CN114593754B - Data analysis/correction/method and system, storage medium and magnetic encoder - Google Patents
Data analysis/correction/method and system, storage medium and magnetic encoder Download PDFInfo
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- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
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- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
- G01D5/142—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices
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Abstract
The invention provides a data analysis/correction/method and system, a storage medium and a magnetic encoder, wherein the data analysis method comprises the following steps: collecting feedback data signals generated by the magnetic encoder; the feedback data signal is used for feeding back the running condition of electronic equipment; calculating a difference between the feedback data signals; the differences between the feedback data signals include gain differences and/or bias differences. The data analysis method/correction method/system, the storage medium and the magnetic encoder can realize the correction of the gain and the accuracy of the gain, thereby improving the decoding accuracy of the encoder and realizing the accurate measurement of the motor rotation speed and the motor rotor position.
Description
Technical Field
The invention belongs to the technical field of encoders, relates to a correction method and a correction system, and particularly relates to a data analysis/correction/method/system, a storage medium and a magnetic encoder.
Background
In order to achieve accurate control of the motor rotational speed, the motor rotor position, an encoder is generally used as a feedback element to measure the motor speed, the rotor position. And the motor driver adjusts output voltage according to the encoded feedback position information, so that the motor can run according to the set speed and position.
The Hall element converts a magnetic field around the magnetic ring into a voltage signal, the voltage signal is transmitted to an ADC module in the MCU, the voltage signal is digitized, the position of the encoder is calculated through software in the MCU, and the calculated result is transmitted to an output module to be supplied to upper equipment (such as a motor controller) for reading. The configuration module is used for storing encoder information, such as encoder ID codes in production, correction data of gain, offset data and the like.
For a magnetic encoder and decoder algorithm, under the influence of factors such as magnetic ring magnetizing performance, hall element characteristics, welding positions and the like, under the action of the same magnetic ring, the output voltage of each Hall element is different, and the performance of the encoder is directly influenced.
Therefore, how to provide a data analysis/correction/method/system, a storage medium and a magnetic encoder to solve the defects of the prior art that the gain correction cannot be accurately realized, the performance of the encoder is directly affected, etc., has been a technical problem to be solved by those skilled in the art
Disclosure of Invention
In view of the above-mentioned drawbacks of the prior art, an object of the present invention is to provide a data analysis/correction method and system, a storage medium, and a magnetic encoder, for solving the problem that the performance of the encoder is directly affected due to the fact that the gain correction cannot be accurately implemented in the prior art.
To achieve the above and other objects, according to one aspect of the present invention, a method for analyzing data is provided, which is applied to a magnetic encoder; the data analysis method comprises the following steps: collecting feedback data signals generated by the magnetic encoder; the feedback data signal is used for feeding back the running condition of electronic equipment; calculating a difference between the feedback data signals; the differences between the feedback data signals include gain differences and/or bias differences.
In an embodiment of the present invention, the feedback data signal is a voltage signal sequence generated after each of the magnetic sensors of the magnetic encoder rotates according to the corresponding magnetic ring.
In an embodiment of the present invention, the calculating step of the bias difference between the feedback data signals includes: accumulating the voltage values of the sine voltage signal and the cosine voltage signal of the integer period respectively to obtain a sine voltage accumulation sum and a cosine voltage accumulation sum; the sine voltage accumulation sum and the cosine voltage accumulation sum are divided by accumulation times respectively to obtain an average voltage signal of the sine voltage signal and an average voltage signal of the cosine voltage signal; the average voltage signal of the sine voltage signal is the sine bias difference of the magnetic encoder, and the average voltage signal of the cosine voltage signal is the cosine bias difference of the magnetic encoder.
In an embodiment of the present invention, the step of calculating the gain difference between the feedback data signals includes: taking the sampling sequence number of the corresponding maximum sine voltage signal in each period as the center, taking the voltage signal data in the range of the appointed sampling sequence number as the fitting data of the sine voltage signal, and taking the sampling sequence number of the corresponding maximum cosine voltage signal in each period as the center, and taking the voltage signal data in the range of the appointed sampling sequence number as the fitting data of the cosine voltage signal; calculating a maximum fitting sine voltage signal of the sine voltage signals in each period and a maximum fitting cosine voltage signal of the cosine voltage signals in each period through a fitting algorithm; and respectively adding the calculated maximum fitting sine voltage signal and the maximum fitting cosine voltage signal under a plurality of periods, and then averaging to obtain the gain difference of the magnetic encoder.
