CN110274615A - The circuit and method of incremental encoding ABZ output accuracy are improved in a kind of magnetic angle encoder - Google Patents
The circuit and method of incremental encoding ABZ output accuracy are improved in a kind of magnetic angle encoder Download PDFInfo
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- CN110274615A CN110274615A CN201910730249.0A CN201910730249A CN110274615A CN 110274615 A CN110274615 A CN 110274615A CN 201910730249 A CN201910730249 A CN 201910730249A CN 110274615 A CN110274615 A CN 110274615A
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- G—PHYSICS
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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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- G01D3/028—Indicating or recording apparatus with provision for the special purposes referred to in the subgroups mitigating undesired influences, e.g. temperature, pressure
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- G—PHYSICS
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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
- G01D5/00—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
- 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
- G01D5/243—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 phase or frequency of AC
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Abstract
The invention discloses circuits and method that incremental encoding ABZ output accuracy is improved in a kind of magnetic angle encoder, the circuit of incremental encoding ABZ output accuracy is improved in a kind of magnetic angle encoder of the present invention, including A/D converting unit, phase detectors, leading phase estimates unit, A/B signal is along jump estimation unit and high-frequency digital clock unit, A/D converting unit input terminal accesses analog magnetic field strength signal when magnet rotors, output end connects phase detectors, phase detectors connection leading phase estimates unit and A/B signal along jump estimation unit, leading phase estimates unit connection A/B signal along jump estimation unit, A/B signal exports A/B signal along jump estimation unit output end；The circuit is on conventional magnetic angle encoder increment A/B signal output principle, it estimates with A/B signal in conjunction with leading phase along jump thresholding judgement, further promote the precision of A/B signal, reduce bring A/B signal jitter in magnet high-speed motion, also there is preferable performance in magnet variable motion.
Description
Technical field
The present invention relates to circuit for controlling motor technical fields, and in particular to improves incremental encoding in a kind of magnetic angle encoder
The circuit and method of ABZ output accuracy.
Background technique
Testing the speed, counting in current industrial application, angle measurement displacement and in terms of, magnetic angle encoder because
The advantages that its is small in size, easy to assembly, corrosion-resistant, anti-pollution, high reliable performance starts gradually substitution photoelectric encoder and applies
More and more occasions.But in the case where high-speed motion measurement, photoelectric encoder using porous wheel because can be protected
Keep steady fixed output accuracy.And magnetic angle encoder is limited to the time delay of A/D sample frequency and digital processing part,
Will lead to the ABZ signal of output has shake and deviation by a relatively large margin relative to the measurement result of microinching.
Existing magnetic angle encoder ABZ signal output principle is as shown in Figure 1, as seen from the figure, as magnet revolving speed increases,
The range of angular error and the frequency for error occur can all increase, and will affect the property of entire magnetic angle encoder in actual use
Energy.
Summary of the invention
The technical problems to be solved by the present invention are: magnetic angle encoder is limited in the case where high-speed motion measurement
A/D sample frequency and the time delay of digital processing part will lead to survey of the A/B signal of output relative to microinching
Amount result has a shake and deviation by a relatively large margin, and as magnet revolving speed increases, and the range of angular error and error occurs
Frequency can all increase, and will affect the performance issue of entire magnetic angle encoder in actual use, the present invention provides in solution
State the circuit and method that incremental encoding ABZ signal output accuracy is improved in a kind of magnetic angle encoder of problem.
The present invention is achieved through the following technical solutions:
The circuit of incremental encoding ABZ output accuracy, including A/D converting unit, phase are improved in a kind of magnetic angle encoder
Detector, leading phase estimate unit, A/B signal along jump estimation unit and high-frequency digital clock unit.A/D converting unit
Analog magnetic field strength signal, output end when input terminal accesses magnet rotors connect phase detectors, and phase detectors connection is super
Preceding phase estimates unit and A/B signal along jump estimation unit, and it is single along jump estimation that leading phase estimates unit connection A/B signal
Member, A/B signal export A/B signal along the output end of jump estimation unit；Wherein:
The A/D converting unit, for analog magnetic field intensity to be changed into horizontal and vertical side with fixed sample frequency
To digital signal send phase detectors to；
The phase detectors obtain current magnetic by processing for the magnetic field strength both horizontally and vertically to input
The angle value of iron rotation；
The leading phase estimates unit, and the angle result estimation for being detected according to multiple history phase detectors is next
Secondary phase size, and send A/B signal to and jump phase estimation along jump estimation unit progress edge；
The A/B signal edge jump estimation unit, estimates for the rise/fall to orthogonal A/B signal along position,
The amplitude of A/B signal jitter caused by reducing because of burst noise and high revolving speed, and export A/B signal；
The high-frequency digital clock unit, as A/B signal along the reference clock of jump estimation unit.
