, the ending angle code value, and the direction judgment code value, including: determining the code value change based on the initial angle code value and the ending angle code value; determining whether the code value change is greater than the direction judgment code value; if so, determining that the rotation direction of the motor detected by the Hall sensor chip is counterclockwise.
[0076] Specifically, the absolute value of the difference between the ending angle code value and the initial angle code value is taken as the code value change. If the code value change is greater than the direction judgment code value, it means that the motor detected by the Hall sensor chip is rotating in the counterclockwise direction.
[0077] Optionally, if the change in code value is less than or equal to the direction judgment code value, then it is determined that the motor detected by the Hall sensor chip is rotating in a clockwise direction; wherein, the clockwise direction is opposite to the counterclockwise direction.
[0078] Specifically, if the change in code value is less than or equal to the direction judgment code value, it means that the rotation direction of the motor detected by the Hall sensor chip is opposite to the counterclockwise direction. Therefore, the rotation direction of the motor detected by the Hall sensor chip is determined to be clockwise.
[0079] It should be noted that the direction judgment code value corresponds to half of the full scale. When the change in code value is greater than the direction judgment code value, it means that the load driven by the motor detected by the Hall sensor chip is moving to the right of half of the full scale, and the detected motor is rotating in the forward direction in the counterclockwise direction. Conversely, when the change in code value is less than or equal to the direction judgment code value, it means that the load driven by the motor detected by the Hall sensor chip is moving to the left of half of the full scale, and the detected motor is rotating in the reverse direction in the clockwise direction.
[0080] S304. Determine the angle output code value based on the rotation direction, real-time angle code value, and compensation value.
[0081] Among them, the real-time angle code value is the angle code value that has not yet been compensated at the current moment.
[0082] Specifically, if the rotation direction is counterclockwise, it indicates that the load driven by the motor, detected by the Hall sensor chip, is moving in the forward direction. In this case, the sum of the real-time angle code value and the compensation value can be used as the angle output code value to improve the accuracy of the compensated angle output code value. Conversely, if the rotation direction is clockwise, it indicates that the load driven by the motor, detected by the Hall sensor chip, is moving in the reverse direction. In this case, the difference between the real-time angle code value and the compensation value can be used as the angle output code value to improve the accuracy of the compensated angle output code value.
[0083] Optionally, the angle output code value is determined based on the rotation direction, the real-time angle code value, and the compensation value, including: if the rotation direction is counterclockwise, the sum of the real-time angle code value and the compensation value is used as the angle output code value; if the rotation direction is clockwise, the difference between the real-time angle code value and the compensation value is used as the angle output code value; wherein, the counterclockwise direction is opposite to the clockwise direction.
[0084] Specifically, when the rotation direction is counterclockwise, the Hall sensor chip detects that the load driven by the motor is moving in the forward direction. Due to the time delay, the real-time angle code value in the next cycle is smaller than the actual value. Therefore, the sum of the real-time angle code value and the compensation value is used as the angle output code value. When the rotation direction is clockwise, the Hall sensor chip detects that the load driven by the motor is moving in the reverse direction. Due to the time delay, the real-time angle code value in the next cycle is larger than the actual value. Therefore, the difference between the real-time angle code value and the compensation value is used as the angle output code value.
[0085] The technical solution of this invention determines the rotation direction of the motor detected by the Hall sensor chip based on the initial angle code value, the ending angle code value, and the direction judgment code value. Then, under different rotation directions, the sum or difference of the real-time angle code value and the compensation value is used as the angle output code value to further improve the accuracy of the angle output code value.
[0086] Based on the same inventive concept, the present invention also provides a Hall effect sensor chip. Figure 4 This is a schematic diagram of the structure of a Hall sensor chip provided in an embodiment of the present invention, as shown below. Figure 4 As shown, the Hall sensor chip includes a Hall element 10, a signal processing module 20, and a delay compensation module 30; the signal processing module 20 is electrically connected to the Hall element 10 and the delay compensation module 30 respectively; the delay compensation module 30 is used to execute the delay compensation method of the Hall sensor chip provided in any embodiment of the present invention.
[0087] Among them, the Hall element 10 includes linear Hall elements or latching Hall elements, etc., and the signal processing module 20 includes amplifiers, analog-to-digital converters, angle solvers and hysteresis units, etc., which can be set according to actual needs, and no specific limitation is made here.
[0088] The signal processing module 20 can perform amplification, filtering, analog-to-digital conversion, and noise reduction on the signal provided by the Hall element 10 to improve the signal-to-noise ratio input to the delay compensation module 30 and improve the accuracy of the signal after subsequent compensation.
