Method and apparatus for determining rotation angle of joint of servo system by using hall magnetoelectric encoder

Abstract

A method for determining the rotation angle of a joint of a servo system by using a Hall magnetoelectric encoder. The method comprises: in response to a collected electrical signal of a Hall magnetoelectric encoder, calculating an interval feature value of the electrical signal (S201); and by using preset correspondences between interval feature values and magnetic pole interval numbers, determining the rotation angle of a joint of a servo system on the basis of an address index method (S203). The correspondences between the interval feature values and the magnetic pole interval numbers are established, and then the rotation angle of the joint of the servo system is determined on the basis of a table look-up method, such that the implementation is simple, and the response speed is fast. Further disclosed are an apparatus for determining the rotation angle of a joint of a servo system by using a Hall magnetoelectric encoder, and an encoder, an electronic device and a non-transitory computer-readable storage medium.

Description

Method and device for determining joint rotation angle of servo system using Hall magnetoelectric encoder Technical Field

[0001] The present application relates to the field of servo systems, and in particular to a method and device for determining the joint angle of a servo system using a Hall magnetoelectric encoder, an encoder, an electronic device, and a non-transitory computer-readable storage medium. Background Art

[0002] In the field of servo systems, accurate measurement of joint rotation angles is essential, making high-precision angular displacement sensors indispensable. In practical applications, position sensors can be categorized as contact or non-contact sensors, depending on the distance between the measuring device and the object being measured. The basic principle of position sensors is to record the electrical information of the measured object's rotation angle using sensors based on different physical principles, and then derive the measured object's angle information based on this electrical information.

[0003] The Hall-type magnetoelectric encoder is a non-contact sensor that captures the rotating magnetic field information and converts it into voltage information to decode the permanent magnet in the Hall-type magnetoelectric encoder to achieve angle measurement.

[0004] To improve the accuracy of Hall-effect magnetic encoders, they have gradually evolved from single-pole magnetic encoders to multi-pole magnetic encoders. In multi-pole magnetic encoders, magnetic poles with a higher number of pole pairs are used for measurement, while magnetic poles with a lower number of pole pairs are used for identification.

[0005] As servo systems develop at an ever-increasing pace, the accuracy and response speed of angle measurement systems based on Hall-effect magnetoelectric encoders are increasingly demanded. Existing Hall-effect magnetoelectric encoders, which use magnetic sensors such as Hall elements, suffer from uneven magnetic field strength in the permanent magnets, linear Hall installation errors, and mechanical vibration. These factors can cause errors in the encoder signal, potentially leading to encoding failure.

[0006] Summary of the Invention

[0007] The present application proposes a method and device for determining the joint angle of a servo system using a Hall magnetoelectric encoder, an encoder, an electronic device, and a non-transient computer-readable storage medium to solve the problem of slow decoding response speed of the Hall magnetoelectric encoder.

[0008] According to one aspect of the present application, a method for determining the rotation angle of a servo system joint using a Hall magnetoelectric encoder is proposed, comprising: calculating the interval characteristic value of the electrical signal in response to the collected electrical signal of the Hall magnetoelectric encoder; and determining the rotation angle of the servo system joint based on the address index method using the preset correspondence between the interval characteristic value and the magnetic pole interval number.

[0009] According to some embodiments, before determining the rotation angle of the servo system joint based on a table lookup method using the preset correspondence between the interval characteristic values ​​and the magnetic pole interval numbers, the method further includes: determining the correspondence between the interval characteristic values ​​and the magnetic pole interval numbers.

[0010] According to some embodiments, the correspondence includes a first correspondence, and determining the correspondence between the interval characteristic value and the magnetic pole interval number includes: calculating the magnetic pole angle corresponding to the Hall sampling value based on the Hall sampling value of the electrical signal; calculating the interval characteristic value corresponding to the Hall sampling value based on the magnetic pole angle corresponding to the Hall sampling value; and determining the first correspondence between the interval characteristic value and the magnetic pole interval number based on a preset adjacent magnetic pole angle phase difference threshold.

[0011] According to some embodiments, the magnetic pole angle includes a measured magnetic pole angle, and the first correspondence between the interval characteristic value and the magnetic pole interval number is determined based on a preset adjacent magnetic pole angle phase difference threshold, including: judging the step direction of the measured magnetic pole angle based on a preset adjacent magnetic pole angle phase difference threshold; if the measured magnetic pole angle steps downward, increasing the magnetic pole interval number; if the measured magnetic pole angle steps upward, decrementing the magnetic pole interval number.

[0012] According to some embodiments, the magnetic pole angle includes measuring the magnetic pole angle, and determining the first correspondence between the interval characteristic value and the magnetic pole interval number based on a preset adjacent magnetic pole angle phase difference threshold further includes: initializing the magnetic pole interval number.

[0013] According to some embodiments, the magnetic pole angle includes measuring the magnetic pole angle, and determining the first correspondence between the interval characteristic value and the magnetic pole interval number based on a preset adjacent magnetic pole angle phase difference threshold also includes: when the absolute value of the magnetic pole interval number is greater than the number of magnetic poles of the Hall magnetoelectric encoder, ending the determination of the first correspondence.