The invention mainly relates to the generation of the A/B signal in electric machine control system ABZ signal, the production principles of A/B signal
It is consistent with mechanism, only the difference in phase.
Working principle is: the circuit of incremental encoding ABZ output accuracy is improved in a kind of magnetic angle encoder of the invention, it is first
First, A/D converting unit with fixed sample frequency magnet rotors when analog magnetic field intensity be changed into both horizontally and vertically
Digital signal, and send phase detectors to；Secondly, phase detectors detect to obtain the angle value of current magnet rotors, needle
To the front and back angle value that phase detectors detect twice, the angle delta that magnet rotates through between two A/D sampling instants is obtained
θ, and Δ θ is transmitted and estimates unit into leading phase, when estimating A/D sampling instant next time and arriving, angle that magnet rotates through
Δθ′；Finally, leading phase Δ θ ' and Δ θ are transmitted to A/B signal hopping edge location estimation unit, the jump of A/B signal is carried out
Become along location estimation.The circuit increases leading phase on the basis of conventional magnetic angle encoder increment A/B signal output
Unit and A/B signal are estimated along jump estimation unit, combines to estimate for leading phase and sentence with A/B signal along jump thresholding
It is disconnected, the precision of A/B signal is further promoted, reduces bring A/B signal jitter in magnet high-speed motion, in magnet variable motion
In also have preferable performance；Circuit of the present invention has small scale, low in energy consumption, controls simple advantage, is convenient for practical application.
Further, the same phase of sample frequency of the high-frequency digital clock unit and the A/D converting unit, and frequency is
The 2 of A/D converting unit sample frequencyNTimes, the value range of N is 3~6, for compensating the precision of A/B signal.
It further, further include source clock unit and frequency divider, source clock unit connects frequency divider, frequency divider and high frequency
Word clock unit, A/D converting unit are all connected with, and source clock unit is divided by frequency divider generates A/D converting unit sampling needs
Clock and numeric field clock, and numeric field clock frequency is the 2 of A/D converting unit sample rateNTimes, the value range of N is 3~
6, N for compensating the precision of A/B signal.
It further, further include PLL phaselocked loop, for high-frequency digital clock unit locking phase.
Further, the A/D converting unit is changed into analog magnetic field intensity with fixed sample frequency horizontal and vertical
Histogram to digital signal send phase detectors to, wherein the digital signal include digital level magnetic-field component, number hang down
Straight magnetic-field component.
A kind of method that incremental encoding ABZ output accuracy is improved in magnetic angle encoder, this method comprises the following steps:
S1: analog magnetic field intensity when with fixed sample frequency magnet rotors is changed into number both horizontally and vertically
Word signal, and send phase detectors to；
S2: the magnetic field strength digital signal both horizontally and vertically inputted according to step S1, phase detectors use
Cordic algorithm calculates analysis and obtains the angle value of current magnet rotors；
S3: subtraction is carried out, is obtained for the front and back angle value that phase detectors detect twice according to step S2
The angle delta θ that magnet rotates through between two A/D sampling instants；
S4: the Δ θ obtained according to step S3 transmits Δ θ and estimates unit into leading phase, estimates A/D sampling next time
When moment arrives, angle delta θ ' that magnet rotates through；
Leading phase Δ θ ' and Δ θ: according to step S3, S4, being transmitted to A/B signal hopping edge location estimation unit by S5,
Carry out the hopping edge location estimation of A/B signal.
Further, the mode for estimating the angle delta θ ' that magnet rotates through when A/D sampling instant next time arrives is using cunning
Any one in the window method of average, weighted mean method, in which: sliding window method of average formula uses
The formula is that the angle rotated through to the n A/D sampling period internal magnet continuously measured is averaged；N is the length of sliding window；Δ
θjThe angle rotated through for each A/D sampling period internal magnet；Weighted mean method formula uses Δ θ 'k=Δ θk*α+Δθ′k-1*
(1- α), wherein Δ θ 'kFor the angle rotated through in k-th A/D sampling period internal magnet estimated, Δ θ 'k-1To estimate
The angle that the K-1 A/D sampling period internal magnet rotates through, Δ θkFor the magnetic within the k-th A/D sampling period currently measured
The angle that iron rotates through, α are the weighting coefficient less than 1.
