CN110095142A - A kind of angle value jump point suppressing method and device based on the fitting of single pair polar angle angle value - Google Patents

Abstract

The invention relates to a method and device for suppressing jumping points of angle values based on single-pair polar angle value fitting. The method and device include: single-pole Hall sensor measurement, analog-to-digital conversion of Hall signals through an A/D converter, single-pole angle value calculation module to obtain single-pole angle value θ ₁ ; multi-pole Hall sensor Hall sensor measurement, analog-to-digital conversion is performed on the Hall signal through the A/D converter, and the multi-pair pole angle value θ ₂ is obtained through the multi-pair pole angle value calculation module; the multi-pair pole angle value subdivision processing module is used for multi-pair pole angle Values are subdivided and integrated to obtain multiple pairs of polar angle values θ ₃ ; the proportional reduction module outputs θ ₄ with multiple pairs of polar angle values and θ ₅ output from the single pair of polar angle value fitting module. Input to the angle value jump point processing module, Judging the position of the jump point of the angle value and processing the jump point of the angle value; the solution provided by the invention corrects the measured value of the magnetoelectric encoder, so that the magnetoelectric encoder is not affected by external factors such as temperature and vibration, thereby improving the measurement accuracy. precision.

Description

A kind of angle value jump point suppressing method and device based on the fitting of single pair polar angle angle value

Technical field

Present invention relates in general to magnetism encoders, specifically, being related to a kind of for correcting multipair pole magnetoelectric encoder The method of angle value jump point.

Background technique

Magnetism encoder is a kind of measuring device, and principle is using sensors such as magnetic resistance or Hall elements to magnetism Perhaps displacement measures the angle of magnetic material or the variation of displacement and can cause resistance or voltage the angle of material Variation, amplifies variable quantity by amplifying circuit, output pulse signal or analog quantity letter after being handled by single-chip microcontroller Number, to achieve the purpose that measurement.Magnetism encoder have anti-vibration, anticorrosive, antipollution, anti-interference and wide temperature spy Property, therefore, it can be widely applied to Industry Control, machine-building, ship, weaving, printing, Aeronautics and Astronautics, radar, communication, army The fields such as work.

Traditional magnetism encoder of common measurement angle generally comprises stator, rotor, permanent magnet, Hall sensor And signal-processing board.Permanent magnet is bonded on rotor, and Hall sensor is fixed on signal-processing board.Then, rotor rotates When, permanent magnet synchronous rotary generates changing magnetic field in the air gap of permanent magnet and stator, and Hall sensor is by magnetic field Signal is converted into voltage signal, is resolved by signal-processing board, to realize angle measurement.

However, the sensor of such as Hall element etc, at different temperature, characteristic can generate a little variation, this The result for causing magnetism encoder to measure generates offset.That is, it is identical in mechanical location but in the case that temperature is different, The variation of sensor characteristics will cause measurement result difference in magnetism encoder.For example, under conditions of temperature change, Hall The signal value of element acquisition output is changed, and is caused single pair polar angle angle value and multipair polar angle angle value to generate and is resolved deviation. The deviation of the single pair polar angle angle value as caused by temperature change and multipair polar angle angle value has randomness and inconsistency, Cause single pair polar angle angle value and the mapping relations of multipair polar angle angle value to change, it is subdivided to eventually lead to multipair polar angle angle value There is mistake in journey, generates angle value jump point.

Summary of the invention

In view of the above-mentioned problems, the present invention proposes a kind of scheme, it is intended to which the jump point error for correcting magnetism encoder is allowed to In the course of work, even if temperature changes, measurement result is still smooth, generates without angle value jump point, therefore can be improved The measurement accuracy of magnetism encoder.

The present invention conceives in this way:

It is a kind of based on single pair polar angle angle value fitting angle value jump point suppressing method, it is characterised in that: this method include with Lower step:

(1) single pair polar angle angle value θ is resolved₁With multipair polar angle angle value θ₂；

(2) according to single pair polar angle angle value θ₁With multipair polar angle angle value θ₂Angle value subdivision is carried out to multipair polar angle angle value, is obtained Multipair polar angle angle value θ after to subdivision₃；

(3) by the multipair polar angle angle value θ after obtained subdivision₃Equal proportion scaling is carried out, and then obtains angle amplitude range Multipair polar angle angle value θ in 0~65535LSB₄；

(4) by single pair polar angle angle value θ₁By the multipair polar angle angle value θ of scaling after to Subdividing Processing₄It is fitted, is intended Single pair polar angle angle value θ after conjunction₅；

(5) the single pair polar angle angle value θ after judgement fitting₅With the multipair polar angle angle value θ after Subdividing Processing by scaling₄Difference It is worth range, determines and the specific location of multipair pole jump point occur and carry out multipair polar angle angle value jump point compensation.