[0014] According to some embodiments, the correspondence further includes a second correspondence, and the method further includes: determining a second correspondence between the interval characteristic value and the magnetic pole interval number based on the first correspondence between the interval characteristic value and the magnetic pole interval number.

[0015] According to some embodiments, based on the first correspondence between the interval characteristic value and the magnetic pole interval number, the second correspondence between the interval characteristic value and the magnetic pole interval number is determined, including: determining the blank area in the first correspondence; determining the first adjacent interval characteristic value and / or the second adjacent interval characteristic value of the blank area based on the blank area; calculating the median of the blank area based on the upper limit value of the first adjacent interval characteristic value and the lower limit value of the second adjacent interval characteristic value; expanding the blank area to the adjacent interval characteristic value of the blank area based on the upper limit value of the first adjacent interval characteristic value, the lower limit value of the second adjacent interval characteristic value and the median; wherein the upper limit value of the first adjacent interval characteristic value is less than the lower limit value of the blank area, and the lower limit value of the second adjacent interval characteristic value is greater than the upper limit value of the blank area.

[0016] According to some embodiments, before determining the first correspondence between the interval characteristic value and the magnetic pole interval number according to a preset adjacent magnetic pole angle phase difference threshold, the method further includes: converting the interval characteristic value according to a preset accuracy range.

[0017] According to some embodiments, before expanding the blank area to the adjacent interval characteristic values ​​of the blank area using the upper limit value, lower limit value and median value of the interval characteristic value, determining the second correspondence between the interval characteristic value and the magnetic pole interval number based on the first correspondence between the interval characteristic value and the magnetic pole interval number also includes: expanding the interval characteristic value converted in the first correspondence to the preset accuracy range.

[0018] According to some embodiments, before calculating the magnetic pole angle corresponding to the Hall sampling value based on the Hall sampling value of the electrical signal, the method further includes: adjusting the Hall position of the Hall magnetic-electric encoder so that the Hall sampling value is symmetrical about the zero point, the Hall amplitude is equal and / or the center point offset value is zero.

[0019] According to one aspect of the present application, a device for determining the rotation angle of a servo system joint using a Hall magnetoelectric encoder is proposed, comprising an interval eigenvalue calculation unit for calculating the interval eigenvalue of the electrical signal in response to the collected electrical signal of the Hall magnetoelectric encoder; and an angle determination unit for determining the rotation angle of the servo system joint based on an address index method using a preset correspondence between the interval eigenvalue and the magnetic pole interval number.

[0020] According to one aspect of the present application, an encoder is provided, comprising the device as described above.

[0021] According to one aspect of the present application, an electronic device is proposed, comprising: one or more processors; a memory for storing one or more programs; and when the one or more programs are executed by the one or more processors, the one or more processors implement the method described in any of the previous embodiments.

[0022] According to one aspect of the present application, a non-transitory computer-readable storage medium is provided, on which computer-readable instructions are stored. When the instructions are executed by a processor, the processor executes the method described in any of the above embodiments.

[0023] According to the embodiment of the present application, first, a correspondence between interval characteristic values ​​and magnetic pole interval numbers is established; then, the rotation angle of the servo system joint is determined based on a table lookup method. This is not only simple to implement but also has a fast response speed. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for describing the embodiments.

[0025] FIG1 a shows a schematic front view of the structure of a Hall-type magnetoelectric encoder according to an exemplary embodiment of the present application.

[0026] FIG1 b shows a schematic top view of a Hall-type magnetoelectric encoder according to an exemplary embodiment of the present application.

[0027] FIG2 shows a flow chart of a method for determining a joint angle of a servo system using a Hall magnetoelectric encoder according to an exemplary embodiment of the present application.

[0028] FIG3 shows a flow chart of a method for determining a first correspondence between interval characteristic values ​​and magnetic pole interval numbers according to an exemplary embodiment of the present application.

[0029] FIG4 shows a flow chart of a method for determining a second correspondence between the interval characteristic value and the magnetic pole interval number according to an exemplary embodiment of the present application.

[0030] FIG5 shows a flowchart of another method for determining a first correspondence between interval characteristic values ​​and magnetic pole interval numbers according to an exemplary embodiment of the present application.

[0031] FIG6 shows a first correspondence table between interval characteristic values ​​and magnetic pole interval numbers according to an exemplary embodiment of the present application.

[0032] FIG7 shows a schematic diagram of a first correspondence relationship between interval characteristic values ​​and magnetic pole interval numbers according to an exemplary embodiment of the present application.

[0033] FIG8 shows a flowchart of another method for determining a second correspondence between interval characteristic values ​​and magnetic pole interval numbers according to an exemplary embodiment of the present application.

[0034] FIG9 shows a second correspondence table between interval characteristic values ​​and magnetic pole interval numbers according to an exemplary embodiment of the present application.

[0035] FIG10 shows a schematic diagram of a second correspondence between interval characteristic values ​​and magnetic pole interval numbers according to an exemplary embodiment of the present application.

[0036] FIG11 shows a flow chart of a method for adjusting a Hall magnetoelectric encoder according to an exemplary embodiment of the present application.

[0037] FIG12 shows a schematic diagram of a coaxial connection fixture for a Hall magnetoelectric encoder and a photoelectric encoder according to an exemplary embodiment of the present application.