Further, leading phase Δ θ ' and Δ θ are transmitted to A/B signal hopping edge location estimation unit in step S5,
The hopping edge location estimation for carrying out A/B signal, specifically comprises the following steps:
S51: when detecting that high-frequency digital clock unit counts clear 0 and again when meeting following condition at p-th of Δ θ
It starts counting, the formula of use is as follows:
Wherein, T is the 1/4 of each A/B signal period, and Δ θ is currently to measure at 1
The angle that A/D sampling period internal magnet rotates through, the formula indicate that in the continuous P A/D sampling time, T turns over total with magnet
When the difference of angle is less than the angle of magnet rotors in the sampling time of A/D next time estimated, trigger condition；
S52: Δ θ 'pIt is divided into 2MPart, the angular dimension Δ θ ' of every portionaver=Δ θ 'p/2M, herein 2MWith step
S51 medium-high frequency digital dock unit relative to A/D sample frequency 2NMultiple has following relationship: N >=M；M is according to current Δ θ 'k
Size adaptation match setting value；
S53: it enablesWhen DEG is more than or equal to m* Δ θ 'averm*Δθ′averWhen, record m's
Value；Wherein DEG is indicated in A/B signal along detection, generates angle of the A/B signal along required compensation next time；M indicates this time
Compensation needs the high frequency clock cycles number passed through；
S54: when m is recorded in the number of high-frequency digital clock unit, the rise/fall edge of A/B signal is generated；
S55: Δ θ-DEG is calculated when next Δ θ arrives as the Δ θ in step S51 next time0, and step S51
In p clear 0, then jump to step S51 again.
The present invention has the advantage that and the utility model has the advantages that
1, the circuit of incremental encoding ABZ output accuracy is improved in a kind of magnetic angle encoder of the invention, the circuit is normal
In the principle of the magnetic angle encoder increment A/B signal output of rule, estimates in conjunction with leading phase and sentence with A/B signal along jump thresholding
It is disconnected, the precision of A/B signal is further promoted, reduces bring A/B signal jitter in magnet high-speed motion, in magnet variable motion
In also have preferable performance；
2, the circuit of incremental encoding ABZ signal output accuracy, circuit tool are improved in a kind of magnetic angle encoder of the invention
There is small scale, it is low in energy consumption, simple advantage is controlled, practical application is convenient for；
3, the method that incremental encoding ABZ signal output accuracy is improved in a kind of magnetic angle encoder of the invention is promoted and is increased
The precision of A/B signal is measured, magnet high-speed motion or burst noise bring A/B signal jitter are reduced.
Detailed description of the invention
Attached drawing described herein is used to provide to further understand the embodiment of the present invention, constitutes one of the application
Point, do not constitute the restriction to the embodiment of the present invention.In the accompanying drawings:
Fig. 1 is the existing magnetic angle encoder ABZ signal output principle figure of the present invention.
Fig. 2 is the circuit frame that incremental encoding A/B signal output accuracy is improved in a kind of magnetic angle encoder of the invention
Figure.
Fig. 3 is whole in the method for improve in a kind of magnetic angle encoder of the invention incremental encoding A/B signal output accuracy
A A/B signal is along location estimation schematic diagram.
Fig. 4 is magnetic in the method for improve in a kind of magnetic angle encoder of the invention incremental encoding A/B signal output accuracy
Iron accelerates A/B signal when rotation to export schematic diagram.
Label and corresponding parts title in attached drawing:
1-A/D converting unit, 2- phase detectors, 3- leading phase estimate unit, and 4-A/B signal is single along jump estimation
Member, 5- high-frequency digital clock unit, the source 6- clock unit, 7- frequency divider.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, below with reference to embodiment and attached drawing, to this
Invention is described in further detail, and exemplary embodiment of the invention and its explanation for explaining only the invention, are not made
For limitation of the invention.
