CN114322726A - Differential angular displacement sensor based on Hall effect and sensing method - Google Patents
Differential angular displacement sensor based on Hall effect and sensing method Download PDFInfo
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Abstract
The invention belongs to the technical field of sensing measurement and discloses a differential angular displacement sensor based on a Hall effect and an induction method, wherein the sensor comprises a turntable, semicircular arc-shaped magnetic steel, an upper magnetic yoke left, an upper magnetic yoke right, a lower magnetic yoke, a rotating shaft, a first Hall element and a second Hall element; the semicircular arc-shaped magnetic steel is fixed on the rotary table and is driven by the rotating shaft to rotate; the upper magnetic yoke left and the upper magnetic yoke right are two half-type magnetic yoke structures which are arranged above the turntable at intervals, the lower magnetic yoke is an integral magnetic yoke structure which is arranged below the turntable, and the upper magnetic yoke left, the upper magnetic yoke right and the lower magnetic yoke are static relative to the arc-shaped magnetic steel; the first Hall element is arranged between the left and the lower magnetic yokes of the upper magnetic yoke, and the second Hall element is arranged between the right and the lower magnetic yokes of the upper magnetic yoke. The differential angular displacement sensing measurement technology is adopted, so that the anti-interference capability is strong; the measuring purpose can be achieved without the linearization of a signal processing circuit and an analysis circuit, and the method and the sensor have simple and reliable structures and low cost.
Description
Technical Field
The invention belongs to the technical field of sensing measurement, relates to an angular displacement sensor based on a Hall effect and an induction method thereof, and particularly relates to a differential angular displacement sensor based on the Hall effect and an induction method thereof.
Background
Angular displacement measurement has wide application in a plurality of fields such as industry, aviation, boats and ships. According to different measurement principles, the device can be divided into photoelectric type, magnetoelectric type, capacitance type, inductance type, resistance type and the like.
The applicant of the present invention has applied 202011572804.0 a measurement device and a measurement method for angular displacement based on hall effect, which is a structure of a single hall sensor, and calculates the angular displacement by using the magnetic flux change when the magnetic flux generated by the magnetic steel passes through the yoke and the hall element.
There is also a hall-effect based angular displacement solution 201811204614.6, which uses a structure of orthogonally arranged hall elements to calculate the angular displacement by calculating the phase difference using sine and cosine algorithms. The method has the disadvantages of high position requirement of the Hall element, more complex resolving, more complex sensor hardware structure based on the method, high production cost and the need of designing an anti-interference measure additionally.
The conventional Hall type angular displacement sensor has large linear error, poor anti-interference performance and complex measuring system structure, and can achieve the measuring purpose only by linearization of a signal processing circuit and an analysis circuit.
At present, a similar differential angular displacement measurement method is not available at home and abroad, and the differential angular displacement measurement method can also be popularized and applied to angle measurement equipment and systems.
Disclosure of Invention
The purpose of the invention is as follows:
in order to solve the problems, the invention provides a differential angular displacement sensor based on a Hall effect and an induction method, which have the advantages of stable and reliable work, convenient implementation and good economic benefit.
The technical scheme of the invention is as follows:
a differential angular displacement sensor based on a Hall effect comprises a rotary table, semicircular arc-shaped magnetic steel, an upper magnetic yoke left, an upper magnetic yoke right, a lower magnetic yoke, a rotating shaft, a first Hall element and a second Hall element; the semicircular arc-shaped magnetic steel is fixed on the rotary table and is driven by the rotating shaft to rotate; the upper magnetic yoke left and the upper magnetic yoke right are two half-type magnetic yoke structures which are arranged above the turntable at intervals, the lower magnetic yoke is an integral magnetic yoke structure which is arranged below the turntable, and the upper magnetic yoke left, the upper magnetic yoke right and the lower magnetic yoke are static relative to the arc-shaped magnetic steel; the first Hall element is arranged between the left and the lower magnetic yokes of the upper magnetic yoke, and the second Hall element is arranged between the right and the lower magnetic yokes of the upper magnetic yoke.
Furthermore, the first Hall element, the second Hall element and the center of the rotating shaft are on the same straight line.