Preferably, the resolving single pair polar angle angle value θ₁With multipair polar angle angle value θ₂Process are as follows:

Single pair pole Hall and multipair pole Hall on hall signal collection plate is respectively to single pair pole field signal and multipair pole Magnetic field signal is acquired, and then obtains single pair polar angle angle value signal A+, A- and multipair polar angle angle value signal B+, B-；Then lead to The analog-to-digital conversion channel built in single-chip microcontroller is crossed to carry out single pair polar angle angle value signal A+, A- and multipair polar angle angle value signal B+, B- Number conversion, obtains digital signal HA+, HA-, HB+, HB-；Single pair polar angle degree is solved by arc tangent formula (1), (2) Value θ₁With multipair polar angle angle value θ₂, wherein single pair polar angle angle value θ₁For 16 integer type data:

θ₁=arctg (HA+/HA-) (1)

θ₂=arctg (HB+/HB-) (2)

Preferably, the angle value segmentation process of the multipair polar angle angle value includes:

Pass through single pair polar angle angle value θ₁High 10 parallactic angle angle value table look-up and determine multipair polar angle angle value number of poles P, then by formula (3) the multipair polar angle angle value θ after being segmented₃:

θ₃=65525P+ θ₂ (3)

Preferably, the multipair polar angle angle value θ by after Subdividing Processing by scaling₄It is fitted and includes:

By the multipair polar angle angle value θ after obtained Subdividing Processing₃Scaling is carried out by formula (4), obtains scaling Multipair polar angle angle value θ afterwards₄:

θ₄=θ₃/(65535*P)*65535 (4)

By single pair polar angle angle value θ₁By the multipair polar angle angle value θ of scaling after to Subdividing Processing₄It is fitted, passes through formula (5) single pair polar angle angle value θ is obtained₁With the multipair polar angle angle value θ by scaling₄Departure θ_err:

θ_err=θ₁-θ₄ (5)

With single pair pole magnetoelectric encoder angular value θ₁High 10 parallactic angle angle value be to table look-up item, with angu-lar deviation θ_errAs By item of tabling look-up, obtained by formula (6) by the revised single pair pole magnetoelectric encoder angular value θ that tables look-up₅:

θ₅=θ₁+θ_err (6)

Preferably, the specific location of the multipair polar angle angle value jump point judge with compensation include:

Single pair polar angle angle value θ after being fitted by formula (7)₅With the multipair polar angle angle value θ by scaling₄Angular deviation Value θ_{err_f}:

θ_{err_f}=θ₅-θ₄ (7)

θ at this time_{err_f}Range and single pair polar angle angle value θ₁And the single pair polar angle angle value θ after fitting₅Noise range one It causes, it is assumed that θ_{err_f}∈[-N,+N]；Multipair polar angle angle value when angle value jump point occurs, after Subdividing Processing is obtained by formula (8) θ₄Jump point numerical value θ_jump:

θ_jump=± 65535/P=± Δ Y (8)

Magnetism encoder angle value deviation θ_{err_f}In signal noise N will be much smaller than multipair polar angle degree jump point numerical value Y, so Multipair polar angle angle value jump point position is judged afterwards, if the angle value deviation θ of magnetism encoder_{err_f}∈[N+(Y-N)/2,Y+ Y/2] or θ_{err_f}∈ [- Y-Y/2 ,-N- (Y-N)/2], then it is assumed that current angle value is jump point.

Bounce point value is compensated after judging angle value bounce point, if θ_{err_f}∈ [N+ (Y-N)/2, Y+Y/ 2], then the multipair polar angle angle value θ compensated by jump point is obtained by formula (9)₆:

θ₆=θ₄+65535/P (9)

If θ_{err_f}∈ [- Y-Y/2 ,-N- (Y-N)/2] then obtains the multipair polar angle angle value compensated by jump point by formula (10) θ₆:

θ₆=θ₄-65535/P (10)

Preferably, the device of the angle value jump point suppressing method based on the fitting of single pair polar angle angle value, feature exist In, comprising:

Single pair pole Hall sensor for acquiring the magnetic field signal of single pair pole magnet steel generation, and is converted into voltage letter Number；