In an embodiment of the present invention, the step of calculating a maximum fit sine voltage signal of the sine voltage signal in each period or calculating a maximum fit cosine voltage signal of the cosine voltage signal in each period includes: fitting a quadratic fitting curve related to the sine voltage signal or the cosine voltage signal by taking the sampling sequence number of fitting data of the sine voltage signal or the cosine voltage signal as a variable; solving a first derivative of the second fitting curve, and searching for a sampling sequence number of the corresponding sine voltage signal or a sampling sequence number of the cosine voltage signal when the first derivative is 0; substituting the sampling sequence numbers of the sine voltage signals or the cosine voltage signals into a quadratic fitting curve related to the sine voltage signals or the cosine voltage signals respectively, and calculating the maximum fitting sine voltage signals of the sine voltage signals in each period within a specified sampling sequence number range or the maximum fitting cosine voltage signals of the cosine voltage signals in each period within the specified sampling sequence number range; and respectively adding the calculated maximum fitting sine voltage signals or maximum fitting cosine voltage signals under a plurality of periods, and then averaging to obtain the gain difference of the magnetic encoder.
In another aspect, the present embodiment provides a method for correcting data, which is applied to a magnetic encoder; the data correction method comprises the following steps: acquiring a difference between feedback data signals of the magnetic encoder; the differences between the feedback data signals include gain differences and/or bias differences; and correcting attribute parameters of the magnetic encoder according to the difference between feedback data signals of the magnetic encoder so as to control the operation of the electronic equipment.
In yet another aspect, the present invention provides a data analysis system for use with a magnetic encoder; the data analysis system comprises: the acquisition module is used for acquiring feedback data signals generated by the magnetic encoder; the feedback data signal is used for feeding back the running condition of electronic equipment; a calculation module for calculating a difference between the feedback data signals; the differences between the feedback data signals include gain differences and/or bias differences.
In another aspect, the present invention provides a data correction system for use with a magnetic encoder; the data correction system includes: a data acquisition module for acquiring differences between feedback data signals of the magnetic encoder; the differences between the feedback data signals include gain differences and/or bias differences; and the correction module is used for correcting the attribute parameters of the motor connected with the magnetic encoder according to the difference between the feedback data signals of the magnetic encoder so as to control the operation of the electronic equipment.
Still another aspect of the present invention provides a storage medium having stored thereon a computer program which, when executed by a processor, implements a method of analyzing the data and/or implements a method of correcting the data.
The present invention provides a magnetic encoder comprising: a processor and a memory; the memory is used for storing a computer program, and the processor is used for executing the computer program stored in the memory, so that the magnetic encoder executes the analysis method of the data or realizes the correction method of the data.
As described above, the data analysis/correction/method and system, the storage medium, and the magnetic encoder according to the present invention have the following advantages:
the data analysis/correction/method and system, the storage medium and the magnetic encoder can realize the correction of the gain and the accuracy of the gain, thereby improving the decoding accuracy of the encoder and realizing the accurate measurement of the motor rotation speed and the motor rotor position.
Drawings
Fig. 1 is a schematic structural diagram of an electronic device to which the present invention is applied.
FIG. 2 is a flow chart of a method for analyzing data according to an embodiment of the invention.
Fig. 3 shows waveforms of the acquired feedback data signal of the present invention.
Fig. 4 shows a schematic diagram of a fitting curve fitted to fitting data of a sine voltage signal or fitting data of a cosine voltage signal according to the present invention.
FIG. 5 is a flow chart of a data correction method according to an embodiment of the invention.
FIG. 6A is a schematic diagram of a data analysis system according to an embodiment of the invention.
FIG. 6B is a schematic diagram of a data correction system according to an embodiment of the invention.
Description of element reference numerals
1. Electronic equipment
11. Motor with a motor housing
12. Magnetic encoder
13. Motor driver
61. Data analysis system
611. Acquisition module
612. Digitizing module
613. Calculation module
62. Data correction system
621. Data acquisition module
622. Correction module
S21 to S23 steps
S51 to S52 steps
Detailed Description
Other advantages and effects of the present invention will become apparent to those skilled in the art from the following disclosure, which describes the embodiments of the present invention with reference to specific examples. The invention may be practiced or carried out in other embodiments that depart from the specific details, and the details of the present description may be modified or varied from the spirit and scope of the present invention. It should be noted that the following embodiments and features in the embodiments may be combined with each other without conflict.
It should be noted that the illustrations provided in the following embodiments merely illustrate the basic concept of the present invention by way of illustration, and only the components related to the present invention are shown in the drawings and are not drawn according to the number, shape and size of the components in actual implementation, and the form, number and proportion of the components in actual implementation may be arbitrarily changed, and the layout of the components may be more complicated.
Example 1
The embodiment provides a data analysis method which is applied to a magnetic encoder; the data analysis method comprises the following steps:
collecting feedback data signals generated by the magnetic encoder; the feedback data signal is used for feeding back the running condition of electronic equipment;
calculating a difference between the feedback data signals; the differences between the feedback data signals include gain differences and/or bias differences.
