阅读说明：本技术 一种感应式角度传感器参数采集方法 (Induction type angle sensor parameter acquisition method ) 是由 石洪 王柳 左鹏 高虎 崔小强 程亚博 王德才 周柏 郭潜 穆如传 于 2021-08-13 设计创作，主要内容包括：一种感应式角度传感器参数采集方法,该方法采用上位机、转台、感应式角度传感器相结合的方法来自动采集并计算传感器信号的中间电平及幅值。该方法通过积分的方式求取感应式角度传感器的中间电平,降低底噪及高次谐波的影响,提高解算的精度；同时,该方法将感应式角度传感器内部的程序分为工作模式及调试模式两个部分,通过上位机的控制切换感应式角度传感器的工作状态,并且结合转台以实现自动采集计算传感器信号中间电平及幅值的功能,可以应用于感应式角度传感器的生产调试过程及使用安装过程。(A parameter acquisition method for an induction type angle sensor is characterized in that a method of combining an upper computer, a rotary table and the induction type angle sensor is adopted to automatically acquire and calculate the intermediate level and amplitude of a sensor signal. The method solves the intermediate level of the inductive angle sensor in an integral mode, reduces the influence of background noise and higher harmonics, and improves the resolving precision; meanwhile, the method divides the program in the induction type angle sensor into a working mode and a debugging mode, switches the working state of the induction type angle sensor through the control of an upper computer, realizes the function of automatically acquiring and calculating the intermediate level and the amplitude of the sensor signal by combining a turntable, and can be applied to the production debugging process and the use and installation process of the induction type angle sensor.)

1. An induction type angle sensor parameter acquisition method is characterized in that: the device for realizing the method comprises an induction type angle sensor, an upper computer, a rotary table and a USB-to-422 converter;

when the intermediate level and the amplitude are collected and calculated, the inductive angle sensor is installed on the rotary table and is switched to a debugging mode under the control of the upper computer, and the inductive angle sensor directly outputs the A/D value of an original signal through a 422 interface and simultaneously rotates the rotary table;

when the rotary table rotates, the upper computer continuously collects AD values output by the induction type angle sensor through a converter from 422 to a USB (universal serial bus), and calculates the collected values to obtain the middle level and amplitude of sine and cosine signals; after the upper computer finishes calculation, the intermediate level and the amplitude are sent to the inductive angle sensor again, the inductive angle sensor receives the intermediate level and the amplitude and stores the intermediate level and the amplitude into the memory, and after debugging is finished, the upper computer sends an instruction, and the inductive angle sensor is switched to a normal working mode.

2. The method of claim 1, wherein the method comprises: the induction type angle sensor is internally integrated with a microprocessor, an A/D conversion chip, a memory and a 422 interface circuit,

the A/D conversion chip is used for collecting original sine and cosine signals;

the memory is used for storing the intermediate voltage and amplitude of the sine and cosine signals;

the microprocessor is used for reading the values of the A/D chip and the memory and carrying out angle calculation;

the 422 interface circuit is used for data transmission;

the internal program of the microprocessor is divided into a working mode and a debugging mode, and is switched by the instruction of the upper computer.

3. The method of claim 1 or 2, wherein the method comprises the steps of: the turntable is a device capable of rotating at a constant speed and outputting an angle, and the upper computer can receive the output angle of the turntable through the USB interface and control the rotating speed of the turntable;

when the induction type angle sensor is arranged on the rotary table, the upper computer controls the rotary table to rotate at a constant speed through the USB interface and sends an instruction to enable the induction type angle sensor to enter a debugging mode;

when the rotary table enters a constant speed state, the upper computer continuously collects AD values output by a circle of induction type angle sensors at regular time by taking 0 degree output by the rotary table as a starting point and 360 degrees as an end point; the upper computer continuously collects a circle of sine and cosine AD values to obtain m sine values and m cosine values, and the collected values are integrated to obtain an average value, so that the middle level u of the sine and cosine signal can be obtained_s+V_ref、u_c+V_ref(ii) a Meanwhile, the maximum value and the minimum value are obtained by judging the AD value output by the inductive angle sensor, and the amplitude V of the sine and cosine signal is calculated_s、V_c；

After the upper computer completes calculation, the intermediate level and the amplitude are sent to the inductive angle sensor, and the inductive angle sensor receives the intermediate level and the amplitude and stores the intermediate level and the amplitude into a memory; after debugging is completed, the upper computer sends an instruction, and the induction type angle sensor is switched to a normal working mode.