[0038] FIG13 shows a block diagram of a device for determining the joint angle of a servo system using a Hall magnetoelectric encoder according to an exemplary embodiment of the present application.

[0039] FIG. 14 shows an electronic device according to an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0040] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be embodied in many forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete and will fully convey the concepts of the example embodiments to those skilled in the art. Like reference numerals in the drawings represent like or similar parts, and thus repetitive description thereof will be omitted.

[0041] The described features, structures or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, many specific details are provided to provide a full understanding of the embodiments of the present disclosure. However, those skilled in the art will appreciate that the technical solutions of the present disclosure may be practiced without one or more of these specific details, or other modes, components, materials, devices or operations may be employed. In these cases, well-known structures, methods, devices, implementations, materials or operations will not be shown or described in detail.

[0042] The flowcharts shown in the accompanying drawings are for illustrative purposes only and do not necessarily include all contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps may be decomposed, while others may be combined or partially combined. Therefore, the actual execution order may vary depending on the actual situation.

[0043] The terms "first," "second," and the like in the specification and claims of this application and the accompanying drawings are used to distinguish between different objects, not to describe a particular order. Furthermore, the terms "including," "having," and any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus comprising a series of steps or elements is not limited to the listed steps or elements but may optionally include steps or elements not listed, or may optionally include other steps or elements inherent to the process, method, product, or apparatus.

[0044] As previously mentioned, a Hall effect encoder is a sensor that captures rotating magnetic field information and converts it into voltage information, thereby decoding the permanent magnet in the Hall effect encoder to achieve angle measurement. For a dual multi-pole Hall effect encoder, the encoder samples and decodes the signal as the dual multi-pole magnets rotate.

[0045] The following describes the encoding and decoding principles of the Hall-type magnetoelectric encoder by taking the 7-pole / 19-pole three-Hall distribution Hall magnetoelectric encoder shown in Figures 1a and 1b as an example.

[0046] As shown in Figure 1a, to ensure the rationality of the Hall effect sensor position, the Hall effect sensors are installed in different directions on the upper and lower sides of the encoder circuit board. The Hall effect sensor installed upward is the measurement pole Hall effect sensor, corresponding to the measurement pole with a high pole pair number; the Hall effect sensor installed downward is the identification pole Hall effect sensor, corresponding to the identification pole with a low pole pair number.

[0047] As shown in Figure 1b, three linear Hall sensors are installed at intervals within the magnetic field strength coverage area for measuring and identifying magnetic poles, ensuring a consistent radial distance from the magnetic ring. Furthermore, to eliminate harmonic errors and simplify equations, the electrical angle spacing between the three Hall sensors in the three-Hall distribution of the Hall-type magnetic encoder shown in Figure 1 is 120°. The electrical angle of a single magnetic ring can be calculated by adjusting the voltage signals collected by these three linear Hall sensors.

[0048] Formula (1) shows the voltage signal sampled by an m-pole magnetoelectric encoder installed at an electrical angle of 120°.

[0049] Among them, U m1 、U m2 、U m3 are the electrical signal values ​​collected by three Hall sensors, θ m is the mechanical angle value of the position of the linear Hall of the m-pole magnet, A1, A2, and A3 are the electrical signal amplitude coefficients, and d1, d2, and d3 are the electrical signal amplitude drifts.

[0050] Because U m1、U m2 、U m3 It can be approximately regarded as a three-phase sinusoidal signal with the same amplitude and a phase difference of 120°. Formula (2) shows the conversion of the three-phase sinusoidal signal into a two-phase sinusoidal signal with a phase difference of 90° corresponding to formula (1).

[0051] Among them, U ms 、U mc They are the sine approximation and cosine approximation of the same amplitude coefficient respectively.

[0052] According to formula (2), the approximate magnetic pole angle of the measured magnetic pole is as shown in Figure (3).

[0053] Similarly, the approximate magnetic pole angle θ for identifying the magnetic pole can also be obtained n * .

[0054] The interval characteristic value corresponding to the magnetic pole interval number can be obtained by using the approximate magnetic pole angle of the measured magnetic pole and the approximate magnetic pole angle of the identified magnetic pole, as shown in formula (4).

[0055] Where λ is the interval eigenvalue.

[0056] According to the corresponding relationship between the meridian interval characteristic value and the magnetic pole interval number, the magnetic pole interval number can be obtained, as shown in formula (5).

[0057] Among them, θ is the angle value of the servo system joint angle, N m It is the number of the magnetic pole interval of the m pairs of magnetic steel in the measured magnetic pole.

[0058] Currently, the decoding algorithms for Hall-effect magnetoelectric encoders fail to meet requirements for anti-interference and applicability as the number of pole pairs increases. Furthermore, factors such as uneven magnetic field strength of permanent magnets, installation errors of linear Hall sensors, and mechanical vibration all introduce errors to the encoder signal. Initial signal errors accumulate during the calculation process, affecting the peak-to-peak fluctuations of the characteristic value curve for each interval and ultimately affecting the solution.

[0059] According to the embodiment of the present application, first, a correspondence between interval characteristic values ​​and magnetic pole interval numbers is established; then, the rotation angle of the servo system joint is determined based on a table lookup method. This is not only simple to implement but also has a fast response speed.

