阅读说明：本技术 一种多对极磁电编码器角度值冗余输出方法及装置 (Multi-pair-pole magnetoelectric encoder angle value redundancy output method and device ) 是由 王磊 吴殿昊 肖磊 于 2020-06-08 设计创作，主要内容包括：本发明涉及一种多对极磁电编码器角度值冗余输出方法及装置,基于多对极磁电编码器角度值冗余输出方法的实现装置,首先解算单对极角度值θ<Sub>1</Sub>与多对极角度值θ<Sub>2</Sub>；经过角度值细分进而得到细分后多对极角度值θ<Sub>3</Sub>；将θ<Sub>3</Sub>进行等比例缩放得到角度幅值范围在0～65535LSB内的多对极角度值θ<Sub>4</Sub>；将单对极角度值θ<Sub>1</Sub>向角度值θ<Sub>4</Sub>进行拟合得到拟合后的单对极角度值θ<Sub>5</Sub>；依据拟合后的单对极角度值θ<Sub>5</Sub>与角度值θ<Sub>4</Sub>的差值范围判断最终角度值θ<Sub>fin</Sub>输出,即判断是否角度值差值范围超过设定范围,从而确定角度值θ<Sub>4</Sub>是否出现解算故障,若出现解算故障,则使用角度值θ<Sub>5</Sub>作为最终角度值θ<Sub>fin</Sub>输出,若未出现解算故障,则使用角度值θ<Sub>4</Sub>作为最终角度值θ<Sub>fin</Sub>输出。本发明旨在校正磁电编码器的跳点误差,即使温度发生变化,磁电编码器测量结果可避免产生跳点,有效提高磁电编码器的测量精度。(The invention relates to a method and a device for redundantly outputting angle values of a multi-pair-pole magnetoelectric encoder 1 Angle of multiple pairs of poles theta 2 (ii) a Subdividing the angle value to obtain a subdivided multi-pair polar angle value theta 3 (ii) a Will theta 3 Carrying out equal scaling to obtain a multi-pair polar angle value theta with the angle amplitude range within 0-65535 LSB 4 (ii) a Single antipodal angle value theta 1 Angle of direction value theta 4 Fitting to obtain a fitted single-epipolar angle value theta 5 (ii) a According to the fitted single-dipole angle value theta 5 Angle of rotation theta 4 The difference range of (2) determines the final angle value theta fin Outputting, i.e. judging whether the difference range of the angle values exceeds the set range, thereby determining the angle value theta 4 Whether a resolving fault occurs or not, and if the resolving fault occurs, determining that the fault occursUsing the angle value theta 5 As a final angle value theta fin Outputting, if no resolving fault occurs, using the angle value theta 4 As a final angle value theta fin And (6) outputting. The invention aims to correct the jumping point error of the magnetoelectric encoder, and the measurement result of the magnetoelectric encoder can avoid the generation of jumping points even if the temperature changes, thereby effectively improving the measurement precision of the magnetoelectric encoder.)

1. A multi-pair-pole magnetoelectric encoder angle value redundancy output method is characterized by comprising the following steps: the method comprises the following concrete implementation processes:

(1) resolving the single-antipodal angle value theta₁Angle of multiple pairs of poles theta₂；

(2) According to a single-dipole angle value theta₁Angle of multiple pairs of poles theta₂Subdividing the angle values of the multiple pairs of polar angles to obtain subdivided multiple pairs of polar angle values theta₃；

(3) Dividing the obtained multiple pairs of polar angle values theta₃Carrying out equal scaling to obtain a multi-pair polar angle value theta with the angle amplitude range within 0-65535 LSB₄；

(4) Single antipodal angle value theta₁To the multiple pairs of polar angle values theta after the subdivision processing and the scaling₄Fitting to obtain the fitted single-antipodal angle value theta₅；

(5) Judging the fitted single-antipodal angle value theta₅With a plurality of pairs of poles scaled after subdivisionAngle value theta₄The final angle value theta is judged according to the difference range_finOutputting, when the difference range of the angle values exceeds the set range, considering the scaled multiple pairs of polar angle values theta after the subdivision processing₄If a resolving fault occurs, the fitted single-antipodal angle value theta is used₅As a final angle value theta_finOutputting, when the angle difference range does not exceed the set range, using the scaled multiple-pair polar angle value theta after subdivision processing₄As a final angle value theta_finAnd (6) outputting.

