阅读说明：本技术 一种双向冗余磁电编码器及其冗余检测方法 (Bidirectional redundant magnetoelectric encoder and redundancy detection method thereof ) 是由 王磊 韦欣 肖磊 张永德 姜金刚 于 2020-06-28 设计创作，主要内容包括：本发明公开了一种双向冗余磁电编码器及其检测方法,它涉及编码器制造领域。本发明结构霍尔解算板、发电机、钢柱、磁钢。本发明通过在磁钢左右两侧安装编码器信号解算板,两个编码器信号解算板上各自安装两颗相位差90°的霍尔,磁钢产生轴向磁场,霍尔元件解算磁场的变化并进行模数转换得到磁钢转过的角度值,并且当某个编码器信号解算板发生故障时,另一侧的编码器信号解算板可以继续正常工作,使得磁电编码器的工作更加稳定、精确。(The invention discloses a bidirectional redundant magnetoelectric encoder and a detection method thereof, and relates to the field of encoder manufacturing. The invention relates to a Hall resolving plate, a generator, a steel column and magnetic steel. According to the invention, the encoder signal resolving plates are arranged on the left side and the right side of the magnetic steel, two Hall sensors with 90-degree phase difference are respectively arranged on the two encoder signal resolving plates, the magnetic steel generates an axial magnetic field, the Hall sensors resolve the change of the magnetic field and perform analog-to-digital conversion to obtain the rotating angle value of the magnetic steel, and when a certain encoder signal resolving plate fails, the encoder signal resolving plate on the other side can continue to normally work, so that the work of the magnetoelectric encoder is more stable and accurate.)

1. A redundancy detection method of a bidirectional redundancy magnetoelectric encoder is applied to the bidirectional redundancy magnetoelectric encoder, and the bidirectional redundancy magnetoelectric encoder comprises a magnetoelectric encoder (1), a motor (2) and a steel column (3); the magnetoelectric encoder (1) is fixedly connected with the motor (2) through a steel column (3). The magnetoelectric encoder (1) comprises an encoder signal resolving plate a (1-1), an encoder signal resolving plate b (1-2), a single-pair Hall a1(1-3), a single-pair Hall a2(1-4), a single-pair Hall b1(1-5), a single-pair Hall b2(1-6) and single-pair magnetic steel (1-7), wherein the single-pair Hall a1(1-3), the single-pair Hall a2(1-4) and the encoder signal resolving plate a (1-1) are welded by soldering tin, the single-pair Hall b1(1-5) and the single-pair Hall b2(1-6) are welded by soldering tin with the encoder signal resolving plate b (1-2), the encoder signal resolving plate a (1-1) and the encoder signal resolving plate b (1-2) are connected with a steel column (3) hinged hole, the steel column (3) is connected with the flange plate hinging hole, and the single-pair-pole magnetic steel (1-7) is glued with the rotating shaft (2-2); the motor (2) comprises a flange plate (2-1), a rotating shaft (2-2) and a motor main body (2-3), wherein the motor main body (2-3) is in bearing connection with the rotating shaft (2-2), and the flange plate (2-1) is in screw connection with the motor main body (2-3);

the method is characterized in that: the method comprises the following specific implementation processes:

the method comprises the following steps:

resolving two groups of single-pair polar angle values; specifically, the motor rotating shaft rotates, the magnetic steel is connected with the motor rotating shaft in an adhesive way, so that the single-pole magnetic steel rotates, the single-pole magnetic steel generates an axial magnetic field, and the single-pole Hall a1,The single-antipode Hall a2 is welded with the encoder signal resolving plate a in a soldering manner, the single-antipode Hall a1 is perpendicular to the single-antipode Hall a2 and is positioned on the left side of the single-antipode magnetic steel, the single-antipode Hall b1 and the single-antipode Hall b2 are welded with the encoder signal resolving plate b in a soldering manner, the single-antipode Hall b1 is perpendicular to the single-antipode Hall b2 and is positioned on the right side of the single-antipode magnetic steel, the single-antipode magnetic steel rotates at the moment, the single-antipode Hall a1 and the single-antipode Hall a2 acquire single-antipode angle value signals A & lt- & gt, the encoder signal resolving plate a carries out analog-to-digital conversion on the angle value analog signals A & lt + & gt and A & lt- & gt to obtain angle value digital signals HA & lt + & gt &₁And resolving the formula (1) as shown in the specification:

the single pair stage Hall B1 and the single pair stage Hall B2 collect single pair polar angle value signals B + and B-, the encoder signal resolving board B carries out analog-to-digital conversion on the angle value analog signals B + and B-, angle value digital signals HB + and HB-are obtained, then the obtained single pair polar angle value digital signals HB + and HB-are resolved, and the single pair polar angle value theta is obtained₂Solving equation (2) as follows:

step two:

one group of single-antipode angle values are taken as a tabulation basis, the other group of single-antipode angle values are corrected, the mutual acquisition of the angle values obtained by calculation of the two groups of coders adopts serial port two-way communication, and the synchronism of the acquisition of the calculated values of the angle values is ensured; the output amplitudes and trends of the two groups of single-pair polar angle values are consistent, and particularly, the two groups of single-pair polar angle values theta are synchronously output₁，θ₂；

To make the angle value theta of the single pole pair₂Angle value theta with single pole pair₁The variation trends are consistent, the two groups of angle values are compared to obtain angle difference values, and the error theta of the angle values is calculated_errStored in the memory of the singlechip as a compensation table, and the angle value compensation error value theta of the current calculation period_err(i) Can be represented by formula (3):

θ_err(i)＝θ₁(i)-θ₂(i) (3)

in the above formula, i is the ith sampling point;

finally, the compensated second set of encoder single-antipodal angular value outputs θ_2f(i) Can be represented by formula (4):

θ_2f(i)＝θ₂(i)+θ_err(i) (4)

then, the angle value theta of the single pair of poles is compensated and corrected₁And theta_2fThe angle value and the output trend are consistent;

step three:

calculating two groups of encoder angular velocities according to the two groups of single-pair polar angular values, judging whether the two groups of encoder angular values are in a fault state according to the angular velocity state, and correcting: specifically according to a single-antipodal angle value theta₁Calculating the encoder rotation angular velocity ω of the current calculation period₁As shown in formula (5):

in the above formula, i is the ith sampling point, i-1 is the ith-1 sampling point, and T_sIs a calculation cycle;

according to a single-dipole angle value theta_2fCalculating the encoder rotation angular velocity ω of the current calculation period of the other encoder group₂As shown in formula (6):

setting the normal threshold value of speed deviation as ξ, and calculating the encoder rotation angular speed omega according to two groups₁，ω₂Deviation omega_errAs shown in equation (7), the current encoder fault state is determined:

ω_err＝ω₁-ω₂(7)

when | ω_errWhen | is ξ, the encoder rotation angular velocity is in the normal range, and no fault is considered to occur;

when | ω_errWhen | ω > ξ, the encoder rotation angular velocity exceeds the normal range, and a fault is considered to occur when | ω ≧ ξ₁(i)-ω₁If (i-1) | > ξ, ω is considered to be₁When the encoder plate in which the angle resolving process is located has a fault, the single antipodal angle value theta is used_2fOutputting as a final angle value, if the fault continuously occurs for more than 2 seconds, determining that the encoder board has a hardware unrecoverable fault, and if the fault continuously occurs for less than 2 seconds, determining that the encoder board can still be continuously used after the fault is recovered due to instantaneous fault caused by system noise and the like;

when | ω₂(i)-ω₂If (i-1) | > ξ, ω is considered to be₂When the encoder plate in which the angle resolving process is located has a fault, the single antipodal angle value theta is used₁Outputting as a final angle value, if the fault continuously occurs for more than 2 seconds, determining that the encoder board has a hardware unrecoverable fault, and if the fault continuously occurs for less than 2 seconds, determining that the encoder board can still be continuously used after the fault is recovered due to instantaneous fault caused by system noise and the like;

according to the schematic diagram of possible fault states, in this case theta₁When the 1000 th sampling point is failed, the calculation point uses theta_2fAs a final output;

