CN115876242A - Angle Compensation Method and Device for Magnetic Angle Encoder and Magnetic Angle Encoder - Google Patents

Abstract

The invention provides an angle compensation method and device for a magnetic angle encoder, and the magnetic angle encoder, which relate to the technical field of magnetic sensors. The method includes: segmenting the original angle curve corresponding to each original angle output by the magnetic angle encoder Processing, obtaining multiple segmentation intervals; determining the deviation value calculation formula corresponding to the target segmentation interval in the multiple segmentation intervals; determining each original angle in the target segmentation interval based on the deviation value calculation formula corresponding to the target segmentation interval and the deviation values between the rotation angles corresponding to each original angle; each original angle in the target segmentation interval is compensated based on each deviation value respectively. In the present invention, the nonlinear original angle curve is segmented, and each original angle in each segment is compensated based on the corresponding deviation value calculation formula in each segment, thereby enhancing the accuracy of the output angle of the magnetic angle encoder. linearization.

Description

Angle compensation method and device for magnetic angle encoder and magnetic angle encoder

technical field

The invention relates to the technical field of magnetic sensors, in particular to an angle compensation method and device for a magnetic angle encoder and the magnetic angle encoder.

Background technique

In recent years, with the rapid development of instruments, magnetic encoders have played a great role in production, and are widely used in robots, elevators, wind power, CNC machine tools, engineering machinery, tobacco machinery, printing machinery, oil and gas, packaging Machinery, textile machinery, food machinery, auto parts production lines, precision inkjet printing, welding, precision position control industrial automation control production lines and other modern industrial fields. Magnetic encoders mainly include magnetic angle encoders and magnetic rotary encoders, in which the magnetic rotary encoder is used to detect the rotation direction and rotation speed of the measured object, and the magnetic rotary encoder can not only determine the rotation direction and rotation speed of the measured object, It can also determine the current position of the measured object. For example, when it is necessary to determine the state where the motor stops, it is necessary to use a magnetic angle encoder.

However, when the magnetic angle encoder is actually installed, due to temperature, concentricity, inclination angle, and uneven magnetization of the magnet itself, the magnetic field is uneven, which leads to the deterioration of the angle linearity actually detected by the magnetic angle encoder. This increases the difficulty and time for the back-end host computer to read, which leads to the inaccurate detection of the current location.

Contents of the invention

Aiming at the problems existing in the prior art, the present invention provides an angle compensation method and device for a magnetic angle encoder and the magnetic angle encoder.

In a first aspect, the present invention provides an angle compensation method of a magnetic angle encoder, comprising:

Segmenting the original angle curve corresponding to each original angle output by the magnetic angle encoder to obtain multiple segmented intervals;

Determine the deviation value calculation formula corresponding to the target segmentation interval in the multiple segmentation intervals, the deviation value calculation formula is used to characterize each original angle in the target segmentation interval and correspond to each original angle The deviation between the rotation angles, the target segment interval is any segment interval in the plurality of segment intervals;

Based on the deviation value calculation formula corresponding to the target segmentation interval, determine the deviation value between each original angle in the target segmentation interval and the rotation angle corresponding to each original angle;

Compensating each of the original angles within the target segmentation interval based on each of the deviation values respectively.

Optionally, according to an angle compensation method of a magnetic angle encoder provided in the present invention, the determining the deviation value calculation formula corresponding to the target segment interval in the plurality of segment intervals includes:

determining a first original angle corresponding to the starting point of the target segmentation interval, and a first rotation angle corresponding to the first original angle, and determining a second original angle corresponding to the end point of the target segmentation interval , and a second rotation angle corresponding to the second original angle;

Based on the first original angle, the first rotation angle, the second original angle, and the second rotation angle, the deviation value calculation formula corresponding to the target segmentation interval is determined.

Optionally, according to an angle compensation method of a magnetic angle encoder provided in the present invention, the method based on the first original angle, the first rotation angle, the second original angle and the second rotation angle , determining the deviation value calculation formula corresponding to the target segmentation interval, including:

determining a first offset value between the first original angle and the first rotation angle, and determining a second offset value between the second original angle and the second rotation angle;

Based on the first original angle, the first deviation value, the second original angle, and the second deviation value, the deviation value calculation formula corresponding to the target segmentation interval is determined.

Optionally, according to an angle compensation method of a magnetic angle encoder provided by the present invention, the calculation formula of the deviation value corresponding to the target segment interval is:

Among them, θ represents the original angle in the target segmentation interval; Δ represents the deviation value between the original angle θ in the target segmentation interval and the rotation angle corresponding to θ; θ _N-1 represents the first Original angle; θ _N represents the second original angle; Δ _N-1 represents the first deviation value; Δ _N represents the second deviation value; N represents the index number of the target segmentation interval.

Optionally, according to the angle compensation method of a magnetic angle encoder provided by the present invention, before performing segmentation processing on the original angle curve corresponding to each original angle output by the magnetic angle encoder, and obtaining a plurality of segment intervals , the method also includes:

Obtaining a sine signal and a cosine signal formed by a rotating magnetic field corresponding to the magnetic angle encoder;

acquiring digital signals respectively corresponding to the sine signal and the cosine signal;

Arctangent processing is performed on the digital signals respectively corresponding to the sine signal and the cosine signal to obtain the original angle output by the magnetic angle encoder.

Optionally, according to an angle compensation method of a magnetic angle encoder provided in the present invention, the acquisition of the sine signal and cosine signal formed by the rotating magnetic field corresponding to the magnetic angle encoder includes:

Using at least two Hall elements to respectively detect changes in the rotating magnetic field, and obtain a first Hall voltage signal and a second Hall voltage signal;

A preprocessing circuit is used to preprocess the first Hall voltage signal and the second Hall voltage signal respectively, and obtain the sine signal and cosine signal formed by the rotating magnetic field corresponding to the magnetic angle encoder.

Optionally, according to an angle compensation method of a magnetic angle encoder provided in the present invention, the original angle curve corresponding to each original angle output by the magnetic angle encoder is segmented to obtain a plurality of segmented intervals, including :

obtaining a rotation angle curve corresponding to the original angle curve;

Performing an equal division process on the rotation angle curve to obtain an angle value corresponding to each division point on the rotation angle curve after the equal division process;

Based on the angle values corresponding to the division points on the rotation angle curve, the original angle curve is segmented to obtain the plurality of segment intervals.