2. The angle value redundancy output method of the multi-pair-pole magnetoelectric encoder according to claim 1, characterized in that: the step (1) is implemented by adopting the following method:

the single-pole Hall and the multi-pole Hall on the Hall signal acquisition board respectively acquire a single-pole magnetic field signal and a multi-pole magnetic field signal, and further obtain a single-pole angle value signal A +, an-and a multi-pole angle value signal B + and B-; then, carrying out digital conversion on the single-antipodal angle value signals A & lt + & gt and A & lt- & gt and the multi-antipodal angle value signals B & lt + & gt and B & lt- & gt through an analog-to-digital conversion channel built in the single chip microcomputer to obtain digital signals HA & lt + & gt, HA & lt- & gt, HB & lt- & gt and HB & lt- & gt; solving the single-pole angle value theta through the inverse tangent formulas (1) and (2)₁Angle of multiple pairs of poles theta₂Wherein the angle value of a single dipole₁Angle of multiple pairs of poles theta₂All are 16-bit integer data, angle measurement range ∈ [0,65535 ]]：

3. The angle value redundancy output method of the multi-pair-pole magnetoelectric encoder according to claim 1, characterized in that: the step (2) is implemented by adopting the following method:

by a single-dipole angle value theta₁Determining the pole number P of the multi-pair polar angle value by using the high 10-bit angle value lookup table, wherein the variation range of the high 10-bit angle value is from 0 to 1023, and obtaining the subdivided multi-pair polar angle value theta by the formula (3)₃：

θ₃＝65535(P-1)+θ₂(3)

4. The angle value redundancy output method of the multi-pair-pole magnetoelectric encoder according to claim 1, characterized in that: the step (3) is implemented by adopting the following method:

dividing the obtained multiple pairs of polar angle values theta₃Scaling by the formula (4) to obtain scaled multiple-pair polar angle value theta₄：

5. The angle value redundancy output method of the multi-pair-pole magnetoelectric encoder according to claim 1, characterized in that: the step (4) is implemented by adopting the following method:

single antipodal angle value theta₁To the multiple pairs of polar angle values theta after the subdivision processing and the scaling₄Fitting is carried out, and the single-pole angle value theta is obtained through the formula (5)₁With scaled multiple pairs of polar angle values theta₄Angle deviation amount of (theta)_err：

θ_err＝θ₁-θ₄(5)

By a single-dipole angle value theta₁The high 10-bit angle value of (a) is a look-up table term, wherein the high 10-bit angle value ranges from 0 to 1023 according to the angular deviation amount theta_errAs the checked table item, the single-pole angle value theta after table look-up correction fitting is obtained by the formula (6)₅：

θ₅＝θ₁+θ_err(6)

6. The angle value redundancy output method of the multi-pair-pole magnetoelectric encoder according to claim 1, characterized in that: the step (5) is implemented by adopting the following method:

fitted single-pole angle value theta₅And a plurality of pairs of polar angle values theta which are scaled after subdivision processing₄Angular deviation determination value theta_{err_f}：

θ_{err_f}＝θ₅-θ₄(7)

When the ideal angular deviation determination value range is set to M, i.e. theta_errf> M or theta_errfWhen < -M, the scaled multi-pair polar angle value theta after the subdivision processing is considered₄Using the fitted single-pole angle value theta due to the solving fault of the software or hardware problem₅As a final angle value theta_finAnd (3) outputting:

θ_fin＝θ₅(8)

when the difference range of the angle values does not exceed the set range, namely M > theta_errWhen > -M, the scaled multi-pair polar angle value theta after subdivision processing is used₄As a final angle value theta_finAnd (3) outputting:

θ_fin＝θ₄(9)

7. a device of a multi-pair-pole magnetoelectric encoder angle value redundancy output method is characterized in that: the device of the angle value redundancy output method of the multi-pair-pole magnetoelectric encoder comprises the following steps:

the single-pair-pole Hall sensor is used for acquiring a magnetic field signal generated by the single-pair-pole magnetic steel and converting the magnetic field signal into a voltage signal;

the multi-pair-pole Hall sensor is used for acquiring magnetic field signals generated by the multi-pair-pole magnetic steel and converting the magnetic field signals into voltage signals;

the analog-to-digital converter is used for converting the single-pair voltage signals into digital signals and converting the multi-pair voltage signals into digital signals;

a single-dipole angle calculation module for converting the obtained digital value into a single-dipole angle value theta₁；

A multi-pair polar angle calculation module for converting the obtained digital quantity into a multi-pair polar angle value theta₂；