4. The method of claim 1 or 2, wherein the method comprises the steps of: the rotary table is a manual or automatic rotating tool;

when the induction type angle sensor is arranged on the rotary table, the upper computer directly sends a debugging command to control the induction type angle sensor to enter a debugging mode, and simultaneously, the rotary table is manually or automatically enabled to continuously rotate in one direction;

the upper computer continuously collects the AD value output by the induction type angle sensor, respectively obtains n continuous maximum values and n continuous minimum values through judgment, and integrates the series of maximum values and minimum values to obtain an average value, namely the sine and cosine chord signal intermediate level u_s+V_ref、u_c+V_ref(ii) a Meanwhile, the amplitude V of the sine and cosine signal can be obtained by carrying out difference processing on the extreme points_s、V_c；

After the upper computer completes calculation, the intermediate level and the amplitude are sent to the inductive angle sensor, and the inductive angle sensor receives the intermediate level and the amplitude and stores the intermediate level and the amplitude into a memory; after debugging is completed, the upper computer sends an instruction, and the induction type angle sensor is switched to a normal working mode.

Technical Field

The invention relates to the technical field of signal simulation and test, in particular to a parameter acquisition method for an induction type angle sensor.

Background

When the angle of the inductive angle sensor is resolved, the inverse tangent calculation needs to be carried out on the sine and cosine signals, and the calculation accuracy of the acquisition calculation of the sine and cosine signal intermediate level and amplitude has a large influence on the resolution accuracy of the inductive angle sensor. The traditional method is to directly acquire the pull-up voltage of sine and cosine signals as an intermediate level, measure the amplitude of the sine and cosine signals by using an oscilloscope, manually calculate the intermediate level and the amplitude, and modify the program of the induction type angle sensor.

Because the coil of the inductive angle sensor is influenced by the noise floor signal and the higher harmonics of the magnetic field, the actual sine and cosine waveforms of the inductive angle sensor are v_S＝V_ssin(n*θ_m)+u_s+V_ref、v_c＝V_ccos(n*θ_m)+u_c+V_refIn which V is_s、V_cIs the amplitude of sine and cosine signal, n is the polar pair number of the induction type angle sensor, u_s、u_cResidual DC levels, V, of sine and cosine signals, respectively_refIs the pull-up voltage of sine and cosine signals. Pull-up voltage V for directly collecting sine and cosine signals_refResidual DC level u neglecting noise signal and higher harmonics as intermediate level_s、u_cWill result in larger errors in calculation(ii) a Moreover, due to production and manufacturing differences, the direct current level and the amplitude of each induction type angle sensor are inconsistent, manual testing and program modification of each induction type angle sensor lead to a long debugging period, and the program is difficult to solidify, so that batch production is not facilitated.

Meanwhile, a part of induction type angle sensors are of a split structure, so that the ideal installation effect is difficult to achieve when customers actually install the angle sensors, the intermediate level and amplitude of sine and cosine signals are inconsistent with the production debugging state, and the final precision of products is reduced.

Disclosure of Invention

The invention aims to solve the technical problem of the prior art and provides a parameter acquisition method of an inductive angle sensor, which combines an upper computer, a rotary table and the inductive angle sensor to automatically acquire and calculate the intermediate level and the amplitude of a sensor signal.

The technical problem to be solved by the present invention is achieved by the following technical means. The invention relates to a parameter acquisition method of an induction type angle sensor, and a device for realizing the method comprises the induction type angle sensor, an upper computer, a rotary table and a USB-to-422 converter;

when the intermediate level and the amplitude are collected and calculated, the inductive angle sensor is installed on the rotary table and is switched to a debugging mode under the control of the upper computer, and the inductive angle sensor directly outputs the A/D value of an original signal through a 422 interface and simultaneously rotates the rotary table;

when the rotary table rotates, the upper computer continuously collects AD values output by the induction type angle sensor through a converter from 422 to a USB (universal serial bus), and calculates the collected values to obtain the middle level and amplitude of sine and cosine signals; after the upper computer finishes calculation, the intermediate level and the amplitude are sent to the inductive angle sensor again, the inductive angle sensor receives the intermediate level and the amplitude and stores the intermediate level and the amplitude into the memory, and after debugging is finished, the upper computer sends an instruction, and the inductive angle sensor is switched to a normal working mode.

