阅读说明：本技术 磁电编码器 (Magnetoelectric encoder ) 是由 王思月 彭玉礼 周溪 王广 张建林 张永超 于 2020-08-03 设计创作，主要内容包括：本申请公开了一种磁电编码器。其中,该磁电编码器,包括：细分磁钢、编码磁钢以及磁传感器,其中,细分磁钢,由多对磁钢组成,其中,每对磁钢的第一磁钢的N极和第二磁钢的S极连接,用于产生正余弦信号；编码磁钢,由多对磁钢组成,其中,组成编码磁钢的磁钢数量与组成细分磁钢的磁钢数量相同,且组成编码磁钢的多对磁钢按照伪随机码的形式排列组成,用于生成绝对信号,绝对信号为绝对编码值；磁传感器,分别与细分磁钢和编码磁钢配合产生正余弦信号和绝对信号。本申请解决了现有的磁电编码器通常为单对极磁电编码器,分辨率及测量精度均较低的技术问题。(The application discloses a magnetoelectric encoder. Wherein, this magnetoelectric encoder includes: the magnetic sensor comprises subdivided magnetic steels, coded magnetic steels and magnetic sensors, wherein the subdivided magnetic steels consist of a plurality of pairs of magnetic steels, and the N pole of the first magnetic steel of each pair of magnetic steels is connected with the S pole of the second magnetic steel and is used for generating sine and cosine signals; the coded magnetic steel consists of a plurality of pairs of magnetic steels, wherein the number of the magnetic steels forming the coded magnetic steel is the same as that of the magnetic steels forming the subdivision magnetic steels, and the plurality of pairs of magnetic steels forming the coded magnetic steel are arranged in a pseudo-random code form and are used for generating absolute signals which are absolute coded values; and the magnetic sensor is respectively matched with the subdivision magnetic steel and the coding magnetic steel to generate sine and cosine signals and absolute signals. The application solves the technical problems that the existing magnetoelectric encoder is usually a single-counter-pole magnetoelectric encoder and the resolution and the measurement precision are both low.)

1. A magnetoelectric encoder characterized by comprising: subdivision magnetic steel, coding magnetic steel and a magnetic sensor, wherein,

the subdivision magnetic steel consists of a plurality of pairs of magnetic steels, wherein the N pole of the first magnetic steel of each pair of magnetic steels is connected with the S pole of the second magnetic steel and is used for generating sine and cosine signals;

the coded magnetic steel consists of a plurality of pairs of magnetic steels, wherein the number of the magnetic steels forming the coded magnetic steel is the same as that of the magnetic steels forming the subdivision magnetic steel, and the plurality of pairs of magnetic steels forming the coded magnetic steel are arranged in a pseudo-random code form and are used for generating an absolute signal, and the absolute signal is an absolute code value;

the magnetic sensor is respectively matched with the subdivision magnetic steel and the coding magnetic steel to generate the sine and cosine signal and the absolute signal.

2. The magnetoelectric encoder according to claim 1, wherein the distance between the magnetic sensor and each of the subdivided magnetic steels and/or the encoded magnetic steels is equal.

3. A magnetoelectric encoder according to claim 1 or 2, characterized in that the magnetic sensor comprises: the subdivision magnetic sensor is matched with the subdivision magnetic steel to generate the sine and cosine signal, and the coding magnetic sensor is matched with the coding magnetic steel to generate the absolute signal.

4. A magnetoelectric encoder according to claim 2, characterized in that the number of encoding magnetic sensors is at least 2.

5. The magnetoelectric encoder according to claim 1, further comprising:

and the amplifier is used for amplifying the amplitude of the sine and cosine signals to a preset sampling range.

6. The magnetoelectric encoder according to claim 5, further comprising:

and the signal detection and correction module is used for carrying out deviation detection on the sine and cosine signals and correcting the sine and cosine signals according to the detected deviation.

7. The magnetoelectric encoder according to claim 1, further comprising:

and the subdivision module is used for subdividing the positions of the sine and cosine signals to obtain the subdivided positions of the magnetoelectric encoder.

8. The magnetoelectric encoder according to claim 7, wherein the encoding magnetic sensor is further configured to decode the absolute signal to obtain an absolute position corresponding to the absolute encoded value.

9. The magnetoelectric encoder according to claim 8, further comprising:

and the processor is used for splicing the subdivision position and the absolute position to obtain the target position information of the magnetoelectric encoder.

10. The magnetoelectric encoder according to claim 9, further comprising:

and the driver is used for acquiring the target position information and controlling the motor according to the target position information.

Technical Field

The application relates to the field of magnetic field detection sensors, in particular to a magnetoelectric encoder.