A multiple-pair polar angle value subdivision processing module for dividing the multiple-pair polar angle value theta₂The subdivision and integration are carried out, the number of poles of the multi-pair-pole magnetic steel is assumed to be 16, and the angle value theta of a single pair of poles is assumed to be₁The angle value range is 0-65535 LSB, and the angle value theta of multiple pairs of poles₂The angle value range of (a) is 0-65535 LSB, and the subdivided multi-pair polar angle value theta₃The angle value ranges from (0-65535) × 16 LSB;

an equal proportion reduction module for obtaining the subdivided multi-pair polar angle value theta₃Scaling down to 0-65535 LSB, and outputting scaled multiple polar angle values theta₄；

A fitting module for the single-antipodal angle value theta₁To the scaled pairs of polar angle values theta₄Fitting and outputting the fitted single-pole angle value theta₅；

An angle difference value range judgment module for judging the fitted single-antipodal angle value theta₅With scaled multiple pairs of polar angle values theta₄And determining a final angle value theta according to the difference range_finAnd (6) outputting.

Technical Field

The present invention relates generally to magnetoelectric encoders, and more particularly, to a method and apparatus for implementing redundant output of angle values of a multi-pair magnetoelectric encoder.

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. Fig. 1 shows an exemplary distribution diagram of hall elements of a multi-pair pole magnetoelectric encoder. In the figure, 4 Hall elements A +, B +, A-, B-, wherein the single-pole Hall elements A +, A-are distributed at 90 DEG intervals around the circumference of the stator. Under the action of the single-pair-pole magnetic steel, voltage signals with the phase difference of 90 degrees are generated on the 2 Hall elements. The multi-pair hall B + and B-are distributed around the circumference of the stator according to an angle of dividing the interval by 90 degrees by 16 (the number of pole pairs of multi-pair magnetic steel) and multiplying by odd times, so that the phase difference of the two hall electrical angles of the multi-pair encoder is ensured to be 90 degrees. Under the action of the multi-pair-pole magnetic steel, voltage signals with the phase difference of 90 degrees are generated on the 2 Hall elements, and then the current single-pair-pole angle value and the multi-pair-pole angle value are obtained through angle value resolving processing.

However, in an actual working environment, magnetic steel fragmentation often occurs to multi-pair-pole magnetic steel due to problems of environmental vibration or over-high temperature, and because output of angle values of the multi-pair-pole magnetoelectric encoders depends on corresponding relations between the multi-pair-pole angle values and single-pair-pole angle values to be resolved, when the multi-pair-pole magnetoelectric encoders are suddenly fragmented, the angle value output suddenly jumps, the angle value output is wrong, and a control system cannot be normally used.

Disclosure of Invention

Aiming at the problems, the invention provides a scheme aiming at improving the reliability of the output of the angle value of the magnetoelectric encoder, when the output of a plurality of pairs of polar angle values is abnormal, the single pair of polar angle values is adopted for outputting, the change trends of the angle values are kept consistent, the abrupt change of the angle values is avoided, the smooth output of the angle value of a servo control system is ensured, and the reliability of the whole servo control system is improved.

The invention discloses a redundant output method for angle values of a multi-pair-pole magnetoelectric encoder, which is characterized by comprising the following steps of: the method comprises the following steps:

(1) resolving the single-antipodal angle value theta₁Angle of multiple pairs of poles theta₂；

(2) According to a single-dipole angle value theta₁Angle of multiple pairs of poles theta₂Subdividing the angle values of the multiple pairs of polar angles to obtain subdivided multiple pairs of polar angle values theta₃；

(3) Dividing the obtained multiple pairs of polar angle values theta₃Carrying out equal scaling to obtain a multi-pair polar angle value theta with the angle amplitude range within 0-65535 LSB₄；

(4) Single antipodal angle value theta₁To the multiple pairs of polar angle values theta after the subdivision processing and the scaling₄Fitting to obtain the fitted single-antipodal angle value theta₅；

(5) Judging the fitted single-antipodal angle value theta₅And a plurality of pairs of polar angle values theta which are scaled after subdivision processing₄The final angle value theta is judged according to the difference range_finOutputting, when the difference range of the angle values exceeds the set range, considering the scaled multiple pairs of polar angle values theta after the subdivision processing₄If a resolving fault occurs, the fitted single-antipodal angle value theta is used₅As a final angle value theta_finOutputting, when the range of the angle value difference does not exceed the set range, using the subdivision processScaled multiple pair polar angle values θ₄As a final angle value theta_finAnd (6) outputting.