The method of analyzing the data provided in this embodiment will be described in detail below with reference to the drawings. The data analysis method is applied to a magnetic encoder. The magnetic encoder comprises an electronic device 1 as shown in fig. 1. The electronic device 1 includes: a motor 11, a magnetic encoder 12 connected to the motor 11, and a motor driver 13 connected to the motor 11 and the magnetic encoder 12, respectively.
The magnetic encoder 13 comprises a magnetic ring, an induction unit, at least one magneto-sensitive element and a processing unit.
In this embodiment, the magnetic ring is sleeved on the motor 11.
Specifically, the magnetic ring with two layers is sleeved on the motor in a lamination mode, namely the magnetic ring can be sleeved on the motor in a one-layer mode or in a multi-layer mode. Each layer of magnetic ring consists of a pair of magnetic poles or a plurality of pairs of magnetic poles, wherein a single pair of magnetic poles means that the layer of magnetic ring only comprises an N pole and an S pole, and a plurality of pairs of magnetic poles means that the layer of magnetic ring comprises a plurality of N poles and a plurality of S poles.
As an embodiment, when the magnetic ring is sleeved on the motor in a one-layer manner, the interior of the magnetic ring can be divided into a plurality of layers of magnetic rings, and the magnetic rings are only seen as a whole in appearance. As another embodiment, when the magnetic ring is sleeved on the motor in a one-layer manner, the interior of the motor can be only one layer of magnetic ring. When the magnetic ring is sleeved on the motor in a multi-layer mode, the magnetic ring is divided into an upper layer magnetic ring and a lower layer magnetic ring, one implementation mode of the magnetic ring is that the upper layer magnetic ring can be a single pair of magnetic poles, and the lower layer magnetic ring can be a plurality of pairs of magnetic poles; in another embodiment of the magnetic ring, the upper magnetic ring and the lower magnetic ring are both single-pair magnetic poles; yet another embodiment of the magnetic ring is that the upper layer magnetic ring and the lower layer magnetic ring are both multiple pairs of magnetic poles.
Each layer of magnetic ring is provided with a corresponding magnetic sensitive element, the height of the magnetic sensitive element (namely the axial direction of the motor) does not protrude from the lower surface of the layer of magnetic ring, and does not protrude from the upper surface of the layer of magnetic ring, namely the minimum number of the magnetic sensitive elements is the number of layers of magnetic rings, so that the magnetic field intensity of each layer of magnetic ring can be detected.
In this embodiment, the magnetic ring is a radial magnetizing magnetic ring.
In this embodiment, the sensing unit is a chip die or a PCB. Specifically, the induction unit is arranged on the inner side of the concentric circular arc of the motor rear end cover. The induction unit and the motor are axially arranged in parallel, so that the normal line of the magnetic ring is perpendicular to the plane of the PCB or the chip wafer, and the amplitude of the magneto-sensitive element is consistent and the phase difference is fixed.
In this embodiment, a processing unit and a power supply unit may be added to the sensing unit. The processing unit is connected with the magneto-sensitive element, and the processing unit can correct the phase and the amplitude, and calculate the position and the speed. And the power supply unit is connected with the processing unit and is used for supplying power to the processing unit.
At least one magneto-sensitive element is disposed on the sensing unit. In one embodiment, the magneto-sensitive element is enclosed inside the induction unit, in another embodiment the magneto-sensitive element is mounted directly on the surface of the induction unit. The magnetic sensor converts the magnetic field intensity of the detected magnetic ring into a voltage signal.
In this embodiment, the magneto-sensitive element is a Hall element, an AMR element, a GMR element, or a TMR element.
The number of the corresponding magnetic sensitive elements is at least one whether the magnetic sensitive elements are a layer of magnetic rings formed by a plurality of pairs of magnetic poles or a layer of magnetic rings formed by a single pair of magnetic poles.
When one layer of magnetic ring is provided with a plurality of corresponding magnetic sensitive elements, the phase difference adopted by two adjacent magnetic sensitive elements is 90 degrees. In this embodiment, the distance d=2×r×sin (β) between every two magneto-sensitive elements; beta=90 °/(2N), N is the pole pair number of the magnetic ring, R is the distance between the center of the magnetic ring and the induction area of the magnetic sensor, and one of the voltage signals output by two adjacent magnetic sensors is a sine voltage signal, and the other is a cosine voltage signal.
Referring to fig. 2, a flow chart of a method for analyzing data is shown in an embodiment. As shown in fig. 2, the data analysis method specifically includes the following steps:
s21, collecting feedback data signals generated by the magnetic encoder. In this embodiment, the feedback data signal is used to feed back an operation condition of an electronic device. The feedback data signals are voltage signal sequences generated after the magnetic sensitive elements of the magnetic encoder rotate according to the corresponding magnetic rings. A waveform diagram of the collected feedback data signal is shown in fig. 3.
