Method and apparatus for correcting offset signal of hall sensor of moving magnet linear motor

Abstract

Disclosed are a method and an apparatus for correcting an offset signal of a hall sensor of a moving magnet linear motor. The method for correcting an offset signal may comprise the steps of: collecting a hall sensor signal value from a hall sensor of a stator for controlling the position of a mover of a moving magnet linear motor; calculating a first offset signal value on the basis of the hall sensor signal value; and correcting an offset signal value by calculating a second offset signal value on the basis of the first offset signal value and the hall sensor signal value.

Description

Method and device for compensating the Hall sensor offset signal of a moving magnet linear motor

[0001] The following disclosure relates to a Hall sensor offset signal compensation technique for a moving magnet linear motor.

[0002] Moving magnet linear motors are widely used in linear conveying systems that require high-speed, high-precision, and flexible conveying. Controlling the position and torque of the mover relative to the stator requires information about the mover's position. While expensive optical sensors can be used for this purpose, inexpensive Hall sensors are widely used in conveying systems with multiple movers and stators. When Hall sensors are used, the position values ​​are obtained by interpolating the Hall sensor output, which is a sine wave with a 90-degree phase difference, to ensure positional accuracy. However, differences in the amplitude and offset of the two sine waves occur due to the stator sensor assembly tolerance, circuit component deviation, and the mover magnet assembly tolerance. These amplitudes and offsets lead to positional errors, requiring compensation for these amplitudes and offsets to obtain precise position information.

[0003] A method for compensating an offset signal of a Hall sensor according to one embodiment may include: collecting a Hall sensor signal value from a Hall sensor of a stator for controlling a position of a mover of a moving magnet linear motor; calculating a first offset signal value based on the Hall sensor signal value; and compensating the offset signal value by calculating a second offset signal value based on the first offset signal value and the Hall sensor signal value.

[0004] The step of calculating the second offset signal value may include the step of calculating a slope based on the first offset signal value, and the step of calculating the second offset signal value based on at least one of the calculated slope, the first offset signal value, a time value, and a position value of the mover.

[0005] The step of calculating the second offset signal value is to calculate the kth minimum value (k is a natural number) of the Hall sensor signal value (m k ) corresponding to the time value (t) 2k ) and the kth maximum value (M) of the above Hall sensor signal value k ) corresponding to the time value (t) 2k-1 ) is the kth maximum value for the difference between k ) corresponding to the first offset signal value (d 2k ) and the k-1th minimum value (m k-1 ) corresponding to the first offset signal value (d 2k-1 ) as a slope; the step of calculating the ratio of the difference between the current time value (t) and the time value (t) corresponding to the kth minimum value 2k ) and the difference (T) between the time value at which the maximum or minimum value occurred and the time value at which the Hall sensor signal value is updated lag ) is added and multiplied by the slope above and the kth maximum value (M k ) corresponding to the first offset signal value (d 2k ) may include a step of calculating the second offset signal value by adding the second offset signal value.

[0006] The step of calculating the second offset signal value is to calculate the kth minimum value (k is a natural number) of the Hall sensor signal value (m k ) corresponding to the angle ( 2k ) and the kth maximum value (M) of the above Hall sensor signal value k ) corresponding to the angle ( 2k-1 ) is the kth maximum value for the difference between k ) corresponding to the first offset signal value (d 2k ) and the k-1th minimum value (m k-1 ) corresponding to the first offset signal value (d 2k-1 ) as a slope; the current angle ( ) is the angle corresponding to the kth minimum value ( 2k) and subtract the difference between the angle at which the maximum or minimum value occurred and the angle at which the Hall sensor signal value is updated ( lag ) is added and multiplied by the slope above and the kth maximum value (M k ) corresponding to the first offset signal value (d 2k ) and calculating the second offset signal value by adding the angle values, each of which may correspond to a position value of the mover.

[0007] The step of calculating the first offset signal value may include a step of calculating the first offset signal value based on the Hall sensor signal value using a minimum-maximum algorithm.

[0008] The method may further include a step of calculating a position value of the mover based on the Hall sensor signal value and the second offset signal value.

[0009] The above second offset signal value may be a linearly corrected version of the above first offset signal value.

[0010] An offset signal correction device of a Hall sensor according to one embodiment may include a Hall sensor signal value measuring unit that collects a Hall sensor signal value from a Hall sensor of a stator for controlling a position of a mover of a moving magnet linear motor; a calculating unit that corrects the offset signal value by calculating a first offset signal value based on the Hall sensor signal value and calculating a second offset signal value based on the first offset signal value and the Hall sensor signal value.

[0011] The calculation unit can calculate a slope based on the first offset signal value, and calculate the second offset signal value based on at least one of the calculated slope, the first offset signal value, the time value, and the position value of the mover.