Embodiment 1
As shown in Figure 1 to Figure 2, the circuit of incremental encoding ABZ output accuracy, including A/ are improved in a kind of magnetic angle encoder
D conversion unit 1, phase detectors 2, leading phase estimate unit 3, A/B signal along jump estimation unit 4 and high-frequency digital clock
Unit 5, analog magnetic field strength signal, output end when the input terminal of A/D converting unit 1 accesses magnet rotors connect phase-detection
Device 2, phase detectors 2 connect leading phase and estimate unit 3 and A/B signal along jump estimation unit 4, and leading phase estimates unit
3 connection A/B signals export A/B signal along the output end of jump estimation unit 4 along jump estimation unit 4, A/B signal；Wherein:
The A/D converting unit 1, for analog magnetic field intensity to be changed into horizontal and vertical side with fixed sample frequency
To digital signal send phase detectors 2 to, wherein the digital signal includes digital level magnetic-field component, Digital Ortho
Magnetic-field component；And the conversion accuracy of A/D converting unit 1 is higher, and sample frequency is higher, then sampled data accuracy is higher, has
Help be promoted the precision of A/B output signal；
The phase detectors 2 are obtained currently for the magnetic field strength both horizontally and vertically to input by processing
The angle value of magnet rotors；
The leading phase estimates unit 3, under the angle result estimation for being detected according to multiple history phase detectors 2
Phase size, and send A/B signal to and jump phase estimation along the jump progress of estimation unit 4 edge；
The A/B signal is estimated for the rise/fall to orthogonal A/B signal along position along jump estimation unit 4
Meter, the amplitude of A/B signal jitter caused by reducing because of burst noise and high revolving speed, and export A/B signal；
The high-frequency digital clock unit 5, as A/B signal along the reference clock of jump estimation unit 4, the high frequency
The same phase of sample frequency of word clock unit 5 and the A/D converting unit 1, and frequency is the 2 of 1 sample frequency of A/D converting unitN
Times, the value range of N is 3~6, for compensating the precision of A/B signal.Source clock unit 6 can be divided reality by frequency divider 7 by this
It is existing, in which: source clock unit 6 connects frequency divider 7, and frequency divider 7 is all connected with high-frequency digital clock unit 5, A/D converting unit 1,
Source clock unit 6 generates the clock and numeric field clock that the sampling of A/D converting unit 1 needs, and numeric field by the frequency dividing of frequency divider 7
Clock frequency is the 2 of 1 sample rate of A/D converting unitNTimes, the value range of N is the precision that 3~6, N is used to compensate A/B signal.
Under conditions of magnet high-speed rotation, in order to promote output accuracy, it is also contemplated that using PLL phaselocked loop to high frequency
5 locking phase of word clock unit, to promote digital domain signal sampling and computational accuracy.
Working principle is: the circuit of incremental encoding ABZ output accuracy is improved in a kind of magnetic angle encoder of the present invention, it is first
First, A/D converting unit 1 with fixed sample frequency magnet rotors when analog magnetic field intensity be changed into both horizontally and vertically
Digital signal, and send phase detectors 2 to；Secondly, the detection of phase detectors 2 obtains the angle value of current magnet rotors,
For the front and back angle value that phase detectors 2 detect twice, the angle that magnet rotates through between two A/D sampling instants is obtained
Δ θ, and Δ θ is transmitted and estimates unit 3 into leading phase, when estimating A/D sampling instant next time and arriving, angle that magnet rotates through
Spend Δ θ '；Finally, leading phase Δ θ ' and Δ θ are transmitted to A/B signal hopping edge location estimation unit, A/B signal is carried out
Hopping edge location estimation.The circuit increases leading phase on the basis of conventional magnetic angle encoder increment ABZ signal output
Unit 3 and A/B signal are estimated along jump estimation unit 4 in position, combine and estimate with A/B signal for leading phase along jump door
Limit judgement, further promotes the precision of A/B signal, reduces bring A/B signal jitter in magnet high-speed motion, in magnet speed change
Also there is preferable performance in movement；Circuit of the present invention has small scale, low in energy consumption, controls simple advantage, convenient for practical
Using.