Specifically, the step S21 includes collecting a voltage signal sequence generated after each magnetic sensor rotates according to the corresponding magnetic ring. The cycle number of the sine voltage signals contained in the collected voltage signal sequence is not less than the pole pair number of the magnetic rings, the cycle number of the cosine voltage signals is not less than the pole pair number of the magnetic rings (if one magnetic ring is provided with two corresponding magneto-sensitive elements, and the phase difference of two adjacent magneto-sensitive elements is 90 degrees, for example, 5 pairs of magnetic poles, at least 5 sine voltage signal cycles and 5 cosine voltage signal cycles) so as to ensure that the sampled data can analyze the voltage generated by each pair of magnetic poles on the Hall.
S22, digitizing the feedback data signal. In particular, the digitized feedback data signals include sine voltage signals and cosine voltage signals.
S23, calculating the difference between the digitized feedback data signals. The differences between the feedback data signals include gain differences and/or bias differences.
Specifically, the step of calculating the bias difference between the feedback data signals includes:
accumulating the voltage values of the sine voltage signal and the cosine voltage signal in integer periods respectively to obtain sine voltage accumulation and cosine voltage accumulation sums, namely adding all the voltage values of the sine voltage signal in integer periods (for example, 2 periods) to obtain sine voltage accumulation sums, and adding all the voltage values of the cosine voltage signal in integer periods (for example, 2 periods) to obtain cosine voltage accumulation sums;
the sine voltage summation and the cosine voltage summation are divided by the summation times respectively to obtain the average voltage signal of the sine voltage signalAnd the average voltage signal of the cosine voltage signal +.>The average voltage signal of the sinusoidal voltage signals is the sinusoidal offset difference offset of the magnetic encoder sin The average voltage signal of the cosine voltage signal is the cosine offset difference offset of the magnetic encoder cos 。
The step of calculating the gain difference between the feedback data signals comprises:
specifically, when a (layer) magnetic ring has two corresponding magneto-sensitive elements, the step of correcting the gain difference between the feedback data signals includes: searching a sampling sequence number of a maximum sine voltage signal of the sine voltage signal in each period and a sampling sequence number of a maximum cosine voltage signal of the cosine voltage signal in each period in the collected voltage signal sequence respectively;
taking the sampling sequence number of the corresponding maximum sine voltage signal in each period as the center, taking the voltage signal data in the range of the appointed sampling sequence number as the fitting data of the sine voltage signal, taking the sampling sequence number of the corresponding maximum cosine voltage signal in each period as the center, and taking the voltage signal data in the range of the appointed sampling sequence number as the fitting data of the cosine voltage signal; the setting of the specified sampling number range is related to the sampling frequency and the rotational frequency of the motor so that the selected fitting data can be fitted to a parabola, such as shown in fig. 4.
And respectively calculating the maximum fitting sine voltage signal of the sine voltage signal in each period and the maximum fitting cosine voltage signal of the cosine voltage signal in each period through a fitting algorithm.
The step of calculating the maximum fitting sine voltage signal of the sine voltage signal in each period or the maximum fitting cosine voltage signal of the cosine voltage signal in each period is the same, and the method comprises the following steps:
1. fitting a quadratic fitting curve related to the sine voltage signal or the cosine voltage signal y by taking the sampling serial number of fitting data of the sine voltage signal or the cosine voltage signal as a variable x;
the quadratic fit curve is specifically:
y＝ax 2 +bx+c
wherein a, b, c are the fitted coefficients.
2. Solving a first derivative of the quadratic fit curve, and searching for the sampling sequence number x of the corresponding sine voltage signal or cosine voltage signal when the first derivative is 0 max ，。
Specifically, y' =2ax+b, x max ＝-b/2a；
Sampling sequence number x of the sine voltage signal or the cosine voltage signal to be solved max Substitution y=ax 2 The equation +bx+c calculates the maximum fitting sine voltage signal of the sine voltage signal in each period within the specified sampling sequence number range, or the maximum fitting cosine voltage signal y of the cosine voltage signal in each period within the specified sampling sequence number range max ：y max ＝b 2 /4a-b 2 /2a+c。
Through the steps, the maximum fitting sine voltage signal of the sine voltage signal in each period in the specified sampling sequence number range and the maximum fitting cosine voltage signal of the cosine voltage signal in each period in the specified sampling sequence number range in the acquired voltage signal sequence can be calculated.
For example: if the number of sensitive elements corresponding to the magnetic ring is two, i sine voltage signals in periods and i cosine voltage signals in periods exist in the collected voltage signal sequence, the calculated maximum fitting sine voltage signals and maximum fitting cosine voltage signals in different periods are calculated, and i is an integer multiple of the number of magnetic pole pairs, as shown in table 1:
table 1: under each pair of magnetic poles, different Hall fitting to obtain maximum voltage value
| Cycle number | 1 | 2 | 3 | i | |
| sin Hall | sm_1 | sm_2 | sm_3 | … | sm_i |
| cos Hall | cm_1 | cm_2 | cm_3 | … | cm_i |
Wherein sm_i represents the maximum fitting sinusoidal voltage signal in sinusoidal voltage signals of the ith period in the acquired voltage signal sequence of the sin hall (i.e. the magneto-sensitive element 1); cm_i represents the maximum fit of cos hall (i.e. the magneto-sensitive element 2) to the cosine voltage signal of the i-th period in the sequence of acquired voltage signals.