Background

Magnetoelectric encoders are important sensor elements for detecting magnetic fields. The magnetic field change signal is converted into an electric signal through a mechanical structure and a signal processing circuit, so that direct or indirect measurement of various physical quantities such as angular displacement, position, speed and the like is realized. Is widely applied to automobiles, industrial control and household electrical appliances. The existing magnetoelectric encoder is generally a single-pole magnetoelectric encoder, and the resolution and the measurement precision are both lower.

In view of the above problems, no effective solution has been proposed.

Disclosure of Invention

The embodiment of the application provides a magnetoelectric encoder to at least, solve current magnetoelectric encoder and be single to utmost point magnetoelectric encoder usually, resolution ratio and measurement accuracy all lower technical problem.

According to an aspect of an embodiment of the present application, there is provided a magnetoelectric encoder including: the magnetic sensor comprises subdivided magnetic steels, coded magnetic steels and magnetic sensors, wherein the subdivided magnetic steels consist of a plurality of pairs of magnetic steels, and the N pole of the first magnetic steel of each pair of magnetic steels is connected with the S pole of the second magnetic steel and is used for generating sine and cosine signals; the coded magnetic steel consists of a plurality of pairs of magnetic steels, wherein the number of the magnetic steels forming the coded magnetic steel is the same as that of the magnetic steels forming the subdivision magnetic steels, and the plurality of pairs of magnetic steels forming the coded magnetic steel are arranged in a pseudo-random code form and are used for generating absolute signals which are absolute coded values; and the magnetic sensor is respectively matched with the subdivision magnetic steel and the coding magnetic steel to generate sine and cosine signals and absolute signals.

Optionally, the magnetic sensor is equidistant from each of the subdivided magnetic steels and/or the encoded magnetic steels.

Optionally, the magnetic sensor comprises: the device comprises a subdivision magnetic sensor and a coding magnetic sensor, wherein the subdivision magnetic sensor is matched with subdivision magnetic steel to generate sine and cosine signals, and the coding magnetic sensor is matched with coding magnetic steel to generate absolute signals.

Optionally, the number of coded magnetic sensors is at least 2.

Optionally, the magnetoelectric encoder further includes: and the amplifier is used for amplifying the amplitude of the sine and cosine signals to a preset sampling range.

Optionally, the magnetoelectric encoder further includes: and the signal detection and correction module is used for carrying out deviation detection on the sine and cosine signals and correcting the sine and cosine signals according to the detected deviation.

Optionally, the magnetoelectric encoder further includes: and the subdivision module is used for subdividing the positions of the sine and cosine signals to obtain the subdivided positions of the magnetoelectric encoder.

Optionally, the encoding magnetic sensor is further configured to decode the absolute signal to obtain an absolute position corresponding to the absolute encoded value.

Optionally, the magnetoelectric encoder further includes: and the processor is used for splicing the subdivision position and the absolute position to obtain the target position information of the magnetoelectric encoder.

Optionally, the magnetoelectric encoder further includes: and the driver is used for acquiring the target position information and controlling the motor according to the target position information.

In an embodiment of the present application, there is provided a magnetoelectric encoder including: the subdivision magnetic steel consists of a plurality of pairs of magnetic steels, wherein the N pole of the first magnetic steel of each pair of magnetic steels is connected with the S pole of the second magnetic steel and is used for generating sine and cosine signals; the coded magnetic steel consists of a plurality of pairs of magnetic steels, wherein the number of the magnetic steels forming the coded magnetic steel is the same as that of the magnetic steels forming the subdivision magnetic steels, and the plurality of pairs of magnetic steels forming the coded magnetic steel are arranged in a pseudo-random code form and are used for generating absolute signals which are absolute coded values; magnetic sensor produces sine and cosine signal and absolute signal with segmentation magnet steel and the cooperation of coding magnet steel respectively, through providing a novel magnetoelectric encoder magnet steel range, adopts many pairs of utmost point magnet steel, through to the angle segmentation on circumference [0,2 pi ] to realized improving magnetoelectric encoder's resolution ratio and motor control precision's technical effect, and then solved current magnetoelectric encoder and usually be single to utmost point magnetoelectric encoder, resolution ratio and measurement accuracy all lower technical problem.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:

FIG. 1 is a block diagram of a magnetoelectric encoder according to an embodiment of the present application;

FIG. 2 is a schematic view of a subdivided magnetic steel of a magnetoelectric encoder according to an embodiment of the present application;

FIG. 3 is a schematic view of an encoding magnetic steel of a magnetoelectric encoder according to an embodiment of the present application;

FIG. 4 illustrates absolute encoded values for various regions of a magnetoelectric encoder;

FIG. 5 is a block diagram of another magnetoelectric encoder according to an embodiment of the present application;

FIG. 6 is a block diagram of another magnetoelectric encoder according to an embodiment of the present application;

FIG. 7 is a block diagram of another magnetoelectric encoder according to an embodiment of the present application;

FIG. 8 is a block diagram of another magnetoelectric encoder according to an embodiment of the present application;

FIG. 9 is a block diagram of another magnetoelectric encoder according to an embodiment of the present application;

fig. 10 is a signal processing flow diagram of a magnetoelectric encoder according to an embodiment of the present application.

