阅读说明：本技术 一种关于有域角磁电编码器及其信号逻辑延伸精分方法 (Domain angle magnetoelectric encoder and signal logic extension fine-dividing method thereof ) 是由 王磊 肖磊 谢欣悦 曾璇 潘巍 姜金刚 于 2020-05-15 设计创作，主要内容包括：本发明公开了一种有域角编码器及其信号逻辑延伸精分方法,所述编码器充分利用有域角狭小的可工作空间,采用单对极磁钢与多对极磁钢的对称结构设计的布局,采用贴片霍尔对单对极和多对极磁场信号进行收集,针对有域角磁电编码器角度信号失真的特点,采用虚拟有域角填充方法将有域角磁电编码器的角度值信号补充完整,采用主动适应多窗口滤波角度精分方法对磁电编码器角度值进行细致划分,消除了磁电编码器角度值噪声引发的区间判断不正确问题,有效提高了有域角磁电编码器的分辨率,该方法能够所述编码器有效消除角度值跳动的影响,电机速度控制更加稳定,电流正弦特性更优,分辨率可以达到13位,精度达到±0.25°。(The invention discloses a domain angle encoder and a signal logic extension fine-dividing method thereof, wherein the encoder fully utilizes a working space with a narrow domain angle, adopts the layout of a symmetrical structural design of single-pair-pole magnetic steel and multi-pair-pole magnetic steel, adopts a surface-mounted Hall to collect single-pair-pole and multi-pair-pole magnetic field signals, adopts a virtual domain angle filling method to completely supplement the angle value signals of the domain angle magneto-electric encoder aiming at the characteristic of the distortion of the angle signals of the domain angle magneto-electric encoder, adopts an active adaptive multi-window filtering angle fine-dividing method to finely divide the angle value of the magneto-electric encoder, eliminates the problem of incorrect interval judgment caused by the noise of the angle value of the magneto-electric encoder, effectively improves the resolution ratio of the domain angle magneto-electric encoder, can effectively eliminate the influence of the jitter of the angle value by the encoder, and has more stable motor speed control, the current sinusoidal characteristic is better, the resolution can reach 13 bits, and the precision reaches +/-0.25 degrees.)

1. There is domain angle encoder magnet steel structure, its characterized in that: the layout of the symmetrical structure design of single-pair-pole magnetic steel and multi-pair-pole magnetic steel of the domain angle magnetoelectric encoder.

2. There is territory angle encoder hall distribution, its characterized in that: a pair of Hall sensors on the Hall acquisition plate corresponding to the single-pair-pole magnetic steel are distributed at an interval of 90 degrees; a pair of Hall sensors on the Hall acquisition plates corresponding to the multi-pair of polar magnetic steel are separated by 51.423 degrees.

3. An encoder comprising the encoder structure of any one of claims 1-2.

4. Method for signal logic extension refinement using an encoder according to claim 3, comprising the steps of

The method comprises the following steps: collecting magnetoelectric signals

The magnetic steel is axially magnetized by adopting the layout of the symmetrical structural design of the single-antipode magnetic steel and the multi-antipode magnetic steel, the single-antipode magnetic steel and the multi-antipode magnetic field signals are collected by adopting the surface mounted Hall, when a motor shaft rotates, the single-antipode magnetic steel and the multi-antipode magnetic steel respectively generate the single-antipode magnetic field signals and the multi-antipode magnetic field signals, and the single-antipode magnetic field signals and the multi-antipode magnetic field signals are respectively collected by the single-antipode Hall and the multi-antipode Hall on the Hall signal collecting plate;

step two: logical extension of angle value signal

In the signal collection process, single-pair signals and multi-pair signals of the limited angle magnetoelectric encoder are all distorted, angle value loss exists, and the processing of a next angle value fine-dividing algorithm has adverse effect, so that the single-pair angle value and the multi-pair angle value need to be subjected to signal logic extension to obtain a complete angle value signal interval;