The calculated maximum fitting sine voltage signal and maximum fitting cosine voltage signal under a plurality of periods are added and averaged respectively to obtain the Gain difference of the magnetic encoder, namely sine Gain sin = (sm_1+ … +sm_i)/i, cosine Gain cos ＝(cm_1+…+cm_i)/i。
The embodiment also provides a data correction method applied to a magnetic encoder; the data correction method comprises the following steps:
acquiring a difference between feedback data signals of the magnetic encoder; the differences between the feedback data signals include gain differences and/or bias differences;
and correcting the difference between the feedback data signals to control the operation of the electronic device.
The method of correcting the data provided by the present embodiment will be described in detail below with reference to the drawings. Referring to fig. 5, a flow chart of a data correction method in an embodiment is shown. As shown in fig. 5, the data correction method specifically includes the following steps:
s51, obtaining the difference between feedback data signals of the magnetic encoder. The differences between the feedback data signals include gain differences and/or bias differences.
In particular, the offset difference between the feedback data signals comprises a sinusoidal offset difference offset of the magnetic encoder sin And cosine offset difference offset cos 。
The Gain difference between the feedback data signals comprises a sinusoidal Gain sin = (sm_1+ … +sm_i)/i and cosine Gain cos ＝(cm_1+…+cm_i)/i。
S52, correcting attribute parameters of a motor connected with the magnetic encoder according to the difference between feedback data signals of the magnetic encoder so as to control the operation of the electronic equipment.
Specifically, the step S52 includes filtering a voltage signal of a sine channel/a voltage signal of a cosine channel generated by the magnetic ring on the magnetic sensor, and calculating a rotation angle θ of the motor after filtering, and calculating a normalized position and velocity.
When a magnetic ring is corresponding to two magnetic sensors, the calculation formula of the rotation angle theta of the motor is as follows,wherein the ADC sin ADC for the currently detected sinusoidal voltage signal cos Is the currently detected cosine voltage signal.
When a magnetic ring corresponds to a magnetic sensor, the rotation angle theta of the motor is calculated as follows:
θ＝arcsin(ADC sin -offset sin )
the data analysis method and the data correction method can realize the correction of the gain of the encoder and the accuracy of the gain, thereby improving the decoding accuracy of the encoder and realizing the accurate control of the motor rotation speed and the motor rotor position.
The present embodiment also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements a method of analyzing the data and/or a method of correcting the data.
One of ordinary skill in the art will appreciate that the computer-readable storage medium is: all or part of the steps for implementing the method embodiments described above may be performed by computer program related hardware. The aforementioned computer program may be stored in a computer readable storage medium. The program, when executed, performs steps including the method embodiments described above; and the aforementioned storage medium includes: various media that can store program code, such as ROM, RAM, magnetic or optical disks.
Example two
The embodiment provides a data analysis system which is applied to a magnetic encoder; the data analysis system comprises:
the acquisition module is used for acquiring feedback data signals generated by the magnetic encoder; the feedback data signal is used for feeding back the running condition of electronic equipment;
a calculation module for calculating a difference between the feedback data signals; the differences between the feedback data signals include gain differences and/or bias differences.
The analysis system of the data provided by the present embodiment will be described in detail below with reference to the drawings. The data analysis system according to the present embodiment is applied to a magnetic encoder. Referring to fig. 6A, a schematic diagram of a principle structure of an analysis system for data is shown. As shown in fig. 6A, the analysis system 61 of the data includes an acquisition module 611, a digitizing module 612 and a calculating module 613.
The acquisition module 611 is configured to acquire a feedback data signal generated by the magnetic encoder. In this embodiment, the feedback data signal is used to feed back an operation condition of an electronic device. The feedback data signals are voltage signal sequences generated after the magnetic sensitive elements of the magnetic encoder rotate according to the corresponding magnetic rings. A waveform diagram of the collected feedback data signal is shown in fig. 3.
Specifically, the acquisition module 611 acquires a voltage signal sequence generated after each magnetic sensor rotates according to the corresponding magnetic ring. The number of periods of the sine voltage signals contained in the collected voltage signal sequence is not less than the number of pole pairs of the magnetic rings, the number of periods of the cosine voltage signals is not less than the number of pole pairs of the magnetic rings (if one magnetic ring is provided with two corresponding magneto-sensitive elements, and the phase difference between two adjacent magneto-sensitive elements is 90 degrees), for example, 5 pairs of magnetic poles, at least 5 sine voltage signal periods and 5 cosine voltage signal periods are obtained, and the sampled data can be ensured to analyze the voltage generated by each pair of magnetic poles on the Hall.
