阅读说明：本技术 基于磁性传感器的自纠错运动控制方法及系统 (Self-error-correction motion control method and system based on magnetic sensor ) 是由 陈杰 王承志 程泽铭 庞敬贤 路影 孙烨 于 2021-09-09 设计创作，主要内容包括：一种基于磁性传感器的自纠错运动控制方法及系统,包括通电初始化：对正预运行状态,并同步时序；位置监测：传感器单元监测电机的角位移行程位置,并编码为关联电机角位移行程的数字信号,其后分别反馈至主控单元以及DSP单元；自纠错控制：当数字信号处理得到的误差值超出设定的误差区间时,主控单元执行自纠错处理,调用纠错算法,使电机运行至目标位置。本发明利用主控单元进行有效的自纠错控制,可保证对电机的控制精度,提高电机的运转精度。(A self-error-correction motion control method and system based on a magnetic sensor comprises the following steps of power-on initialization: aligning the pre-running state and synchronizing the time sequence; position monitoring: the sensor unit monitors the angular displacement stroke position of the motor, codes the angular displacement stroke position into a digital signal related to the angular displacement stroke of the motor, and then respectively feeds the digital signal back to the main control unit and the DSP unit; self-error correction control: when the error value obtained by digital signal processing exceeds the set error interval, the main control unit executes self-error correction processing and calls an error correction algorithm to enable the motor to run to a target position. The invention utilizes the main control unit to carry out effective self-error correction control, can ensure the control precision of the motor and improve the running precision of the motor.)

1. The self-error-correction motion control method based on the magnetic sensor is applied to monitoring the angular displacement stroke position of a motor, and is characterized by comprising the following steps of:

s1): power-on initialization: aligning the pre-running state and synchronizing the time sequence;

s2): position monitoring: the main control unit sends an operation instruction to the DSP unit, the DSP unit outputs a motion pulse signal and controls the motion of the motor through the motor driving circuit, the sensor unit monitors the angular displacement stroke position of the motor, codes the angular displacement stroke position into a digital signal related to the angular displacement stroke of the motor, and then respectively feeds the digital signal back to the main control unit and the DSP unit, and the main control unit and the DSP unit respectively process the digital signal;

s3): self-error correction control: when the error value obtained by processing the digital signal exceeds the set error interval, self-error correction processing is executed, the main control unit sends a stop instruction to the DSP unit, the DSP unit stops outputting the motion pulse signal, after the system is stabilized, the main control unit calls an error correction algorithm based on the current absolute position information of the motor, recalculates the current relative position information of the motor and updates the stored information of the main control unit, and the main control unit recalculates the displacement motion parameter according to the current relative position information of the motor and updates the operation instruction input into the DSP unit to enable the motor to operate to the target position.

2. The control method according to claim 1, characterized in that: the S1 includes:

s11): the method comprises the steps that a main control unit is initialized, and an SPI module, a first TIM encoder, a first communication module, a first GPIO module and a first ADC module which are configured in the main control unit are respectively initialized and provide synchronous clock signals;

s12): initializing a DSP unit, enabling the DSP unit by a main control unit, initializing serial port parameters by the DSP unit, configuring an input port and an output port of the DSP unit, and synchronizing clock signals;

s13): initializing a sensor unit, synchronizing a clock signal, and acquiring and feeding back a digital signal related to the angular displacement travel of the motor in an initialization mode.

3. The control method according to claim 2, characterized in that: the master control unit is communicatively coupled with the DSP unit and the sensor unit;

the first GPIO module can be in butt joint with the DSP unit to acquire state information fed back by the DSP unit;

the SPI module and the first TIM encoder are respectively butted with the sensor unit so as to acquire a digital signal which is fed back by the sensor unit and is related to the angular displacement stroke of the motor;

the DSP unit is configured with a second GPIO module, a second TIM encoder, a second communication module and a second ADC module, and the motor driving circuit is configured with a sampling circuit, wherein:

the second GPIO module can be in butt joint with the main control unit, receives the input of the main control unit and feeds back the current state information of the DSP unit;

the second TIM encoder is in butt joint with the sensor unit so as to acquire a digital signal which is fed back by the sensor unit and is related to the angular displacement stroke of the motor;

the second ADC module is in butt joint with the sampling circuit so as to track a voltage signal of the motor driving circuit and convert the voltage signal of the sampling circuit into a digital signal for processing communication;

the second communication module is connected with the main control unit in a butt joint mode, has bidirectional communication capacity and can carry out input of received data and output of sent data.