2. The angle value redundancy output method of the multi-pair-pole magnetoelectric encoder according to claim 1, characterized in that: the step (1) is implemented by adopting the following method:

the single-pole Hall and the multi-pole Hall on the Hall signal acquisition board respectively acquire a single-pole magnetic field signal and a multi-pole magnetic field signal, and further obtain a single-pole angle value signal A +, an-and a multi-pole angle value signal B + and B-; then, carrying out digital conversion on the single-antipodal angle value signals A & lt + & gt and A & lt- & gt and the multi-antipodal angle value signals B & lt + & gt and B & lt- & gt through an analog-to-digital conversion channel built in the single chip microcomputer to obtain digital signals HA & lt + & gt, HA & lt- & gt, HB & lt- & gt and HB & lt- & gt; solving the single-pole angle value theta through the inverse tangent formulas (1) and (2)₁Angle of multiple pairs of poles theta₂Wherein the angle value of a single dipole₁Angle of multiple pairs of poles theta₂All are 16-bit integer data, angle measurement range ∈ [0,65535 ]]：

3. The angle value redundancy output method of the multi-pair-pole magnetoelectric encoder according to claim 1, characterized in that: the step (2) is implemented by adopting the following method:

by a single-dipole angle value theta₁Determining the pole number P of the multi-pair polar angle value by using the high 10-bit angle value lookup table, wherein the variation range of the high 10-bit angle value is from 0 to 1023, and obtaining the subdivided multi-pair polar angle value theta by the formula (3)₃：

θ₃＝65535(P-1)+θ₂(3)

4. The angle value redundancy output method of the multi-pair-pole magnetoelectric encoder according to claim 1, characterized in that: the step (3) is implemented by adopting the following method:

will obtainIs subdivided into a plurality of pairs of polar angle values theta₃Scaling by the formula (4) to obtain scaled multiple-pair polar angle value theta₄：

5. The angle value redundancy output method of the multi-pair-pole magnetoelectric encoder according to claim 1, characterized in that: the step (4) is implemented by adopting the following method:

single antipodal angle value theta₁To the multiple pairs of polar angle values theta after the subdivision processing and the scaling₄Fitting is carried out, and the single-pole angle value theta is obtained through the formula (5)₁With scaled multiple pairs of polar angle values theta₄Angle deviation amount of (theta)_err：

θ_err＝θ₁-θ₄(5)

By a single-dipole angle value theta₁The high 10-bit angle value of (a) is a look-up table term, wherein the high 10-bit angle value ranges from 0 to 1023 according to the angular deviation amount theta_errAs the checked table item, the single-pole angle value theta after table look-up correction fitting is obtained by the formula (6)₅：

θ₅＝θ₁+θ_err(6)

6. The angle value redundancy output method of the multi-pair-pole magnetoelectric encoder according to claim 1, characterized in that: the step (5) is implemented by adopting the following method:

fitted single-pole angle value theta₅And a plurality of pairs of polar angle values theta which are scaled after subdivision processing₄Angular deviation determination value theta_{err_f}：

θ_{err_f}＝θ₅-θ₄(7)

When the ideal angular deviation determination value range is set to M, i.e. theta_{err_f}> M or theta_{err_f}When < -M, the scaled multi-pair polar angle value theta after the subdivision processing is considered₄Using the fitted single-pole angle value theta due to the solving fault of the software or hardware problem₅As a final angle value theta_finAnd (3) outputting:

θ_fin＝θ₅(8)

when the difference range of the angle values does not exceed the set range, namely M > theta_{err_f}When > -M, the scaled multi-pair polar angle value theta after subdivision processing is used₄As a final angle value theta_finAnd (3) outputting:

θ_fin＝θ₄(9)

7. a device of a multi-pair-pole magnetoelectric encoder angle value redundancy output method is characterized in that: the device of the angle value redundancy output method of the multi-pair-pole magnetoelectric encoder comprises the following steps:

the single-pair-pole Hall sensor is used for acquiring a magnetic field signal generated by the single-pair-pole magnetic steel and converting the magnetic field signal into a voltage signal;

the multi-pair-pole Hall sensor is used for acquiring magnetic field signals generated by the multi-pair-pole magnetic steel and converting the magnetic field signals into voltage signals;

the analog-to-digital converter is used for converting the single-pair voltage signals into digital signals and converting the multi-pair voltage signals into digital signals;

a single-dipole angle calculation module for converting the obtained digital value into a single-dipole angle value theta₁；