The digitizing module 612 is configured to digitize the feedback data signal. In particular, the digitized feedback data signals include sine voltage signals and cosine voltage signals.
The calculation module 613 is configured to calculate the difference between the digitized feedback data signals. The differences between the feedback data signals include gain differences and/or bias differences.
Specifically, the calculating module 613 respectively accumulates the voltage values of the sine voltage signal and the cosine voltage signal in integer periods to obtain a sine voltage accumulation sum, i.e. all the voltage values of the sine voltage signal in integer periods (for example: 2 periods) are added to obtain a sine voltage accumulation sum, and all the voltage values of the cosine voltage signal in integer periods (for example: 2 periods) are added to obtain a cosine voltage accumulation sum; the sine voltage summation and the cosine voltage summation are divided by the summation times respectively to obtain the average voltage signal of the sine voltage signalAnd the average voltage signal of the cosine voltage signal +.>The average voltage signal of the sinusoidal voltage signals is the sinusoidal offset difference offset of the magnetic encoder sin The average voltage signal of the cosine voltage signal is the cosine offset difference offset of the magnetic encoder cos 。
The step of correcting the gain difference between the feedback data signals when the (layer) magnetic ring has two corresponding magneto-sensitive elements by the calculation module 613 includes: searching a sampling sequence number of a maximum sine voltage signal of the sine voltage signal in each period and a sampling sequence number of a maximum cosine voltage signal of the cosine voltage signal in each period in the collected voltage signal sequence respectively; taking the sampling sequence number of the corresponding maximum sine voltage signal in each period as the center, taking the voltage signal data in the range of the appointed sampling sequence number as the fitting data of the sine voltage signal, taking the sampling sequence number of the corresponding maximum cosine voltage signal in each period as the center, and taking the voltage signal data in the range of the appointed sampling sequence number as the fitting data of the cosine voltage signal; the setting of the specified sampling number range is related to the sampling frequency and the rotational frequency of the motor so that the selected fitting data can be fitted to a parabola, such as shown in fig. 5. And respectively calculating the maximum fitting sine voltage signal of the sine voltage signal in each period and the maximum fitting cosine voltage signal of the cosine voltage signal in each period through a fitting algorithm.
The calculating module 613 calculates a maximum fit sine voltage signal of the sine voltage signal in each period or a maximum fit cosine voltage signal of the cosine voltage signal in each period, including:
1. fitting a quadratic fitting curve related to the sine voltage signal or the cosine voltage signal y by taking the sampling serial number of fitting data of the sine voltage signal or the cosine voltage signal as a variable x;
the quadratic fit curve is specifically:
y＝ax 2 +bx+c
wherein a, b, c are the fitted coefficients.
2. Solving a first derivative of the quadratic fit curve, and searching for the sampling sequence number x of the corresponding sine voltage signal or cosine voltage signal when the first derivative is 0 max ，。
Specifically, y' =2ax+b, x max ＝-b/2a；
Sampling the solved sine voltage signal or cosine voltage signalSample number x max Substitution y=ax 2 The equation +bx+c calculates the maximum fitting sine voltage signal of the sine voltage signal in each period within the specified sampling sequence number range, or the maximum fitting cosine voltage signal y of the cosine voltage signal in each period within the specified sampling sequence number range max ：y max ＝b 2 /4a-b 2 /2a+c。
Through the steps, the maximum fitting sine voltage signal of the sine voltage signal in each period in the specified sampling sequence number range and the maximum fitting cosine voltage signal of the cosine voltage signal in each period in the specified sampling sequence number range in the acquired voltage signal sequence can be calculated. The calculated maximum fitting sine voltage signal and maximum fitting cosine voltage signal under a plurality of periods are added and averaged respectively to obtain the Gain difference of the magnetic encoder, namely sine Gain sin = (sm_1+ … +sm_i)/i, cosine Gain cos ＝(cm_1+…+cm_i)/i。
The embodiment also provides a data correction system which is applied to a magnetic encoder; the data correction system includes:
a data acquisition module for acquiring differences between feedback data signals of the magnetic encoder; the differences between the feedback data signals include gain differences and/or bias differences;
and the correction module is used for correcting the attribute parameters of the motor connected with the magnetic encoder according to the difference between the feedback data signals of the magnetic encoder so as to control the operation of the electronic equipment.
The correction system of the data provided by the present embodiment will be described in detail below with reference to the drawings. Referring to fig. 6B, a schematic diagram of a calibration system for data is shown. As shown in fig. 6B, the correction system 62 for the data includes a data acquisition module 621 and a correction module 622.
The data acquisition module 621 is configured to acquire a difference between feedback data signals of the magnetic encoder. The differences between the feedback data signals include gain differences and/or bias differences.