Furthermore, a gap is reserved between the first Hall element and the left and lower magnetic yokes of the upper magnetic yoke, and a gap is reserved between the second Hall element and the right and lower magnetic yokes of the upper magnetic yoke.
Furthermore, the semicircular arc-shaped magnetic steel is a strip-shaped structure fixed on the surface of the rotary table, the radian is 80 degrees, the semicircular arc-shaped magnetic steel is concentric with the rotary table, and the magnetic field on the surface of the semicircular arc-shaped magnetic steel is uniformly distributed.
Furthermore, the semicircular arc-shaped magnetic steel is an axial magnetic pole, the upper part is an N pole, the lower part is an S pole, the magnet material is one of NdFeB or SmCo, and the input field strength is mT.
Furthermore, the shape and size formed by the left upper magnetic yoke, the right upper magnetic yoke and the interval between the left upper magnetic yoke and the right upper magnetic yoke are the same as those of the lower magnetic yoke.
Further, the turntable is made of a non-ferromagnetic material.
A differential angular displacement sensor induction method based on Hall effect is based on the characteristic that magnetic lines of force always try to move the path with the minimum magnetic resistance, when a rotary table rotates, the lengths of arc-shaped magnetic steel distributed below the left part and the right part of an upper magnetic yoke are not symmetrical any more, and the angular displacement is calculated according to the difference of magnetic fluxes in the left magnetic circuit and the right magnetic circuit generated by the magnetic steel.
Further, the method specifically comprises the following steps:
step one, outputting a maximum Hall potential U by a Hall element under the action of a maximum magnetic field intensity and a constant current power supply:
U-KIB (formula 1)
K is the sensitivity coefficient of the Hall element;
i is the current through the Hall element;
b is the magnetic field intensity passing through the Hall element;
step two, when the turntable rotates, the angular displacement alpha is rotated clockwise, and the Hall electric potentials U1 and U2 output by the left Hall element and the right Hall element respectively:
because the hall elements are connected in a differential manner, the hall potential of the total output is as follows:
from the equation (4), the hall potential of the hall element total output of the differential angular displacement sensor of the present invention is proportional to the angular displacement α.
The invention has the advantages that:
1. the differential angular displacement sensing measurement technology is adopted, so that the anti-interference capability is strong;
2. the measuring purpose can be achieved without the linearization of a signal processing circuit and an analysis circuit, and the method and the sensor have simple and reliable structures and low cost.
Drawings
FIG. 1 is a block diagram of the present invention;
FIG. 2 is a top view of the present invention;
FIG. 3 is a magnetic field distribution at 0 ° angular displacement according to the present invention;
FIG. 4 is a top view of the present invention at an angular displacement of 45;
fig. 5 shows the magnetic field distribution at an angular displacement of 45 ° according to the invention.
In the figure: 1-left upper magnetic yoke, 2-Hall element, 2-1-first Hall element, 2-second Hall element, 3-lower magnetic yoke, 4-rotating shaft, 5-right upper magnetic yoke, 6-semicircular arc magnetic steel and 7-rotating disc.
Detailed Description
This section is an example of the present invention and is provided to explain and illustrate the technical solutions of the present invention.
A differential angular displacement sensor based on Hall effect comprises a rotary table 7, semicircular arc-shaped magnetic steel 6, an upper magnetic yoke left 1, an upper magnetic yoke right 5, a lower magnetic yoke 3, a rotating shaft 4, a first Hall element 2-1 and a second Hall element 2-2; the semicircular arc-shaped magnetic steel 6 is fixed on the rotary table 7 and is driven by the rotating shaft 4 to rotate; the upper magnetic yoke left 1 and the upper magnetic yoke right 5 are two half-type magnetic yoke structures which are arranged above the turntable 7 at intervals, the lower magnetic yoke 3 is an integral magnetic yoke structure which is arranged below the turntable 7, and the upper magnetic yoke left 1, the upper magnetic yoke right 5 and the lower magnetic yoke 3 are static relative to the arc-shaped magnetic steel 6; the first hall element 2-1 is provided between the upper yoke left 1 and the lower yoke 3, and the second hall element 2-2 is provided between the upper yoke right 5 and the lower yoke 3.