[0012] The above calculation unit calculates the kth minimum value of the Hall sensor signal value (k is a natural number) (mk ) corresponding to the time value (t) 2k ) and the kth maximum value of the above Hall sensor signal value (M k ) corresponding to the time value (t) 2k-1 ) is the kth maximum value for the difference between k ) corresponding to the first offset signal value (d 2k ) and the k-1th minimum value (m k-1 ) corresponding to the first offset signal value (d 2k-1 ) is calculated as the slope of the difference ratio, and the current time value (t) is the time value corresponding to the kth minimum value (t 2k ) and the difference (T) between the time value at which the maximum or minimum value occurred and the time value at which the Hall sensor signal value is updated lag ) is added and multiplied by the slope above and the kth maximum value (M k ) corresponding to the first offset signal value (d 2k ) can be calculated by adding the second offset signal value.

[0013] The above calculation unit calculates the kth minimum value of the Hall sensor signal value (k is a natural number) (m k ) corresponding to the angle ( 2k ) and the kth maximum value of the above Hall sensor signal value (M k ) corresponding to the angle ( 2k-1 ) is the kth maximum value for the difference between k ) corresponding to the first offset signal value (d 2k ) and the k-1th minimum value (m k-1 ) corresponding to the first offset signal value (d 2k-1 ) is calculated as the ratio of the difference between the two as the slope, and the current angle ( ) is the angle corresponding to the kth minimum value ( 2k ) and subtract the difference between the angle at which the maximum or minimum value occurred and the angle at which the Hall sensor signal value is updated ( lag) is added and multiplied by the slope above and the kth maximum value (M k ) corresponding to the first offset signal value (d 2k ) by adding the second offset signal value, and each angle value can correspond to a position value of the mover.

[0014] The above calculation unit can calculate the first offset signal value based on the Hall sensor signal value using a minimum-maximum algorithm.

[0015] The above calculation unit can calculate the position value of the mover based on the Hall sensor signal value and the second offset signal value.

[0016] The above second offset signal value may be a linearly corrected version of the above first offset signal value.

[0017] According to one embodiment, the exact position of the mover can be estimated by accurately compensating for an offset that reduces the accuracy of the mover's position estimation, thereby enabling more precise control of the mover's position.

[0018] According to one embodiment, cost efficiency can be improved by accurately estimating the position of a mover using a relatively inexpensive Hall sensor.

[0019] According to one embodiment, the offset signal of a Hall sensor can be compensated based on information that can be easily obtained.

[0020] FIG. 1 is a flowchart illustrating an offset signal compensation method according to one embodiment.

[0021] FIG. 2 is a diagram illustrating the configuration of a moving magnet linear motor system according to one embodiment.

[0022] Figure 3 is a graph showing the Hall sensor signal value and electrical angle.

[0023] Figure 4 is a graph showing the error of the electrical angle due to the offset error.

[0024] Figure 5 is a graph showing the error of the electric angle due to the difference in amplitude.

[0025] FIG. 6 is a drawing for explaining measuring maximum and minimum values ​​according to one embodiment.

[0026] FIG. 7 is a graph showing the waveform of a Hall sensor signal value of a linear motor in which an offset signal value changes linearly according to one embodiment.

[0027] Figure 8 is a graph for explaining the result of linear correction according to one embodiment.

[0028] Fig. 9 is a graph for explaining an offset signal compensation method according to one embodiment.

[0029] Figure 10 is a graph showing the difference between the offset signal value calculated through the minimum-maximum algorithm and the actual offset signal value.

[0030] Fig. 11 is a diagram illustrating a configuration of an offset signal correction device according to one embodiment.

[0031] Specific structural or functional descriptions of the embodiments are disclosed for illustrative purposes only and may be modified and implemented in various forms. Therefore, the actual implementation is not limited to the specific embodiments disclosed, and the scope of this specification includes modifications, equivalents, or alternatives within the technical concepts described in the embodiments.

[0032] Although terms such as "first" or "second" may be used to describe various components, these terms should be interpreted solely to distinguish one component from another. For example, a first component may be referred to as a second component, and similarly, a second component may also be referred to as a first component.

[0033] When it is said that a component is "connected" to another component, it should be understood that it may be directly connected or connected to that other component, but there may also be other components in between.

[0034] Singular expressions include plural expressions unless the context clearly dictates otherwise. In this document, phrases such as "A or B", "at least one of A and B", "at least one of A or B", "A, B, or C", "at least one of A, B, and C", and "at least one of A, B, or C" can each include any one of the items listed together in that phrase, or all possible combinations thereof. In this specification, it should be understood that the terms "comprises" or "has" and the like are intended to specify the presence of a described feature, number, step, operation, component, part, or combination thereof, but do not exclude the presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

[0035] Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by a person of ordinary skill in the art. Terms defined in commonly used dictionaries should be interpreted to have a meaning consistent with their meaning in the context of the relevant technology, and will not be interpreted in an idealized or overly formal sense unless explicitly defined herein.