[0060] The specific embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0061] FIG2 shows a flow chart of a method for determining the joint angle of a servo system using a Hall magnetoelectric encoder according to an exemplary embodiment of the present application. The following uses FIG2 as an example to describe a method for determining the joint angle of a servo system using a Hall magnetoelectric encoder according to an exemplary embodiment of the present application in detail.

[0062] As shown in FIG2 , in step S201 , in response to the collected electrical signal of the Hall effect magnetoelectric encoder, an interval characteristic value of the electrical signal is calculated.

[0063] In step S203, the rotation angle of the servo system joint is determined based on the address index method using the preset correspondence between the interval characteristic value and the magnetic pole interval number, wherein the magnetic pole interval number is the magnetic pole interval number of the pole magnet in the Hall effect magnetoelectric encoder.

[0064] According to some embodiments, the interval characteristic value is used as the address index number of the determined first correspondence. According to the interval characteristic value calculated in step S301, the corresponding magnetic pole interval number can be quickly determined, thereby improving response speed.

[0065] It should be noted that the correspondence between the interval characteristic values ​​and the magnetic pole interval numbers can be expressed in a variety of ways, such as in the form of a table or key-value pairs, which is not intended to be limiting.

[0066] According to some embodiments, the correspondence between the interval characteristic value and the magnetic pole interval number includes the interval characteristic value range and the magnetic pole interval number of the pole magnetic steel.

[0067] According to the embodiment shown in FIG2 , first, the correspondence between the interval characteristic value and the magnetic pole interval number is pre-established, and then the rotation angle of the servo system joint is determined based on the table lookup method. This is not only simple to implement, but also has a fast response speed and high accuracy.

[0068] According to an embodiment of the present application, before step S203 , it is necessary to determine the correspondence between the interval characteristic value and the magnetic pole interval number.

[0069] According to some embodiments, the correspondence includes a first correspondence. Figure 3 shows a flow chart of a method for determining a first correspondence between interval characteristic values ​​and magnetic pole interval numbers according to an exemplary embodiment of the present application. Below, taking Figure 3 as an example, an example of a method for determining a correspondence between interval characteristic values ​​and magnetic pole interval numbers according to an exemplary embodiment of the present application is described.

[0070] In step S301 , the magnetic pole angle corresponding to the Hall sampling value of the electrical signal is calculated.

[0071] According to some embodiments, the 7-pole / 19-pole three-Hall distribution magnetoelectric encoder uses the method shown in formula (3) to calculate the magnetic pole angle in step S301.

[0072] In step S303 , the interval characteristic value corresponding to the Hall sampling value is calculated according to the magnetic pole angle corresponding to the Hall sampling value.

[0073] According to some embodiments, the 7-pole / 19-pole three-Hall distribution magnetoelectric encoder uses the method shown in formula (4) to calculate the magnetic pole angle in step S301.

[0074] In step S305, a first corresponding relationship between the interval characteristic value and the magnetic pole interval number is determined according to a preset adjacent magnetic pole angle phase difference threshold.

[0075] According to an embodiment of the present application, before executing step S305, the magnetic pole interval number is initialized, for example, the initial value of the magnetic pole interval number is set to zero.

[0076] According to some embodiments, the magnetic pole angle calculated in step S303 is the magnetic pole angle of the measuring magnetic pole in the Hall magnetoelectric encoder, and step S305 may determine the first corresponding relationship according to the following steps.

[0077] In step S3051, the step direction of the measured magnetic pole angle is determined according to a preset phase difference threshold between adjacent magnetic pole angles.

[0078] In step S3053, if the measured magnetic pole angle steps downward, the magnetic pole interval number is incremented.

[0079] In step S3055, if the measured magnetic pole angle steps upward, the magnetic pole interval number is decremented.

[0080] According to some embodiments, in step S3051, if the calculated phase difference between adjacent magnetic pole angles is greater than 180 degrees, the measured magnetic pole angle is stepped downward; otherwise, the measured magnetic pole angle is stepped upward.

[0081] According to some embodiments, when the magnetic pole interval number is equal to the number of magnetic pole pairs of the Hall magnetoelectric encoder, determining the first corresponding relationship ends.

[0082] For example, when the magnetic pole interval number is equal to the number of pole magnetic steel pairs of the measuring magnetic pole of the Hall electromagnetic encoder, determining the first corresponding relationship ends.

[0083] According to some embodiments, after step S305, the interval eigenvalues ​​need to be converted according to a preset accuracy range, so as to convert the interval eigenvalues ​​calculated in step S303 into the preset accuracy range.

[0084] According to some embodiments of the present application, when the correspondence between the interval characteristic values ​​and the magnetic pole interval numbers determined using the method shown in FIG3 contains blank areas, that is, there is a problem that the interval characteristic values ​​lack corresponding magnetic pole interval numbers. To address this problem, according to embodiments of the present application, a second correspondence between the interval characteristic values ​​and the magnetic pole interval numbers can be determined based on the first correspondence between the interval characteristic values ​​and the magnetic pole interval numbers.

[0085] Based on the method shown in Figure 3, Figure 4 shows a flow chart of a method for determining a second correspondence between the interval characteristic value and the magnetic pole interval number according to an exemplary embodiment of the present application. As shown in Figure 4, in step S401, the blank area in the first correspondence is determined.