The first Hall element 2-1, the second Hall element 2-2 and the center of the rotating shaft 4 are on the same straight line.
A gap is reserved between the first Hall element 2-1 and the upper magnetic yoke left 1 and the lower magnetic yoke 3, and a gap is reserved between the second Hall element 2-2 and the upper magnetic yoke right 5 and the lower magnetic yoke 3.
The semicircular arc-shaped magnetic steel 6 is a strip-shaped structure fixed on the surface of the rotary table 7, the radian is 180 degrees, the semicircular arc-shaped magnetic steel is concentric with the rotary table 7, and the magnetic field on the surface is uniformly distributed.
The semicircular arc-shaped magnetic steel is an axial magnetic pole, the upper part is an N pole, the lower part is an S pole, the magnet material is one of NdFeB or SmCo, and the input field strength is 45-75 mT.
The shape and size formed by the left upper magnetic yoke 1, the right upper magnetic yoke 5 and the interval between the two are the same as those of the lower magnetic yoke 3.
The turntable 7 is made of a non-ferromagnetic material.
A differential angular displacement sensor induction method based on Hall effect is based on the characteristic that magnetic lines of force always try to move the path with the minimum magnetic resistance, when a rotary table rotates, the lengths of arc-shaped magnetic steel distributed below the left part and the right part of an upper magnetic yoke are not symmetrical any more, and the angular displacement is calculated according to the difference of magnetic fluxes in the left magnetic circuit and the right magnetic circuit generated by the magnetic steel.
Further, the method specifically comprises the following steps:
step one, outputting a maximum Hall potential U by a Hall element under the action of a maximum magnetic field intensity and a constant current power supply:
U-KIB (formula 1)
K is the sensitivity coefficient of the Hall element;
i is the current through the Hall element;
b is the magnetic field intensity passing through the Hall element;
step two, when the turntable rotates, the angular displacement alpha is rotated clockwise, and the Hall electric potentials U1 and U2 output by the left Hall element and the right Hall element respectively:
because the hall elements are connected in a differential manner, the hall potential of the total output is as follows:
from equation 4, the hall potential of the hall element total output of the differential angular displacement sensor of the present invention is proportional to the angular displacement α.
Another practical embodiment of the present invention will be described in conjunction with the accompanying drawings and will illustrate the principles of the invention.
The invention provides a differential angular displacement sensor based on Hall effect, the sensor mainly comprises 6 parts of a turntable, semicircular arc-shaped magnetic steel, an upper magnetic yoke left part, an upper magnetic yoke right part, Hall elements, a lower magnetic yoke and the like, wherein the arc-shaped magnetic steel is fixed on the turntable, and generated magnetic flux passes through the upper magnetic yoke and the lower magnetic yoke and then respectively penetrates through the two Hall elements. When the rotary disc generates angular displacement, the magnetic flux of the two parts passing through the magnetic yoke changes, and the two corresponding Hall elements are differentially connected to output Hall potential in direct proportion to the angular displacement.
A differential angular displacement sensor based on Hall effect is shown in FIG. 1, and in FIG. 2. The sensor mainly comprises a turntable 7, semicircular arc-shaped magnetic steel 6, an upper magnetic yoke left 1, an upper magnetic yoke right 5, a Hall element 2, a lower magnetic yoke 3 and a rotating shaft 4, wherein the arc-shaped magnetic steel 6 is fixed on the turntable 7 and is driven by the rotating shaft 4 to rotate, and magnetic flux generated by the arc-shaped magnetic steel 6 passes through the Hall element 2 after passing through the upper magnetic yoke left 1, the upper magnetic yoke right 5 and the lower magnetic yoke 3.
The hall elements 2 are two, a first hall element 2-1 and a second hall element 2-2.
The turntable is made of non-ferromagnetic materials, and a mounting hole is formed in the center of the turntable and used for fixing the turntable and the rotating part to be tested; the arc-shaped magnetic steel is fixed on the surface of the rotary table, the radian is 180 degrees, the arc-shaped magnetic steel is concentric with the rotary table, and the magnetic field on the surface is uniformly distributed; the upper magnetic yoke is a left symmetrical part and a right symmetrical part, is also semicircular, is made of ferromagnetic materials and comprises 1 lower convex part; the lower magnetic yoke is circular, has the same area as the rotary table, is made of ferromagnetic material and comprises two upper convex parts; two pieces of Hall elements are respectively arranged in a gap between the lower convex part of the upper magnetic yoke and the upper convex part of the lower magnetic yoke.