4. The control method according to any one of claims 3, characterized in that: the sensor unit arranged in the method is provided with a magnetic encoder, the magnetic encoder is used for outputting digital signals related to the angular displacement stroke of the motor, the digital signals comprise one path of absolute position signals transmitted to the main control unit and one path of orthogonal pulse signals respectively transmitted to the main control unit and the DSP unit, the absolute position signals are output and connected to an SPI module of the main control unit, and the orthogonal pulse signals are respectively output and connected to a first TIM encoder and a second TIM encoder of the main control unit.

5. The control method according to claim 1, characterized in that: in said S3: the error interval is set to be an interval of +/-1 per mill of the number of coded pulses acquired by the sensor unit when the motor completes each rotation of angular displacement stroke.

6. The control method according to claim 1, characterized in that: in the error correction algorithm:

the main control unit receives an absolute position signal value S1 and a relative position signal value S2 related to the angular displacement travel of the motor, and then calculates the current relative position information of the motor through a relative position signal value S2, wherein the operation revolution number C1 of the current relative position of the motor is S2/step number of each revolution, and S2 is multiplied by the step number C1+ S1 of each revolution.

7. The control method according to claim 1, characterized in that: and the output end of the DSP unit is provided with 6 paths of PWM pulse signals, and the pulse signals act on the motor driving circuit.

8. A self-correcting motion control system based on a magnetic sensor is characterized in that: the sensor unit is provided with a magnetic encoder, monitors the angular displacement stroke position of the motor through the magnetic encoder, and feeds back digital signals to the main control unit and the DSP unit, and the main control unit is in communication coupling connection with the DSP unit and the sensor unit;

the main control unit is internally provided with an SPI module, a first TIM encoder, a first communication module, a first GPIO module and a first ADC module;

a second GPIO module, a second TIM encoder, a second communication module and a second ADC module are arranged in the DSP unit;

the motor driving circuit is provided with a sampling circuit, and the output end of the sampling circuit is coupled with the first ADC module and the second ADC module.

9. The control system of claim 7, wherein: the SPI module, the first TIM encoder and the second TIM encoder are respectively connected with the sensor units in a butt joint mode, the digital signals comprise one path of absolute position signals transmitted to the main control unit and one path of orthogonal pulse signals transmitted to the main control unit and the DSP unit respectively, the absolute position signals are output and connected to the SPI module, and the orthogonal pulse signals are output and connected to the first TIM encoder and the second TIM encoder respectively.

10. The control system of claim 7, wherein: and the output end of the DSP unit acts on the motor driving circuit through 6 paths of PWM pulse signals.

Technical Field

The invention relates to the technical field of motor driving, in particular to a self-correcting motion control method and system based on a magnetic sensor.

Background

The encoder can be divided into an optical type, a magnetic type, an induction type and a capacitance type according to a detection principle, and can be divided into an incremental type, an absolute type and a mixed type according to a scale method and a signal output form of the encoder. Compared with the traditional optical encoder, the magnetic encoder provided with the magnetic sensor does not need a complex code disc and a complex light source, the number of components is less, the detection structure is simpler, the Hall element has many advantages, the structure is firm, the size is small, the weight is light, the service life is long, the magnetic encoder is vibration-resistant, and the magnetic encoder is not afraid of pollution or corrosion of dust, oil stains, water vapor, salt fog and the like. The magnetic encoder technology is applied to the rotating position feedback of the motor, non-contact position measurement can be achieved, the risk that the encoder fails (or even is damaged) due to the vibration of a mechanical shaft in the operation process of the motor is reduced, and the stability of the operation of the motor is improved.

In the prior art, a magnetic sensor is suitable for a general position and speed detection link and is difficult to be competent for the transmission work of a high-performance and motion control system, especially for the feedback of a transmission control loop, for example, as disclosed in patent application number '202010510174.8', an encoder for a linear motor, a linear motor and a position detection method thereof obtain primary absolute position information by arranging a magnetoresistive sensor and two hall switch sensors, the magnetoresistive sensor and the hall switch sensors have low requirements on the installation environment and the magnetic field precision of secondary magnetic steel per se, so the popularization and application range is wider, the magnetoresistive sensor and the hall switch sensors have no good feedback of the communication control loop and no error correction control on the motor after detection, the operation error of the motor is large, and the precision is low; the intelligent alternating-current servo driver with high integration level and high power density, which is disclosed as patent application number '201810778977.4', integrates a multi-circle absolute value encoder acquisition circuit on a motor, just fits a motor for installation, is convenient for integration and application on a robot body, has high integration level, but fails to provide error correction control on the motor after detection, and the operation precision is difficult to guarantee.