[0086] In step S403, a first adjacent interval characteristic value and / or a second adjacent interval characteristic value to the blank area are determined according to the blank area.

[0087] For example, if the blank area has the smallest interval characteristic value, only the second adjacent interval needs to be determined; if the blank area has the smallest interval characteristic value, only the first adjacent interval needs to be determined; for the interval characteristic value in the middle, the first adjacent interval and / or the second adjacent interval needs to be determined.

[0088] In step S405 , the median of the blank area is calculated according to the upper limit of the characteristic value of the first adjacent interval and the lower limit of the characteristic value of the second adjacent interval.

[0089] According to some embodiments, the calculated median value of the blank area is an average value of an upper limit value of the characteristic value of the first adjacent interval and a lower limit value of the characteristic value of the second adjacent interval.

[0090] In step S407, the blank area is expanded to the adjacent interval characteristic values ​​of the blank area according to the upper limit value of the first adjacent interval characteristic value, the lower limit value of the second adjacent interval characteristic value and the median value.

[0091] The upper limit value of the characteristic value of the first adjacent interval is smaller than the lower limit value of the blank area, and the lower limit value of the characteristic value of the second adjacent interval is larger than the upper limit value of the blank area.

[0092] For example, the region of the upper limit value and the median value of the first adjacent interval characteristic value is extended to the first adjacent interval characteristic value, and the region of the lower limit value and the median value of the second adjacent interval characteristic value is extended to the second adjacent interval characteristic value.

[0093] According to an embodiment of the present application, before step S401, the converted interval characteristic value in the first corresponding relationship is expanded to the preset accuracy range.

[0094] For example, the lower limit value of the smallest interval characteristic value in the first corresponding relationship is extended to the minimum value within the preset accuracy range, and the upper limit value of the largest interval characteristic value in the first corresponding relationship is extended to the maximum value within the preset accuracy range.

[0095] Figure 5 shows a flow chart of another method for determining a first correspondence between interval characteristic values ​​and magnetic pole interval numbers according to an exemplary embodiment of the present application. In the embodiment shown in Figure 5, the Hall magnetoelectric encoder measures the Hall corresponding to m pairs of poles and identifies the Hall corresponding to n pairs of poles.

[0096] To improve the accuracy of determining the joint angle of a servo system using a Hall effect magnetic encoder, a table with 1024 points is created. The upper bound of the region is used as the 1024-point full value, equivalent to the remaining region boundaries. The pointer positions corresponding to the two region boundaries store the interval numbers of the m-pole pairs of magnetic steel. For example, the values ​​stored between the i-th region boundary value and the i+1-th region boundary value are the i-th table sequence number ID(i), completing the table.

[0097] As shown in FIG5 , in step S501 , the initial value of the magnetic pole section number is set to zero.

[0098] In step S503, the motor shaft is rotated for at least one revolution, the Hall electric signal of the Hall magnetoelectric encoder is collected, and the obtained m and n pole angles are calculated in real time.

[0099] In step S505, the interval eigenvalues ​​corresponding to the epipolar angles m and n are calculated.

[0100] In step S507, the difference between the current and previous values ​​of the measured magnetic pole angle corresponding to each interval characteristic value is calculated. If the calculated difference is greater than 180 degrees, the measured magnetic pole angle is stepped down and step S509 is executed; otherwise, it is stepped up and step S511 is executed.

[0101] In step S509, if the measured magnetic pole angle steps downward, the magnetic pole interval number is incremented. In step S511, if the measured magnetic pole angle steps upward, the interval number is decremented, thereby avoiding errors in counting the magnetic pole interval numbers caused by zero point jumps or motor shaft rotation.

[0102] In step S513, the calculated interval characteristic value is converted into a numerical value of 0-1024.

[0103] According to some embodiments, the converted interval characteristic value may be used as the address index number of the first correspondence between the interval characteristic value and the magnetic pole interval number.

[0104] Since the theoretical maximum and theoretical minimum values ​​of the interval characteristic value are numerical values ​​that are only related to the number of pole pairs m and n, according to an embodiment of the present application, when determining the first correspondence between the interval characteristic value and the magnetic pole interval number, in order to consider the margin of the maximum and minimum values ​​of the interval characteristic value, the maximum and minimum values ​​of the interval characteristic value are defined as formula (6).

[0105] Among them, B max is the maximum eigenvalue with a margin, B min is the minimum eigenvalue with a margin.

[0106] In step S513, the interval eigenvalues ​​are converted using formula (7).

[0107] Among them, λ t is the interval eigenvalue after transformation.

[0108] In step S515, the absolute value of the calculated magnetic pole interval number and the number of magnetic pole pairs of the Hall magnetoelectric encoder are determined; if the absolute value of the calculated magnetic pole interval number is greater than the number of magnetic pole pairs of the Hall magnetoelectric encoder, the calculation is terminated, otherwise step S505 is executed.

[0109] According to some embodiments, when determining the first correspondence, the feature values ​​converted in step S513 may have many repeated values. According to some embodiments, the subsequent repeated values ​​may overwrite the previous values. According to some embodiments, the first correspondence obtained may be a first correspondence table as shown in FIG6 .