Multipair pole Hall sensor, the magnetic field signal generated for acquiring multipair pole magnet steel, and it is converted into voltage letter Number；

A/D converter is converted to multipair pole tension signal for single pair pole tension signal to be converted to digital signal Digital signal；

Single pair pole angle calculation module, for obtained digital quantity to be converted to single pair polar angle angle value θ₁；

Multipair pole angle calculation module, for obtained digital quantity to be converted to multipair polar angle angle value θ₂；

Multipair polar angle angle value Subdividing Processing module is used for multipair polar angle angle value θ₂It is finely divided integration, it is assumed that multipair pole Magnet steel number of poles is 16, single pair polar angle angle value θ₁Angle value range is in 0~65535 LSB, multipair polar angle angle value θ₂Angle value range Multipair polar angle angle value θ in 0~65535LSB, after subdivision integration₃Angle value range is in 0~65535*16LSB；

Scaled down module, the multipair polar angle angle value θ for will obtain₃Scaled down is to 0~65535LSB range It is interior, output angle angle value θ₄；

Single pair polar angle angle value fitting module is used for single pair polar angle angle value θ₁To multipair pole θ₄Fitting, and after exporting fitting Single pair polar angle angle value θ₅；

Angle value jump point processing module, for judging single pair polar angle angle value fitting module output angle angle value θ₅With by etc. The multipair polar angle angle value θ of scale smaller module₄Difference range, and angle value jump point is handled, is obtained smoothly without jump point Multipair polar angle angle value；

Beneficial effects of the present invention:

1. multipair polar angle angle value jump point compensation method provided by the invention is repaired by the measured value to magnetism encoder Just, so that magnetism encoder is not influenced as far as possible by extraneous factors such as temperature, vibrations, protect measured value at different temperatures Maintain an equal level and slide, there is no angle value jump point, to improve measurement accuracy.

2. multipair polar angle angle value jump point compensation method provided by the invention can be by hardware, software or software and hardware combining Mode is realized.

Detailed description of the invention

The structural schematic diagram of the magnetism encoder of Fig. 1 embodiment of the present invention；

The single pair polar angle angle value of Fig. 2 embodiment of the present invention and multipair polar angle angle value；

Fig. 3 embodiment of the present invention by the multipair polar angle angle value in the temperature-resistant situation of Subdividing Processing；

The multipair polar angle degree of Fig. 4 embodiment of the present invention passed through in subdivision and the constant situation of scaled down treatment temperature Value；

The multipair polar angle degree of Fig. 5 embodiment of the present invention passed through in subdivision and the constant situation of scaled down treatment temperature Value；

Single pair polar angle angle value θ after the fitting of Fig. 6 embodiment of the present invention₅And multipair polar angle angle value θ₄；

The angle value jump point interval judgement range of Fig. 7 embodiment of the present invention；

Specific embodiment

In order to make the objectives, technical solutions and advantages of the present invention clearer, below by shown in the accompanying drawings specific Embodiment describes the present invention.However, it should be understood that these descriptions are merely illustrative, and it is not intended to limit model of the invention It encloses.In addition, in the following description, descriptions of well-known structures and technologies are omitted, it is of the invention to avoid unnecessarily obscuring Concept.

As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, present embodiment uses following technical scheme:

The structural schematic diagram of the magnetism encoder of the embodiment of the present invention is as shown in Figure 1:

Single pair pole Hall sensor module for acquiring the magnetic field signal of single pair pole magnet steel generation, and is converted into electricity Signal is pressed, single pair pole signal A+, A- are obtained；

Multipair pole Hall sensor module, the magnetic field signal generated for acquiring multipair pole magnet steel, and it is converted into electricity Signal is pressed, multipair polar angle angle value signal B+, B- are obtained；

A/D converter module believes multipair pole tension for single pair pole tension signal A+, A- to be converted to digital signal Number B+, B- are converted to digital signal；By analog-to-digital conversion, digital signal HA+, HA-, HB+, HB- are obtained；

Single pair pole angle calculation module, for obtained digital quantity to be converted to single pair polar angle angle value θ₁, pass through arc tangent Formula (11) solves single pair polar angle angle value θ₁:

θ₁=arctg (HA+/HA-) (11)

Multipair pole angle calculation module, for obtained digital quantity to be converted to multipair polar angle angle value θ₂, pass through arc tangent Formula (12) solves multipair polar angle angle value θ₂:

θ₂=arctg (HB+/HB-) (12)