The technical problem to be solved by the present invention can be further solved by the following technical solution, for the above-mentioned parameter collection method of the induction type angle sensor, the induction type angle sensor is internally integrated with a microprocessor, an a/D conversion chip, a memory and a 422 interface circuit,

the A/D conversion chip is used for collecting original sine and cosine signals;

the memory is used for storing the intermediate voltage and amplitude of the sine and cosine signals;

the microprocessor is used for reading the values of the A/D chip and the memory and carrying out angle calculation;

the 422 interface circuit is used for data transmission;

the internal program of the microprocessor is divided into a working mode and a debugging mode, and is switched by the instruction of the upper computer.

The technical problem to be solved by the invention can be further realized by the following technical scheme that for the parameter acquisition method of the induction type angle sensor, the turntable is a device capable of rotating at a constant speed and outputting an angle, and meanwhile, the upper computer can receive the output angle of the turntable through a USB interface and control the rotating speed of the turntable;

when the induction type angle sensor is arranged on the rotary table, the upper computer controls the rotary table to rotate at a constant speed through the USB interface and sends an instruction to enable the induction type angle sensor to enter a debugging mode;

when the rotary table enters a constant speed state, the upper computer continuously collects AD values output by a circle of induction type angle sensors at regular time by taking 0 degree output by the rotary table as a starting point and 360 degrees as an end point; the upper computer continuously collects a circle of sine and cosine AD values to obtain m sine values and m cosine values, and the collected values are integrated to obtain an average value, so that the middle level u of the sine and cosine signal can be obtained_s+V_ref、u_c+V_ref(ii) a Meanwhile, the maximum value and the minimum value are obtained by judging the AD value output by the inductive angle sensor, and the amplitude V of the sine and cosine signal is calculated_s、V_c；

After the upper computer completes calculation, the intermediate level and the amplitude are sent to the inductive angle sensor, and the inductive angle sensor receives the intermediate level and the amplitude and stores the intermediate level and the amplitude into a memory; after debugging is completed, the upper computer sends an instruction, and the induction type angle sensor is switched to a normal working mode.

The technical problem to be solved by the invention can be further realized by the following technical scheme that for the parameter acquisition method of the induction type angle sensor, the rotary table is a manual or automatic rotating tool;

when the induction type angle sensor is arranged on the rotary table, the upper computer directly sends a debugging command to control the induction type angle sensor to enter a debugging mode, and simultaneously, the rotary table is manually or automatically enabled to continuously rotate in one direction;

the upper computer continuously collects the AD value output by the induction type angle sensor, respectively obtains n continuous maximum values and n continuous minimum values through judgment, and integrates the series of maximum values and minimum values to obtain an average value, namely the sine and cosine chord signal intermediate level u_s+V_ref、u_c+V_ref(ii) a Meanwhile, the amplitude V of the sine and cosine signal can be obtained by carrying out difference processing on the extreme points_s、V_c；

After the upper computer completes calculation, the intermediate level and the amplitude are sent to the inductive angle sensor, and the inductive angle sensor receives the intermediate level and the amplitude and stores the intermediate level and the amplitude into a memory; after debugging is completed, the upper computer sends an instruction, and the induction type angle sensor is switched to a normal working mode.

Compared with the prior art, the invention has the following remarkable advantages:

(1) the intermediate level of the inductive angle sensor is obtained in an integral mode, the influence of background noise and higher harmonics is reduced, and the resolving precision is improved;

(2) according to the invention, the program in the induction type angle sensor is divided into a working mode and a debugging mode, and can be switched according to requirements, so that the modification of the program is avoided, and the version control of the program is improved;

(3) the invention adopts the cooperation of the induction type angle sensor, the rotary table and the upper computer, can automatically calculate the intermediate level and the amplitude of the induction type angle sensor according to the actual installation condition, improves the production efficiency and is beneficial to the installation of users.

Drawings

FIG. 1 is a general functional block diagram of the present invention;

FIG. 2 is a schematic block diagram of an inductive angle sensor of the present invention;

FIG. 3 is a sine and cosine waveform of the inductive angle sensor of the present invention;

FIG. 4 is a flow chart of parameter acquisition using a constant velocity turntable according to the present invention;

fig. 5 is a flow chart of parameter acquisition using a simple turntable according to the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings of the present invention, and it is obvious that the described embodiments are some embodiments of the present invention, 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 invention.