[0110] As mentioned above, there is a blank area in the determined correspondence between the interval characteristic values ​​and the magnetic pole interval numbers, as shown in FIG7 , that is, there is a problem that the interval characteristic values ​​lack corresponding magnetic pole interval numbers.

[0111] Based on the first correspondence obtained in FIG. 5 , FIG. 8 shows a flow chart of another method for determining a second correspondence between interval characteristic values ​​and magnetic pole interval numbers according to an exemplary embodiment of the present application.

[0112] In step S801, the table content corresponding to the first step in the first correspondence obtained in FIG. 5 is extended to the left to zero, and the table content corresponding to the last step is extended to the right to 1024.

[0113] In step S803, the boundary position of the blank area to be expanded is determined based on the first correspondence determined in FIG5 . Therefore, in step S803, it is necessary to first determine the upward step point and downward step point of the blank area in the first correspondence and store them in the data sets U(x) and D(x), respectively. The upward step point is the upper limit of the characteristic value of the first adjacent area of ​​the blank area, and the downward step point is the lower limit of the characteristic value of the second adjacent area of ​​the blank area. The upper limit of the characteristic value of the first adjacent area is less than the lower limit of the blank area, and the lower limit of the characteristic value of the second adjacent area is greater than the upper limit of the blank area.

[0114] In step S805, the expansion center of each blank area is determined according to the upward step point and the downward step point determined in step S803, as shown in formula (8).

[0115] In step S807, the upper limit value of the first adjacent area and the area of ​​the expanded center are extended to the first adjacent area of ​​the blank area, and the right value is extended to the center, thereby completing the coverage of the blank area. According to some embodiments, the resulting second correspondence relationship may be a second correspondence relationship table as shown in FIG9 and a second correspondence relationship diagram as shown in FIG10.

[0116] According to some embodiments, when the parameter x of the functions D(x) and U(x) of the boundary number set is at the beginning or end, the corresponding magnetic pole interval number is determined according to formula (9).

[0117] Among them, T N (λ t )=N,T N is the function expression of the first correspondence table, N is the interval number, T Na is the function expression of the second correspondence table, U is the function expression of the upward step point set, and j is the maximum value of the domain of function U.

[0118] According to some embodiments, when the parameter x of the functions D(x) and U(x) of the boundary number set is not at the beginning or the end, the corresponding magnetic pole interval number is determined according to formula (10).

[0119] in, D is the function expression of the downward step point set, B is the function expression of the extended center point set, i is an integer in the domain of function U, i = 2, 3, ..., j-1.

[0120] According to some embodiments, when looking up a table, the first 10 bits of the 32-bit eigenvalue are used as the index address to retrieve the corresponding magnetic pole interval number. Because the accuracy of a 1024-bit table is sufficient for determining region boundaries, the accuracy of the last 22 bits of the interval eigenvalue can be discarded. Finally, the magnetic pole interval number obtained from the table lookup can be used to calculate the Hall effect encoder to determine the servo system joint angle, thereby completing the decoding.

[0121] According to the embodiment shown in FIG8 , full area coverage of interval characteristic values ​​can be achieved, ensuring that no empty points appear; secondly, compared with the existing decoding method, the table lookup based on the address index can obtain the fastest computing speed, which is beneficial to reducing the overall running time of the algorithm and thus shortening the control cycle of the servo system.

[0122] Taking a three-Hall distribution Hall magnetoelectric encoder as an example, due to issues such as Hall arrangement and mechanical assembly, the initial three-phase Hall signals are superimposed with some error signals. When synthesizing the components of the two phases with a 90° phase difference, there is a high probability that the amplitudes of the synthesized two-phase 90° phase difference components will be unequal or the phases will not be 90°. According to some embodiments, before step S201, the Hall positions of the Hall magnetoelectric encoder need to be adjusted so that the multiple Hall sampling values ​​collected are symmetrical about the zero point, the Hall amplitudes are equal, and / or the center point offset value is zero.

[0123] Figure 11 shows a flow chart of a method for adjusting a Hall magnetoelectric encoder according to an exemplary embodiment of the present application, and Figure 12 shows a schematic diagram of a coaxial connection tooling of a Hall magnetoelectric encoder and a photoelectric encoder according to an exemplary embodiment of the present application.

[0124] As shown in FIG11 , in step S1101 , the Hall sampling value of the Hall magnetoelectric encoder and the angle of the photoelectric encoder are collected.

[0125] In step S1103 , the correspondence between the photoelectric angle and the Hall sampling value is determined according to the collected Hall sampling value and the angle of the photoelectric encoder, as shown in FIG12 .

[0126] In step S1105, the actual phase angle is determined according to the determined corresponding relationship and the maximum value and the minimum value in a single cycle, as shown in formula (11).

[0127] Among them, θ AC ,θ AB The actual phase between phases A and C and the actual phase between phases A and B, respectively. AC ,△ AB ,△ A0 They are the mechanical angle between phases A and C, the mechanical angle between phases A and B, and the mechanical angle of phase A in one cycle.

[0128] In step S1107, the three-phase Hall sensors are translated up and down to make them symmetrical about the zero point.

[0129] In step S1109, the three-phase Hall amplitudes are adjusted to be equal.

[0130] In step S1111, the three-phase Hall is converted into two phases of 90 degrees according to the actual phase angle calculated in step S1005.