[0036] The term "module" as used herein may include a unit implemented in hardware, software, or firmware, and may be used interchangeably with terms such as logic, logic block, component, or circuit. A module may be an integral component, or a minimum unit or portion of such a component that performs one or more functions. For example, according to one embodiment, a module may be implemented in the form of an application-specific integrated circuit (ASIC).

[0037] The term "~part" as used in this document refers to a software or hardware component such as an FPGA or ASIC, and the "~part" performs certain roles. However, the "~part" is not limited to software or hardware. The "~part" may be configured to reside on an addressable storage medium and may be configured to execute one or more processors. For example, the "~part" may include components such as software components, object-oriented software components, class components, and task components, as well as processes, functions, attributes, procedures, subroutines, segments of program code, drivers, firmware, microcode, circuits, data, databases, data structures, tables, arrays, and variables. The functionality provided within the components and "~parts" may be combined into a smaller number of components and "~parts" or further separated into additional components and "~parts." Furthermore, the components and "~parts" may be implemented to execute one or more CPUs within a device or a secure multimedia card. Additionally, '~bu' may include one or more processors.

[0038] Hereinafter, embodiments will be described in detail with reference to the attached drawings. In the description with reference to the attached drawings, identical components are assigned the same reference numerals regardless of the drawing numbers, and redundant descriptions thereof will be omitted.

[0039] The offset signal compensation device described herein can provide an offset signal compensation method for improving the accuracy of calculating a position value of a mover to control the position and torque of the mover in a moving magnet linear motor of a linear transport system including a plurality of movers and a plurality of stators. The offset signal compensation device can calculate an offset signal value based on a Hall sensor signal value, and can perform compensation on the calculated offset signal value to reduce an error between the calculated offset signal value and the actual offset signal value. The offset signal compensation device can perform linear compensation on the offset signal value based on a minimum-maximum algorithm and a slope of the offset signal value. The mover described herein can also be referred to as a moving magnet, and the stator can also be referred to as a fixed magnet.

[0040] FIG. 1 is a flowchart illustrating an offset signal compensation method according to one embodiment.

[0041] The embodiments described herein may be embodiments for a linear transport system including a large number of movers and a large number of stators. Since the embodiments described herein include a large number of movers and stators, relatively inexpensive Hall sensors can be used compared to optical sensors. In one embodiment, information about the position of the mover may be required to control at least one of the position (or position value) and torque of the mover of a moving magnet linear motor in the stator. In one embodiment, the Hall sensor signal may be output in the form of a sine wave having a phase difference of 90 degrees. The offset signal compensation device described herein may interpolate the Hall sensor signal in the form of a sine wave having a phase difference of 90 degrees to obtain an accurate and precise position. The offset signal compensation device may compensate for the difference in at least one of the amplitude and offset (or offset signal or offset signal value) of two sine waves based on the sensor assembly tolerance of the stator, the deviation of the circuit elements, and the magnet assembly tolerance of the mover to obtain the position or position value of the mover. Through this, the offset signal compensation device may obtain an accurate position of the stator or may help obtain an accurate position of the stator. The Hall sensor signal or Hall sensor signal value described herein may also be referred to as a Hall sensor output or Hall sensor output value. In one embodiment, the moving magnet linear motor may include a plurality of movers and a plurality of stators. The length of the stator or stators may be less than, equal to, or greater than the length of the mover or movers.

[0042] Referring to FIG. 1, in step (110), an offset signal compensation device may collect a Hall sensor signal value from a Hall sensor of a stator for controlling the position of a mover of a moving magnet linear motor. The offset signal compensation device may perform preprocessing by removing measurement noise from the collected Hall sensor signal value. The Hall sensor signal value described below may represent a Hall sensor signal value from which signal noise has been removed.

[0043] The offset signal compensation device can calculate a first offset signal value based on the Hall sensor signal value in step (120). The offset signal compensation device can calculate the first offset signal value based on the Hall sensor signal value using a min-max algorithm. Here, the min-max algorithm may also be referred to as a min-max algorithm. According to the min-max algorithm, the amplitude can be calculated as shown in the equation below.

[0044] [Mathematical Formula 1]

[0045] Amplitude = (maximum value - minimum value) / 2

[0046] Additionally, according to the min-max algorithm, the offset signal value can be calculated as shown in the equation below.

[0047] [Equation 2]

[0048] Offset signal value = (maximum + minimum) / 2

[0049] In mathematical expressions 1 and 2, the maximum value may represent the maximum value of the Hall sensor signal value, and the minimum value may represent the minimum value of the Hall sensor signal value.

[0050] In step (130), the offset signal correction device may correct the offset signal value by calculating a second offset signal value based on the first offset signal value and the Hall sensor signal value. Here, the second offset signal value may be a linearly corrected first offset signal value. The offset signal correction device may calculate a slope based on the first offset signal value. The offset signal correction device may calculate the second offset signal value based on at least one of the calculated slope, the first offset signal value, the time value, and the position value of the mover. The position value of the mover used to calculate the second offset signal value may correspond to the position value of the mover calculated at a point in the past rather than the present point in time. More specifically, the second offset signal value ( ) can be calculated as in mathematical expression 3.