Step three: fine-division filtering angle

After the single-antipole angle value and the multi-antipole angle value of the domain angle magnetoelectric encoder are obtained, in order to determine the pole number of the multi-antipole angle value corresponding to the single-antipole angle value, an active adaptation multi-window filtering angle precision division method is adopted to divide the angle interval of the encoder, and the active adaptation multi-window of the method is as shown in a formula (1)

Wherein theta is_wIs the window angle value, X is the multiple pairs of polar angle values;

firstly, performing signal logic extension on a single antipodal angle value and a plurality of antipodal angle values, then mapping the single antipodal angle value in 512 intervals, establishing an active adaptation multi-window according to formula (1), establishing a one-to-one correspondence between the numbers of the poles of the multi-antipodal angle of an upper window, a current window and a lower window and the angle values of the 512 single antipodal intervals, making a table, searching the table through the high 9 bits of the single antipodal angle value to obtain the number of the poles of the upper window, the number of the poles of the current window and the number of the poles of the lower window of the current angle value, and performing logic judgment after obtaining the numbers of the multi-antipodal angle values corresponding to the upper window, the current window and the lower window;

if the number of the multi-pair polar angle poles of the upper window is larger than that of the current window, and the value of the multi-pair polar angle is positioned in the first quadrant (0-16384), adding 1 to the final number of the multi-pair polar angles;

If the multi-pair polar angle pole number of the current window is larger than that of the lower window and the multi-pair polar angle value is positioned in the fourth quadrant (49152-;

the final subdivided angle value of the magnetoelectric encoder is as shown in formula (2)

α＝65535×P (2)

Wherein alpha is the angle value of the magnetoelectric encoder, and P is the number of poles of a plurality of pairs of poles;

the number of poles of the current multiple pairs of pole angle values can be accurately judged by utilizing the accurate number of poles of the upper window and the accurate number of poles of the lower window through a table look-up function, wherein the number of poles corresponding to each window is as shown in the formula (3):

whereincheck (theta) is a table look-up function, theta is equal to 0, 2⁹]；

The rotation angle of the motor obtained according to the above is shown as formula (4)

θ＝(f_{Number of stages}-1)×65535+X (4)

Where θ is the motor shaft rotation angle.

The technical field is as follows:

the invention relates to a domain angle magnetoelectric encoder and a signal logic extension precise division method thereof, belonging to the technical field of magnetoelectric encoder manufacture.

Background art:

currently, the mainstream products of high-precision encoders can be divided into: photoelectric encoder, magnetoelectric encoder, resolver, inductance type angle displacement sensor, capacitanc angle displacement sensor.

The magnetoelectric encoder mainly comprises a permanent magnet and a magneto-sensitive element. The magnetic sensing element can sense the space magnetic field change caused by the rotation of the permanent magnet through the Hall effect or the reluctance effect, can convert the magnetic field change into the change of a voltage signal, and can achieve the aim of detecting the angular displacement of the rotating component through a subsequent signal processing system. Compared with a rotary transformer and a photoelectric encoder, the magnetoelectric encoder has the advantages of simple structure, high temperature resistance, oil stain resistance, impact resistance, small volume, low cost and the like, and has unique advantages in the application places of miniaturization and severe environmental conditions.

However, in the field of application of magnetoelectric encoders, angle values of magnetoelectric encoders may cause a sudden change of angle values due to a jump point of the angle values or a deviation of the angle values caused by changes of environmental factors such as vibration, temperature change, magnetic field change, etc., and foreign and domestic scholars propose methods, which include two aspects: the other method is to adopt a signal processing method to improve the resolution ratio of the magnetoelectric encoder, but the existing method for improving the resolution ratio of the angular displacement encoder usually adopts software processing, but the calculation time for subdividing the angle value by using the software is long, so that the calculation lag of the angle value can be caused, and once the device works in an inapplicable use environment, the jumping point of the angle value can be generated.

Disclosure of Invention

Aiming at the problems, the technical problem to be solved by the invention is to provide a domain angle magnetoelectric encoder and a signal logic extension and precision division method thereof.