Disclosure of Invention

In order to solve the problems in the background art, the invention provides a self-error-correction motion control method based on a magnetic sensor, which is beneficial to improving the running precision of a motor and balancing the running load pressure, and the position detection and self-error-correction control process of the self-error-correction motion control method has good stability and reliability.

The invention provides the following technical scheme:

in one aspect, the invention provides a self-error-correction motion control method based on a magnetic sensor, which is applied to monitoring the angular displacement stroke position of a motor and comprises the following steps:

s1): power-on initialization: aligning the pre-running state and synchronizing the time sequence;

s2): position monitoring: the main control unit sends an operation instruction to the DSP unit, the DSP unit outputs a motion pulse signal and controls the motion of the motor through the motor driving circuit, the sensor unit monitors the angular displacement stroke position of the motor, codes the angular displacement stroke position into a digital signal related to the angular displacement stroke of the motor, and then respectively feeds the digital signal back to the main control unit and the DSP unit, and the main control unit and the DSP unit respectively process the digital signal;

s3): self-error correction control: when the error value obtained by processing the digital signal exceeds the set error interval, self-error correction processing is executed, the main control unit sends a stop instruction to the DSP unit, the DSP unit stops outputting the motion pulse signal, after the system is stabilized, the main control unit calls an error correction algorithm based on the current absolute position information of the motor, recalculates the current relative position information of the motor and updates the stored information of the main control unit, and the main control unit recalculates the displacement motion parameter according to the current relative position information of the motor and updates the operation instruction input into the DSP unit to enable the motor to operate to the target position.

Preferably, S1 of the method includes:

s11): the method comprises the steps that a main control unit is initialized, and an SPI module, a first TIM encoder, a first communication module, a first GPIO module and a first ADC module which are configured in the main control unit are respectively initialized and provide synchronous clock signals;

s12): initializing a DSP unit, enabling the DSP unit by a main control unit, initializing serial port parameters by the DSP unit, configuring an input port and an output port of the DSP unit, and synchronizing clock signals;

s13): initializing a sensor unit, synchronizing a clock signal, and acquiring and feeding back a digital signal related to the angular displacement travel of the motor in an initialization mode.

Preferably, the master control unit communicatively couples the DSP unit with the sensor unit;

the first GPIO module can be in butt joint with the DSP unit to acquire state information fed back by the DSP unit;

the SPI module and the first TIM encoder are respectively butted with the sensor unit so as to acquire a digital signal which is fed back by the sensor unit and is related to the angular displacement stroke of the motor;

the DSP unit is configured with a second GPIO module, a second TIM encoder, a second communication module and a second ADC module, and the motor driving circuit is configured with a sampling circuit, wherein:

the second GPIO module can be in butt joint with the main control unit, receives the input of the main control unit and feeds back the current state information of the DSP unit;

the second TIM encoder is in butt joint with the sensor unit so as to acquire a digital signal which is fed back by the sensor unit and is related to the angular displacement stroke of the motor;

the second ADC module is in butt joint with the sampling circuit so as to track a voltage signal of the motor driving circuit and convert the voltage signal of the sampling circuit into a digital signal for processing communication;

the second communication module is connected with the main control unit in a butt joint mode, has bidirectional communication capacity and can carry out input of received data and output of sent data.

Preferably, the sensor unit configured in the method is configured with a magnetic encoder, the magnetic encoder is configured to output a digital signal related to the angular displacement stroke of the motor, the digital signal includes one path of absolute position signal transmitted to the main control unit and one path of orthogonal pulse signal respectively transmitted to the main control unit and the DSP unit, the absolute position signal is output to be accessed to the SPI module of the main control unit, and the orthogonal pulse signal is output to be accessed to the first TIM encoder and the second TIM encoder of the main control unit respectively.

Preferably, in S3: the error interval is set to be an interval of +/-1 per mill of the number of coded pulses acquired by the sensor unit when the motor completes each rotation of angular displacement stroke.