according to the schematic diagram of possible fault states, in this case theta₁When the failure occurs at the 8210 th sampling point, the calculation point uses theta_2fAs a final output; theta_2fWhen a fault occurs at the 9500 th sampling point, the calculation point uses theta₁As final output, the encoder scheme can ensure continuous and stable output of the final angle value and improve the reliability of the encoder as can be seen from the fault case;

according to the schematic diagram of possible fault states, in this case theta_2fThe continuous failure of more than 2s at the 9500 th sampling point is considered in the state that the hardware is inIn the presence of unrecoverable faults, the magnetoelectric encoder uses theta₁As the final output.

Technical Field

The invention relates to a bidirectional redundant magnetoelectric encoder and a redundancy detection method thereof, belonging to the field of magnetoelectric encoder manufacturing.

Background

The magneto-electric encoder is a measuring device, and its principle adopts sensors such as magnetic resistance or hall element to measure magnetic material's angle or displacement, and the change of magnetic material's angle or displacement can arouse the change of resistance or voltage, amplifies the change volume through amplifier circuit, outputs pulse signal or analog signal after through singlechip processing to reach the purpose of measuring. The magnetoelectric encoder has the characteristics of vibration resistance, corrosion resistance, pollution resistance, interference resistance and wide temperature, so that the magnetoelectric encoder can be widely applied to the fields of industrial control, mechanical manufacturing, ships, textiles, printing, aviation, aerospace, radar, communication, war industry and the like.

A conventional magnetoelectric encoder commonly used for measuring an angle generally includes a stator, a rotor, a permanent magnet, a hall sensor, and a signal processing board. The permanent magnet is adhered to the rotor, and the Hall sensor is fixed on the signal processing board. Under the action of the single-pair-pole magnetic steel, voltage signals with the phase difference of 90 degrees are generated on 2 Hall elements on the encoder signal resolving plate, the voltage signals can be converted into standard digital quantity through analog-to-digital conversion, and finally the current angle value can be obtained by calculating the tangent value of the angle.

However, in an actual working environment, the signal resolving plate of the magnetic encoder is often damaged due to environmental vibration or over-high temperature, and the like, and finally the encoder cannot work normally. Aiming at the problem, the invention provides a bidirectional magnetoelectric encoder redundancy system, when a signal resolving plate of a magnetoelectric encoder on one side has a fault, the number of rotating turns can be resolved continuously by the other signal resolving plate of the magnetoelectric encoder, and the reliability of a control system is improved.

Disclosure of Invention

Aiming at the problems, the invention provides a bidirectional redundant magnetoelectric encoder and a redundancy detection method thereof, and the solution for solving the technical problems is as follows:

a redundancy detection method of a bidirectional redundancy magnetoelectric encoder is applied to the bidirectional redundancy magnetoelectric encoder;

a redundancy detection method for a bidirectional redundancy magnetoelectric encoder comprises the following specific implementation processes:

the method comprises the following steps:

resolving two groups of single-pair polar angle values; specifically, the motor rotating shaft rotates, the magnetic steel is connected with the motor rotating shaft in a gluing way, so that the single-pole magnetic steel rotates and the single-pole magnetic steel rotatesThe magnetic steel can generate an axial magnetic field, the single-antipode Hall a1 and the single-antipode Hall a2 are welded with the encoder signal resolving plate a in a soldering mode, the single-antipode Hall a1 and the single-antipode Hall a2 are perpendicular to each other and are located on the left side of the single-antipode magnetic steel, the single-antipode Hall b1 and the single-pair Hall b2 are welded with the encoder signal resolving plate b in a soldering mode, the single-pair Hall b1 and the single-pair Hall b2 are perpendicular to each other and are located on the right side of the single-antipode magnetic steel, the single-antipode magnetic steel rotates at the moment, the single-antipode Hall a1 and the single-antipode Hall a2 collect single-antipode angle value signals A + and A-, the encoder signal resolving plate a carries out analog-to-digital conversion on angle value analog signals A + and A-, and angle value digital signals HA-, and then carries out resolving on the obtained single-antipode angle value digital₁And resolving the formula (1) as shown in the specification:

the single pair stage Hall B1 and the single pair stage Hall B2 collect single pair polar angle value signals B + and B-, the encoder signal resolving board B carries out analog-to-digital conversion on the angle value analog signals B + and B-, angle value digital signals HB + and HB-are obtained, then the obtained single pair polar angle value digital signals HB + and HB-are resolved, and the single pair polar angle value theta is obtained₂Solving equation (2) as follows:

step two:

one group of single-antipode angle values are taken as a tabulation basis, the other group of single-antipode angle values are corrected, the mutual acquisition of the angle values obtained by calculation of the two groups of coders adopts serial port two-way communication, and the synchronism of the acquisition of the calculated values of the angle values is ensured; the output amplitudes and trends of the two groups of single-pair polar angle values are consistent, and particularly, the two groups of single-pair polar angle values theta are synchronously output₁，θ₂；

To make the angle value theta of the single pole pair₂Angle value theta with single pole pair₁The change trends are consistent, and the two groups of angle values are compared to obtain angle differenceAnd error the angle value by theta_errStored in the memory of the singlechip as a compensation table, and the angle value compensation error value theta of the current calculation period_err(i) Can be represented by formula (3):

θ_err(i)＝θ₁(i)-θ₂(i) (3)

in the above formula, i is the ith sampling point;

finally, the compensated second set of encoder single-antipodal angular value outputs θ_2f(i) Can be represented by formula (4):

θ_2f(i)＝θ₂(i)+θ_err(i) (4)

then, the angle value theta of the single pair of poles is compensated and corrected₁And theta_2fThe angle value and the output trend are consistent;

step three:

calculating two groups of encoder angular velocities according to the two groups of single-pair polar angular values, judging whether the two groups of encoder angular values are in a fault state according to the angular velocity state, and correcting: specifically according to a single-antipodal angle value theta₁Calculating the encoder rotation angular velocity ω of the current calculation period₁As shown in formula (5):

in the above formula, i is the ith sampling point, i-1 is the ith-1 sampling point, and T_sIs a calculation cycle;

according to a single-dipole angle value theta_2fCalculating the encoder rotation angular velocity ω of the current calculation period of the other encoder group₂As shown in formula (6);

setting the normal threshold value of speed deviation as ξ, and calculating the encoder rotation angular speed omega according to two groups₁，ω₂Deviation omega_errAs shown in equation (7), the current encoder fault state is determined:

ω_err＝ω₁-ω₂(7)

when | ω_errWhen | is ξ, the encoder rotation angular velocity is in the normal range, and no fault is considered to occur;

when | ω_errWhen | ω > ξ, the encoder rotation angular velocity exceeds the normal range, and a fault is considered to occur when | ω ≧ ξ₁(i)-ω₁If (i-1) | > ξ, ω is considered to be₁When the encoder plate in which the angle resolving process is located has a fault, the single antipodal angle value theta is used_2fOutputting as a final angle value, if the fault continuously occurs for more than 2 seconds, determining that the encoder board has a hardware unrecoverable fault, and if the fault continuously occurs for less than 2 seconds, determining that the encoder board can still be continuously used after the fault is recovered due to instantaneous fault caused by system noise and the like;

when | ω₂(i)-ω₂If (i-1) | > ξ, ω is considered to be₂When the encoder plate in which the angle resolving process is located has a fault, the single antipodal angle value theta is used₁Outputting as a final angle value, if the fault continuously occurs for more than 2 seconds, determining that the encoder board has a hardware unrecoverable fault, and if the fault continuously occurs for less than 2 seconds, determining that the encoder board can still be continuously used after the fault is recovered due to instantaneous fault caused by system noise and the like;

according to the schematic diagram of possible fault states, in this case theta₁When the 1000 th sampling point is failed, the calculation point uses theta_2fAs a final output;

according to the schematic diagram of possible fault states, in this case theta₁When the failure occurs at the 8210 th sampling point, the calculation point uses theta_2fAs a final output; theta_2fWhen a fault occurs at the 9500 th sampling point, the calculation point uses theta₁As final output, the encoder scheme can ensure continuous and stable output of the final angle value and improve the reliability of the encoder as can be seen from the fault case;

according to the schematic diagram of possible fault states, in this case theta_2fThe continuous failure of more than 2s at the 9500 th sampling point is considered in the state that the hardware is inIn the presence of unrecoverable faults, the magnetoelectric encoder uses theta₁As the final output.