The above purpose is mainly achieved through the following scheme:

the invention discloses a domain angle magnetoelectric encoder and a signal logic extension fine-dividing method thereof, which fully utilize the narrow and small working space of a domain angle by using the domain angle encoder structure and the signal logic extension fine-dividing method thereof, eliminate the problem of inaccurate interval judgment caused by the noise of the angle value of the magnetoelectric encoder aiming at the characteristic of the distortion of the angle signal of the domain angle magnetoelectric encoder, and effectively improve the resolution of the domain angle magnetoelectric encoder.

The invention discloses a magnetic steel structure of a finite angle encoder with a domain angle encoder structure, which is characterized in that: the single-pair-pole magnetic steel and the multi-pair-pole magnetic steel of the domain angle magnetoelectric encoder are arranged in a symmetrical structure.

The invention also discloses a finite angle encoder Hall distribution, which is characterized in that: there is territory angle encoder hall distribution, its characterized in that: a pair of Hall sensors on the Hall acquisition plate corresponding to the single-pair-pole magnetic steel are distributed at an interval of 90 degrees; a pair of Hall sensors on the Hall acquisition plates corresponding to the multi-pair of polar magnetic steel are separated by 51.423 degrees.

The invention also discloses a domain angle encoder structure, and the encoder comprises the encoder structure.

The invention also discloses a domain angle encoder signal logic extension fine-dividing method, which comprises the following specific implementation processes:

the method comprises the following steps: collecting magnetoelectric signals

The magnetic steel is axially magnetized by adopting the layout of the symmetrical structural design of the single-antipode magnetic steel and the multi-antipode magnetic steel, the single-antipode magnetic steel and the multi-antipode magnetic field signals are collected by adopting the surface mounted Hall, when a motor shaft rotates, the single-antipode magnetic steel and the multi-antipode magnetic steel respectively generate the single-antipode magnetic field signals and the multi-antipode magnetic field signals, and the single-antipode magnetic field signals and the multi-antipode magnetic field signals are respectively collected by the single-antipode Hall and the multi-antipode Hall on the Hall signal collecting plate;

step two: logical extension of angle value signal

In the signal collection process, single-pair signals and multi-pair signals of the limited angle magnetoelectric encoder are all distorted, angle value loss exists, and the processing of a next angle value fine-dividing algorithm has adverse effect, so that the single-pair angle value and the multi-pair angle value need to be subjected to signal logic extension to obtain a complete angle value signal interval;

Step three: fine-division filtering angle

After the single-antipole angle value and the multi-antipole angle value of the domain angle magnetoelectric encoder are obtained, in order to determine the pole number of the multi-antipole angle value corresponding to the single-antipole angle value, an active adaptation multi-window filtering angle precision division method is adopted to divide the angle interval of the encoder, and the active adaptation multi-window of the method is as shown in a formula (1)

Wherein theta is_wIs the window angle value, X is the multiple pairs of polar angle values;

firstly, performing signal logic extension on a single antipodal angle value and a plurality of antipodal angle values, then mapping the single antipodal angle value in 512 intervals, establishing an active adaptation multi-window according to formula (1), establishing a one-to-one correspondence between the numbers of the poles of the multi-antipodal angle of an upper window, a current window and a lower window and the angle values of the 512 single antipodal intervals, making a table, searching the table through the high 9 bits of the single antipodal angle value to obtain the number of the poles of the upper window, the number of the poles of the current window and the number of the poles of the lower window of the current angle value, and performing logic judgment after obtaining the numbers of the multi-antipodal angle values corresponding to the upper window, the current window and the lower window;

if the number of the multi-pair polar angle poles of the upper window is larger than that of the current window, and the value of the multi-pair polar angle is positioned in the first quadrant (0-16384), adding 1 to the final number of the multi-pair polar angles;