Detailed Description

In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

In accordance with an embodiment of the present application, there is provided an embodiment of a magneto-electric encoder, it should be noted that the steps illustrated in the flowchart of the drawings may be performed in a computer system such as a set of computer-executable instructions, and that while a logical order is illustrated in the flowchart, in some cases the steps illustrated or described may be performed in an order different than here.

Fig. 1 is a structural diagram of a magnetoelectric encoder according to an embodiment of the present application, as shown in fig. 1, the magnetoelectric encoder includes: a subdivision magnetic steel 10, a coding magnetic steel 12 and a magnetic sensor 14, wherein,

the subdivision magnetic steel 10 is composed of a plurality of pairs of magnetic steels, wherein the N pole of the first magnetic steel of each pair of magnetic steels is connected with the S pole of the second magnetic steel for generating sine and cosine signals.

According to an optional embodiment of the present application, the subdivision magnetic steel 10 is a pair of N/S magnetic steels with alternately distributed poles to generate sine signals, and the position subdivision of the sine signals and the cosine signals is realized by utilizing the arctangent, wherein the signal frequency is 2ⁿN is the absolute signal bit number, and n is more than or equal to 2.

Fig. 2 is a schematic view of a subdivided magnetic steel of a magnetoelectric encoder according to an embodiment of the present application, and as shown in fig. 2, the subdivided magnetic steel and the encoded magnetic steel of the magnetoelectric encoder are arranged in 8 pairs of poles, where a shadow region is an N pole, and a shadow-free region is an S pole, and equally divides a whole-cycle mechanical angle into 8 intervals.

The coding magnetic steel 12 is composed of a plurality of pairs of magnetic steels, wherein the number of the magnetic steels composing the coding magnetic steel is the same as that of the magnetic steels composing the subdivision magnetic steel, and the plurality of pairs of magnetic steels composing the coding magnetic steel are arranged in a pseudo-random code form and are used for generating an absolute signal, and the absolute signal is an absolute coding value.

The coded magnetic steel 12 is arranged and formed in a pseudo-random code (M code) mode and is combined with n magnetic sensors to output 2ⁿAn absolute code value, where n ≧ 2.

According to an alternative embodiment of the present application, the number of coded magnetic sensors is at least 2.

Fig. 3 is a schematic view of encoding magnetic steel of a magnetoelectric encoder according to an embodiment of the present application, and as shown in fig. 3, the absolute encoding value of the determination interval of 3 encoding magnetic sensors is an absolute encoding value output correspondingly for each rotation angle of the magnetoelectric encoder with 8 pairs of poles. When the motor shaft rotates, the magnetic pole change of the coded magnetic steel is sensed by the 3 magnetic sensors to generate absolute signals, and after decoding, the 3 magnetic sensors solve 8 coding states corresponding to the coding states shown in the figure 4 in the whole circle and output an absolute position 1.

And the magnetic sensor 14 is respectively matched with the subdivision magnetic steel 10 and the coding magnetic steel 12 to generate sine and cosine signals and absolute signals.

Through above-mentioned magnetoelectric encoder, provide a novel magnetoelectric encoder magnet steel and arrange the magnet steel, adopt pseudo-random code (M sign indicating number) form, realize absolute angular displacement and detect, output absolute position effectively improves magnetoelectric encoder's resolution ratio and motor control precision.

According to an alternative embodiment of the present application, the magnetic sensor 14 is equidistant from each of the subdivided magnetic steels 10 and/or the coded magnetic steels 12. The horizontal distances from the magnetic sensor 14 to the magnetic rings of the subdivision magnetic steel 10 and/or the coding magnetic steel 12 are the same, so that the accuracy of signal acquisition can be ensured.

In an alternative embodiment of the present application, the magnetic sensor 14 comprises: the device comprises a subdivision magnetic sensor and a coding magnetic sensor, wherein the subdivision magnetic sensor is matched with subdivision magnetic steel to generate sine and cosine signals, and the coding magnetic sensor is matched with coding magnetic steel to generate absolute signals.

The magnetic sensor 14 is divided into a sub-divided magnetic sensor and an encoded magnetic sensor, i.e., a sensor that senses a change in magnetic signal and obtains position information by resolving an output signal. The subdivision magnetic sensor is matched with the subdivision magnetic steel to generate sine and cosine signals, and the coding magnetic sensor is matched with the coding magnetic steel to generate absolute signals.

