CN117647345B - Hall effect-based torque measurement method - Google Patents
Hall effect-based torque measurement method Download PDFInfo
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- 230000005355 Hall effect Effects 0.000 title claims abstract description 27
- 238000000691 measurement method Methods 0.000 title claims description 20
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- 239000004020 conductor Substances 0.000 description 5
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- 230000003068 static effect Effects 0.000 description 4
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- 238000004590 computer program Methods 0.000 description 3
- 239000013078 crystal Substances 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000005684 electric field Effects 0.000 description 2
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L3/00—Measuring torque, work, mechanical power, or mechanical efficiency, in general
- G01L3/02—Rotary-transmission dynamometers
- G01L3/04—Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft
- G01L3/10—Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft involving electric or magnetic means for indicating
- G01L3/101—Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft involving electric or magnetic means for indicating involving magnetic or electromagnetic means
- G01L3/105—Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft involving electric or magnetic means for indicating involving magnetic or electromagnetic means involving inductive means
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L25/00—Testing or calibrating of apparatus for measuring force, torque, work, mechanical power, or mechanical efficiency
- G01L25/003—Testing or calibrating of apparatus for measuring force, torque, work, mechanical power, or mechanical efficiency for measuring torque
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Abstract
The invention discloses a torque measuring method based on a Hall effect, which calculates offset angle data according to Hall voltage obtained by a Hall sensor, responds to the offset angle data, forms a complete cycle at the current moment, calculates a total offset angle again, obtains an elastic coefficient of a rotating shaft, and then calculates real-time torque of the rotating shaft according to the total offset angle and the elastic coefficient of the rotating shaft.
Description
Technical Field
The invention relates to the technical field of torque measurement, in particular to a torque measurement method based on a Hall effect.
Background
Torque sensors are the detection of the perception of torsional moment on various rotating or non-rotating mechanical components. The application range is very wide, and the contact type and the non-contact type are mainly divided according to the structural characteristics, wherein the contact type is mainly used for measuring static torque, and the non-contact type can be used for measuring dynamic torque. The main ways of realizing torque measurement are optomechanical deformation type, electromagnetic induction type, phase difference type and strain type.
However, for a non-contact torque sensor, it is generally difficult to achieve a small size, for example, an inductance module is required to be added to a strain gauge to realize power supply of the strain gauge, so that more coils are required to be added to adapt to low rotation speed, and the size is increased. The phase difference type magnetic field sensor is characterized in that the phase difference type magnetic field sensor is realized by means of gears, the number of teeth is required to be increased in order to increase the resolution, the size of a central shaft is increased, meanwhile, as the magnetic ring is not a permanent magnet, after long-time measurement, the internal magnetic field weakening has a large influence on the measurement of a Hall sensor, the magnetic ring is influenced by temperature during operation, the operating temperature range of the silicon steel magnetic ring is-50 ℃ to +150 ℃, and the operating temperature range of the ferrite magnetic ring is-40 ℃ to +120 ℃. The working temperature of the magnetically soft alloy magnetic ring is-269 ℃ to +500 ℃, so that the temperature compensation crystal oscillator or the constant temperature crystal oscillator needs to be supplemented during torque measurement, the precision is general when the long-time measurement is carried out, the high-precision requirement often needs to increase the modularized design of the system control Wen Jingzhen, and a corresponding calibration scheme is lacked. Therefore, a torque accurate measurement method based on the Hall effect is provided to meet the requirement of long-time and high-precision torque measurement.
Disclosure of Invention
The present invention has been made in view of the above-described problems with the conventional torque measurement.
Therefore, one of the purposes of the invention is to provide a torque measurement method based on the Hall effect, which utilizes the phase difference of two Hall sensors to calculate the torque, has the characteristics of high precision, small size and low cost, and designs a calibration scheme of calculating the torque by the phase difference, so that the calibration can be updated in real time, the torque measurement requirement of high precision is further improved, and the long-time calibration work is facilitated.