[0051] [Equation 3]

[0052]

[0053] Based on the above equation, the offset signal compensation device is the kth minimum value (k is a natural number) of the Hall sensor signal value (m k ) corresponding to the time value (t) 2k ) and the kth maximum value of the Hall sensor signal value (M k ) corresponding to the time value (t) 2k-1 ) is the kth maximum value for the difference between k ) corresponding to the first offset signal value (d 2k ) and the k-1th minimum value (m k-1 ) corresponding to the first offset signal value (d 2k-1 ) can be calculated as a slope. The offset signal compensation device calculates the time value (t) corresponding to the kth minimum value to the current time value (t). 2k ) and the difference between the time value at which the maximum or minimum value occurred and the time value at which the Hall sensor signal value is updated (T lag ) is added and multiplied by the slope and the kth maximum value (M k) corresponding to the first offset signal value (d 2k ) can be used to calculate the second offset signal value.

[0054] In mathematical expression 3, since time and angle can be expressed synchronously, the second offset signal value ( ) can also be calculated as mathematical expression 4.

[0055] [Equation 4]

[0056]

[0057] The offset signal compensation device is the kth minimum value (k is a natural number) of the Hall sensor signal value (m k ) corresponding to the angle ( 2k ) and the kth maximum value of the Hall sensor signal value (M k ) corresponding to the angle ( 2k-1 ) is the kth maximum value for the difference between k ) corresponding to the first offset signal value (d 2k ) and the k-1th minimum value (m k-1 ) corresponding to the first offset signal value (d 2k-1 ) can be calculated as the slope of the difference between the current angle ( ) is the angle corresponding to the kth minimum value ( 2k ) and subtract the difference between the angle at which the maximum or minimum value occurred and the angle at which the Hall sensor signal value is updated ( lag ) is added and multiplied by the slope and the kth maximum value (M k ) corresponding to the first offset signal value (d 2k ) can also be used to calculate the second offset signal value. Here, the angle ( 2k ), angle ( 2k-1 ) and angle ( ) may correspond to the position value of the mover calculated immediately before. Here, can represent the position value of the mover calculated just before. In the description of this specification, angle, angle value and electrical angle may be replaced with position and position value, and vice versa.

[0058] According to an embodiment, the offset signal correction device may calculate the position value of the mover based on the Hall sensor signal value and the second offset signal value. The offset signal correction device may correct the offset signal value of the Hall sensor signal value by replacing the first offset signal value, which is an offset signal value corrected only based on the minimum / maximum algorithm of the Hall sensor signal value, with the second offset signal value. The offset signal correction device may measure the exact position value of the mover based on the second offset signal value, which is a linearly corrected version of the first offset signal value.

[0059] FIG. 2 is a diagram illustrating the configuration of a moving magnet linear motor system according to one embodiment.

[0060] Referring to FIG. 2, a moving magnet linear motor system may include a moving magnet linear motor. The moving magnet linear motor may include a mover (210) and a stator (220, 230). When information on an electrical angle required for control is acquired using a Hall sensor, a pair of Hall sensors (240, 250, 260, 270) may be arranged at each end of the stator (220, 230) so that an offset signal correction device can collect Hall sensor signal values ​​having a phase difference of 90 degrees. In other words, a pair of Hall sensors (240) may be arranged at one end of the stator (220), and another pair of Hall sensors (250) may be arranged at the other end of the stator (220). Likewise, a pair of Hall sensors (260) may be arranged at one end of the stator (230), and another pair of Hall sensors (270) may be arranged at the other end of the stator (230). The number of Hall sensors arranged at one end of the stator is not limited to the examples described in the present specification and the drawings. In addition, the number of movers (210) and stators (220, 230) illustrated in FIG. 2 is limited to an example for representing the drawings, and the moving magnet linear motor in the embodiments described in the present specification may include a plurality of movers and a plurality of stators.

[0061] Figure 3 is a graph showing the Hall sensor signal value and electrical angle.

[0062] Referring to Fig. 3, (a) of Fig. 3 can represent a Hall sensor signal value. Each Hall sensor signal value can have a phase difference of 90 degrees from each other. In addition, (b) of Fig. 3 can represent an electrical angle. The electrical angle of a moving magnet linear motor can represent an actually measured value of the angle formed with respect to the center of two points on the circumference of a rotary motor.

[0063] Figure 4 is a graph showing the error of the electrical angle due to the offset error.

[0064] Referring to Fig. 4, (a) of Fig. 4 may represent a Hall sensor signal value. Each Hall sensor signal value may have a phase difference of 90 degrees from each other. In addition, (b) of Fig. 4 may represent an electrical angle. The description of the electrical angle may be the same as the description in Fig. 3. (c) of Fig. 4 may represent an electrical angle error due to an error between a calculated offset signal value and an actual offset signal value. That is, if an error occurs in the offset signal value, an error may also occur in the electrical angle. Therefore, the offset signal correction device described in the present specification can calculate a corrected offset signal value by performing linear correction on an offset signal value in which an error occurs, thereby preventing errors in the electrical angle and the position value of the mover.