In the second aspect, the present invention also provides an angle compensation device for a magnetic angle encoder, comprising:

The obtaining module is used to segment the original angle curve corresponding to each original angle output by the magnetic angle encoder to obtain multiple segmented intervals;

A first determination module, connected to the acquisition module, configured to determine a deviation value calculation formula corresponding to a target segment interval in a plurality of the segment intervals, and the deviation value calculation formula is used to characterize the target segment interval The deviation between each original angle within and the rotation angle corresponding to each original angle, and the target segmentation interval is any one segmentation interval in the plurality of segmentation intervals;

The second determination module is connected with the first determination module, and is used to determine the original angles in the target segmentation interval and the corresponding original angles based on the deviation value calculation formula corresponding to the target segmentation interval. The deviation value between the corresponding rotation angles;

A compensation module, connected to the second determination module, configured to compensate each of the original angles within the target segmentation interval based on each of the deviation values.

Optionally, according to an angle compensation device for a magnetic angle encoder provided by the present invention, the first determination module includes:

The first submodule is configured to determine a first original angle corresponding to the starting point of the target segmentation interval, and a first rotation angle corresponding to the first original angle, and determine the end of the target segmentation interval a second original angle corresponding to the point, and a second rotation angle corresponding to the second original angle;

A second submodule, connected to the first submodule, configured to determine the target score based on the first original angle, the first rotation angle, the second original angle, and the second rotation angle The formula for calculating the deviation value corresponding to the segment interval.

In the third aspect, the present invention also provides a magnetic angle encoder, including a magnetic code disc, a Hall element, and a signal processing circuit, the signal processing circuit is used to implement the angle compensation method of the magnetic angle encoder as described in the first aspect .

In a fourth aspect, the present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the angle compensation method of the magnetic angle encoder as described in the first aspect is implemented.

In a fifth aspect, the present invention further provides a computer program product, including a computer program, when the computer program is executed by a processor, the angle compensation method of the magnetic angle encoder as described in the first aspect is implemented.

The angle compensation method and device of the magnetic angle encoder provided by the present invention, and the magnetic angle encoder obtain a plurality of segmental intervals by segmenting the nonlinear original angle curve, and determine the respective deviations corresponding to each segmental interval Value calculation formula, and then in each segment interval, based on the deviation value calculation formula corresponding to the segment interval, determine the deviation value corresponding to each original angle in the segment interval, and based on each deviation value for each angle in the segment The original angle is compensated, which enhances the linearization of the output angle of the magnetic angle encoder.

Description of drawings

In order to more clearly illustrate the present invention or the technical solutions in the prior art, the accompanying drawings that need to be used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the accompanying drawings in the following description are the present invention. For some embodiments of the invention, those skilled in the art can also obtain other drawings based on these drawings without creative effort.

Fig. 1 is the schematic flow chart of the angle compensation method of the magnetic angle encoder provided by the present invention;

Fig. 2 is a schematic flow chart of the calculation formula for determining the deviation value corresponding to the target segmentation interval in multiple segmentation intervals provided by the present invention;

Fig. 3 is a schematic flow chart of determining the calculation formula of the deviation value based on the original angle and the deviation value between the original angle and the rotation angle provided by the present invention;

Fig. 4 is the flow schematic diagram that obtains the original angle of magnetic angle encoder output provided by the present invention;

Fig. 5 is a schematic flow diagram of obtaining the sine signal and cosine signal formed by the rotating magnetic field corresponding to the magnetic angle encoder provided by the present invention;

Fig. 6 is a schematic diagram of the original angle generation principle output by the magnetic angle encoder provided by the present invention;

Fig. 7 is a schematic flow chart of performing segment processing on the original angle curve to obtain multiple segment intervals provided by the present invention;

Fig. 8 is a schematic diagram of the deviation between the original angle and the rotation angle when the original angle curve provided by the present invention is greater than the rotation angle curve;

Fig. 9 is a schematic diagram of the deviation between the original angle and the rotation angle when the original angle curve provided by the present invention is smaller than the rotation angle curve;

Fig. 10 is a schematic diagram of the deviation between the original angle and the rotation angle when the original angle curve and the rotation angle curve provided by the present invention have more than one overlapping point;

Fig. 11 is a schematic structural view of the angle compensation device of the magnetic angle encoder provided by the present invention;

Fig. 12 is a schematic structural diagram of the first determination module in the angle compensation device of the magnetic angle encoder provided by the present invention;

Fig. 13 is a schematic diagram of the physical structure of the electronic device provided by the present invention.

Detailed ways

In order to make the purpose, technical solutions and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the present invention. Obviously, the described embodiments are part of the embodiments of the present invention , but not all examples. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

In the description of the embodiments of the present invention, it should be noted that terms such as "first" and "second" are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the terms so used are interchangeable under appropriate circumstances such that embodiments of the invention can be practiced in sequences other than those illustrated or described herein, and references to "first," "second," etc. distinguish Objects are generally of one type, and the number of objects is not limited. For example, there may be one or more first objects.

The angle compensation method and device of the magnetic angle encoder and the magnetic angle encoder provided by the present invention will be described below with reference to the accompanying drawings.

Fig. 1 is the schematic flow chart of the angle compensation method of the magnetic angle encoder provided by the present invention, as shown in Fig. 1, the method comprises:

Step 100, segmenting the original angle curve corresponding to each original angle output by the magnetic angle encoder to obtain multiple segmented intervals;

Step 110, determine the deviation value calculation formulas corresponding to the target segmentation intervals in the plurality of segmentation intervals, and the deviation value calculation formulas are used to represent the original angles in the target segmentation intervals and the original angles in the target segmentation intervals. The deviation between the angles of rotation corresponding to the angle, the target segmentation interval is any one of the plurality of segmentation intervals;

Step 120, based on the deviation value calculation formula corresponding to the target segmentation interval, determine the deviation value between each original angle in the target segmentation interval and the rotation angle corresponding to each original angle;

Step 130: Compensate each of the original angles within the target segmentation interval based on each of the deviation values.