Embodiment 2
As shown in Figures 1 to 4, the present embodiment the difference from embodiment 1 is that, improve increment in a kind of magnetic angle encoder
The method for encoding ABZ output accuracy, this method comprises the following steps:
The period of A/B signal can be determined that the corresponding angle T of a cycle is 360/ line number by the line number of user configuration；
S1: analog magnetic field intensity when with fixed sample frequency magnet rotors is changed into number both horizontally and vertically
Word signal, and send phase detectors 2 to；Wherein, sample frequency is to generate A/D sampling by frequency divider 7 by source clock unit 6
Required clock and numeric field clock, and numeric field clock frequency is the 2 of A/D sample rateNTimes, N can be according to specific requirements
Setting, value can take 3~6；
S2: the magnetic field strength digital signal both horizontally and vertically inputted according to step S1, phase detectors 2 use
Cordic algorithm calculates analysis and obtains the angle value of current magnet rotors；
S3: subtraction is carried out, is obtained for the front and back angle value that phase detectors 2 detect twice according to step S2
The angle delta θ that magnet rotates through between two A/D sampling instants；
S4: the Δ θ obtained according to step S3 transmits Δ θ and estimates unit 3 into leading phase, estimates A/D sampling next time
When moment arrives, angle delta θ ' that magnet rotates through；Leading phase estimates unit 3, selects the sliding window method of average or weighted iteration flat
The modes such as equal method estimate the angle that magnet rotates in an A/D sampling period.
Wherein: the mode for estimating the angle delta θ ' that magnet rotates through when A/D sampling instant next time arrives is using cunning
Any one in the window method of average, weighted mean method；
(1) the sliding window method of average, formula useThe formula is to continuously measuring
The angle that n A/D sampling period internal magnet rotates through is averaged；N is the length of sliding window；ΔθjFor in each A/D sampling period
The angle that magnet rotates through；
(2) weighted mean method, formula use Δ θ 'k=Δ θk*α+Δθ′k-1* (1- α), wherein Δ θ 'kTo estimate
The angle that k-th A/D sampling period internal magnet rotates through, Δ θ 'k-1It is revolved for what is estimated in the K-1 A/D sampling period internal magnet
The angle turned over, Δ θkFor the angle rotated through in k-th A/D sampling period internal magnet currently measured, α is less than 1
Weighting coefficient.
S5: according to step S3, S4, A/B signal hopping edge location estimation list is transmitted to phase delta θ ' and Δ θ is estimated in advance
Member carries out the hopping edge location estimation of A/B signal.
Specifically:
Leading phase Δ θ ' and Δ θ are transmitted to A/B signal hopping edge location estimation unit in step S5, carry out A/B letter
Number hopping edge location estimation, specifically comprise the following steps:
S51: when detecting that high-frequency digital clock unit 5 counts clear 0 and again when meeting following condition at p-th of Δ θ
(number for counting the clock) is started counting, the formula of use is as follows:
Wherein T is the 1/4 of each A/B signal period, and Δ θ is currently to measure in 1 A/D sampling period internal magnet rotation
The angle turned over.The formula indicates in the continuous P A/D sampling time, and the difference of the total angle that T and magnet turn over is less than estimating
In the A/D sampling time next time when the angle of magnet rotors, trigger condition；
S52: Δ θ 'pIt is divided into 2MPart, the angular dimension Δ θ ' of every portionaver=Δ θ 'p/2M, herein 2MWith step
S51 medium-high frequency digital dock unit relative to A/D sample frequency 2NMultiple has following relationship: N >=M；M is according to current Δ θ 'k
Size adaptation match setting value；
S53: it enablesWhen DEG is more than or equal to m* Δ θ 'averWhen, record the value of m；Wherein DEG
It indicates in A/B signal along detection, generates angle of the A/B signal along required compensation next time；M indicate the secondary compensation need through
The high frequency clock cycles number crossed；
S54: when m is recorded in the number of high-frequency digital clock unit, the rise/fall edge of A/B signal is generated；
S55: Δ θ-DEG is calculated when next Δ θ arrives as the Δ θ in step S51 next time0, and step S51
In p clear 0, then jump to step S51 again.
Entire A/B signal is along location estimation schematic diagram as shown in figure 3, as seen from the figure, believing by the A/B exported after estimation
Number more close to ideal A/B signal.
Under the scheme of above-mentioned design, it can also be added along the direction raising A/B signal that approaches estimated in magnet by configuring
Precision under speed/retarded motion state, as shown in Figure 4.