Embodiment 1, referring to fig. 1, a method for acquiring parameters of an inductive angle sensor uses the following four modules: the device comprises an induction type angle sensor, an upper computer, a rotary table and a USB-to-422 converter;

the induction type angle sensor is arranged on the rotary table, the debugging software of the upper computer sends out a control instruction to switch the induction type angle sensor to a debugging mode, and the induction type angle sensor directly outputs the A/D value v of an original signal at the moment_S＝V_ssin(n*θ_m)+u_s+V_ref、v_c＝V_ccos(n*θ_m)+u_c+V_refThe upper computer collects the AD value output by the induction type angle sensor through a 422-to-USB converter, and carries out integral operation on the collected value to obtain the middle level u of the sine and cosine signal_s+V_ref、u_c+V_refAnd an amplitude V_s、V_c；

After the upper computer completes calculation, the intermediate level and the amplitude are sent to the inductive angle sensor, and the inductive angle sensor receives the intermediate level and the amplitude and stores the intermediate level and the amplitude into a memory; after debugging is completed, the upper computer sends an instruction, and the induction type angle sensor can be switched to a normal working mode.

Embodiment 2, referring to fig. 1-2, the inductive angle sensor internally integrates a microprocessor, an a/D conversion chip, a memory and 422 interface circuits,

wherein the A/D conversion chip is used for collecting original sine and cosine signals v_S＝V_ssin(n*θ_m)+u_s+V_ref、v_c＝V_ccos(n*θ_m)+u_c+V_ref；

The memory is used for storing the intermediate voltage u of sine and cosine signals_s+V_ref、u_c+V_refAnd an amplitude V_s、V_c；

The microprocessor is used for reading the values of the A/D chip and the memory and carrying out angle calculation;

the 422 interface circuit is used for data transmission;

when the induction type angle sensor works in a debugging mode, the microprocessor reads an original value of the A/D conversion chip and outputs the original value at regular time through a 422 interface, and simultaneously receives sine and cosine intermediate voltage and amplitude values calculated by an external upper computer and stores the sine and cosine intermediate voltage and amplitude values in the memory; and when the induction type angle sensor works in a normal working mode, the microprocessor reads the original value of the A/D conversion chip and the sine and cosine intermediate voltage and amplitude value in the memory to carry out angle calculation, and transmits the calculated angle through the 422 interface.

In embodiment 3, referring to fig. 1 to 4, the turntable may be a device capable of rotating at a constant speed and outputting an angle, and the upper computer may receive the output angle of the turntable through the USB interface and control the rotation speed of the turntable;

when the induction type angle sensor is installed on the rotary table, the upper computer controls the rotary table to rotate at a constant speed through the USB interface and sends an instruction to enable the induction type angle sensor to enter a debugging mode;

when the rotary table enters a constant speed state, the upper computer continuously collects AD values output by a circle of induction type angle sensors at regular time by taking 0 degree output by the rotary table as a starting point and 360 degrees as an end point; the upper computer continuously collects a circle of sine and cosine AD values to obtain m sine values v_S1Λv_SmAnd m cosine values v_c1Λv_cmIntegrating the collected values to obtain an average value, and obtaining a middle level u of the sine and cosine signals_s+V_ref＝∑(v_s1Λv_sm)/m、u_c+V_ref＝∑(v_c1Λv_cm) (ii)/m; meanwhile, the maximum value v can be obtained by judging the AD value output by the inductive angle sensor_Smax、v_cmax and minimum v_Smin、v_cmin, calculating the amplitude V of sine and cosine signals_s＝v_smax-v_smin、V_c＝v_cmax-v_cmin；

And after the upper computer completes calculation, the intermediate level and the amplitude are sent to the inductive angle sensor, and the inductive angle sensor receives the intermediate level and the amplitude and stores the intermediate level and the amplitude into the memory.

Embodiment 4, referring to fig. 1, 2, 3, and 5, the turntable may also adopt a simple rotating tool or an actual installation device of a customer;

when the induction type angle sensor is installed on the rotary table, the upper computer directly sends a debugging command to control the induction type angle sensor to enter a debugging mode, and meanwhile, the rotary table is manually or automatically enabled to continuously rotate in one direction;

the upper computer continuously collects the AD value output by the induction type angle sensor and respectively acquires n continuous maximum values v through judgment_S1maxΛv_Snmax、v_c1maxΛv_cnmax and n consecutive minima v_S1minΛv_Snmin、v_c1minΛv_cnmin, integrating the maximum and minimum values to obtain average value to obtain sine signal middle levelAnd the cosine signal middleLevel of electricityMeanwhile, the amplitude of sine and cosine signals can be obtained by carrying out difference processing on the extreme points

After the upper computer completes calculation, the intermediate level and the amplitude are sent to the inductive angle sensor, and the inductive angle sensor receives the intermediate level and the amplitude and stores the intermediate level and the amplitude into a memory; after debugging is completed, the upper computer sends an instruction, and the induction type angle sensor is switched to a normal working mode.