Specifically, in order to overcome the fact that when the magnetic angle encoder is actually installed in the prior art, due to temperature, concentricity, inclination angle, and uneven magnetization of the magnet itself, the magnetic field is not uniform, resulting in the angle linearity actually detected by the magnetic angle encoder. Due to the defect of degree variation, the present invention obtains multiple segment intervals by segmenting the nonlinear original angle curve, and determines the deviation value calculation formulas corresponding to each segment interval, and then in each segment interval , based on the deviation value calculation formula corresponding to the segment interval, the deviation value corresponding to each original angle in the segment interval is determined, and each original angle in the segment is compensated based on each deviation value, which enhances the output of the magnetic angle encoder Linearization of angles.

Optionally, in this embodiment of the present invention, each original angle output by the magnetic angle encoder may be acquired first, and then simulated for each acquired original angle, so as to obtain an original angle curve corresponding to each discrete original angle.

Optionally, after the original angle curve is obtained, the original angle curve can be segmented to obtain multiple segment intervals, and then determine the deviation value calculation formula corresponding to each segment interval in the plurality of segment intervals, Among them, the deviation value calculation formula corresponding to the target segmentation interval in multiple segmentation intervals is used to characterize the deviation between each original angle in the target segmentation interval and the rotation angle corresponding to each original angle, and the target segmentation interval is any one of the multiple segment intervals.

It can be understood that, in the embodiment of the present invention, the rotation angle refers to the rotation angle of the measured object corresponding to the magnetic angle encoder.

It can be understood that the original angle output by the magnetic angle encoder should be the same as the rotation angle of the measured object corresponding to the magnetic angle encoder in principle, but due to reasons such as temperature, concentricity, inclination, and uneven magnetization of the magnet itself, the The magnetic field is not uniform, resulting in a deviation between the angle actually detected by the magnetic angle encoder and the rotation angle of the measured object.

Therefore, in the embodiment of the present invention, each original angle output by the magnetic angle encoder is compensated in sections, so that each original angle output by the magnetic angle encoder is closer to the rotation angle of the measured object.

It can be understood that, in this embodiment of the present invention, the target segmentation interval is any one of the multiple segmentation intervals.

Optionally, after determining the deviation value calculation formula corresponding to each segment interval, each original angle in each segment interval and the angle corresponding to each original angle can be determined based on the deviation value calculation formula corresponding to each segment interval. Bias value between rotation angles.

Optionally, after the deviation values corresponding to the original angles in each segment interval are determined, the original angles in each segment interval may be compensated based on the calculated deviation values.

The angle compensation method of the magnetic angle encoder provided by the present invention obtains a plurality of segmental intervals by segmenting the nonlinear original angle curve, and determines the calculation formula of the deviation value corresponding to each segmental interval, and then in each In a segment interval, the deviation value corresponding to each original angle in the segment interval is determined based on the deviation value calculation formula corresponding to the segment interval, and each original angle in the segment is compensated based on each deviation value, which enhances the Linearization of the output angle of a magnetic angle encoder.

Optionally, FIG. 2 is a schematic flow chart of the calculation formula for determining the deviation value corresponding to the target segmentation interval in multiple segmentation intervals provided by the present invention. As shown in FIG. 2 , the determination of the multiple segmentation intervals The deviation value calculation formula corresponding to the target segmentation interval of , including:

Step 200, determine the first original angle corresponding to the starting point of the target segmentation interval, and the first rotation angle corresponding to the first original angle, and determine the first rotation angle corresponding to the end point of the target segmentation interval two original angles, and a second rotation angle corresponding to the second original angle;

Step 210, based on the first original angle, the first rotation angle, the second original angle, and the second rotation angle, determine the deviation value calculation formula corresponding to the target segmentation interval.

Specifically, in this embodiment of the present invention, for a target segment interval among multiple segment intervals, the first original angle corresponding to the starting point of the target segment interval, and the first original angle corresponding to the first original angle can be determined first. A rotation angle, and determine the second original angle corresponding to the end point of the target segmentation interval, and the second rotation angle corresponding to the second original angle, and then based on the first original angle, the first rotation angle, and the second original angle and the second rotation angle to determine a deviation value calculation formula corresponding to the target segmentation interval.

It can be understood that, in the embodiment of the present invention, based on the first original angle corresponding to the starting point of each segmented interval, the first rotation angle corresponding to the first original angle, and the angle corresponding to the end point of each segmented interval The second original angle, and the second rotation angle corresponding to the second original angle, determine the calculation formula of the deviation value corresponding to each segment interval; that is, based on the linear correlation between the original angle and the rotation angle in each segment interval , respectively determine the deviation value calculation formulas corresponding to each segment interval, and then determine the deviation value corresponding to each original angle in each segment interval based on the deviation value calculation formula corresponding to each segment interval, which can improve the accuracy of deviation value calculation In turn, the precise compensation of each original angle can be realized, and the linearization of the output angle of the magnetic angle encoder can be enhanced.

Optionally, FIG. 3 is a schematic flow chart of determining a deviation value calculation formula based on the original angle and the deviation value between the original angle and the rotation angle provided by the present invention. As shown in FIG. 3 , the first original angle, The first rotation angle, the second original angle, and the second rotation angle determine the deviation value calculation formula corresponding to the target segmentation interval, including:

Step 300, determining a first deviation value between the first original angle and the first rotation angle, and determining a second deviation value between the second original angle and the second rotation angle;

Step 310, based on the first original angle, the first deviation value, the second original angle and the second deviation value, determine a deviation value calculation formula corresponding to the target segmentation interval.

Specifically, in this embodiment of the present invention, after determining the first original angle of the target segmentation interval and the first rotation angle corresponding to the first original angle, the difference between the first original angle and the first rotation angle can be determined. Between the first deviation value, and, after determining the second original angle of the target segmentation interval, and the second rotation angle corresponding to the second original angle, the distance between the second original angle and the second rotation angle can be determined The second deviation value, and then based on the first original angle, the first deviation value, the second original angle and the second deviation value, determine the deviation value calculation formula corresponding to the target segmentation interval.

Optionally, the formula for calculating the deviation value corresponding to the target segmentation interval is:

Among them, θ represents the original angle in the target segmentation interval; Δ represents the deviation value between the original angle θ in the target segmentation interval and the rotation angle corresponding to θ; θ _N-1 represents the first Original angle; θ _N represents the second original angle; Δ _N-1 represents the first deviation value; Δ _N represents the second deviation value; N represents the index number of the target segmentation interval.