Obtained single pair polar angle angle value θ is solved by formula (11), (12)₁And multipair polar angle angle value θ₂As shown in Figure 2；

Multipair polar angle angle value Subdividing Processing module is used for multipair polar angle angle value θ₂It is finely divided integration, it is assumed that multipair pole Magnet steel number of poles is 16, single pair polar angle angle value θ₁Angle value range is in 0~65535LSB, multipair polar angle angle value θ₂Angle value range In 0~65535LSB；Multipair polar angle angle value θ₂Subdividing Processing process specifically following methods is used to implement:

Pass through single pair polar angle angle value θ₁High 10 parallactic angle angle value table look-up and determine multipair polar angle angle value number of poles P, then by formula (13) the multipair polar angle angle value θ after being segmented₃:

θ₃=65525P+ θ₂ (13)

The multipair pole magnet steel number of poles of this example is 16, single pair polar angle angle value θ₁High 10 parallactic angle angle value range (0~1023), It is as shown in the table to obtain multipair polar angle angle value Subdividing Processing table:

High 10 bit value of single pair polar angle angle value	Multipair pole number of poles (P)
		0	1
1	1
		2	1
…
		…
…
		1021	15
1022	16
		1023	16

By above-mentioned implementation method, the multipair polar angle angle value θ by Subdividing Processing is obtained₃As shown in Fig. 3；

Scaled down module, the multipair polar angle angle value θ for will obtain₃Scaled down is to 0~65535LSB range It is interior, the multipair polar angle angle value θ after scaling is obtained by formula (14)₄:

θ₄=θ₃/ (65535*P) * 65535=θ₃/(65535*16)*65535 (14)

Multipair polar angle angle value θ after the scaling of scaled down module output₄As shown in Fig. 4；

Single pair polar angle angle value fitting module is used for single pair polar angle angle value θ₁To the multipair polar angle angle value θ after scaling₄ Fitting, and export the single pair polar angle angle value θ after fitting₅, it is embodied as follows:

Single pair polar angle angle value θ is calculated by formula (15)₁With the multipair polar angle angle value θ after Subdividing Processing₄Between Angular deviation θ_err:

θ_err=θ₁-θ₄ (15)

With single pair pole magnetoelectric encoder angular value θ₁High 10 numerical value (0~1023) be to table look-up item, with angular deviation θ_err As by item of tabling look-up, it is as shown in the table to obtain angular deviation correction card:

Single pair polar angle angle value θ1High 10 bit value	θerr(LSB)
		0	θerr_0
1	θerr_1
		2	θerr_2
…
		…
…
		1021	θerr_1021
1022	θerr_1022
		1023	θerr_1023

By looking into angular deviation correction card, revised single pair pole magnetoelectric encoder angular value θ is obtained by formula (16)₅:

θ₅=θ₁+θ_err (16)

The revised single pair pole magnetoelectric encoder angular value θ exported by single pair polar angle angle value fitting module₅And ratio Multipair polar angle angle value θ after example scaling₄As shown in Figure 5.

Encoder is put into cryogenic box at this time, and temperature is reduced to -30 DEG C, is kept for 2 hours, then will be passed through again Revised single pair pole magnetoelectric encoder angular value θ₅And the multipair polar angle angle value θ after scaling₄Synchronism output, such as Fig. 6 It is shown；

Single pair pole initial angle angle value θ is caused due to temperature change₁With multipair pole initial angle angle value θ₂It changes, and by The single pair pole caused by temperature and multipair polar angle angle value deviation be it is inconsistent, therefore, single pair polar angle angle value θ₁With it is multipair extremely just Beginning angle value θ₂Mapping relations will change, at this time pass through multipair polar angle angle value Subdividing Processing table obtain multipair pole There is mistake in number of poles, leads to the multipair polar angle angle value θ of multipair polar angle angle value Subdividing Processing module output₄Generate jump point；

In the implementation case, multipair pole magnetoelectric encoder number of poles is 16, when angle value jump point occurs, is obtained by formula (17) Multipair polar angle angle value θ after to scaling₄Jump point numerical value θ_jumpFor fixed value Y=± 4095.9:

θ_jump=± 65535/16=± 4095.9 (17)

Setting is used for the angu-lar deviation θ of scan angle angle value jump point_{err_f}∈ [N+ (Y-N)/2, Y+Y/2] or θ_{err_f}∈[- Y-Y/2 ,-N- (Y-N)/2]；Revised single pair pole magnetoelectric encoder angular value θ₅And the multipair polar angle degree after scaling Value θ₄Deviation range Δ N ∈ [- 200,200], therefore scanning range θ_{err_f}∈ [2198,7144] and θ_{err_f}∈[- 7144, -2198] position that jump point occurs can be accurately determined, as shown in Figure 7.