The invention has the beneficial effects that:

1. adopt two encoder signal to solve the board and install the both sides that have improved the encoder in the magnet steel reliability and stability, when one of them group encoder board produced permanent trouble because hardware such as power or hall device, another group encoder can maintain work, and the reliable working property of this kind of encoder makes its very applicable to in the military and civil aerospace industry field that operational environment is complicated.

2. The first encoder board angle value and the second encoder board angle value are subjected to an initial mutual correction process, the output angle value amplitude trends are consistent, when one of the first encoder board angle value and the second encoder board angle value generates an angle value jumping point due to noise, the angle value calculated by the second encoder board can be used, similarly, when the second encoder board angle value generates a jumping point due to calculation, the data calculated by the first encoder board angle value can be used, and because the output amplitude values and the trends of the two encoder board angle values are completely consistent, the adverse effect caused by the fact that any one of the two encoder board angle values generates an angle value jumping point can be effectively avoided.

3. The encoder structure fully utilizes the distribution characteristic of magnetic lines of force of the permanent magnet in space, adopts the permanent magnet to be matched with two groups of encoder plates, reduces the cost, improves the compactness of the encoder structure and reduces the axial size of the encoder.

4. The working fault state of the current encoder is judged according to the angular velocity difference calculated by the two groups of encoders, the calculation process of the angular value is simple, the judgment method adopts a difference comparison method, the implementation is easy, the calculation process is simple, the programming is easy, and few single chip microcomputer calculation resources are occupied.

5. The two groups of encoder boards adopt two-way communication to calculate angle value data, and consistency and real-time performance of a communication process are guaranteed.

Drawings

For ease of illustration, the invention is described in detail by the following detailed description and the accompanying drawings.

FIG. 1: the invention has the overall structure schematic diagram;

FIG. 2 is a drawing: the encoder of the present invention is schematically illustrated;

FIG. 3: the motor of the invention is schematically shown;

FIG. 4 is a drawing: synchronously outputting two groups of single-antipodal angle value schematic diagrams;

FIG. 5: compensating an error oscillogram for the current calculation period angle value;

FIG. 6: compensating the corrected single-antipodal angle value oscillogram;

FIG. 7: a first possible fault condition schematic;

FIG. 8: a second possible fault condition schematic;

FIG. 9: a third possible fault condition schematic;

in the figure, 1, a magnetoelectric encoder 1-1, encoder signal resolving plates a, 1-2, encoder signal resolving plates b, 1-3, single-pair-pole Hall a1, 1-4, single-pair-stage Hall a2, 1-5, single-pair-stage Hall b1, 1-6, single-pair-stage Hall b2, 1-7, single-pair-pole magnetic steel 2, a motor 2-1, a flange plate 2-2, a rotating shaft 2-3 and a motor main body.

Detailed Description

In order that the objects, aspects and advantages of the invention will become more apparent, the invention will be described by way of example only, and in connection with the accompanying drawings. It is to be understood that such description is merely illustrative and not intended to limit the scope of the present invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.

The following further describes specific structures and embodiments of the present invention with reference to the drawings.