计算目标分段区间内的各原始角度对应的偏差值Δ，进而基于计算出的偏差值Δ对原始角度进行补偿。Specifically, in the embodiment of the present invention, within the target segmentation interval, the deviation value can be calculated based on the formula

The deviation value Δ corresponding to each original angle in the target segmentation interval is calculated, and then the original angle is compensated based on the calculated deviation value Δ.

Optionally, Fig. 4 is a schematic flow chart of obtaining the original angle output by the magnetic angle encoder provided by the present invention. As shown in Fig. 4, the original angle curve corresponding to each original angle output by the magnetic angle encoder is analyzed. Segment processing, before obtaining a plurality of segmentation intervals, the method also includes:

Step 400, acquiring the sine signal and cosine signal formed by the rotating magnetic field corresponding to the magnetic angle encoder;

Step 410, acquiring digital signals respectively corresponding to the sine signal and the cosine signal;

Step 420, performing arctangent processing on the digital signals respectively corresponding to the sine signal and the cosine signal, to obtain the original angle output by the magnetic angle encoder.

Specifically, in the embodiment of the present invention, before the original angle curves corresponding to the original angles output by the magnetic angle encoder are segmented to obtain multiple segmented intervals, the output of the magnetic angle encoder can be obtained through the following steps: Each original angle of :

Step 1: Obtain the sine signal and cosine signal formed by the rotating magnetic field corresponding to the magnetic angle encoder;

Step 2: Obtain the digital signals corresponding to the sine signal and the cosine signal respectively;

Step 3: Perform arctangent processing on the digital signals respectively corresponding to the acquired sine signal and cosine signal, to obtain the original angle output by the magnetic angle encoder.

Optionally, in this embodiment of the present invention, the sine signal and the cosine signal may be respectively converted into digital signals by using an analog-to-digital converter (Analog-to-Digital Converter, ADC).

It can be understood that, after obtaining the original angles output by the magnetic angle encoder in the above manner, the obtained original angles can be simulated to obtain the original angle curves corresponding to the discrete original angles.

Optionally, FIG. 5 is a schematic flow chart of obtaining the sine signal and cosine signal formed by the rotating magnetic field corresponding to the magnetic angle encoder provided by the present invention. As shown in FIG. 5 , the obtaining of the rotating magnetic field corresponding to the magnetic angle encoder Formed sine and cosine signals, including:

Step 500, using at least two Hall elements to respectively detect the change of the rotating magnetic field, and obtain a first Hall voltage signal and a second Hall voltage signal;

Step 510, using a preprocessing circuit to preprocess the first Hall voltage signal and the second Hall voltage signal, respectively, to obtain a sine signal and a cosine signal formed by a rotating magnetic field corresponding to the magnetic angle encoder.

Specifically, in the embodiment of the present invention, at least two Hall elements can be used to respectively detect the change of the rotating magnetic field corresponding to the magnetic angle encoder, so as to obtain the first Hall voltage signal and the second Hall voltage signal, and then use The preprocessing circuit preprocesses the first Hall voltage signal and the second Hall voltage signal to obtain the sine signal and cosine signal formed by the rotating magnetic field corresponding to the magnetic angle encoder.

It can be understood that the Hall voltage signal obtained directly by the Hall element is a weak sine signal and a cosine signal, then in the embodiment of the present invention, the Hall voltage signal can be amplified and the Hall offset voltage can be eliminated by the preprocessing circuit The signal is more ideal sine signal and cosine signal.

Optionally, Fig. 6 is a schematic diagram of the original angle generation principle output by the magnetic angle encoder provided by the present invention. As shown in Fig. 6, two-way Hall (Hall elements) 610 output weak sinusoidal signals and cosine signal, and then through the preprocessing circuit 620 to amplify the Hall signal and eliminate the Hall offset voltage to obtain a relatively ideal sine signal and cosine signal, and then convert the sine signal and cosine signal into a digital signal through an ADC (analog-to-digital converter) 630, Finally, the digital signal is processed by an arctan circuit (arctangent circuit) 640 to obtain the original angle θ output by the magnetic angle encoder.

Optionally, Fig. 7 is a schematic flow chart of segmenting the original angle curve to obtain a plurality of segmented intervals provided by the present invention. As shown in Fig. 7, the original angle corresponding to each original angle output by the magnetic angle encoder The angle curve is segmented to obtain multiple segment intervals, including:

Step 700, obtaining a rotation angle curve corresponding to the original angle curve;

Step 710, perform equal division processing on the rotation angle curve, and obtain angle values corresponding to each division point on the rotation angle curve after the equal division processing;

Step 720: Based on the angle values corresponding to the division points on the rotation angle curve, segment the original angle curve to obtain the plurality of segment intervals.

Specifically, in the embodiment of the present invention, in order to segment the original angle curves corresponding to the original angles output by the magnetic angle encoder and obtain multiple segmented intervals, each original angle output by the magnetic angle encoder can be acquired After the original angle curve corresponding to the angle, the rotation angle curve corresponding to the original angle curve is obtained, and then the rotation angle curve is averaged, and the angle value corresponding to each segmentation point on the rotation angle curve after the average processing is obtained, further based on Rotate the angle value corresponding to each segmentation point on the angle curve, perform segment processing on the original angle curve, and obtain multiple segment intervals.

It can be understood that, in the embodiment of the present invention, after the average division process is performed on the rotation angle curve, the rotation angle value corresponding to each division point on the rotation angle curve after the equal division process can be obtained, and then based on each division point on the rotation angle curve The rotation angle value corresponding to the division point is determined to determine the original angle value corresponding to each division point, and then based on the original angle value corresponding to each division point, the original angle curve is segmented to obtain multiple segment intervals.

Specifically, the angle compensation method of the magnetic angle encoder provided in the embodiment of the present invention may include the following steps:

Step 1: Obtain each original angle output by the magnetic angle encoder through the circuit shown in Figure 6, and then obtain the original angle curve corresponding to each original angle;

Step 2: Obtain the rotation angle curve corresponding to the original angle curve, and divide the rotation angle curve into N segments, and the division points are recorded as α ₁ , α ₂ ... α _N-1 , α _N ; where the magnetic angle corresponding to α _N The original angle output by the encoder is denoted as θ _N ;

It can be understood that after the rotation angle curve is divided into N segments, the corresponding original angle curve is also divided into N segments, and the division points are recorded as θ ₁ , θ ₂ ... θ _N-1 , θ _N , where θ ₁ , θ ₂ ... θ _N-1 , θ _N are in one-to-one correspondence with α ₁ , α ₂ ... α _N-1 , α _N respectively.