When the sensor works, the arc-shaped magnetic steel positioned on the rotating disc generates a magnetic field, and the magnetic field forms a closed loop after passing through the left part and the right part of the upper magnetic yoke, the air gap, the Hall element and the lower magnetic yoke respectively according to the characteristic that magnetic lines of force always try to move a path with the minimum magnetic resistance. When the turntable is located at the initial position, the arc-shaped magnetic steels are symmetrically distributed below the left and right parts of the upper magnetic yoke, that is, the magnetic fluxes in the left and right magnetic circuits generated by the magnetic steels are equal, as shown in fig. 3.
When the turntable rotates, if the turntable rotates clockwise by an angular displacement of 45 degrees, as shown in fig. 4, the lengths of the arc-shaped magnetic steels distributed below the left and right parts of the upper magnetic yoke are not symmetrical any more, and then the magnetic fluxes in the left and right magnetic circuits generated by the magnetic steels are not equal any more, as shown in fig. 5. According to the structural characteristics of the invention, the measurement range of the differential angular displacement sensor is-90 degrees to +90 degrees.
Under the structure of the invention, the output maximum Hall potential U of the Hall element is as follows under the action of the maximum magnetic field intensity and the constant current power supply:
U-KIB (formula 1)
K is the sensitivity coefficient of the Hall element;
i is the current through the Hall element;
b is the magnetic field strength across the hall element.
When the dial is rotated, assuming that the dial is rotated clockwise by the angular displacement α, the hall potentials U1 and U2 output by the left and right hall elements, respectively:
because the hall elements are connected in a differential manner, the hall potential of the total output is as follows:
from the equation (4), the hall potential of the hall element total output of the differential angular displacement sensor of the present invention is proportional to the angular displacement α.
Examples of applications of this example are:
the application scene one: the sensor is used for an aircraft attack angle sensor and is used as an angular displacement measuring sensor for the rotation of a vane.
Application scenario two: the sensor is used for an airplane steering engine controller or an automatic steering automobile direction controller and is used as an angle measuring sensor for an elevator, a rudder or a steering wheel and the like.
The above-mentioned embodiments are merely illustrative of the technical ideas and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and to implement the same, and not to limit the scope of the present invention, and all equivalent changes or modifications made according to the spirit of the present invention should be covered by the scope of the present invention. The techniques, shapes, and configurations not described in detail in the present invention are all known techniques.
Claims (9)
1. A differential angular displacement sensor based on Hall effect is characterized by comprising a turntable (7), semicircular arc-shaped magnetic steel (6), an upper magnetic yoke left (1), an upper magnetic yoke right (5), a lower magnetic yoke (3), a rotating shaft (4), a first Hall element (2-1) and a second Hall element (2-2); the semicircular arc-shaped magnetic steel (6) is fixed on the turntable (7) and is driven by the rotating shaft (4) to rotate; the upper magnetic yoke left (1) and the upper magnetic yoke right (5) are two half-type magnetic yoke structures which are arranged above the turntable (7) at intervals, the lower magnetic yoke (3) is an integral magnetic yoke structure which is arranged below the turntable (7), and the upper magnetic yoke left (1), the upper magnetic yoke right (5) and the lower magnetic yoke (3) are static relative to the arc-shaped magnetic steel (6); the first Hall element (2-1) is arranged between the upper magnetic yoke left (1) and the lower magnetic yoke (3), and the second Hall element (2-2) is arranged between the upper magnetic yoke right (5) and the lower magnetic yoke (3).
2. A differential angular displacement sensor based on the hall effect according to claim 1, characterized in that the first hall element (2-1), the second hall element (2-2) are aligned with the center of the rotating shaft (4).
3. A hall effect based differential angular displacement sensor according to claim 1, characterized in that there is a gap between the first hall element (2-1) and the upper yoke left (1) and lower yoke (3), and a gap between the second hall element (2-2) and the upper yoke right (5) and lower yoke (3).