If the multi-pair polar angle pole number of the current window is larger than that of the lower window and the multi-pair polar angle value is positioned in the fourth quadrant (49152-;

the final subdivided angle value of the magnetoelectric encoder is as shown in formula (2)

α＝65535×P (2)

Wherein alpha is the angle value of the magnetoelectric encoder, and P is the number of poles of a plurality of pairs of poles;

the number of poles of the current multiple pairs of pole angle values can be accurately judged by utilizing the accurate number of poles of the upper window and the accurate number of poles of the lower window through a table look-up function. The number of poles corresponding to each window is shown as formula (3):

wherein check (theta) is a table look-up function, and theta is equal to [0, 2 ]⁹]；

The rotation angle of the motor obtained according to the above is shown as formula (4)

θ＝(f_{Number of stages}-1)×65535+X (4)

Wherein theta is the rotation angle of the motor shaft;

the invention has the beneficial effects that:

1. the radial space size of the structure is reduced by adopting a symmetrical layout structure of single-pair-pole and multi-pair-pole magnetic steels.

2. The angle logic extension method is adopted to complement the range of the domain angles, the calculation processing of the whole-week angle value is realized, and the consistency and the convenience of the calculation process are improved.

3. An active adaptive filtering window is established, the adaptive adjusting capability of the width of the filtering window is improved, the reasonable window width can be provided, and the angle fine-division processing and resolving are facilitated.

4. The angle value precision division process adopts a table look-up mode, and the operation speed of the calculation process is improved.

Description of the drawings:

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

FIG. 1 is a schematic diagram of magnetic steel distribution of the encoder of the present invention

FIG. 2 is a Hall distribution diagram of the encoder according to the present invention

FIG. 3 is a schematic diagram of the operation of the magnetic-electric encoder with domain angle according to the present invention

FIG. 4 is a schematic diagram of the compensation of the virtual angle value signal according to the present invention

FIG. 5 is a schematic diagram of an active adaptive multi-window filtering angle refinement method according to the present invention

FIG. 6 is a flowchart of an active adaptive multi-window filtering angle refinement method according to the present invention

Detailed description of the preferred embodiments

The following detailed description of embodiments of the invention refers to the accompanying drawings.

The embodiments/examples described herein are specific embodiments of the present invention, are intended to be illustrative of the concepts of the present invention, are intended to be illustrative and exemplary, and should not be construed as limiting the embodiments and scope of the invention. In addition to the embodiments described herein, those skilled in the art will be able to employ other technical solutions which are obvious based on the disclosure of the claims and the specification of the present application, and these technical solutions include those which make any obvious replacement or modification of the embodiments described herein, and all of which are within the scope of the present invention.

Fig. 1 is a schematic diagram showing the magnetic steel distribution of the encoder of the present invention, and as shown in fig. 1, the magnetic steel distribution of the encoder is characterized in that: the single-pair-pole magnetic steel and the multi-pair-pole magnetic steel of the domain angle magnetoelectric encoder are arranged in a symmetrical structure.

The radial space size of the structure is reduced by adopting a symmetrical layout structure of single-pair-pole and multi-pair-pole magnetic steels.

Fig. 2 is a hall distribution diagram of an encoder according to the present invention, and as shown in fig. 2, the hall distribution of a finite angle encoder is characterized in that: there is territory angle encoder hall distribution, its characterized in that: a pair of Hall sensors on the Hall acquisition plate corresponding to the single-pair-pole magnetic steel are distributed at an interval of 90 degrees; a pair of Hall sensors on the Hall acquisition plates corresponding to the multi-pair of polar magnetic steel are separated by 51.423 degrees.

The Hall distribution of the encoder adopting the structure is adopted to fully utilize the narrow working space of the limited angle swing frame.

The invention also provides a domain angle encoder structure, wherein the encoder comprises the encoder magnetic steel structure in any embodiment.

The invention also discloses a method for carrying out signal logic extension and fine division by utilizing the encoder.