Step 3: Calculate the deviation value between the original angle and the rotation angle at each division point, where Δ _N =θ _N -α _N ;

Step 4: For any one of the original angles output by the magnetic angle encoder, determine the subsection interval to which the original angle belongs, and calculate the angle error corresponding to the original angle based on the deviation value calculation formula corresponding to the subsection interval, The original angle is compensated based on the calculated angle error, where the formula for calculating the deviation value of the target segment interval is:

The original angle θ is compensated based on the formula θ _out =θ-Δ, and the compensated angle is θ _out .

It can be understood that, in the embodiment of the present invention, as N increases, the linearity of the compensated angle output curve is stronger, but at the same time, the required calculation amount is also larger.

Fig. 8 is a schematic diagram of the deviation between the original angle and the rotation angle under the condition that the original angle curve provided by the present invention is greater than the rotation angle curve. The original angle value obtained by the arctangent algorithm, ideally, the rotation angle value should be the same as the original angle value, but due to the actual installation, temperature, concentricity, inclination angle, uneven magnetization of the magnet itself, etc., the magnetic field is not uniform , resulting in a deviation between the angle value actually detected by the magnetic angle encoder and the rotation angle value.

Therefore, in order to overcome the above defects, in the embodiment of the present invention, firstly, the rotation angle value is evenly divided into N segments, which are denoted as α ₁ , α ₂ ... α _N-1 , α _N ; where the magnetic angle encoder corresponding to α _N The output original angle is recorded as θ _N , and the difference between the original output angle θ _N and the rotation angle α _N is Δ _N ; where Δ _N =θ _N -α _N , and N is a positive integer (for example: Δ ₁ =θ ₁ - α ₁ , Δ ₂ = θ ₂ -α ₂ ); assuming that the measured original angle is θ, the corresponding rotation angle value is α, and the difference Δ=θ-α; therefore, the final output angle after compensation is θ _out , where θ _out =θ-Δ.

As shown in Figure 8, except for points α ₁ , α ₂ ... α _N-1 , the difference Δ ₁ , Δ ₂ ... Δ _N-1 , Δ _N corresponding to α _N in the curve is known, in each interval The difference corresponding to each point in is unknown, so a formula is needed to calculate the difference of each point.

度，因此在θ₁至θ₂区间内各点θ所对应的差值Δ可由如下公式推得：Assuming to calculate the difference of each point in the interval from θ ₁ to θ ₂ , firstly Δ ₁ and Δ ₂ are known, the angle difference between θ ₁ and θ ₂ is θ ₂ - θ ₁ , and the change between the differences is Δ ₂ -Δ ₁ ; assuming that the change between the differences is linear, then within the range of θ ₁ to θ ₂ , every time the angle changes by one degree, the difference corresponding to the angle will change

degree, so the difference Δ corresponding to each point θ in the interval from θ ₁ to θ ₂ can be deduced by the following formula:

In the same way, it can be proved that the difference Δ corresponding to each point θ in the interval from θ ₂ to θ ₃ conforms to the following formula:

Therefore, the error Δ corresponding to each point in any interval from θ _N-1 to θ _N can be calculated by the following formula:

Therefore, the output value θ _{out of} each point after linearizing the nonlinear angle curve is calculated by the following formula:

θ _out = θ - Δ

Fig. 9 is a schematic diagram of the deviation between the original angle and the rotation angle when the original angle curve is smaller than the rotation angle curve provided by the present invention. As shown in Fig. 9, when the original angle curve is smaller than the rotation angle curve, the error value Δ of each point Less than zero (for example: Δ ₁ = θ ₁ - _{α 1} , Δ ₂ = θ ₂ - α ₂ , Δ _N = θ _N - α _N ), indicating that the output angle ratio of the magnetic angle encoder arc tangent algorithm is higher than the real rotation The angle value is small, so Δ is a negative value. At this time, according to the formula θ _out = θ-Δ, it can be seen that the final output angle value θ _out will become larger.

计算得出。Fig. 10 is a schematic diagram of the deviation between the original angle and the rotation angle when the original angle curve and the rotation angle curve provided by the present invention have more than one overlapping point. As shown in Fig. 10, for adjacent error values Δ with different polarities situation, the angle compensation method of the magnetic angle encoder provided by the embodiment of the present invention is also applicable, and the error value of each point in this interval can also be calculated by the formula

Calculated.

It can be understood that, in the embodiment of the present invention, the difference Δ can be a positive value or a negative value; when Δ is a positive value, it indicates that the original output angle is too large and needs to be compensated for a negative angle; and when When Δ is a negative value, it means that the original output angle is too small, and it is necessary to compensate the positive angle to make the output angle larger.

It can be understood that, the angle compensation method of the magnetic angle encoder provided by the embodiment of the present invention, its specific principle is: the sine and cosine signals formed by the rotating magnetic field corresponding to the magnetic angle encoder are collected by two sets of linear Hall units, and the collected The received sine and cosine signals are converted into digital signals by ADC, and then processed by digital arctangent to output the original angle; then, by segmenting the original angle curve corresponding to the original angle, in each segment, first calculate the segment position The deviation between the original angle and the rotation angle value, and then predict the deviation between any original angle and the rotation angle value in this section, so as to realize the compensation for the nonlinear angle, and solve the problem of the magnetic angle encoder in the actual installation due to temperature, concentricity, The inclination angle and the uneven magnetization of the magnet itself make the magnetic field uneven, which leads to the problem that the linearity of the angle actually detected by the magnetic angle encoder becomes worse.

It can be understood that the angle compensation method of the magnetic angle encoder provided by the embodiment of the present invention is simple to implement at the user end, requires fewer parameters to be adjusted, and has a better correction effect on the nonlinear output curve, and the method's It has strong scalability and portability, and is suitable for any scene where nonlinear curves are corrected.