Further, pass through θ_{err_f}Multipair polar angle angle value θ after locating range comparative example scaling₄Angle value compensation is carried out, If θ_{err_f}∈ [2198,7144] is obtained the multipair polar angle angle value θ compensated by jump point by formula (18)₆:

θ₆=θ₄+4095.9 (18)

Further, pass through θ_{err_f}Multipair polar angle angle value θ after locating range comparative example scaling₄Angle value compensation is carried out, If θ_{err_f}∈ [- 7144, -2198] is obtained the multipair polar angle angle value θ compensated by jump point by formula (19)₆:

θ₆=θ₄-4095.9 (19)

It should be understood that above scheme described herein can be realized by various modes.For example, can with hardware, software or The mode of software and hardware combining is realized.It, can be at one or more than one executes above-mentioned automatic correcting method for hardware realization Application-specific IC (ASIC), digital signal processor (DSP), digital signal processing appts (DSPD), programmable patrol Collect device (PLD), field programmable gate array (FPGA), processor, controller, microcontroller, microprocessor, other electronics Unit or its combine interior realization.

It should be noted that each embodiment above by reference to described in attached drawing is only to illustrate the present invention rather than limits The scope of the present invention, those skilled in the art should understand that, under the premise without departing from the spirit and scope of the present invention To modification or equivalent replacement that the present invention carries out, should all cover within the scope of the present invention.In addition, unless the context Signified outer, the word occurred in the singular includes plural form, and vice versa.In addition, unless stated otherwise, then any reality Apply example all or part of in combination with any other embodiment all or part of come using.

Claims (6)

1. a kind of angle value jump point suppressing method based on the fitting of single pair polar angle angle value, it is characterised in that: this method includes following Step:

(1) single pair polar angle angle value θ is resolved₁With multipair polar angle angle value θ₂；

(2) according to single pair polar angle angle value θ₁With multipair polar angle angle value θ₂Angle value subdivision is carried out to multipair polar angle angle value, is segmented Multipair polar angle angle value θ afterwards₃；

(3) by the multipair polar angle angle value θ after obtained subdivision₃Carry out equal proportion scaling, so obtain angle amplitude range 0~ Multipair polar angle angle value θ in 65535LSB₄；

(4) by single pair polar angle angle value θ₁By the multipair polar angle angle value θ of scaling after to Subdividing Processing₄It is fitted, after obtaining fitting Single pair polar angle angle value θ₅；

(5) the single pair polar angle angle value θ after judgement fitting₅With the multipair polar angle angle value θ after Subdividing Processing by scaling₄Difference model It encloses, determines and the specific location of multipair pole jump point occur and carry out multipair polar angle angle value jump point compensation.

2. the angle value jump point suppressing method according to claim 1 based on the fitting of single pair polar angle angle value, it is characterised in that: The resolving single pair polar angle angle value θ₁With multipair polar angle angle value θ₂Process are as follows:

Single pair pole Hall and multipair pole Hall on hall signal collection plate is respectively to single pair pole field signal and multipair pole field Signal is acquired, and then obtains single pair polar angle angle value signal A+, A- and multipair polar angle angle value signal B+, B-；Then pass through list Analog-to-digital conversion channel built in piece machine carries out number to single pair polar angle angle value signal A+, A- and multipair polar angle angle value signal B+, B- Conversion, obtains digital signal HA+, HA-, HB+, HB-；Single pair polar angle angle value θ is solved by arc tangent formula (1), (2)₁With Multipair polar angle angle value θ₂, wherein single pair polar angle angle value θ₁For 16 integer type data:

θ₁=arctg (HA+/HA-) (1)

θ₂=arctg (HB+/HB-) (2)

3. the angle value jump point suppressing method according to claim 1 based on the fitting of single pair polar angle angle value, it is characterized in that: institute The angle value segmentation process for the multipair polar angle angle value stated includes:

Pass through single pair polar angle angle value θ₁High 10 parallactic angle angle value table look-up and determine multipair polar angle angle value number of poles P, then obtained by formula (3) Multipair polar angle angle value θ after subdivision₃:

θ₃=65525P+ θ₂ (3)