Fig. 5 is a structural diagram of another magnetoelectric encoder according to an embodiment of the present application, as shown in fig. 5, the magnetoelectric encoder further includes: and the amplifier 16 is used for amplifying the amplitude of the sine and cosine signals to a preset sampling range.

According to an optional embodiment of the present application, the amplifier 16 is configured to condition the sine and cosine signals, and the differential sine and cosine signal amplitudes are amplified and conditioned to within the ADC sampling range by using the amplifier 16, so that the sampling precision can be ensured. And ADC (analog to digital converter) sampling to realize analog signal digitization so as to facilitate subsequent signal processing.

Fig. 6 is a structural view of another magnetoelectric encoder according to an embodiment of the present application, as shown in fig. 6, the magnetoelectric encoder further includes: and a signal detection and correction module 18, configured to perform deviation detection on the sine and cosine signals, and correct the sine and cosine signals according to the detected deviation.

The signal detection and correction module 18 firstly detects the amplitude, direct current and phase deviation of the sine and cosine signals, and then realizes the correction of the sine and cosine signals according to the detection deviation, thereby improving the precision of the subsequent encoder position subdivision.

Fig. 7 is a structural diagram of another magnetoelectric encoder according to an embodiment of the present application, as shown in fig. 7, the magnetoelectric encoder further includes: and the subdivision module 110 is configured to subdivide the positions of the sine and cosine signals to obtain subdivided positions of the magnetoelectric encoder. And the subdivision module 110 is used for realizing position subdivision on the sine and cosine signals by using arctangent.

In an alternative embodiment of the present application, the coded magnetic sensor is further configured to decode the absolute signal to obtain an absolute position corresponding to the absolute coded value.

Fig. 8 is a structural diagram of another magnetoelectric encoder according to an embodiment of the present application, as shown in fig. 8, the magnetoelectric encoder further includes: and the processor 112 is used for splicing the subdivision position and the absolute position to obtain the target position information of the magnetoelectric encoder.

The processor 112 splices the absolute position and the subdivided position to obtain an absolute position, which is the final position information of the encoder, and provides the final position information to the driver to realize the precise control of the motor.

Fig. 9 is a structural view of another magnetoelectric encoder according to an embodiment of the present application, as shown in fig. 9, the magnetoelectric encoder further includes: and a driver 114 for acquiring the target position information and controlling the motor according to the target position information.

Fig. 10 is a flow chart of signal processing for a magneto-electric encoder according to an embodiment of the present application, as shown in fig. 10,

the magnetic sensor senses the rotating coded magnetic steel to generate an absolute signal, and the absolute signal is decoded to output an absolute position 1; and an incremental signal generated by subdividing the magnetic steel is processed by a signal to output a subdivided position, and the absolute position 1 and the subdivided position are spliced to obtain a final absolute position 2.

The absolute signal, the coding magnetic steel and n coding magnetic sensors are matched and output 2 after decodingⁿAn absolute code value, where n ≧ 2.

The incremental signals comprise sine signals and cosine signals, and are connected with the driver in a differential output mode, so that common mode interference in the transmission process is removed, and the precision of subsequent signal processing is improved.

And the sine and cosine signal conditioning is realized by amplifying and conditioning differential sine and cosine signal amplitudes to an ADC (analog to digital converter) sampling range by using an amplifier, so that the sampling precision is ensured.

The ADC samples to realize analog signal digitization, so that subsequent signal processing is facilitated.

The deviation detection and correction firstly detects the amplitude, direct current and phase deviation of the sine and cosine signals, then realizes the correction of the sine and cosine signals according to the detection deviation, and improves the precision of the subsequent encoder position subdivision.

And the subdivision module is used for realizing position subdivision of the sine and cosine signals by utilizing arc tangent.

The subdivision magnetic sensor is matched with the subdivision magnetic steel to generate an incremental signal, the incremental signal is processed through sine and cosine conditioning, ADC (analog to digital converter) sampling, deviation detection correction and subdivision modules, the subdivision angle of the encoder is calculated, a pulse counting type or arc tangent angle is adopted to calculate and judge the subdivision position, the absolute position 1 and the subdivision position are spliced to obtain the absolute position 2, the absolute position 2 is the final position information of the encoder, the final position information is provided for the driver, and the accurate control of the motor is realized. The absolute magnetoelectric encoder with high resolution and more pairs of poles with magnetic steel arranged by pseudo-random codes can be designed by combining the requirement on the resolution of the encoder.

The above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments.

In the above embodiments of the present application, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.

In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a read-Only Memory (ROM), a random access Memory (RGREEM), a removable hard disk, a magnetic disk, or an optical disk.

The foregoing is only a preferred embodiment of the present application and it should be noted that those skilled in the art can make several improvements and modifications without departing from the principle of the present application, and these improvements and modifications should also be considered as the protection scope of the present application.