A multi-pair polar angle calculation module for converting the obtained digital quantity into a multi-pair polar angle value theta₂；

A multiple-pair polar angle value subdivision processing module for dividing the multiple-pair polar angle value theta₂The subdivision and integration are carried out, the number of poles of the multi-pair-pole magnetic steel is assumed to be 16, and the angle value theta of a single pair of poles is assumed to be₁The angle value range is 0-65535 LSB, and the angle value theta of multiple pairs of poles₂The angle value range of (a) is 0-65535 LSB, and the subdivided multi-pair polar angle value theta₃The angle value ranges from (0-65535) × 16 LSB;

an equal proportion reduction module for obtaining the subdivided multi-pair polar angle value theta₃Scaling down to 0-65535 LSB, and outputting scaled multiple polar angle values theta₄；

A fitting module for the single-epipolar angle valueθ₁To the scaled pairs of polar angle values theta₄Fitting and outputting the fitted single-pole angle value theta₅；

An angle difference value range judgment module for judging the fitted single-antipodal angle value theta₅With scaled multiple pairs of polar angle values theta₄And determining a final angle value theta according to the difference range_finAnd (6) outputting.

The invention has the beneficial effects that:

1. aiming at the problem that a large number of pairs of magnetic steel are broken due to vibration, over-temperature and other reasons in practical application, fitting the single-pair-pole angle value to the subdivided multiple-pair-pole angle values to obtain a single-pair-pole angle value consistent with the variation trend of the subdivided angle values, calculating the difference value between the two angle values, judging that the subdivided angle values are resolved possibly due to software or hardware problems when the angle value difference value exceeds a normal range, and outputting the fitted single-pair-pole angle value as a final angle value because the variation trend of the angle values is consistent, so that the control system cannot generate an out-of-control phenomenon because of abrupt change of the angle values.

2. When the angular value difference range is within a reasonable range, the multi-pair polar angular values obtained through subdivision are used as final angular values to be output, the resolution ratio of the subdivided multi-pair polar angular values is higher than that of a single-pair polar angular value, the circuit loop parameters of the servo control system can use a larger gain coefficient, and the response of the control system is fast.

3. The angle value redundancy output method provided by the invention can be realized by hardware, software or a combination of hardware and software.

Drawings

FIG. 1 is a schematic structural diagram of a magnetoelectric encoder according to an embodiment of the present invention;

FIG. 2 is a diagram of an angle calculation process according to an embodiment of the present invention;

FIG. 3 is a diagram showing a plurality of pairs of polar angle values under the condition that the subdivided processing temperature is not changed;

FIG. 4 is a diagram showing a plurality of pairs of polar angle values under the condition that the temperature is not changed after the subdivision and the equal-scale reduction;

FIG. 5 is a graph of the fitted single-dipole angle values θ₅And a plurality of pairs of polar angle values theta₄；

FIG. 6 is a graph of subdivided and scaled-down θ₄A first resolving fault condition occurs;

FIG. 7 is a graph of subdivided and scaled-down θ₄A second resolving fault condition occurs;

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.

As shown in fig. 1, fig. 2, fig. 3, fig. 4, fig. 5, and fig. 6, the present embodiment adopts the following technical solutions:

the angle resolving process diagram of the invention is shown in FIG. 2:

the single-pair Hall sensor module is used for acquiring a magnetic field signal generated by the single-pair magnetic steel and converting the magnetic field signal into a voltage signal to obtain a single-pair signal A & lt- & gt and A & lt- & gt;

the multi-pair-pole Hall sensor module is used for acquiring magnetic field signals generated by the multi-pair-pole magnetic steel and converting the magnetic field signals into voltage signals to obtain multi-pair-pole angle value signals B & lt + & gt and B & lt- & gt;

the analog-to-digital converter module is used for converting the single-pair voltage signals A + and A-into digital signals and converting the multi-pair voltage signals B + and B-into digital signals; obtaining digital signals HA +, HA-, HB-and HB-through analog-to-digital conversion;

a single-dipole angle calculation module for converting the obtained digital value into a single-dipole angle value theta₁Solving the single-pole angle value theta by an inverse tangent equation (11)₁：

A multi-pair polar angle calculation module for converting the obtained digital quantity into a multi-pair polar angle value theta₂Solving the multi-pair polar angle value theta by the arctangent formula (12)₂：