Preferably, in the error correction algorithm:

the main control unit receives an absolute position signal value S1 and a relative position signal value S2 related to the angular displacement travel of the motor, and then calculates the current relative position information of the motor through a relative position signal value S2, wherein the operation revolution number C1 of the current relative position of the motor is S2/step number of each revolution, and S2 is multiplied by the step number C1+ S1 of each revolution.

Preferably, the motion pulse command output by the DSP unit has 6 paths of PWM pulse signals, which are applied to the motor driving circuit.

On the other hand, the invention provides a self-error-correction motion control system based on a magnetic sensor, which comprises a main control unit, a DSP unit, a motor driving circuit, a motor and a sensor unit, wherein the sensor unit is provided with a magnetic encoder, monitors the angular displacement stroke position of the motor through the magnetic encoder, and feeds back a digital signal to the main control unit and the DSP unit, and the main control unit is in communication coupling connection with the DSP unit and the sensor unit;

the main control unit is internally provided with an SPI module, a first TIM encoder, a first communication module, a first GPIO module and a first ADC module;

a second GPIO module, a second TIM encoder, a second communication module and a second ADC module are arranged in the DSP unit;

the motor driving circuit is provided with a sampling circuit, and the output end of the sampling circuit is coupled with the first ADC module and the second ADC module.

Preferably, the SPI module, the first TIM encoder and the second TIM encoder are respectively docked with the sensor unit, the digital signal includes an absolute position signal transmitted to the main control unit in one path and an orthogonal pulse signal transmitted to the main control unit and the DSP unit in one path, the absolute position signal is output and accessed to the SPI module, and the orthogonal pulse signal is output and accessed to the first TIM encoder and the second TIM encoder.

Preferably, the output end of the DSP unit acts on the motor driving circuit through 6 paths of PWM pulse signals.

The invention has the beneficial effects that: the method comprises the steps that an operation instruction is sent to a DSP unit through a main control unit, the DSP unit outputs a motion pulse signal to control the motion of a motor, a sensor unit carries out position detection on the angular displacement stroke of the motor and feeds back the position detection to the main control unit and the DSP unit respectively to form effective closed-loop feedback, when an error value obtained by digital signal processing exceeds a set error interval, self-error correction processing is carried out, control loop feedback is carried out, self-error correction control is completed, a method for setting the error interval by adopting the number of coded pulses of the sensor unit is adopted, effective self-error correction control is carried out by the main control unit, the control precision of the motor is effectively guaranteed, and the operation precision of the motor is improved.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention.

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a flow chart of the initialization of the present invention;

FIG. 3 is a flow chart of the location monitoring of the present invention;

FIG. 4 is a flow chart of the self-error correction control of the present invention;

FIG. 5 is a schematic structural diagram of an embodiment of the present invention;

FIG. 6 is a circuit diagram of a motor driving circuit according to an embodiment of the present invention;

fig. 7 is a circuit diagram of a sampling circuit according to an embodiment of the present invention.

Detailed Description

The embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

In a specific embodiment, the invention provides a self-correction motion control system based on a magnetic sensor, which is applied to monitoring and correcting the angular displacement stroke position of a motor and comprises a main control unit, a DSP unit, a motor driving circuit, a motor and a sensor unit, wherein the sensor unit is provided with a magnetic encoder, the sensor unit monitors the angular displacement stroke position of the motor through the magnetic encoder and feeds back digital signals to the main control unit and the DSP unit, the main control unit is in communication coupling connection with the DSP unit and the sensor unit, and the output end of the DSP unit acts on the motor driving circuit through 6 paths of PWM pulse signals;

the main control unit, the DSP unit, the motor driving circuit, the motor and the sensor unit are integrally combined into a closed loop system, the sensor unit feeds back collected data of angular displacement travel positions of the associated motor to the main control unit and the DSP unit, and when the main control unit and the DSP unit judge that the angular displacement travel positions exceed an error interval, self-error correction control is started.

The main control unit is internally provided with an SPI module, a first TIM encoder, a first communication module, a first GPIO module and a first ADC module;

a second GPIO module, a second TIM encoder, a second communication module and a second ADC module are arranged in the DSP unit;

the motor driving circuit is provided with a sampling circuit, and the output end of the sampling circuit is coupled with the first ADC module and the second ADC module.

The SPI module, the first TIM encoder and the second TIM encoder are respectively connected with the sensor units, digital signals of the TIM encoder comprise one path of absolute position signals transmitted to the main control unit and one path of orthogonal pulse signals transmitted to the main control unit and the DSP unit respectively, the absolute position signals are output and connected to the SPI module, and the orthogonal pulse signals are output and connected to the first TIM encoder and the second TIM encoder respectively.