[0065] Figure 5 is a graph showing the error of the electric angle due to the difference in amplitude.

[0066] Referring to Fig. 5, (a) of Fig. 5 may represent a Hall sensor signal value, and each Hall sensor signal value may have a phase difference of 90 degrees from each other. In addition, (b) of Fig. 5 may represent an electrical angle. The description of the electrical angle may be the same as the description in Fig. 3. (c) of Fig. 5 may represent an error in the electrical angle due to an amplitude difference.

[0067] FIG. 6 is a drawing for explaining measuring maximum and minimum values ​​according to one embodiment.

[0068] Fig. 6 may be a graph showing measuring and updating maximum and minimum values ​​for a min-max algorithm. Theta (610) may represent the position value of the mover as Theta and may represent an electrical angle. State (620) may represent a state value of a state machine for measuring the maximum and minimum values ​​of the electrical angle. Uc (630) may represent a Hall sensor signal value including an offset signal value having a cosine wave form, and Us (640) may represent a Hall sensor signal value including an offset signal value having a sine wave form. An offset signal compensation device may determine a maximum or minimum value for a predetermined area before and after a position where a maximum or minimum value occurs in order to obtain a maximum and minimum value from an electrical angle (or from a position value) including an error, and may update the maximum or minimum value when it deviates from the predetermined area. For example, an offset signal compensation device can determine a maximum or minimum value at an electrical angle of about 30 degrees before and after the location where the maximum or minimum value occurs, and update the maximum or minimum value when it goes out of that predetermined area. In Fig. 6, Max c and Max s represents the maximum value and Min c and Min s can represent the minimum value.

[0069] FIG. 7 is a graph showing the waveform of a Hall sensor signal value of a linear motor in which an offset signal value changes linearly according to one embodiment.

[0070] In a linear transport system using a linear motor, unlike a conventional rotary motor, the offset signal value of the Hall sensor signal value may change as shown in FIG. 7 due to the end effect, such as the magnetic flux leakage at both ends of the magnetic plate of the mover. In FIG. 7, reference numeral (710) may represent the Hall sensor signal value of phase B. Reference numeral (720) may represent the Hall sensor signal value of phase A. Reference numeral (730) may represent the calculated amplitude of the Hall sensor of phase A. Reference numeral (740) may be the calculated amplitude of the Hall sensor of phase B. Reference numeral (750) may represent the calculated offset signal value of the Hall sensor of phase A. Reference numeral (760) may represent the calculated offset signal value of the Hall sensor of phase B. Here, the A phase and the B phase may be used to distinguish the Hall sensor signal values ​​having a phase difference of a predetermined amount (for example, 90 degrees) from each other.

[0071] Figure 8 is a graph for explaining the result of linear correction according to one embodiment.

[0072] Referring to FIG. 8, reference numeral (810) may represent a calculation error (or error) of the calculated position value of the mover when correction for the offset signal value is performed using only the minimum-maximum algorithm. Reference numeral (830) may represent a calculation error (or error) of the calculated position value of the mover when the offset signal value is accurately known. In addition, reference numeral (820) may represent a calculation error (or error) of the calculated position value of the mover when the offset signal value is corrected by the offset signal correction method described in the present specification. Reference numeral (820) is expressed by Equation 3. When applied, it can indicate the calculation error of the calculated mover position value. The calculation error of reference number (820) can be reduced to less than 10% compared to when only the min-max algorithm is applied. The offset signal correction device can perform the offset signal correction method described in the present specification by adding a linear correction term to the min-max algorithm to correct the error between the calculated offset signal value and the actual offset signal value. That is, the offset signal correction device can perform correction for the offset signal value more accurately than correcting the offset signal value using only the min-max algorithm by additionally performing linear correction to the min-max algorithm to correct the error between the calculated offset signal value and the actual offset signal value.

[0073] As the reference number (820) is much closer to the reference number (830) than the reference number (810), it can be seen that the position value of the mover calculated based on the offset signal value corrected by the offset signal correction device is more similar to the actual position value of the mover than the position value of the mover calculated based on the offset signal value to which linear correction is not performed. In other words, it can be seen that the position value of the mover calculated based on the offset signal value corrected based on the min-max algorithm and further linearly corrected by the offset signal correction device is more accurate than the position value of the mover calculated based on the offset signal value to which only the min-max algorithm is performed and linear correction is not performed. The offset signal correction device can accurately calculate the position value of the mover by performing the offset signal correction method described herein. More specifically, the area for obtaining the maximum or minimum value When this is said, the difference between the time value at which the maximum or minimum value occurs and the time value at which the actual Hall sensor signal value is updated is can be. However, the offset signal compensation device By compensating The calculation error can be made zero by applying . When applied, the calculation error can be 0, as shown in reference number (830).