[0089] The delay compensation module 30 can execute the delay compensation method of the Hall delay chip provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method. The similarities can be referred to the above description, and will not be repeated here.
[0090] Optional, Figure 5 This is a schematic diagram of another Hall sensor chip provided in an embodiment of the present invention, as shown below. Figure 5 As shown, the delay compensation module 30 includes at least a comparator 31 and an adder 32.
[0091] The number of comparators 31 can be set to one or more, which can be set according to actual needs, and no specific limit is made here.
[0092] Specifically, comparator 31 can compare the change in code value with a preset change, and / or compare the change in code value with a direction determination code value, to implement the execution steps of the delay compensation method. Adder 32 can calculate the sum of the real-time angle code value and the compensation value, to implement the execution steps of the delay compensation method.
[0093] In other alternative embodiments, the delay compensation module 30 may also include a subtractor to calculate the difference between the test angle code value and the compensation value. The specific structure of the delay compensation module 30 may also be other, and no specific limitation is made here.
[0094] Figure 6 The image shows the angle output error waveform of a Hall effect sensor chip that does not employ the delay compensation method provided in this invention. Figure 7 The waveform diagram of the angle output error of the Hall sensor chip using the delay compensation method provided in this invention is shown below. Figure 6 and Figure 7 , Figure 6 The amplitude fluctuation range of the curve is -127lsb1 to -116lsb1, with each lsb1 representing 0.022°. Therefore, the equivalent output angle error is -2.794° to -2.552°. Figure 7 The amplitude fluctuation range of the curve is -2lsb² to 2lsb², where each lsb² represents 0.088°. Therefore, the equivalent output angle error is -0.176° to 0.176°. It can be seen that the delay compensation method provided in this embodiment of the invention can effectively improve the error of the angle output code value and enhance its accuracy.
[0095] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, combinations, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention, the scope of which is determined by the scope of the appended claims.
Claims
1. A method for compensating for a delay of a Hall sensor chip, characterized in that The method comprises the following steps: acquiring an initial angle code value of an initial clock and an ending angle code value of an ending clock of the Hall sensor chip in a sampling period; determining a compensation value of a next sampling period according to the initial angle code value, the ending angle code value and a preset variation; outputting an angle output code value after compensating the angle code value of the next sampling period according to the compensation value.
2. The delay compensation method of claim 1, wherein, Before acquiring the initial angle code value of the initial clock and the ending angle code value of the ending clock of the Hall sensor chip in a sampling period, the method further comprises the following steps: acquiring an inherent delay time length and a clock time length of the Hall sensor chip; determining the sampling period according to the inherent delay time length and the clock time length.
3. The delay compensation method of claim 1, wherein, The method of determining the compensation value of the next sampling period according to the initial angle code value, the ending angle code value and the preset variation comprises the following steps: determining a code value variation according to the initial angle code value and the ending angle code value; judging whether the code value variation is greater than or equal to the preset variation; if yes, taking the code value variation as the compensation value of the next sampling period.
4. The delay compensation method of claim 3, wherein, if the code value variation is less than the preset variation, the compensation value of the next sampling period is zero.
5. The delay compensation method of claim 1, wherein, The method of outputting the angle output code value after compensating the angle code value of the next sampling period according to the compensation value comprises the following steps: determining a rotation direction of a motor detected by the Hall sensor chip according to the initial angle code value, the ending angle code value and a direction judgment code value; determining the angle output code value according to the rotation direction, a real-time angle code value and the compensation value.
6. The delay compensation method of claim 5, wherein, The method of determining the rotation direction of the motor detected by the Hall sensor chip according to the initial angle code value, the ending angle code value and the direction judgment code value comprises the following steps: determining a code value variation according to the initial angle code value and the ending angle code value; judging whether the code value variation is greater than the direction judgment code value; if yes, determining that the rotation direction is counterclockwise.
7. The method of claim 6, wherein, if the code value variation is less than or equal to the direction judgment code value, determining that the rotation direction is clockwise.
8. The delay compensation method of claim 5, wherein, The method of determining the angle output code value according to the rotation direction, the real-time angle code value and the compensation value comprises the following steps: if the rotation direction is counterclockwise, taking a sum value of the real-time angle code value and the compensation value as the angle output code value; if the rotation direction is clockwise, taking a difference value of the real-time angle code value and the compensation value as the angle output code value.
9. A Hall sensor chip, characterized by The device comprises: a Hall element, a signal processing module and a delay compensation module; the signal processing module is electrically connected with the Hall element and the delay compensation module; the delay compensation module is used for executing the delay compensation method in any one of claims 1 to 8.
10. The Hall sensor chip according to claim 9, characterized in that the delay compensation module at least comprises a comparator and an adder.