The angle compensation method of the magnetic angle encoder provided by the present invention obtains a plurality of segmental intervals by segmenting the nonlinear original angle curve, and determines the calculation formula of the deviation value corresponding to each segmental interval, and then in each In a segment interval, the deviation value corresponding to each original angle in the segment interval is determined based on the deviation value calculation formula corresponding to the segment interval, and each original angle in the segment is compensated based on each deviation value, which enhances the Linearization of the output angle of a magnetic angle encoder.

The angle compensation device for the magnetic angle encoder provided by the present invention is described below, and the angle compensation device for the magnetic angle encoder described below and the angle compensation method for the magnetic angle encoder described above can be referred to in correspondence.

Fig. 11 is a schematic structural diagram of the angle compensation device of the magnetic angle encoder provided by the present invention. As shown in Fig. 11, the device includes: an acquisition module 1110, a first determination module 1120, a second determination module 1130 and a compensation module 1140; :

The acquisition module 1110 is used to segment the original angle curve corresponding to each original angle output by the magnetic angle encoder, and obtain a plurality of segment intervals;

The first determination module 1120 is connected to the acquisition module 1110, and is used to determine a deviation value calculation formula corresponding to a target segment interval in a plurality of the segment intervals, and the deviation value calculation formula is used to characterize the target segment The deviation between each original angle in the interval and the rotation angle corresponding to each original angle, and the target segmentation interval is any one of the plurality of segmentation intervals;

The second determination module 1130 is connected to the first determination module 1120, and is used to determine the sum of the original angles in the target segmentation interval and the original angles in the target segmentation interval based on the deviation value calculation formula corresponding to the target segmentation interval. The deviation value between the corresponding rotation angles;

The compensation module 1140 is connected with the second determination module 1130 and configured to compensate each of the original angles in the target segmentation interval based on each of the deviation values.

The angle compensation device of the magnetic angle encoder provided by the present invention obtains a plurality of segmental intervals by segmenting the nonlinear original angle curve, and determines the calculation formula of the deviation value corresponding to each segmental interval, and then in each In a segment interval, the deviation value corresponding to each original angle in the segment interval is determined based on the deviation value calculation formula corresponding to the segment interval, and each original angle in the segment is compensated based on each deviation value, which enhances the Linearization of the output angle of a magnetic angle encoder.

Optionally, FIG. 12 is a schematic structural diagram of the first determination module in the angle compensation device of the magnetic angle encoder provided by the present invention. As shown in FIG. 12 , the first determination module 1120 includes:

The first sub-module 1210 is configured to determine the first original angle corresponding to the starting point of the target segmentation interval, and the first rotation angle corresponding to the first original angle, and determine the target segmentation interval a second original angle corresponding to the end point, and a second rotation angle corresponding to the second original angle;

The second submodule 1220 is connected with the first submodule 1210, and is used to determine the The formula for calculating the deviation value corresponding to the target segmentation interval.

Optionally, the second submodule 1220 includes:

A deviation value determining module, configured to determine a first deviation value between the first original angle and the first rotation angle, and determine a second deviation between the second original angle and the second rotation angle value;

A deviation value calculation formula determination module, connected to the deviation value determination module, for determining the The formula for calculating the deviation value corresponding to the target segmentation interval.

Optionally, the formula for calculating the deviation value corresponding to the target segmentation interval is:

Among them, θ represents the original angle in the target segmentation interval; Δ represents the deviation value between the original angle θ in the target segmentation interval and the rotation angle corresponding to θ; θ _N-1 represents the first Original angle; θ _N represents the second original angle; Δ _N-1 represents the first deviation value; Δ _N represents the second deviation value; N represents the index number of the target segmentation interval.

Optionally, the device also includes:

Sine and cosine signal acquisition module: used to segment the original angle curve corresponding to each original angle output by the magnetic angle encoder, and obtain the rotating magnetic field corresponding to the magnetic angle encoder before obtaining a plurality of segmented intervals The sine and cosine signals formed;

A digital signal acquisition module, connected to the sine and cosine signal acquisition module, for acquiring digital signals respectively corresponding to the sine signal and the cosine signal;

The arctangent processing module is connected with the digital signal acquisition module, and is used to perform arctangent processing on the digital signals respectively corresponding to the sine signal and the cosine signal, so as to obtain the original angle output by the magnetic angle encoder.

Optionally, the sine-cosine signal acquisition module includes:

A Hall detection module, configured to use at least two Hall elements to respectively detect changes in the rotating magnetic field, and obtain a first Hall voltage signal and a second Hall voltage signal;

A preprocessing module, connected to the Hall detection module, is used to use a preprocessing circuit to preprocess the first Hall voltage signal and the second Hall voltage signal respectively to obtain the magnetic angle encoder Corresponding to the sine and cosine signals formed by the rotating magnetic field.

Optionally, the obtaining module 1110 includes:

A rotation angle curve acquisition module, configured to acquire a rotation angle curve corresponding to the original angle curve;

The equalization processing module is connected with the acquisition module of the rotation angle curve, and is used to perform equalization processing on the rotation angle curve, and obtain the angle value corresponding to each division point on the rotation angle curve after the equalization processing;

A segmentation processing module, connected to the equalization processing module, for performing segmentation processing on the original angle curve based on the angle value corresponding to each segmentation point on the rotation angle curve, and obtaining the plurality of segmentation intervals .

The angle compensation device of the magnetic angle encoder provided by the present invention obtains a plurality of segmental intervals by segmenting the nonlinear original angle curve, and determines the calculation formula of the deviation value corresponding to each segmental interval, and then in each In a segment interval, the deviation value corresponding to each original angle in the segment interval is determined based on the deviation value calculation formula corresponding to the segment interval, and each original angle in the segment is compensated based on each deviation value, which enhances the Linearization of the output angle of a magnetic angle encoder.

It should be noted here that the above-mentioned angle compensation device for the magnetic angle encoder provided by the embodiment of the present invention can realize all the method steps realized by the above-mentioned embodiment of the angle compensation method for the magnetic angle encoder, and can achieve the same technical effect , the same parts and beneficial effects in this embodiment as those in the method embodiment will not be described in detail here.

The present invention also provides a magnetic angle encoder, which includes a magnetic code disc, a Hall element and a signal processing circuit, and the signal processing circuit is used to implement the angle compensation method of the magnetic angle encoder provided by the above methods.