In order to solve the technical problems, the invention provides the following technical scheme:
In one aspect, the present invention provides a Hall effect based torque measurement method comprising:
Constructing a torque measurement system based on a Hall sensor, and starting to measure the torque of the rotating shaft after the construction is completed;
Calculating offset angle data according to the Hall voltage obtained by the Hall sensor;
Responding to the offset angle data, judging whether the rotating shaft forms a complete cycle, otherwise, waiting for the rotating shaft to form the complete cycle;
Judging that the rotating shaft forms a complete period and then forms a complete period at the current moment, and then calculating a total offset angle, specifically, calculating the total offset angle through the phase difference of two Hall sensors when dynamic torque exists;
Obtaining the elastic coefficient of the rotating shaft;
and calculating the real-time torque of the rotating shaft according to the total offset angle and the rotating shaft elastic coefficient.
As a preferred embodiment of the present invention, wherein: the offset angle is calculated from the hall voltage obtained by the hall sensor, and in particular can be obtained by calculating the ratio of the time difference to one complete sinusoidal period as follows:
the peak voltage in the sine period is , the voltage value at each moment/> , and the angle of the voltage value at each moment/> relative to the original position, namely the offset angle/> , is calculated by the formula (1), and the formula is as follows:
（1）。
As a preferred embodiment of the present invention, wherein: and introducing a direction variable d when calculating an offset angle according to the Hall voltage obtained by the Hall sensor, wherein the direction variable d is obtained by comparing the current moment with the voltage value of the last complete period, and when the current voltage value is higher than the voltage value of the last moment, determining that the direction variable d is represented as 1, and otherwise, the direction variable d is represented as-1.
As a preferred embodiment of the present invention, wherein: judging whether the rotating shaft forms a complete period or not, specifically judging whether the rotating shaft passes through a limit point or not, if so, passing through the limit point and being in a process of being far away from the limit point, wherein the central axis forms an angle at the central axis of the limit point;
If not, the shaft is approaching the limit point and has not reached the limit point, and the central axis is at angle to the central axis of the limit point.
As a preferred embodiment of the present invention, wherein: when dynamic torque exists, the total offset angle is calculated through the phase difference of the two Hall sensors, specifically, the real-time offset angle at the two ends of the rotating shaft is calculated through calculating the relative position in the sine period portrait, and then the total offset angle is calculated and obtained through offset angle data and direction variables, wherein the formula is as follows:
（2）；
Wherein and/> represent the offset angle and direction of the magnetic ring 1 relative to the limit point, respectively;
And/> represent the offset angle and direction of the magnetic ring 2 relative to the limit point, respectively; and the total offset angle/> is positive or negative in degrees.
As a preferred embodiment of the present invention, wherein: the elastic coefficient of the rotating shaft is obtained, and particularly, the elastic coefficient of the rotating shaft is calculated according to the torque and angle information obtained through testing, and the formula is as follows:
（3）；
Wherein represents the torque obtained at the time of the test; the/> represents the angle the spindle rotated when testing the torque/> ;
According to the total offset angle and the elastic coefficient of the rotating shaft, calculating the real-time torque of the rotating shaft, wherein the formula is as follows:
（4）。
As a preferred embodiment of the present invention, wherein: after calculating the offset angle according to the Hall voltage obtained by the Hall sensor, the method further comprises the step of accurately judging the offset angle, specifically judging whether the measured value is in a preset range or not, normally carrying out the step of judging that the offset angle is in the preset range, and calibrating the offset angle if the offset angle is not in the preset range, wherein the specific calibration offset angle is as follows:
presetting simulation offset angles matched with different time differences;
The offset angle can be obtained by calculating the ratio of the time difference to a complete sine period, so that the actually measured offset angle is obtained, and the calibration weight coefficient at the current moment is analyzed with the simulated offset angle;
Performing calibration offset angle operation according to the calibration weight coefficient at the current moment and the actual measurement offset angle at the last moment; the calibration formula is shown as formula (5) and formula (6):
（5）；
Wherein is the total number of time series,/> is the actual measurement offset angle at the time/> ,/> is the simulation offset angle at the time/> , and/> is the calibration weight coefficient at the time/> in the sine cycle/> ;
（6）；
Wherein is the simulated offset calibration angle at time/> , is the actual measured offset angle at time/> , is the calibrated offset angle at time , and is the calibrated offset angle.