[0131] In step S1113, the two-phase signals are shifted up and down to make them symmetrical about the zero point.

[0132] In step S1115, the amplitudes of the two phases are adjusted to be equal.

[0133] In step S1117, the adjusted Hall signal is used as the electrical signal of the Hall magnetoelectric encoder acquired in step S201.

[0134] According to the embodiment shown in FIG11 , the angle nonlinearity problem caused by the irregularity of the Hall signal is solved by translating and modulating the collected Hall signal, while also suppressing the fluctuation error of the interval characteristic value.

[0135] FIG13 shows a block diagram of a device for determining the rotation angle of a servo system joint using a Hall effect magnetoelectric encoder according to an exemplary embodiment of the present application. The device includes an interval characteristic value calculation unit 1301 and a rotation angle determination unit 1303. The interval characteristic value calculation unit 1301 is configured to calculate the interval characteristic value of the electrical signal in response to the acquired electrical signal from the Hall effect magnetoelectric encoder; the rotation angle determination unit 1303 is configured to determine the rotation angle of the servo system joint based on an address index method using a preset correspondence between the interval characteristic value and the magnetic pole interval number.

[0136] According to some embodiments of the application, an encoder is further provided, comprising the apparatus described in FIG13 .

[0137] FIG14 shows an electronic device according to an exemplary embodiment of the present application. The electronic device 200 according to this embodiment of the present application is described below with reference to FIG14. The electronic device 200 shown in FIG14 is merely an example and should not limit the functionality and scope of use of the embodiments of the present application.

[0138] As shown in FIG14 , electronic device 200 is implemented as a general-purpose computing device. Components of electronic device 200 may include, but are not limited to, at least one processing unit 210, at least one storage unit 220, a bus 230 connecting various system components (including storage unit 220 and processing unit 210), a display unit 240, and the like.

[0139] The storage unit stores program codes that can be executed by the processing unit 210, so that the processing unit 210 performs the methods described in this specification according to various exemplary embodiments of the present application. For example, the processing unit 210 can perform the method shown in FIG1 .

[0140] The storage unit 220 may include a readable medium in the form of a volatile storage unit, such as a random access memory unit (RAM) 2201 and / or a cache memory unit 2202 , and may further include a read-only memory unit (ROM) 2203 .

[0141] The storage unit 220 may also include a program / utility 2204 having a set (at least one) of program modules 2205, such program modules 2205 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment.

[0142] Bus 230 may represent one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.

[0143] The electronic device 200 can also communicate with one or more external devices 300 (e.g., a keyboard, a pointing device, a Bluetooth device, etc.), one or more devices that enable a user to interact with the electronic device 200, and / or any device that enables the electronic device 200 to communicate with one or more other computing devices (e.g., a router, a modem, etc.). Such communication can occur via an input / output (I / O) interface 250. Furthermore, the electronic device 200 can communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network such as the Internet) via a network adapter 260. The network adapter 260 can communicate with other modules of the electronic device 200 via the bus 230. It should be understood that, although not shown in the figures, other hardware and / or software modules can be used in conjunction with the electronic device 200, including but not limited to microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0144] Through the description of the above embodiments, it is easy for those skilled in the art to understand that the example embodiments described here can be implemented by software or by combining software with necessary hardware. The technical solution according to the embodiment of the present application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which can be a personal computer, a server, or a network device, etc.) to execute the above method according to the embodiment of the present application.

[0145] The software product can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium can be, for example, but not limited to, a system, device or component of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination thereof. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof.

[0146] Computer-readable storage media may include a data signal propagated in baseband or as part of a carrier wave, which carries readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. The readable storage medium may also be any readable medium other than a readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device. The program code contained on the readable storage medium may be transmitted using any appropriate medium, including but not limited to wireless, wired, optical cable, RF, etc., or any suitable combination thereof.

[0147] The program code for performing the operations of the present application can be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, C++, and the like, as well as conventional procedural programming languages ​​such as "C" or similar programming languages. The program code can be executed entirely on the user computing device, partially on the user device, as a stand-alone software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server. In the case of a remote computing device, the remote computing device can be connected to the user computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0148] The computer-readable medium carries one or more programs. When the one or more programs are executed by the device, the computer-readable medium implements the aforementioned functions.

[0149] Those skilled in the art will appreciate that the modules described above can be distributed in the device according to the description of the embodiment, or can be modified accordingly to be used in one or more devices that are different from the embodiment. The modules of the above embodiment can be combined into one module or further divided into multiple submodules.

[0150] According to an embodiment of the present application, a computer program is provided, including a computer program or instructions. When the computer program or instructions are executed by a processor, the method described above can be executed.

[0151] The embodiments of the present application are described in detail above. Specific examples are used herein to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only intended to help understand the method and core ideas of the present application. At the same time, changes or modifications made by those skilled in the art based on the ideas of the present application, the specific implementation methods, and the scope of application of the present application, all fall within the scope of protection of the present application. In summary, the contents of this specification should not be construed as limiting the present application.

Claims

1. A method for determining the joint angle of a servo system using a Hall magnetoelectric encoder, characterized in that: include: In response to the collected electrical signal of the Hall magnetoelectric encoder, calculating the interval characteristic value of the electrical signal; The preset correspondence between the interval characteristic value and the magnetic pole interval number is utilized to determine the rotation angle of the servo system joint based on the address index method.