In particular, the offset difference between the feedback data signals comprises a sinusoidal offset difference offset of the magnetic encoder sin And cosine offset difference offset cos 。
The Gain difference between the feedback data signals comprises a sinusoidal Gain sin = (sm_1+ … +sm_i)/i and cosine Gain cos ＝(cm_1+…+cm_i)/i。
The correction module 622 is configured to correct an attribute parameter of a motor connected to the magnetic encoder according to a difference between feedback data signals of the magnetic encoder, so as to control operation of the electronic device.
Specifically, the correction module 622 filters the voltage signal of the sine channel/the voltage signal of the cosine channel generated by the magnetic ring on the magnetic sensor, and then calculates the rotation angle θ of the motor and calculates the normalized position and velocity.
When a magnetic ring corresponds to two magnetic sensors, the correction module 522 is based on
Calculating a rotation angle θ of the motor, wherein the ADC sin ADC for the currently detected sinusoidal voltage signal cos Is the currently detected cosine voltage signal.
When a magnetic ring corresponds to a magnetic sensor, the correction module 522 calculates the equation θ=arcsin (ADC) sin -offset sin ) The rotation angle θ of the motor is calculated.
It should be noted that, it should be understood that the division of the modules of the above system is merely a division of a logic function, and may be fully or partially integrated into a physical entity or may be physically separated. The modules can be realized in a form of calling the processing element through software, can be realized in a form of hardware, can be realized in a form of calling the processing element through part of the modules, and can be realized in a form of hardware. For example: the x module may be a processing element which is independently set up, or may be implemented in a chip integrated in the system. The x module may be stored in the memory of the system in the form of program codes, and the functions of the x module may be called and executed by a certain processing element of the system. The implementation of the other modules is similar. All or part of the modules can be integrated together or can be implemented independently. The processing element described herein may be an integrated circuit having signal processing capabilities. In implementation, each step of the above method or each module above may be implemented by an integrated logic circuit of hardware in a processor element or an instruction in a software form. The above modules may be one or more integrated circuits configured to implement the above methods, for example: one or more application specific integrated circuits (Application Specific Integrated Circuit, ASIC for short), one or more microprocessors (Digital Singnal Processor, DSP for short), one or more field programmable gate arrays (Field Programmable Gate Array, FPGA for short), and the like. When a module is implemented in the form of a processing element scheduler code, the processing element may be a general-purpose processor, such as a central processing unit (Central Processing Unit, CPU) or other processor that may invoke the program code. These modules may be integrated together and implemented in the form of a System-on-a-chip (SOC) for short.
Example III
The magnetic encoder provided in this embodiment includes: a processor, memory, transceiver, communication interface, or/and system bus; the memory and the communication interface are connected to the processor and the transceiver through the system bus and perform communication with each other, the memory is used for storing a computer program, the communication interface is used for communicating with other devices, and the processor and the transceiver are used for running the computer program to enable the magnetic encoder to execute the steps of the data analysis method or the data correction method.
The system bus mentioned above may be a peripheral component interconnect standard (Peripheral Component Interconnect, PCI) bus or an extended industry standard architecture (Extended Industry Standard Architecture, EISA) bus, or the like. The system bus may be classified into an address bus, a data bus, a control bus, and the like. For ease of illustration, the figures are shown with only one bold line, but not with only one bus or one type of bus. The communication interface is used for realizing communication between the database access device and other devices (such as a client, a read-write library and a read-only library). The memory may comprise random access memory (Random Access Memory, RAM) and may also comprise non-volatile memory (non-volatile memory), such as at least one disk memory.
The processor may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU for short), a network processor (Network Processor, NP for short), etc.; but also digital signal processors (Digital Signal Processing, DSP for short), application specific integrated circuits (Application Specific Integrated Circuit, ASIC for short), field programmable gate arrays (Field Programmable Gate Array, FPGA for short) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.
The protection scope of the data analysis/correction method of the present invention is not limited to the execution sequence of the steps listed in the present embodiment, and all the schemes implemented by the steps of increasing or decreasing and step replacing in the prior art according to the principles of the present invention are included in the protection scope of the present invention.
The present invention also provides a data analysis/correction system, which can implement the data analysis/correction method according to the present invention, but the implementation device of the data analysis/correction method according to the present invention includes, but is not limited to, the structure of the data analysis/correction system listed in this embodiment, and all structural modifications and substitutions made according to the principles of the present invention in the prior art are included in the protection scope of the present invention.
In summary, the data analysis/correction/method and system, the storage medium and the magnetic encoder can realize gain correction and gain accuracy, thereby improving the decoding accuracy of the encoder and realizing accurate measurement of the motor rotation speed and the motor rotor position. The invention effectively overcomes various defects in the prior art and has high industrial utilization value.