As a preferred embodiment of the present invention, wherein: and after the offset angle is calibrated, judging whether the measured value is in a preset range or not again, if not, carrying out repeated calibration, and when the repeated calibration is carried out, recording whether the repeated calibration times reach an upper limit or not, and if the repeated calibration times reach the upper limit, sending out abnormal torque data alarm so as to finish reminding, checking and repairing related parts.
As a preferred embodiment of the present invention, wherein: the torque measuring system based on the Hall sensors is constructed, the torque measuring system comprises a magnetic ring arranged at two ends of a rotating shaft and the Hall sensors above the magnetic ring, 2 permanent magnets are arranged on the middle rotating shaft, the polarities of the 2 permanent magnets are consistent, and the two Hall sensors are arranged on a shell and are respectively arranged above the same position as the 2 permanent magnets.
As a preferred embodiment of the present invention, wherein: the method comprises the steps of calculating real-time torque of a rotating shaft, and further comprises rotating shaft torque standard data analysis, wherein the rotating shaft torque standard data analysis comprises the steps of forming a group of torque measurement data through measuring rotating shaft torque results for multiple times, repeatedly measuring to reach a threshold value, forming multiple groups of torque data, and then carrying out standard analysis on the rotating shaft torque data, and the standard analysis on the rotating shaft torque data comprises the step of processing the multiple groups of torque data by adopting a mean value, variance or covariance method.
The invention has the beneficial effects that: the invention can reduce the size of the product by using the Hall effect, can realize a miniature non-contact dynamic torque sensor, can be also used for a contact static torque sensor, synchronously designs a calibration scheme of the phase difference calculation torque, can update the calibration in real time, further improves the high-precision torque measurement requirement, is beneficial to long-time calibration work, can send out abnormal alarms according to the triggering condition, reminds staff, is convenient for the data processing work of forming standard torque later, and enriches the torque measurement work and the requirement of the current stage.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art. Wherein:
FIG. 1 is a flow chart of a Hall effect based torque measurement method in accordance with embodiment 1 of the present invention;
FIG. 2 is a schematic diagram showing the relative positions of two magnetic rings in the presence of dynamic torque in embodiments 1 and 2 of the present invention;
FIG. 3 is another flow chart of the Hall effect based torque measurement method of embodiment 1 of the present invention;
FIG. 4 is a schematic diagram showing the relative positions of voltage 1 and voltage 2 in a sinusoidal periodic representation when torque is present in embodiments 1 and 2 of the present invention;
FIG. 5 is a flowchart of a Hall effect based torque measurement method in accordance with embodiment 2 of the present invention;
FIG. 6 is a flowchart of the repeated calibration judgment of the Hall effect based torque measurement method according to embodiment 2 of the present invention;
Fig. 7 is a flowchart of a multi-set data measurement process of the hall effect based torque measurement method in embodiment 3 of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. It will be apparent that the described embodiments are some, but not all, embodiments of the invention. All other embodiments, which are obtained by a person skilled in the art based on the described embodiments of the invention, fall within the scope of protection of the invention.
Before the torque measuring method based on the Hall effect is implemented, a torque measuring system is required to be constructed, and the system mainly comprises 2 pairs of upper and lower permanent magnets and Hall sensors, wherein the 2 permanent magnets are arranged on a middle rotating shaft and have the same polarity, and the two Hall sensors are arranged on a shell and are respectively arranged above the same position of the 2 permanent magnets. It is emphasized that the voltage obtained by a single hall sensor varies as a sine curve when the central shaft rotates, while the sine curves obtained by the two hall sensors are identical in phase and have no deviation when the torque sensor is not torqued.