The invention provides a self-error-correction motion control method based on a magnetic sensor, which is applied to monitoring the angular displacement stroke position of a motor, a sensor unit arranged in the method is provided with a magnetic encoder, the magnetic encoder is used for outputting a digital signal related to the angular displacement stroke of the motor, a main control unit is communicatively coupled with a DSP unit and the sensor unit, please refer to figures 1-4, the method comprises the following steps:

s1): power-on initialization: aligning the pre-running state and synchronizing the time sequence;

s11): the method comprises the steps that a main control unit is initialized, and an SPI module, a first TIM encoder, a first communication module, a first GPIO module and a first ADC module which are configured in the main control unit are respectively initialized and provide synchronous clock signals;

s12): initializing a DSP unit, enabling the DSP unit by a main control unit, initializing serial port parameters by the DSP unit, configuring an input port and an output port of the DSP unit, and synchronizing clock signals;

s13): initializing a sensor unit, synchronizing a clock signal, and acquiring and feeding back a digital signal related to the angular displacement travel of the motor in an initialization mode.

S2): position monitoring: the main control unit sends an operation instruction to the DSP unit, the DSP unit outputs a motion pulse signal and controls the motion of the motor through the motor driving circuit, the sensor unit monitors the angular displacement stroke position of the motor, codes the angular displacement stroke position into a digital signal related to the angular displacement stroke of the motor, and then respectively feeds the digital signal back to the main control unit and the DSP unit, and the main control unit and the DSP unit respectively process the digital signal;

s3): self-error correction control: when the error value obtained by digital signal processing exceeds a set error interval, self-error correction processing is executed, the main control unit sends a stop instruction to the DSP unit, the DSP unit suspends outputting a motion pulse signal, after a system is stabilized, the main control unit calls an error correction algorithm based on the current absolute position information of the motor, recalculates the current relative position information of the motor and updates the stored information of the main control unit, the main control unit recalculates a displacement motion parameter according to the current relative position information of the motor and updates an operation instruction input into the DSP unit to enable the motor to operate to a target position, and the error interval is set to be an interval within +/-1 per thousand of the number of coded pulses collected by the sensor unit when the motor completes each-revolution angular displacement stroke.

On the basis of the embodiment, the first GPIO module can be in butt joint with the DSP unit to acquire state information fed back by the DSP unit, and the first GPIO module performs enabling, resetting and limiting operations on the DSP unit;

the SPI module and the first TIM encoder are respectively butted with the sensor unit so as to obtain a digital signal which is fed back by the sensor unit and is related to the angular displacement stroke of the motor;

on the basis of the above embodiment, the DSP unit is configured with a second GPIO module, a second TIM encoder, a second communication module, and a second ADC module, and the motor drive circuit is configured with a sampling circuit, wherein:

the second GPIO module can be in butt joint with the main control unit, receives the input of the main control unit and feeds back the current state information of the DSP unit;

the second TIM encoder is in butt joint with the sensor unit to acquire a digital signal which is fed back by the sensor unit and is related to the angular displacement stroke of the motor;

the second ADC module is in butt joint with the sampling circuit so as to track the voltage signal of the motor driving circuit and convert the voltage signal of the sampling circuit into a digital signal for processing communication;

the second communication module is connected with the main control unit in a butt joint mode, has bidirectional communication capacity and can carry out input of received data and output of sent data.

The digital signal related to the angular displacement travel of the motor comprises an absolute position signal transmitted to the main control unit and an orthogonal pulse signal transmitted to the main control unit and the DSP unit respectively, the absolute position signal is output and connected to the SPI module of the main control unit, and the orthogonal pulse signal is output and connected to the first TIM encoder and the second TIM encoder of the main control unit respectively.