[0074] Fig. 9 is a graph for explaining an offset signal compensation method according to one embodiment.

[0075] Referring to Fig. 9, the horizontal axis of the graph may represent time and the vertical axis of the graph may represent the Hall sensor signal value. Reference numeral (905) represents the k-th maximum value (M) of the Hall sensor signal value described in Fig. 1. k ) can be represented. In addition, reference number (910) represents the k+1th maximum value (M) of the Hall sensor signal value. k+1 ) can be represented. Reference number (915) represents the k-1th minimum value (m) of the Hall sensor signal value. k-1 ) can be represented, and the reference number (920) is the kth minimum value (m) of the Hall sensor signal value. k ) can be represented. Reference number (925) is the kth maximum value (M k ) corresponding to the first offset signal value (d 2k ) can be represented, and the reference number (935) is the kth minimum value (m) of the Hall sensor signal value. k ) corresponding to the first offset signal value (d 2k+1 ) can be expressed.

[0076] First offset signal value (d 2k )(925) is the kth maximum value of the Hall sensor signal value (M k )(905) and the k-1th minimum value of the Hall sensor signal value (m k-1 )(915) can be calculated by dividing the added value by 2. The first offset signal value (d 2k+1 )(935) is the kth maximum value of the Hall sensor signal value (M k )(905) and the kth minimum value of the Hall sensor signal value (m k )(920) can be calculated by dividing the added value by 2. Mk (905) This M k The time value (t) corresponding to (905) 2k-1 )(940) is the point t that leaves the maximum value acquisition area. 2k-1 + Δt 2k-1 The first offset signal value in d 2k (925) can be renewed. Similarly, m k (920) m k The time value (t) corresponding to (920) 2k )(945) at the point t that leaves the minimum value acquisition area 2k + Δt 2k The first offset signal value is d 2k+1 (935) can be updated. The current time value t is t 2k-1 + Δt 2k-1 < t < t 2k + Δt 2k while d 2k (925) can be used as the first offset signal value. Also, the current time value t is t 2k + Δt 2k < t < t 2k+1 + Δt 2k+1 while d 2k+1 (935) can be used as the first offset signal value. t 2k+1 M as reference number (950) k+1 (910) may be the corresponding time value. That is, t 2k-1 + Δt 2k-1 < t < t 2k + Δt 2k During the time of d the first offset signal value is 2k (925), and t 2k + Δt 2k < t < t 2k+1 + Δt 2k+1 During the time of d the first offset signal value is 2k+1 (935) may be.

[0077] Figure 10 is a graph showing the difference between the offset signal value calculated through the minimum-maximum algorithm and the actual offset signal value. Referring to Figure 10, the vertical axis may represent the offset signal value and the horizontal axis may represent time.

[0078] The offset signal values ​​(1030, 1040) corrected only based on the min-max algorithm without linear correction can be updated, for example, twice in one cycle. Since the maximum and minimum values ​​of the most recently acquired Hall sensor signal values ​​are used in this process, the error between the actual offset signal values ​​(1010, 1020) that increase or decrease linearly and the offset signal values ​​(1030, 1040) calculated based on the min-max algorithm can be as shown in Fig. 10. The offset signal correction device can reduce the error shown in Fig. 10 by performing linear correction based on the slope of the offset signal value in addition to the min-max algorithm.

[0079] Fig. 11 is a diagram illustrating a configuration of an offset signal correction device according to one embodiment.

[0080] The offset signal correction device (1100) of FIG. 11 may correspond to the offset signal correction device described herein. The offset signal correction device (1100) may include a Hall sensor signal value measurement unit (1110) and a calculation unit (1120).

[0081] The Hall sensor signal value measuring unit (1110) can collect the Hall sensor signal value from the Hall sensor of the stator for controlling the position of the mover of the moving magnet linear motor.

[0082] The calculation unit (1120) can correct the offset signal value by calculating a first offset signal value based on the Hall sensor signal value and calculating a second offset signal value based on the first offset signal value and the Hall sensor signal value. The calculation unit (1120) can calculate a slope based on the first offset signal value and calculate a second offset signal value based on at least one of the calculated slope, the first offset signal value, the time value, and the position value of the mover.

[0083] The calculation unit (1120) calculates the kth minimum value of the Hall sensor signal value (k is a natural number) (m k ) corresponding to the time value (t) 2k ) and the kth maximum value of the Hall sensor signal value (M k ) corresponding to the time value (t) 2k-1 ) is the kth maximum value for the difference between k ) corresponding to the first offset signal value (d 2k ) and the k-1th minimum value (m k-1 ) corresponding to the first offset signal value (d 2k-1 ) is calculated as the slope, and the current time value (t) is the time value corresponding to the kth minimum value (t 2k ) and the difference between the time value at which the maximum or minimum value occurred and the time value at which the Hall sensor signal value is updated (T lag ) is added and multiplied by the slope and the kth maximum value (M k ) corresponding to the first offset signal value (d 2k ) can be used to calculate the second offset signal value.