Hall effect means that if a piece of magnetic material is brought close to a conductor when a current in the conductor flows, electrons in the conductor will be subjected to a magnetic field, resulting in electrons generating a lateral electric field in the conductor. This lateral electric field directs electrons to create a voltage difference in the conductor, called the hall voltage, which is proportional to the current and the magnetic field strength.
When dynamic torque exists, the relative positions of the two magnetic rings are shown in fig. 2, and at the moment, the two Hall sensors have phase differences, and the real-time torque is calculated based on the phase differences of the two Hall sensors.
Example 1
Referring to fig. 1 to 4, in one embodiment of the present invention, a hall effect based torque measurement method is provided, which is specifically as follows:
Step S101, starting to measure torque to calculate an offset angle; the offset angle can be obtained in particular by calculating the ratio of the time difference to one complete sinusoidal period as follows:
In this embodiment, assuming that the peak voltage in the sinusoidal period is , the voltage value at each time/> , the angle of the voltage value at each time/> with respect to the original position, that is, the offset angle/> , is calculated by equation (1), as follows:
（1）；
In this embodiment, 2 possibilities exist, a) the rotation axis has passed through the limit point and is located away from the limit point, and the central axis forms an angle with the central axis of the limit point; b) At this time, the rotating shaft is approaching to the limit point and does not reach the limit point yet, and the central axis is at an angle/> at the central axis of the limit point;
For this reason, another variable, namely, a direction variable d, needs to be introduced, wherein the direction variable d is obtained by comparing the voltage value of the current time with the voltage value of the previous cycle time (the previous complete cycle), and when the current voltage value is higher than the voltage value of the previous time, the direction variable d is determined to be 1, and otherwise, the direction variable d is determined to be-1;
Step S102, calculating a total offset angle when the rotating shaft forms a complete cycle at the current moment through limit points; in the embodiment, after a complete period is obtained, a standard sine period image is generated; when torque exists, the real-time offset angles at the two ends of the rotating shaft can be calculated by obtaining the voltage values at each moment corresponding to the magnetic rings at the two ends of the rotating shaft respectively, referring to the positions of the voltage 1 and the voltage 2 at each moment shown in fig. 5 as shown in the/> of fig. 4, and calculating the relative positions in the sine period images, and then the total offset angle/> is calculated and obtained by the information of the offset angles formed by the 2 magnetic rings and the direction variables, wherein the calculation formula is as follows:
（2）；
Wherein and/> represent the offset angle and direction of the magnetic ring 1 relative to the limit point, respectively;
And/> represent the offset angle and direction of the magnetic ring 2 relative to the limit point, respectively; and the total offset angle/> is positive or negative in degrees.
Step S103, obtaining the elastic coefficient of the rotating shaft in the embodiment; specifically, the rotation shaft elastic coefficient is calculated according to the torque and angle information obtained by the test, as follows:
（3）；
Wherein represents the torque obtained at the time of the test; the angle rotated by this shaft is denoted by/> when tested to obtain torque/> .
Step S104, calculating the real-time torque of the rotating shaft; namely, according to the total offset angle and the rotation shaft elastic coefficient , the real-time torque/> corresponding to the rotation shaft of the embodiment can be obtained by the following formula:
（4）；
The embodiment calculates real-time torque based on sinusoidal phases obtained by the two Hall sensors, namely based on the phase difference of the two Hall sensors, has small size and low cost compared with a non-contact torque sensor, can reduce the size of a product by using a Hall effect mode, can realize a miniature non-contact dynamic torque sensor and can also be used for a contact static torque sensor.