The structure of the invention is as shown in figure 1, figure 2 and figure 3;

a two-way redundant magnetoelectric encoder, constitute its characterized in that by magnetoelectric encoder 1, motor 2, 3 triplexes of steel column: the magnetoelectric encoder 1 is connected with a reaming hole of the motor 2 through a steel column 3; the magnetoelectric encoder 1 consists of an encoder signal resolving plate a1-1, an encoder signal resolving plate b 1-2, a single-pair Hall a 11-3, a single-pair Hall a21-4, a single-pair Hall b 11-5, a single-pair Hall b 21-6 and a single-pair magnetic steel 1-7, the signal resolving plate a1-1 of the encoder is welded by soldering tin, the single-antipode Hall a 11-3 and the single-antipode Hall a21-4 are welded by soldering tin, the single-antipode Hall b 11-5 and the single-antipode Hall b 21-6 are welded by soldering tin with the signal resolving plate b 1-2 of the encoder, the signal resolving plate a1-1 of the encoder and the signal resolving plate b 1-2 of the encoder are connected with a hinge hole of a steel column 3, the steel column 3 is connected with the hinge hole of a flange plate 2-1, and a single-antipode magnetic steel 1-7 is glued with a rotating shaft 2-2; the motor 2 consists of a flange plate 2-1, a rotating shaft 2-2 and a motor main body 2-3, the generator main body 2-3 is in bearing connection with the rotating shaft 2-2, and the flange plate 2-1 is in screw connection with the motor main body 2-3;

the motor rotating shaft 2-2 rotates, the magnetic steel 1-7 is glued with the motor rotating shaft 2-2, so that the single-pair magnetic steel 1-7 rotates, the single-pair magnetic steel 1-7 can generate an axial magnetic field, the single-pair Hall a 11-3 and the single-pair Hall a21-4 are welded with the encoder signal resolving plate a1-1 in a soldering manner, the single-pair Hall a 11-3 is perpendicular to the single-pair Hall a21-4 and is positioned at the left side of the single-pair magnetic steel 1-7, the single-pair Hall b 11-5 and the single-pair Hall b 21-6 are welded with the encoder signal resolving plate b 1-2 in a soldering manner, the single-pair Hall b 11-5 is perpendicular to the single-pair Hall b 21-6 and is positioned at the right side of the single-pair magnetic steel 1-7, at the moment, the single-pair magnetic steel 1-7 rotates, the single-pair Hall a 11-3, the single, The single-antipode Hall a21-4 collects single-antipode angle value signals, and the encoder signal resolving plate a1-1 carries out analog-to-digital conversion on the angle value analog signals to obtain angle value digital signals;

in conclusion, the redundancy detection of the bidirectional redundancy magnetoelectric encoder is realized.

A bidirectional magnetoelectric encoder redundancy system, the method is applied to a bidirectional magnetoelectric encoder;

a bidirectional magnetoelectric encoder redundancy system is provided, and the method is realized by the following steps:

the method comprises the following steps:

resolving two groups of single-pair polar angle values; specifically, for the motor shaft rotates, magnet steel and motor shaft splice to the single to the utmost point magnet steel rotates, and single to the utmost point magnet steel can produce axial magnetic field, and single to utmost point hall a1, single to the utmost point hall a2 and encoder signal solve board a soldering tin welding, and single to utmost point hall a1 and single to the utmost point hall a2 each otherThe single-pair-pole Hall signal acquisition device comprises a single-pair-pole Hall magnet, a single-pair-pole Hall b1, a single-pair-pole Hall b2, an encoder signal resolving plate b, a single-pair-pole Hall b1, a single-pair-pole Hall b2, an encoder signal resolving plate a, an angle value digital signal HA +, HA-, and an angle value digital signal HA +, HA-, which are perpendicular to each other and positioned on the left side of the single-pair-pole magnetic steel, the single-pair-pole Hall b1 and the single-pair-pole Hall b2 are perpendicular to each other and positioned on the right side of the single-pair-pole magnetic steel, the single-pair-pole magnetic steel rotates at the moment, the single-pair-pole Hall a1 and the single-pair-pole Hall a2 acquire single₁And resolving the formula (1) as shown in the specification:

the single pair stage Hall B1 and the single pair stage Hall B2 collect single pair polar angle value signals B + and B-, the encoder signal resolving board B carries out analog-to-digital conversion on the angle value analog signals B + and B-, angle value digital signals HB + and HB-are obtained, then the obtained single pair polar angle value digital signals HB + and HB-are resolved, and the single pair polar angle value theta is obtained₂Solving equation (2) as follows:

step two:

one group of single-antipode angle values are taken as a tabulation basis, the other group of single-antipode angle values are corrected, the mutual acquisition of the angle values obtained by calculation of the two groups of coders adopts serial port two-way communication, and the synchronism of the acquisition of the calculated values of the angle values is ensured; the output amplitudes and trends of the two groups of single-pair polar angle values are consistent, and particularly, the two groups of single-pair polar angle values theta are synchronously output₁，θ₂As shown in fig. 4;

to make the angle value theta of the single pole pair₂Angle value theta with single pole pair₁The variation trends are consistent, the two groups of angle values are compared to obtain angle difference values, and the error theta of the angle values is calculated_errStored in the memory of the singlechip as a compensation table, and the angle value of the current calculation period compensates the error valueθ_err(i) As shown in equation (3), the current calculation period angle value compensation error oscillogram is shown in fig. 5;

θ_err(i)＝θ₁(i)-θ₂(i) (3)

in the above formula, i is the ith sampling point;

finally, the compensated second set of encoder single-antipodal angular value outputs θ_2f(i) Can be represented by formula (4):

θ_2f(i)＝θ₂(i)+θ_err(i) (4)

then, the angle value theta of the single pair of poles is compensated and corrected₁And theta_2fThe angle value and the output trend are consistent and are shown in figure 6;

step three:

calculating two groups of encoder angular velocities according to the two groups of single-pair polar angular values, judging whether the two groups of encoder angular values are in a fault state according to the angular velocity state, and correcting: specifically according to a single-antipodal angle value theta₁Calculating the encoder rotation angular velocity ω of the current calculation period₁As shown in formula (5):

in the above formula, i is the ith sampling point, i-1 is the ith-1 sampling point, and T_sIs a calculation cycle;

according to a single-dipole angle value theta_2fCalculating the encoder rotation angular velocity ω of the current calculation period of the other encoder group₂As shown in formula (6):

setting the normal threshold value of speed deviation as ξ, and calculating the encoder rotation angular speed omega according to two groups₁，ω₂Deviation omega_errAs shown in equation (7), the current encoder fault state is determined:

ω_err＝ω₁-ω₂(7)

when | ω_errWhen | is ξ, the encoder rotation angular velocity is in the normal range, and no fault is considered to occur;

when | ω_errWhen | ω > ξ, the encoder rotation angular velocity exceeds the normal range, and a fault is considered to occur when | ω ≧ ξ₁(i)-ω₁If (i-1) | > ξ, ω is considered to be₁When the encoder plate in which the angle resolving process is located has a fault, the single antipodal angle value theta is used_2fOutputting as a final angle value, if the fault continuously occurs for more than 2 seconds, determining that the encoder board has a hardware unrecoverable fault, and if the fault continuously occurs for less than 2 seconds, determining that the encoder board can still be continuously used after the fault is recovered due to instantaneous fault caused by system noise and the like;

when | ω₂(i)-ω₂If (i-1) | > ξ, ω is considered to be₂When the encoder plate in which the angle resolving process is located has a fault, the single antipodal angle value theta is used₁Outputting as a final angle value, if the fault continuously occurs for more than 2 seconds, determining that the encoder board has a hardware unrecoverable fault, and if the fault continuously occurs for less than 2 seconds, determining that the encoder board can still be continuously used after the fault is recovered due to instantaneous fault caused by system noise and the like;

a schematic of a possible fault condition is shown in FIG. 7, where θ is₁When the 1000 th sampling point is failed, the calculation point uses theta_2fAs a final output;

a schematic of a possible fault condition is shown in FIG. 8, where θ is₁When the failure occurs at the 8210 th sampling point, the calculation point uses theta_2fAs a final output; theta_2fWhen a fault occurs at the 9500 th sampling point, the calculation point uses theta₁As final output, the encoder scheme can ensure continuous and stable output of the final angle value and improve the reliability of the encoder as can be seen from the fault case;

a schematic of a possible fault condition is shown in FIG. 9, where θ is_2fThe sampling point of 9500 th continuously fails for more than 2s, the hardware is considered to have unrecoverable failure in the state, and the magnetoelectric encoder uses theta₁As the final output.

The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.