Specifically, the magnetic angle encoder is composed of a magnetic code disc, a Hall element and a signal processing circuit, wherein the magnetic code disc is a digital encoder for measuring angular displacement, and is used for front-end display of the measured angle, which can receive the signal processing circuit The output angle after compensating the original angle; the Hall element is used to convert the changing magnetic field into the change of the output voltage; the signal processing circuit is an integrated circuit containing the angle compensation device of the magnetic angle encoder, which can be used according to the magnetic angle encoder The internal Hall element and other magnetic induction elements detect the voltage change signal to obtain the original angle output by the magnetic angle encoder, and then perform angle compensation on the original angle.

The magnetic angle encoder provided by the present invention obtains a plurality of segmental intervals by segmenting the nonlinear original angle curve, and determines the calculation formulas of deviation values corresponding to each segmental interval, and then in each segmental interval Inside, the deviation value corresponding to each original angle in the segment interval is determined based on the deviation value calculation formula corresponding to the segment interval, and each original angle in the segment is compensated based on each deviation value, which enhances the magnetic angle encoder Linearization of output angles.

The present invention also provides an angle compensation system for a magnetic angle encoder, the system includes a controller and a magnetic angle encoder, the controller is used to implement the angle compensation method for the magnetic angle encoder provided by the above methods, and the The original angle output by the magnetic angle encoder is compensated, and the angle compensation method of the magnetic angle encoder includes:

Segmenting the original angle curve corresponding to each original angle output by the magnetic angle encoder to obtain multiple segmented intervals;

Determine the deviation value calculation formula corresponding to the target segmentation interval in the multiple segmentation intervals, the deviation value calculation formula is used to characterize each original angle in the target segmentation interval and correspond to each original angle The deviation between the rotation angles, the target segment interval is any segment interval in the plurality of segment intervals;

Based on the deviation value calculation formula corresponding to the target segmentation interval, determine the deviation value between each original angle in the target segmentation interval and the rotation angle corresponding to each original angle;

Compensating each of the original angles within the target segmentation interval based on each of the deviation values respectively.

It should be noted here that the controller in the above-mentioned angle compensation system of the magnetic angle encoder provided by the embodiment of the present invention can realize all the method steps realized by the above-mentioned embodiment of the angle compensation method of the magnetic angle encoder, and can achieve For the same technical effect, the same parts and beneficial effects in this embodiment as those in the method embodiment will not be described in detail here.

In the angle compensation system of the magnetic angle encoder provided by the present invention, the nonlinear original angle curve is segmented by the controller to obtain a plurality of segmented intervals, and determine the deviation value calculation formulas corresponding to each segmented interval, and then In each segment interval, the deviation value corresponding to each original angle in the segment interval is determined based on the deviation value calculation formula corresponding to the segment interval, and the deviation value in the segment output by the magnetic angle encoder is based on each deviation value Each original angle is compensated, which enhances the linearization of the output angle of the magnetic angle encoder.

FIG. 13 is a schematic diagram of the physical structure of the electronic device provided by the present invention. As shown in FIG. 13 , the electronic device may include: a processor (processor) 1310, a communication interface (Communications Interface) 1320, a memory (memory) 1330 and a communication bus 1340 , wherein, the processor 1310 , the communication interface 1320 , and the memory 1330 communicate with each other through the communication bus 1340 . The processor 1310 can call the logic instructions in the memory 1330 to execute the angle compensation method of the magnetic angle encoder provided by the above methods, the method includes:

Segmenting the original angle curve corresponding to each original angle output by the magnetic angle encoder to obtain multiple segmented intervals;

Determine the deviation value calculation formula corresponding to the target segmentation interval in the multiple segmentation intervals, the deviation value calculation formula is used to characterize each original angle in the target segmentation interval and correspond to each original angle The deviation between the rotation angles, the target segment interval is any segment interval in the plurality of segment intervals;

Based on the deviation value calculation formula corresponding to the target segmentation interval, determine the deviation value between each original angle in the target segmentation interval and the rotation angle corresponding to each original angle;

Compensating each of the original angles within the target segmentation interval based on each of the deviation values respectively.

In addition, the above-mentioned logic instructions in the memory 1330 may be implemented in the form of software function units and may be stored in a computer-readable storage medium when sold or used as an independent product. Based on this understanding, the essence of the technical solution of the present invention or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including Several instructions are used to make a computer device (which may be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disk and other media that can store program codes. .

On the other hand, the present invention also provides a computer program product, the computer program product includes a computer program stored on a non-transitory computer-readable storage medium, the computer program includes program instructions, and when the program instructions are executed by a computer During execution, the computer can execute the angle compensation method of the magnetic angle encoder provided by the above-mentioned methods, and the method includes:

Segmenting the original angle curve corresponding to each original angle output by the magnetic angle encoder to obtain multiple segmented intervals;

Determine the deviation value calculation formula corresponding to the target segmentation interval in the multiple segmentation intervals, the deviation value calculation formula is used to characterize each original angle in the target segmentation interval and correspond to each original angle The deviation between the rotation angles, the target segment interval is any segment interval in the plurality of segment intervals;

Based on the deviation value calculation formula corresponding to the target segmentation interval, determine the deviation value between each original angle in the target segmentation interval and the rotation angle corresponding to each original angle;

Compensating each of the original angles within the target segmentation interval based on each of the deviation values respectively.

In another aspect, the present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it is implemented to perform the angle compensation methods of the magnetic angle encoders provided above, The method includes:

Segmenting the original angle curve corresponding to each original angle output by the magnetic angle encoder to obtain multiple segmented intervals;

Determine the deviation value calculation formula corresponding to the target segmentation interval in the multiple segmentation intervals, the deviation value calculation formula is used to characterize each original angle in the target segmentation interval and correspond to each original angle The deviation between the rotation angles, the target segment interval is any segment interval in the plurality of segment intervals;

Based on the deviation value calculation formula corresponding to the target segmentation interval, determine the deviation value between each original angle in the target segmentation interval and the rotation angle corresponding to each original angle;

Compensating each of the original angles within the target segmentation interval based on each of the deviation values respectively.

The device embodiments described above are only illustrative, and the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in One place, or it can be distributed to multiple network elements. Part or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. It can be understood and implemented by those skilled in the art without any creative efforts.