4. The differential angular displacement sensor based on Hall effect according to claim 1, characterized in that the semicircular arc-shaped magnetic steel (6) is a strip structure fixed on the surface of the rotary disk (7), the radian is 180 degrees, and the magnetic field on the surface is uniformly distributed and concentric with the rotary disk (7).
5. The Hall effect based differential angular displacement sensor according to claim 4, wherein the semicircular arc magnetic steel is axial magnetic pole, the upper is N pole and the lower is S pole, the magnet material is one of NdFeB or SmCo, and the input field strength is 45-75 mT.
6. A differential angular displacement sensor based on the hall effect according to claim 1, wherein the upper yoke left (1) and upper yoke right (5) and the space between them are formed in the same shape and size as the lower yoke (3).
7. Hall-effect based differential angular displacement sensor according to claim 1, characterized in that the turntable (7) is made of non-ferromagnetic material.
8. A differential angular displacement sensor sensing method based on Hall effect, use any one differential angular displacement sensor based on Hall effect as in claim 2-7, characterized by, on the basis of the characteristic that the magnetic force line always tries to walk the path with the minimum magnetic resistance, when the rotary table rotates, the length that the arcuate magnet steel distributes under the left, right two-section upper yoke will no longer be symmetrical, according to the magnetic flux difference in the left, right two-section magnetic circuit that the magnet steel produces, calculate the angular displacement.
9. The Hall-effect-based differential angular displacement sensor sensing method according to claim 8, comprising the steps of:
step one, outputting a maximum Hall potential U by a Hall element under the action of a maximum magnetic field intensity and a constant current power supply:
U-KIB (formula 1)
K is the sensitivity coefficient of the Hall element;
i is the current through the Hall element;
b is the magnetic field intensity passing through the Hall element;
step two, when the turntable rotates, the angular displacement alpha is rotated clockwise, and the Hall electric potentials U1 and U2 output by the left Hall element and the right Hall element respectively:
because the hall elements are connected in a differential manner, the hall potential of the total output is as follows:
from the equation (4), the hall potential of the hall element total output of the differential angular displacement sensor of the present invention is proportional to the angular displacement α.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115006835A (en) * | 2022-06-28 | 2022-09-06 | 歌尔股份有限公司 | Hall data processing method, device, equipment and readable storage medium |
| CN118225133A (en) * | 2024-05-23 | 2024-06-21 | 四川新川航空仪器有限责任公司 | Hall type proximity switch temperature drift compensation method |
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|---|---|---|---|---|
| CN1253619A (en) * | 1997-04-25 | 2000-05-17 | 凤凰云开发有限公司 | Angular displacement transducer having magnetically permeable flux-directing target |
| CN201397144Y (en) * | 2009-05-08 | 2010-02-03 | 常州工学院 | Differential-type shaft-position magnetic-electric encoder |
| CN112815827A (en) * | 2020-12-25 | 2021-05-18 | 武汉航空仪表有限责任公司 | Angular displacement measuring device and method based on Hall effect |
-
2021
- 2021-12-03 CN CN202111472190.3A patent/CN114322726A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1253619A (en) * | 1997-04-25 | 2000-05-17 | 凤凰云开发有限公司 | Angular displacement transducer having magnetically permeable flux-directing target |
| CN201397144Y (en) * | 2009-05-08 | 2010-02-03 | 常州工学院 | Differential-type shaft-position magnetic-electric encoder |
| CN112815827A (en) * | 2020-12-25 | 2021-05-18 | 武汉航空仪表有限责任公司 | Angular displacement measuring device and method based on Hall effect |
Non-Patent Citations (1)
| Title |
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| 刘昕彤 等: "基于霍尔效应的新型差动式角位移传感器", 《微特电机》, vol. 45, no. 11, 31 December 2017 (2017-12-31), pages 78 - 79 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115006835A (en) * | 2022-06-28 | 2022-09-06 | 歌尔股份有限公司 | Hall data processing method, device, equipment and readable storage medium |
| CN118225133A (en) * | 2024-05-23 | 2024-06-21 | 四川新川航空仪器有限责任公司 | Hall type proximity switch temperature drift compensation method |
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