2. The method according to claim 1, characterized in that Before determining the rotation angle of the servo system joint based on a table lookup method using the preset correspondence between the interval characteristic value and the magnetic pole interval number, the method further includes: The correspondence between the interval characteristic value and the magnetic pole interval number is determined.

3. The method according to claim 2, characterized in that The corresponding relationship includes a first corresponding relationship, and the determining of the corresponding relationship between the interval characteristic value and the magnetic pole interval number includes: According to the Hall sampling value of the electrical signal, calculating the magnetic pole angle corresponding to the Hall sampling value; According to the magnetic pole angle corresponding to the Hall sampling value, calculating the interval characteristic value corresponding to the Hall sampling value; A first corresponding relationship between the interval characteristic value and the magnetic pole interval number is determined according to a preset adjacent magnetic pole angle phase difference threshold.

4. The method according to claim 3, characterized in that The magnetic pole angle includes measuring the magnetic pole angle, and determining the first corresponding relationship between the interval characteristic value and the magnetic pole interval number according to a preset adjacent magnetic pole angle phase difference threshold includes: Determining the step direction of the measured magnetic pole angle according to a preset phase difference threshold of adjacent magnetic pole angles; If the measured magnetic pole angle steps downward, the magnetic pole interval number is incremented; If the measured magnetic pole angle steps upward, the magnetic pole interval number is decremented.

5. The method according to claim 4, characterized in that The magnetic pole angle includes a measured magnetic pole angle, and the first corresponding relationship between the interval characteristic value and the magnetic pole interval number is determined according to a preset adjacent magnetic pole angle phase difference threshold and further includes: Initialize the magnetic pole section number.

6. The method according to claim 5, characterized in that The magnetic pole angle includes a measured magnetic pole angle, and the first corresponding relationship between the interval characteristic value and the magnetic pole interval number is determined according to a preset adjacent magnetic pole angle phase difference threshold and further includes: When the absolute value of the magnetic pole interval number is greater than the number of magnetic pole pairs of the Hall magnetoelectric encoder, the first corresponding relationship is determined.

7. The method according to claim 3, characterized in that The corresponding relationship further includes a second corresponding relationship, and the method further includes: According to the first corresponding relationship between the interval characteristic value and the magnetic pole interval number, a second corresponding relationship between the interval characteristic value and the magnetic pole interval number is determined.

8. The method according to claim 7, characterized in that Determining a second corresponding relationship between the interval characteristic value and the magnetic pole interval number according to the first corresponding relationship between the interval characteristic value and the magnetic pole interval number includes: Determine a blank area in the first corresponding relationship; Determine, according to the blank area, a first adjacent interval characteristic value and / or a second adjacent interval characteristic value to the blank area; Calculate the median of the blank area according to the upper limit of the first adjacent interval characteristic value and the lower limit of the second adjacent interval characteristic value; According to the upper limit value of the first adjacent interval characteristic value, the lower limit value of the second adjacent interval characteristic value and the median value, the blank area is expanded to the adjacent interval characteristic value of the blank area; The upper limit of the characteristic value of the first adjacent interval is smaller than the lower limit of the blank area. A lower limit value of the characteristic value of the second adjacent interval is greater than an upper limit value of the blank area.

9. The method according to claim 8, characterized in that Before determining the first corresponding relationship between the interval characteristic value and the magnetic pole interval number according to a preset adjacent magnetic pole angle phase difference threshold, the method further includes: The interval characteristic value is converted according to a preset accuracy range.

10. The method according to claim 9, characterized in that Before the blank area is expanded to the adjacent interval characteristic values ​​of the blank area by using the upper limit value, the lower limit value and the median value of the interval characteristic value, the determining the second corresponding relationship between the interval characteristic value and the magnetic pole interval number according to the first corresponding relationship between the interval characteristic value and the magnetic pole interval number further includes: The converted interval characteristic value in the first corresponding relationship is expanded to the preset accuracy range.

11. The method according to claim 3, characterized in that Before calculating the magnetic pole angle corresponding to the Hall sampling value according to the Hall sampling value of the electrical signal, the method further includes: The Hall position of the Hall magnetoelectric encoder is adjusted so that the Hall sampling values ​​are symmetrical about the zero point, the Hall amplitudes are equal, and / or the center point offset value is zero.

12. A device for determining the joint angle of a servo system using a Hall magnetoelectric encoder, characterized in that: include: An interval characteristic value calculation unit, used for calculating the interval characteristic value of the electrical signal in response to the collected electrical signal of the Hall magnetoelectric encoder; The rotation angle determination unit is used to determine the rotation angle of the servo system joint based on the address index method by utilizing the preset correspondence between the interval characteristic value and the magnetic pole interval number.

13. An encoder, characterized in that: Comprising the device as claimed in claim 12.

14. An electronic device, characterized in that: include: one or more processors; A memory for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors are enabled to implement the method according to any one of claims 1 to 11.

15. A non-transitory computer-readable storage medium having computer-readable instructions stored thereon, which, when executed by a processor, causes the processor to execute the method according to any one of claims 1 to 11.

Images