When magnet does acceleration rotation, configuration is chosen near the decision gate point of accumulation on the left of position, in this way in acceleration mode
Under export in advance be conducive to along signal reduce and perfect condition between phase error.Similarly, it when magnet does retarded motion, needs
Configuration is chosen near the decision gate point of accumulation on the right side of position.
In addition, there are also following characteristics for invention design:
1, leading phase estimates unit 3 can be possible reversed (i.e. speed is gradient to reversed a period of time from forward direction) in magnet
A segment limit in selection shielding, with reduce direction erroneous judgement probability.
2, it is estimated in unit 3 in leading phase, the estimation of leading phase can be sampled with the practical A/D of corresponding position each time
Value compares, and obtains current leading phase Δ θ 'kWith actual phase Δ θkEvaluated error ERR, then the ERR is brought into next
In the operation of secondary leading phase estimation, facilitate the accuracy for promoting leading phase estimation, it may be assumed that
ERR=Δ θ 'k-Δθk
Δθ′Real, k+1=Δ θ 'k+1+ERR
Wherein, ERR is current leading phase Δ θ 'kThe phase delta θ turned within an A/D sampling time with practical magnetk
Evaluated error, Δ θ 'k+1For the leading phase estimated, Δ θ ' next timeReal, k+1For by it is modified estimate next time it is advanced
Phase；
It is subsequent to use Δ θ 'Real, k+1Instead of Δ θ 'k+1It is brought into the calculating of step S51 to step S55, A/B signal can be made
Output accuracy is further promoted.
3, entire A/B signal is estimated unit 3 and can be configured to by external command along jump estimation unit 4 and leading phase
Bypass condition, to decline low-power consumption in specific occasion.
Above-described specific embodiment has carried out further the purpose of the present invention, technical scheme and beneficial effects
It is described in detail, it should be understood that being not intended to limit the present invention the foregoing is merely a specific embodiment of the invention
Protection scope, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should all include
Within protection scope of the present invention.
Claims (8)
1. improving the circuit of incremental encoding ABZ signal output accuracy in a kind of magnetic angle encoder, which is characterized in that including A/D
Converting unit (1), phase detectors (2), leading phase estimate unit (3), A/B signal along jump estimation unit (4) and high frequency
Analog magnetic field strength signal, output end when digital dock unit (5), the input terminal of A/D converting unit (1) access magnet rotors
It connects phase detectors (2), phase detectors (2) connection leading phase estimates unit (3) and A/B signal along jump estimation unit
(4), leading phase estimates unit (3) connection A/B signal along jump estimation unit (4), and A/B signal is along jump estimation unit (4)
Output end export A/B signal；Wherein:
The A/D converting unit (1), for analog magnetic field intensity to be changed into both horizontally and vertically with fixed sample frequency
Digital signal send phase detectors to；
The phase detectors (2) obtain current magnetic by processing for the magnetic field strength both horizontally and vertically to input
The angle value of iron rotation；
The leading phase estimates unit (3), under the angle result estimation for being detected according to multiple history phase detectors (2)
Phase size, and send A/B signal to and jump phase estimation along jump estimation unit (4) progress edge；
A/B signal edge jump estimation unit (4), estimates for the rise/fall to orthogonal A/B signal along position,
And export A/B signal；
The high-frequency digital clock unit (5) is used as A/B signal along the reference clock of jump estimation unit (4).
2. the circuit of incremental encoding A/B signal output accuracy is improved in a kind of magnetic angle encoder according to claim 1,
It is characterized in that, the sampled in-phase of the high-frequency digital clock unit (5) and the A/D converting unit (1), and frequency is A/D
The 2 of converting unit (1) sample frequencyNTimes, the value range of N is the precision that 3~6, N is used to compensate A/B signal.
3. the circuit of incremental encoding A/B signal output accuracy is improved in a kind of magnetic angle encoder according to claim 1,
It is characterized in that, further including source clock unit (6) and frequency divider (7), source clock unit (6) connects frequency divider (7), frequency divider
(7) it is all connected with high-frequency digital clock unit (5), A/D converting unit (1), source clock unit (6) is divided by frequency divider (7)
Clock and numeric field clock that A/D converting unit (1) sampling needs are generated, and numeric field clock frequency is A/D converting unit (1)
The 2 of sample rateNTimes, the value range of N is the precision that 3~6, N is used to compensate A/B signal.