[0084] Since each angle value corresponds to the position value of the mover, the calculation unit (1120) calculates the kth minimum value (k is a natural number) of the Hall sensor signal value (m k ) corresponding to the angle ( 2k ) and the kth maximum value of the Hall sensor signal value (M k ) corresponding to the angle ( 2k-1) is the kth maximum value for the difference between k ) corresponding to the first offset signal value (d 2k ) and the k-1th minimum value (m k-1 ) corresponding to the first offset signal value (d 2k-1 ) is calculated as the ratio of the difference between the two as the slope, and the current angle ( ) is the angle corresponding to the kth minimum value ( 2k ) and subtract the difference between the angle at which the maximum or minimum value occurred and the angle at which the Hall sensor signal value is updated ( lag ) is added and multiplied by the slope and the kth maximum value (M k ) corresponding to the first offset signal value (d 2k ) can also be used to calculate the second offset signal value.

[0085] The calculation unit (1120) can calculate a first offset signal value based on a Hall sensor signal value using a minimum / maximum algorithm, and can calculate a position value of the mover based on the Hall sensor signal value and the second offset signal value.

[0086] The embodiments described above may be implemented using hardware components, software components, and / or a combination of hardware components and software components. For example, the devices, methods, and components described in the embodiments may be implemented using a general-purpose computer or a special-purpose computer, such as, for example, a processor, a controller, an arithmetic logic unit (ALU), a digital signal processor, a microcomputer, a field programmable gate array (FPGA), a programmable logic unit (PLU), a microprocessor, or any other device capable of executing instructions and responding to them. The processing device may execute an operating system (OS) and software applications running on the operating system. Furthermore, the processing device may access, store, manipulate, process, and generate data in response to the execution of the software. For ease of understanding, the processing device is sometimes described as being used alone; however, one of ordinary skill in the art will recognize that the processing device may include multiple processing elements and / or multiple types of processing elements. For example, a processing unit may include multiple processors, or a processor and a controller. Other processing configurations, such as parallel processors, are also possible.

[0087] Software may include computer programs, codes, instructions, or a combination of one or more of these, which may configure a processing device to perform a desired operation or may independently or collectively command the processing device. The software and / or data may be permanently or temporarily embodied in any type of machine, component, physical device, virtual equipment, computer storage medium, or device for interpretation by the processing device or for providing instructions or data to the processing device. The software may also be distributed over networked computer systems and stored or executed in a distributed manner. The software and data may be stored on a computer-readable recording medium.

[0088] The method according to the embodiment may be implemented in the form of program commands that can be executed through various computer means and recorded on a computer-readable medium. The computer-readable medium may store program commands, data files, data structures, etc., alone or in combination, and the program commands recorded on the medium may be those specially designed and configured for the embodiment or may be known and available to those skilled in the art of computer software. Examples of the computer-readable recording medium include magnetic media such as hard disks, floppy disks, and magnetic tapes, optical media such as CD-ROMs and DVDs, magneto-optical media such as floptical disks, and hardware devices specially configured to store and execute program commands, such as ROMs, RAMs, and flash memories. Examples of program commands include not only machine language codes such as those generated by a compiler, but also high-level language codes that can be executed by a computer using an interpreter, etc.

[0089] The hardware device described above may be configured to operate as one or more software modules to perform the operations of the embodiment, and vice versa.

[0090] Although the embodiments described above have been described with limited drawings, those skilled in the art will appreciate that various technical modifications and variations can be applied based on the described embodiments. For example, appropriate results can still be achieved even if the described techniques are performed in a different order than described, and / or components of the described systems, structures, devices, circuits, etc. are combined or combined in a different manner than described, or are replaced or substituted with other components or equivalents.

[0091] Therefore, other implementations, other embodiments, and equivalents to the claims also fall within the scope of the claims described below.

Claims

1. In the offset signal compensation method of the Hall sensor, A step of collecting a Hall sensor signal value from a Hall sensor of a stator for controlling the position of a mover of a moving magnet linear motor; A step of calculating a first offset signal value based on the above Hall sensor signal value; and A step of correcting an offset signal value by calculating a second offset signal value based on the first offset signal value and the Hall sensor signal value. An offset signal compensation method including:

2. In paragraph 1, The step of calculating the second offset signal value is: A step of calculating a slope based on the first offset signal value A step of calculating the second offset signal value based on at least one of the calculated slope, the first offset signal value, the time value, and the position value of the mover. An offset signal compensation method including:

3. In paragraph 2, The step of calculating the second offset signal value is: The kth minimum value of the Hall sensor signal value (k is a natural number) (m k ) corresponding to the time value (t) 2k ) and the kth maximum value (M) of the above Hall sensor signal value k ) corresponding to the time value (t) 2k-1 ) is the kth maximum value for the difference between k ) corresponding to the first offset signal value (d) 2k ) and the k-1th minimum value (m k-1 ) corresponding to the first offset signal value (d) 2k-1 ) is calculated as a slope; The time value (t) corresponding to the kth minimum value at the current time value (t) 2k ) and subtract the time value at which the maximum or minimum value occurred and the time value at which the Hall sensor signal value is updated (T lag ) is added and multiplied by the slope above and the kth maximum value (M k ) corresponding to the first offset signal value (d) 2k ) by calculating the second offset signal value. An offset signal compensation method including:

4. In paragraph 2, The step of calculating the second offset signal value is: The kth minimum value of the Hall sensor signal value (k is a natural number) (m k ) corresponding to the angle ( 2k ) and the kth maximum value (M) of the above Hall sensor signal value k ) corresponding to the angle ( 2k-1 ) is the kth maximum value for the difference between k ) corresponding to the first offset signal value (d) 2k ) and the k-1th minimum value (m k-1 ) corresponding to the first offset signal value (d) 2k-1 ) is calculated as a slope; Current angle ( ) is the angle corresponding to the kth minimum value ( 2k ) and subtract the difference between the angle at which the maximum or minimum value occurred and the angle at which the Hall sensor signal value is updated ( lag ) is added and multiplied by the slope above and the kth maximum value (M k ) corresponding to the first offset signal value (d) 2k ) by calculating the second offset signal value. Including, Each angle value corresponds to a position value of the mover. Offset signal compensation method.

5. In paragraph 1, The step of calculating the first offset signal value is: A step of calculating the first offset signal value based on the Hall sensor signal value using a minimum-maximum algorithm. An offset signal compensation method including:

6. In paragraph 1, A step of calculating the position value of the mover based on the above Hall sensor signal value and the second offset signal value. An offset signal compensation method further comprising:

7. In paragraph 1, The above second offset signal value is, The above first offset signal value is linearly corrected, Offset signal compensation method.

8. A computer program stored on a computer-readable recording medium to execute the method of claim 1 by being combined with hardware.

9. In the offset signal compensation device of the Hall sensor, A Hall sensor signal value measuring unit that collects Hall sensor signal values ​​from a Hall sensor of a stator to control the position of a mover of a moving magnet linear motor; A calculation unit that corrects the offset signal value by calculating a first offset signal value based on the above Hall sensor signal value and calculating a second offset signal value based on the first offset signal value and the Hall sensor signal value. An offset signal compensation device including:

10. In paragraph 9, The above calculation part, Calculate the slope based on the first offset signal value, Calculating the second offset signal value based on at least one of the calculated slope, the first offset signal value, the time value, and the position value of the mover. Offset signal compensation device.

11. In paragraph 10, The above calculation part, The kth minimum value of the Hall sensor signal value (k is a natural number) (m k ) corresponding to the time value (t) 2k ) and the kth maximum value (M) of the above Hall sensor signal value k ) corresponding to the time value (t) 2k-1 ) is the kth maximum value for the difference between k ) corresponding to the first offset signal value (d) 2k ) and the k-1th minimum value (m k-1 ) corresponding to the first offset signal value (d) 2k-1 ) is calculated as the ratio of the difference between the two as the slope, The time value (t) corresponding to the kth minimum value at the current time value (t) 2k ) and subtract the time value at which the maximum or minimum value occurred and the time value at which the Hall sensor signal value is updated (T lag ) is added and multiplied by the slope above and the kth maximum value (M k ) corresponding to the first offset signal value (d) 2k ) to calculate the second offset signal value, Offset signal compensation device.

12. In paragraph 10, The above calculation part, The kth minimum value of the Hall sensor signal value (k is a natural number) (m k ) corresponding to the angle ( 2k ) and the kth maximum value (M) of the above Hall sensor signal value k ) corresponding to the angle ( 2k-1 ) is the kth maximum value for the difference between k ) corresponding to the first offset signal value (d) 2k ) and the k-1th minimum value (m k-1 ) corresponding to the first offset signal value (d) 2k-1 ) is calculated as the ratio of the difference between the two as the slope, Current angle ( ) is the angle corresponding to the kth minimum value ( 2k ) and subtract the difference between the angle at which the maximum or minimum value occurred and the angle at which the Hall sensor signal value is updated ( lag ) is added and multiplied by the slope above and the kth maximum value (M k ) corresponding to the first offset signal value (d) 2k ) and calculate the second offset signal value by adding Each angle value corresponds to a position value of the mover. Offset signal compensation device.

13. In paragraph 9, The above calculation part, Using the minimum / maximum algorithm, the first offset signal value is calculated based on the Hall sensor signal value. Offset signal compensation device.

14. In paragraph 9, The above calculation part, Calculating the position value of the mover based on the above Hall sensor signal value and the second offset signal value, Offset signal compensation device.

15. In paragraph 9, The above second offset signal value is, The above first offset signal value is linearly corrected, Offset signal compensation device.

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