The above embodiments are merely illustrative of the principles of the present invention and its effectiveness, and are not intended to limit the invention. Modifications and variations may be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the invention. Accordingly, it is intended that all equivalent modifications and variations of the invention be covered by the claims, which are within the ordinary skill of the art, be within the spirit and scope of the present disclosure.
Claims (6)
1. A method for analyzing data, which is applied to a magnetic encoder; the data analysis method comprises the following steps:
collecting feedback data signals generated by the magnetic encoder; the feedback data signal is used for feeding back the running condition of electronic equipment; the feedback data signal is a voltage signal sequence generated after each magnetic sensor of the magnetic encoder rotates according to a corresponding magnetic ring, wherein the number of cycles of a sine voltage signal contained in the collected voltage signal sequence is not less than the number of pole pairs of the magnetic ring, and the number of cycles of a cosine voltage signal is not less than the number of pole pairs of the magnetic ring;
calculating a difference between the feedback data signals; the differences between the feedback data signals include gain differences and bias differences; wherein the calculating step of the offset difference between the feedback data signals comprises: accumulating the voltage values of the sine voltage signal and the cosine voltage signal of the integer period respectively to obtain a sine voltage accumulation sum and a cosine voltage accumulation sum; the sine voltage accumulation sum and the cosine voltage accumulation sum are divided by accumulation times respectively to obtain an average voltage signal of the sine voltage signal and an average voltage signal of the cosine voltage signal; the average voltage signal of the sine voltage signal is the sine bias difference of the magnetic encoder, and the average voltage signal of the cosine voltage signal is the cosine bias difference of the magnetic encoder; and
the step of calculating the gain difference between the feedback data signals comprises: taking the sampling sequence number of the corresponding maximum sine voltage signal in each period as the center, taking the voltage signal data in the range of the appointed sampling sequence number as the fitting data of the sine voltage signal, and taking the sampling sequence number of the corresponding maximum cosine voltage signal in each period as the center, taking the voltage signal data in the range of the appointed sampling sequence number as the fitting data of the cosine voltage signal; calculating a maximum fitting sine voltage signal of the sine voltage signals in each period and a maximum fitting cosine voltage signal of the cosine voltage signals in each period through a fitting algorithm; respectively adding the calculated maximum fitting sine voltage signal and the maximum fitting cosine voltage signal under a plurality of periods, and then averaging to obtain the gain difference of the magnetic encoder; and
the step of calculating a maximum fit sine voltage signal for the sine voltage signal in each period or a maximum fit cosine voltage signal for the cosine voltage signal in each period comprises: fitting a quadratic fitting curve related to the sine voltage signal or the cosine voltage signal by taking the sampling serial number of fitting data of the sine voltage signal or the cosine voltage signal as a variable x; solving a first derivative of the second fitting curve, and searching for a sampling sequence number of the corresponding sine voltage signal or a sampling sequence number of the cosine voltage signal when the first derivative is 0; and substituting the sampling sequence numbers of the sine voltage signals or the cosine voltage signals into a quadratic fit curve related to the sine voltage signals or the cosine voltage signals respectively, and calculating the maximum fit sine voltage signals of the sine voltage signals in each period within a specified sampling sequence number range or the maximum fit cosine voltage signals of the cosine voltage signals in each period within the specified sampling sequence number range.
2. A method for correcting data, characterized in that it is applied to the method for analyzing data as described in claim 1, wherein it is applied to a magnetic encoder; the data correction method comprises the following steps:
acquiring a difference between feedback data signals of the magnetic encoder; the differences between the feedback data signals include gain differences and bias differences;
and correcting attribute parameters of the magnetic encoder according to the difference between feedback data signals of the magnetic encoder so as to control the operation of the electronic equipment.
3. A data analysis system, characterized by being applied to the data analysis method as claimed in claim 1, wherein the data analysis system is specifically applied to a magnetic encoder; the data analysis system comprises:
the acquisition module is used for acquiring feedback data signals generated by the magnetic encoder; the feedback data signal is used for feeding back the running condition of electronic equipment;
a calculation module for calculating a difference between the feedback data signals; the differences between the feedback data signals include gain differences and bias differences.
4. A data correction system, characterized by being applied to the data analysis method as claimed in claim 1, wherein the data correction system is specifically applied to a magnetic encoder; the data correction system includes:
a data acquisition module for acquiring differences between feedback data signals of the magnetic encoder; the differences between the feedback data signals include gain differences and bias differences;
and the correction module is used for correcting the attribute parameters of the motor connected with the magnetic encoder according to the difference between the feedback data signals of the magnetic encoder so as to control the operation of the electronic equipment.
5. A storage medium having stored thereon a computer program, which when executed by a processor implements the method of analyzing data according to claim 1.
6. A magnetic encoder, comprising: a processor and a memory;
the memory is used for storing a computer program, and the processor is used for executing the computer program stored in the memory, so that the magnetic encoder executes the data analysis method as claimed in claim 1.
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