4. the circuit of incremental encoding A/B signal output accuracy is improved in a kind of magnetic angle encoder according to claim 1,
It is characterized in that, further including PLL phaselocked loop, for high-frequency digital clock unit (5) locking phase.
5. the circuit of incremental encoding A/B signal output accuracy is improved in a kind of magnetic angle encoder according to claim 1,
It is characterized in that, analog magnetic field intensity is changed into horizontal and vertical side with fixed sample frequency by the A/D converting unit (1)
To digital signal send phase detectors to, wherein the digital signal includes digital level magnetic-field component, Digital Ortho magnetic
Field component.
6. improving the method for incremental encoding A/B signal output accuracy in a kind of magnetic angle encoder, which is characterized in that this method packet
Include following steps:
S1: analog magnetic field intensity when with fixed sample frequency magnet rotors is changed into number letter both horizontally and vertically
Number, and send phase detectors to；
S2: the magnetic field strength digital signal both horizontally and vertically inputted according to step S1, phase detectors use CORDIC
Algorithm calculates analysis and obtains the angle value of current magnet rotors；
S3: subtraction is carried out, obtains two for the front and back angle value that phase detectors detect twice according to step S2
The angle delta θ that magnet rotates through between A/D sampling instant；
S4: the Δ θ obtained according to step S3 transmits Δ θ and estimates unit into leading phase, estimate A/D sampling instant next time
When arrival, angle delta θ ' that magnet rotates through；
S5: according to step S3, S4, estimating phase delta θ ' and Δ θ is transmitted to A/B signal hopping edge location estimation unit in advance,
Carry out the hopping edge location estimation of A/B signal.
7. the method that incremental encoding A/B signal output accuracy is improved in a kind of magnetic angle encoder according to claim 6,
It is characterized in that, the mode for estimating the angle delta θ ' that magnet rotates through when A/D sampling instant next time arrives is flat using sliding window
Any one in equal method, weighted mean method, in which: sliding window method of average formula uses
The formula is that the angle rotated through to the n A/D sampling period internal magnet continuously measured is averaged；N is the length of sliding window；Δ
θiThe angle rotated through for each A/D sampling period internal magnet；Weighted mean method formula uses Δ θ 'k=Δ θk*α+Δθ′k-1*
(1- α), wherein Δ θ 'kFor the angle rotated through in k-th A/D sampling period internal magnet estimated, Δ θ 'k-1To estimate
The angle that the K-1 A/D sampling period internal magnet rotates through, Δ θkFor the magnetic within the k-th A/D sampling period currently measured
The angle that iron rotates through, α are the weighting coefficient less than 1.
8. the method that incremental encoding A/B signal output accuracy is improved in a kind of magnetic angle encoder according to claim 6,
It is characterized in that, it is transmitted to A/B signal hopping edge location estimation unit phase delta θ ' and Δ θ is estimated in advance in step S5, into
The hopping edge location estimation of row A/B signal, specifically comprises the following steps:
S51: when detect meet following condition at p-th of Δ θ when, high-frequency digital clock unit count clear 0 simultaneously restart
It counts, the formula of use is as follows:
Wherein, T is the 1/4 of each A/B signal period, and Δ θ is currently to measure in 1 A/D
The angle that sampling period internal magnet rotates through, the formula indicate in the continuous P A/D sampling time, the total angle that T and magnet turn over
Difference when being less than the angle of magnet rotors in sampling time of A/D next time for estimating, trigger condition；
S52: Δ θ 'pIt is divided into 2MPart, the angular dimension Δ θ ' of every portionaver=Δ θ 'p/2M, herein 2MIn step S51
High-frequency digital clock unit relative to A/D sample frequency 2NMultiple has following relationship: N >=M；M is according to current Δ θ 'kIt is big
Small adaptive configuration numerical value；
S53: it enablesWhen DEG is more than or equal to m* Δ θ 'averm*Δθ′averWhen, record the value of m；Its
Middle DEG is indicated in A/B signal along detection, generates angle of the A/B signal along required compensation next time；M indicates the secondary compensation
Need by high frequency clock cycles number；
S54: when m is recorded in the number of high-frequency digital clock unit, the rise/fall edge of A/B signal is generated；
S55: Δ θ-DEG is calculated when next Δ θ arrives as the Δ θ in step S51 next time0, and the p in step S51
Clear 0, step S51 is then jumped to again.
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