4. the angle value jump point suppressing method according to claim 1 based on the fitting of single pair polar angle angle value, it is characterised in that: It is described by the multipair polar angle angle value θ after Subdividing Processing by scaling₄It is fitted and includes:

By the multipair polar angle angle value θ after obtained Subdividing Processing₃Scaling is carried out by formula (4), it is more after obtaining scaling To polar angle angle value θ₄:

θ₄=θ₃/(65535*P)*65535 (4)

By single pair polar angle angle value θ₁By the multipair polar angle angle value θ of scaling after to Subdividing Processing₄It is fitted, is obtained by formula (5) Single pair polar angle angle value θ₁With the multipair polar angle angle value θ by scaling₄Departure θ_err:

θ_err=θ₁-θ₄ (5)

With single pair pole magnetoelectric encoder angular value θ₁High 10 parallactic angle angle value be to table look-up item, with angu-lar deviation θ_errAs being tabled look-up , it is obtained by formula (6) by the revised single pair pole magnetoelectric encoder angular value θ that tables look-up₅:

θ₅=θ₁+θ_err(6)

5. the angle value jump point suppressing method according to claim 1 based on the fitting of single pair polar angle angle value, it is characterised in that: The specific location of the multipair polar angle angle value jump point judges with compensation

Single pair polar angle angle value θ after being fitted by formula (7)₅With the multipair polar angle angle value θ by scaling₄Angu-lar deviation θ_err__f:

θ_err__f=θ₅-θ₄ (7)

θ at this time_err__fRange and single pair polar angle angle value θ₁And the single pair polar angle angle value θ after fitting₅Noise range it is consistent, it is false If θ_err__f∈[-N,+N]；Multipair polar angle angle value θ when angle value jump point occurs, after Subdividing Processing is obtained by formula (8)₄Jump Point value θ_jump:

θ_jump=± 65535/P=± Δ Y (8)

Magnetism encoder angle value deviation θ_err__fIn signal noise N will be much smaller than multipair polar angle degree jump point numerical value Y, then to more Polar angle angle value jump point position is judged, if the angle value deviation θ of magnetism encoder_err__f∈ [N+ (Y-N)/2, Y+Y/2] or θ_{err_f}∈ [- Y-Y/2 ,-N- (Y-N)/2], then it is assumed that current angle value is jump point.

Bounce point value is compensated after judging angle value bounce point, if θ_{err_f}∈ [N+ (Y-N)/2, Y+Y/2] then by Formula (9) obtains the multipair polar angle angle value θ compensated by jump point₆:

θ₆=θ₄+65535/P (9)

If θ_err__f∈ [- Y-Y/2 ,-N- (Y-N)/2] then obtains the multipair polar angle angle value θ compensated by jump point by formula (10)₆:

θ₆=θ₄-65535/P (10)

6. a kind of device based on the angle value jump point suppressing method described in claim 1 based on the fitting of single pair polar angle angle value, It is characterised by comprising:

Single pair pole Hall sensor for acquiring the magnetic field signal of single pair pole magnet steel generation, and is converted into voltage signal；

Multipair pole Hall sensor, the magnetic field signal generated for acquiring multipair pole magnet steel, and it is converted into voltage signal；

Multipair pole tension signal is converted to digital letter for single pair pole tension signal to be converted to digital signal by A/D converter Number；

Single pair pole angle calculation module, for obtained digital quantity to be converted to single pair polar angle angle value θ₁；

Multipair pole angle calculation module, for obtained digital quantity to be converted to multipair polar angle angle value θ₂；

Multipair polar angle angle value Subdividing Processing module is used for multipair polar angle angle value θ₂It is finely divided integration, it is assumed that multipair pole magnet steel pole Number is 16, single pair polar angle angle value θ₁Angle value range is in 0~65535LSB, multipair polar angle angle value θ₂Angle value range 0~ 65535LSB, the multipair polar angle angle value θ after subdivision integration₃Angle value range is in 0~65535*16LSB；

Scaled down module, the multipair polar angle angle value θ for will obtain₃It is defeated within the scope of scaled down to 0~65535LSB Angle value θ out₄；

Single pair polar angle angle value fitting module is used for single pair polar angle angle value θ₁To multipair pole θ₄Fitting, and export the single pair after fitting Polar angle angle value θ₅；

Angle value jump point processing module, for judging single pair polar angle angle value fitting module output angle angle value θ₅It contracts with by equal proportion The multipair polar angle angle value θ of little module₄Difference range, and angle value jump point is handled, is obtained smoothly without the multipair of jump point Polar angle angle value.