Through the above description of the implementations, those skilled in the art can clearly understand that each implementation can be implemented by means of software plus a necessary general hardware platform, and of course also by hardware. Based on this understanding, the essence of the above technical solution or the part that contributes to the prior art can be embodied in the form of software products, and the computer software products can be stored in computer-readable storage media, such as ROM/RAM, magnetic discs, optical discs, etc., including several instructions to make a computer device (which may be a personal computer, server, or network device, etc.) execute the methods described in various embodiments or some parts of the embodiments.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it can still be Modifications are made to the technical solutions described in the foregoing embodiments, or equivalent replacements are made to some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims (10)

1. An angle compensation method of a magnetic angle encoder, characterized in that, comprising: Segmenting the original angle curve corresponding to each original angle output by the magnetic angle encoder to obtain multiple segmented intervals; Determine the deviation value calculation formula corresponding to the target segmentation interval in the multiple segmentation intervals, the deviation value calculation formula is used to characterize each original angle in the target segmentation interval and correspond to each original angle The deviation between the rotation angles, the target segment interval is any segment interval in the plurality of segment intervals; Based on the deviation value calculation formula corresponding to the target segmentation interval, determine the deviation value between each original angle in the target segmentation interval and the rotation angle corresponding to each original angle; Compensating each of the original angles within the target segmentation interval based on each of the deviation values respectively. 2. The angle compensation method of the magnetic angle encoder according to claim 1, wherein the determination of the deviation value calculation formula corresponding to the target segment interval in the plurality of the segment intervals comprises: determining a first original angle corresponding to the starting point of the target segmentation interval, and a first rotation angle corresponding to the first original angle, and determining a second original angle corresponding to the end point of the target segmentation interval , and a second rotation angle corresponding to the second original angle; Based on the first original angle, the first rotation angle, the second original angle, and the second rotation angle, the deviation value calculation formula corresponding to the target segmentation interval is determined. 3. The angle compensation method of the magnetic angle encoder according to claim 2, wherein the method is based on the first original angle, the first rotation angle, the second original angle and the second The rotation angle is used to determine the calculation formula of the deviation value corresponding to the target segmentation interval, including: determining a first offset value between the first original angle and the first rotation angle, and determining a second offset value between the second original angle and the second rotation angle; Based on the first original angle, the first deviation value, the second original angle, and the second deviation value, the deviation value calculation formula corresponding to the target segmentation interval is determined. 4. The angle compensation method of the magnetic angle encoder according to claim 3, characterized in that, the calculation formula of the deviation value corresponding to the target segmentation interval is:

Among them, θ represents the original angle in the target segmentation interval; Δ represents the deviation value between the original angle θ in the target segmentation interval and the rotation angle corresponding to θ; θ _N-1 represents the first Original angle; θ _N represents the second original angle; Δ _N-1 represents the first deviation value; Δ _N represents the second deviation value; N represents the index number of the target segmentation interval. 5. the angle compensation method of magnetic angle encoder according to claim 1, it is characterized in that, carry out segment processing at the original angle curve corresponding to each original angle that magnetic angle encoder outputs, obtain a plurality of segmentations Before the interval, the method also includes: Obtaining a sine signal and a cosine signal formed by a rotating magnetic field corresponding to the magnetic angle encoder; acquiring digital signals respectively corresponding to the sine signal and the cosine signal; Arctangent processing is performed on the digital signals respectively corresponding to the sine signal and the cosine signal to obtain the original angle output by the magnetic angle encoder. 6. The angle compensation method of the magnetic angle encoder according to claim 5, wherein said obtaining the sine signal and the cosine signal formed by the corresponding rotating magnetic field of the magnetic angle encoder comprises: Using at least two Hall elements to respectively detect changes in the rotating magnetic field, and obtain a first Hall voltage signal and a second Hall voltage signal; A preprocessing circuit is used to preprocess the first Hall voltage signal and the second Hall voltage signal respectively, and obtain the sine signal and cosine signal formed by the rotating magnetic field corresponding to the magnetic angle encoder. 7. according to the angle compensation method of magnetic angle encoder described in any one of claim 1-6, it is characterized in that, described original angle curve corresponding to each original angle output of magnetic angle encoder is carried out segment processing, obtains Multiple segment intervals, including: obtaining a rotation angle curve corresponding to the original angle curve; Performing an equal division process on the rotation angle curve to obtain an angle value corresponding to each division point on the rotation angle curve after the equal division process; Based on the angle values corresponding to the division points on the rotation angle curve, the original angle curve is segmented to obtain the plurality of segment intervals. 8. An angle compensation device for a magnetic angle encoder, characterized in that it comprises: The obtaining module is used to segment the original angle curve corresponding to each original angle output by the magnetic angle encoder to obtain multiple segmented intervals; A first determination module, connected to the acquisition module, configured to determine a deviation value calculation formula corresponding to a target segment interval in a plurality of the segment intervals, and the deviation value calculation formula is used to characterize the target segment interval The deviation between each original angle within and the rotation angle corresponding to each original angle, and the target segmentation interval is any one segmentation interval in the plurality of segmentation intervals; The second determination module is connected with the first determination module, and is used to determine the original angles in the target segmentation interval and the corresponding original angles based on the deviation value calculation formula corresponding to the target segmentation interval. The deviation value between the corresponding rotation angles; A compensation module, connected to the second determination module, configured to compensate each of the original angles within the target segmentation interval based on each of the deviation values. 9. The angle compensation device of the magnetic angle encoder according to claim 8, wherein the first determining module comprises: The first submodule is configured to determine a first original angle corresponding to the starting point of the target segmentation interval, and a first rotation angle corresponding to the first original angle, and determine the end of the target segmentation interval a second original angle corresponding to the point, and a second rotation angle corresponding to the second original angle; A second submodule, connected to the first submodule, configured to determine the target score based on the first original angle, the first rotation angle, the second original angle, and the second rotation angle The formula for calculating the deviation value corresponding to the segment interval. 10. A magnetic angle encoder, comprising a magnetic code disc, a Hall element and a signal processing circuit, characterized in that the signal processing circuit is used to perform the operation of the magnetic angle encoder according to any one of claims 1 to 7. Angle compensation method.

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