Fig. 3 shows the working principle of the domain angle magnetoelectric encoder of the present invention, and as shown in fig. 3, the domain angle range is completed by adopting an angle logic extension method, so that the calculation processing of the whole-cycle angle value is realized, and the consistency and the convenience of the calculation process are improved. And an active adaptive filtering window is established, so that the adaptive capacity of the filtering window is improved, the reasonable window width can be provided, and the angle precision processing and resolving are facilitated. The angle value precision division process adopts a table look-up mode, and the operation speed of the calculation process is improved. The method comprises the following implementation processes:

The method comprises the following steps: collecting magnetoelectric signals

The magnetic steel is axially magnetized by adopting the layout of the symmetrical structural design of the single-antipode magnetic steel and the multi-antipode magnetic steel, the single-antipode magnetic steel and the multi-antipode magnetic field signals are collected by adopting the surface mounted Hall, when a motor shaft rotates, the single-antipode magnetic steel and the multi-antipode magnetic steel respectively generate the single-antipode magnetic field signals and the multi-antipode magnetic field signals, and the single-antipode magnetic field signals and the multi-antipode magnetic field signals are respectively collected by the single-antipode Hall and the multi-antipode Hall on the Hall signal collecting plate;

step two: logical extension of angle value signal

In the signal collection process, single-pair signals and multi-pair signals of the limited angle magnetoelectric encoder are distorted, an angle value is lost, and the processing of a next angle value precise division algorithm is adversely affected, so that the single-pair polar angle value and the multi-pair polar angle value need to be subjected to signal logic extension to obtain a complete angle value signal interval;

Step three: fine-division filtering angle

After obtaining the single-antipole angle value and the multi-antipole angle value of the domain angle magnetoelectric encoder, in order to determine the number of poles of the multi-antipole angle value corresponding to the single-antipole angle value, an active adaptation multi-window filtering angle refinement method is adopted to divide the angle interval of the encoder, fig. 5 is a schematic diagram of the active adaptation multi-window filtering angle refinement method of the present invention, as shown in fig. 5, the active adaptation multi-window of the method is as shown in formula (1)

Wherein theta is_wIs the window angle value, X is the multiple pairs of polar angle values;

FIG. 6 is a flow chart of the active adaptive multi-window filtering angle refinement method of the present invention, as shown in FIG. 6, first, signal logic extension is performed on a single antipodal angle value and a multi-antipodal angle value, then, the single antipodal angle value is mapped in 512 intervals, an active adaptive multi-window is established according to formula (1), a one-to-one correspondence between the multi-antipodal angle pole number of an upper window, a current window, and a lower window and the angle values among the 512 single antipodal areas is established and made into a table, the table is searched through the high 9 bits of the single antipodal angle value to obtain the upper window pole number, the current window pole number, and the lower window pole number of the current angle value, and logic judgment is performed after the pole numbers of the multi-antipodal angle values corresponding to the upper window, the current window, and the lower window are obtained;

If the number of the multi-pair polar angle poles of the upper window is larger than that of the current window, and the value of the multi-pair polar angle is positioned in the first quadrant (0-16384), adding 1 to the final number of the multi-pair polar angles;

if the multi-pair polar angle pole number of the current window is larger than that of the lower window and the multi-pair polar angle value is positioned in the fourth quadrant (49152-;

the final subdivided angle value of the magnetoelectric encoder is as shown in formula (2)

α＝65535×P (2)

Wherein alpha is the angle value of the magnetoelectric encoder, and P is the number of poles of a plurality of pairs of poles;

the number of poles of the current multiple pairs of pole angle values can be accurately judged by utilizing the accurate number of poles of the upper window and the accurate number of poles of the lower window through a table look-up function. The number of poles corresponding to each window is shown as formula (3):

wherein check (theta) is a table look-up function, and theta is equal to [0, 2 ]⁹]；

The rotation angle of the motor obtained according to the above is shown as formula (4)

θ＝(f_{Number of stages}-1)×65535+X (4)

Wherein theta is the rotation angle of the motor shaft;

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.