In a specific embodiment, the method comprises the steps of initializing, sequentially initializing a main control unit, a DSP unit and a sensor unit, acquiring a digital signal of an angular displacement stroke of a motor by the sensor unit, successfully acquiring an absolute position signal and an orthogonal pulse signal by the main control unit, sending an instruction to the DSP unit by the main control unit to control the motor to return to a start position, and finishing initialization;

aiming at the position monitoring of a motor, a system is in a stable operation state, a main control unit sends an operation instruction to a DSP unit, the DSP unit executes related motion parameters in the operation instruction, a motor driving circuit outputs voltage and current excitation according to the motion parameters input by the DSP unit, the motor operates, a magnetic encoder in a sensor unit senses digital signals related to the angular displacement stroke of the motor, the main control unit can simultaneously receive an absolute position signal and orthogonal pulse signals, specifically, an SPI module of the main control unit obtains an absolute position signal value S1 related to the actual angular displacement stroke of the motor, a first TIM encoder obtains a relative position signal value S2 contained in the orthogonal pulse signals related to the actual angular displacement stroke of the motor, and an absolute position comparison value P1 is obtained through calculation of the relative position signal value S2, wherein the P1 is S2% of steps per revolution (% is a remainder), the main control unit compares the absolute position signal value S1 with the absolute position comparison value P1 through dynamic continuous feedback to obtain an error value;

in the self-error-correction control, when an error value exceeds a set error interval, namely an interval of +/-1 ‰ of the number of coded pulses, namely a self-error-correction function main control unit is started to send a motion stop command, the system is waited to be stable, the motor operation is stopped stably, an error correction algorithm is called, the operation revolution number C1 of the current relative position of the motor is calculated to be S2 per revolution step number, the signal value S2 of the current relative position of the motor is corrected and calculated, S2 is the revolution number multiplied by C1+ S1, S2 is updated to a relative position register in the main control unit, the main control unit issues a new motion command to the DSP unit, the DSP unit receives the new motion command, the motor is acted through a motor driving circuit, and finally the motor is operated to a target position, and self-error correction is completed.

The sampling circuit respectively feeds back the electric signal data of the motor driving circuit to the first ADC module and the second ADC module, and the electric signal data are converted into the electric signal data on the output line of the associated motor driving circuit so as to monitor the output state of the motor driving circuit and ensure the effective operation of the motor.

In a further embodiment, the DSP unit integrates advanced peripherals for digital motor and motion control applications to provide a true single chip DSP controller for 6 PWM signal outputs when the motor is driven, the motion pulse instruction output by the DSP unit has 6 PWM pulse signals, the motion pulse instruction includes position parameters to achieve motor speed and angular displacement stroke, the 6 PWM pulse signals act on a motor driving circuit, the motor driving circuit includes a current sampling and protection circuit, works to act on the motor by a combination of six power tubes, the DSP unit receives quadrature pulse signals through a second TIM encoder.

Referring to fig. 5-7, taking the example that the main control unit selects STM32F407VET6, and the sensor unit selects AS5047P, after initialization is completed, when position detection is performed, the closed-loop system continuously operates self-checking, the main control unit and the DSP unit cooperate to output a motion pulse instruction, the motor drive circuit acts on the motor, the sensor unit monitors angular displacement stroke data of the motor, and an encoder element in the sensor unit outputs two paths of signals: the first path is as follows: the sensor unit outputs absolute position signals to the SPI modules (PB12, PB13, PB14, PB15 pins) by using a 4-wire SPI serial interface (NSS, SCK, MISO, MOSI pins), and the second path thereof is: the sensor unit utilizes ABI ports (A, B, I/PWM pins) to respectively output orthogonal pulse signals to a first TIM encoder (PA3, PA6 and PA7 pins) and a second TIM encoder (CAP3/IOPA5, CAP1/IOPA3 and CAP2/IOPA4 pins) which are arranged, the orthogonal pulse signals are ABI orthogonal encoding signals, the main control unit calculates an absolute position comparison value P1 through the relative position value S2 of the ABI orthogonal encoding signals related to the motor, P1 is S2% of the number of steps per revolution, if the difference value of P1 and the absolute position S1 fed back by the SPI module exceeds an error interval, self-error correction processing is carried out, when the pulse number of the magnetic encoder arranged on the sensor unit is set to be 6, the frequency number is 4, the number of steps per revolution is 40983, the actual absolute position multiplied by detection bits is in the interval of 0-16383, the system continuously detects the stroke angular displacement of the motor, taking two circles as an example, the starting point of the first circle is 0, the end point is 16383, the starting point of the second circle is 16384, and the end point is 32767, if the end point of the second circle is smaller than 32767 or larger than 32772 during detection, the system starts the self-error correction control. The resolution of the ABI orthogonal code signal is programmable and is determined according to the application occasion and the precision requirement of the actual motor.

Although the preferred embodiments of the present patent have been described in detail, the present patent is not limited to the above embodiments, and various changes and modifications can be made within the knowledge of those skilled in the art without departing from the spirit of the present patent.