The single-pole angle value theta obtained by solving the equations (11) and (12)₁And a plurality of pairs of polar angle values theta₂As shown in fig. 2;

a multiple-pair polar angle value subdivision processing module for dividing the multiple-pair polar angle value theta₂The subdivision and integration are carried out, the number of poles of the multi-pair-pole magnetic steel is assumed to be 16, and the angle value theta of a single pair of poles is assumed to be₁The angle value range is 0-65535 LSB, and the angle value theta of multiple pairs of poles₂The range of the angle value of (1) is 0-65535 LSB; multiple pairs of polar angle values theta₂The subdivision treatment process is implemented by adopting the following method:

by a single-dipole angle value theta₁Of 10 high angle values in the range of 0 to 1023. Determining the number of poles P of the multi-pair polar angle values by looking up a table, and obtaining the subdivided multi-pair polar angle values theta by the formula (3)₃：

θ₃＝65535(P-1)+θ₂(3)

The number of poles of the multi-pair magnetic steel is 16, and the angle value theta of the single pair of poles is₁The high 10-bit angle value range (0-1023) to obtain a multi-pair polar angle value subdivision processing table as shown in the following table:

by the implementation method, the subdivided multi-pair polar angle value theta is obtained₃As shown in fig. 3;

an equal proportion reduction module for obtaining the subdivided multi-pair polar angle value theta₃Scaling down to 0-65535 LSB, and obtaining the product by equation (14)To scaled pairs of polar angle values theta₄：

θ₄＝θ₃/(65535×P)×65535 (4)

Scaled multi-pair polar angle value theta output by the equal scaling module₄As shown in fig. 4;

a fitting module for the single-antipodal angle value theta₁To the scaled pairs of polar angle values theta₄Fitting and outputting the fitted single-pole angle value theta₅The method is implemented specifically as follows:

calculating by the formula (1) to obtain a single antipodal angle value theta₁With scaled multiple pairs of polar angle values theta₄Angle deviation amount of (theta)_err:

θ_err＝θ₁-θ₄(5)

By a single-dipole angle value theta₁The high 10 value of (a) is a look-up table term, wherein the high 10 angular values range from 0 to 1023 by the angular offset θ_errAs the table to be looked up, the angle deviation correction table is obtained as shown in the following table:

single-pole angle value theta1High 10 digit value	θerr(LSB)
		0	θerr_0
1	θerr_1
		2	θerr_2
…	…
		…	…
…	…
		1021	θerr_1021
1022	θerr_1022
		1023	θerr_1023

After the angle deviation correction table is checked, the fitted single-pole angle value theta is obtained by the formula (16)₅：

θ₅＝θ₁+θ_err(6)

The fitted single-dipole angle value theta is output by the single-dipole angle value fitting module after being corrected₅And scaled pairs of polar angle values theta₄As shown in fig. 5.

An angle difference value range judgment module for judging the fitted single-antipodal angle value theta₅With scaled multiple pairs of polar angle values theta₄And determining a final angle value theta according to the difference range_finOutputting, specifically implementing the following steps:

fitted single-pole angle value theta₅And a plurality of pairs of polar angle values theta which are scaled after subdivision processing₄Angular deviation determination value theta_{err_f}：

θ_{err_f}＝θ₅-θ₄(7)

Setting an ideal angleWhen the degree deviation determination value range is M, i.e. theta_{err_f}> M or theta_{err_f}When < -M, the scaled multi-pair polar angle value theta after the subdivision processing is considered₄Using the fitted single-pole angle value theta due to the solving fault of the software or hardware problem₅As a final angle value theta_finAnd (3) outputting:

θ_fin＝θ₅(8)

when the difference range of the angle values does not exceed the set range, namely M > theta_{err_f}When > -M, the scaled multi-pair polar angle value theta after subdivision processing is used₄As a final angle value theta_finAnd (3) outputting:

θ_fin＝θ₄(9)

scaled pairs of polar angle values theta after subdivision processing₄When no fault occurs, the angle value is used as the final angle value to be output, the resolution ratio of the angle value is high, the noise is low, the servo control system can use a higher gain coefficient to control, and the scaled multi-pair polar angle value theta is subjected to subdivision processing₄When a fault occurs, the fitted single-antipodal angle value theta is used₅As a final angle value theta_finAnd outputting the multi-pair polar angle value theta, wherein the output resolution of the angle value is low and the noise is large, but the change trend of the angle value and the multi-pair polar angle value theta are subjected to scaling after the subdivision processing₄And the servo control system can not cause the runaway problem because the angle value changes suddenly.