Example 2
Referring to fig. 5 and 6, in an embodiment of the present invention, a torque measurement method based on hall effect is provided, and because the magnetic ring is subjected to the characteristics of field weakening and working temperature, the accuracy of long-time torque measurement is affected, for this reason, in embodiment 2, on the basis of embodiment 1, optimization of the torque measurement method is added, and a calibration technical scheme in the process of deflection angle calculation is added, which specifically includes the following steps:
After calculating the offset angle in step S101, accurately judging the offset angle, judging whether the measured value is within a preset range, and if the offset angle is within the preset range, performing the processing of the next step S102;
If the deviation angle is not within the preset range, the deviation angle is required to be calibrated, and the specific calibration deviation angle is as follows:
presetting simulation offset angles matched with different time differences;
The offset angle can be obtained by calculating the ratio of the time difference to a complete sine period, so that the actually measured offset angle is obtained, and the calibration weight coefficient at the current moment is analyzed with the simulated offset angle;
performing calibration operation according to the calibration weight coefficient at the current moment and the actually measured offset angle at the last moment; the calibration formula is shown as formula (5) and formula (6):
（5）；
wherein is the total number of time series,/> is the actual measurement offset angle at the time/> ,/> is the simulation offset angle at the time/> , and/> is the calibration weight coefficient at the time/> in the sine cycle/> ;
（6）；
Wherein is the simulated offset calibration angle at time/> , i.e./> is the actual measured offset angle at time/> , i.e./> is the calibrated offset angle at time , and is the calibrated offset angle;
referring to fig. 6, in the two embodiments, when the offset angle calibration is performed, the present embodiment further records whether the number of repeated calibration reaches the upper limit, and if so, issues an abnormal alarm of the torque data to complete the reminding, checking and repairing the related components.
In addition, in step S102, the relative positions of the voltage 1 and the voltage 2 in the image are calculated, so that the real-time offset angle is calculated, and since the torque offset angle cannot be higher than one period, if the central axis is damaged due to the fact that the torque offset angle is higher than one period, the deviation exceeding one period is not needed to be considered, and an abnormal torque data alarm is also sent out to finish the alarm reminding work.
Based on the above, the embodiment utilizes the phase difference calculation torque of the two hall sensors, synchronously designs the calibration scheme of the phase difference calculation torque, can update the calibration in real time, further improves the torque measurement requirement of high precision, is favorable for long-time calibration work, and can send out abnormal alarms according to the triggering condition so as to remind staff.
Example 3
Referring to fig. 7, in this embodiment, based on embodiments 1 and 2, if the torque of the rotating shaft or the standard torque of the rotating shaft needs to be further accurately obtained, a set of torque measurement data can be formed through multiple measurement results, and then multiple sets of torque data are formed through repeated measurement, and then data standard analysis is performed, that is, multiple sets of torque data are processed by means of a mean value, variance or other statistical methods, so as to obtain more accurate standard torque data, and form the standard torque of the rotating shaft.
In summary, the hall effect mode can reduce the product size, can realize a miniature non-contact dynamic torque sensor, can be also used for a contact static torque sensor, synchronously designs a calibration scheme of the phase difference calculation torque, can update calibration in real time, further improves high-precision torque measurement requirements, is beneficial to long-time calibration work, can send out abnormal alarms according to trigger conditions, reminds staff, is convenient for data processing work of forming standard torque later, and enriches torque measurement work and requirements at the current stage.
In the above embodiments, it may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions in accordance with the present application are fully or partially produced. The computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. Computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
Any process or method description in a flowchart or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process. And the scope of the preferred embodiments of the present application includes additional implementations in which functions may be performed in a substantially simultaneous manner or in an opposite order from that shown or discussed, including in accordance with the functions that are involved.
Logic and/or steps represented in the flowcharts or otherwise described herein, e.g., a ordered listing of executable instructions for implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions.
It is to be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. All or part of the steps of the methods of the embodiments described above may be performed by a program that, when executed, comprises one or a combination of the steps of the method embodiments, instructs the associated hardware to perform the method.
In addition, each functional unit in the embodiments of the present application may be integrated in one processing module, or each unit may exist alone physically, or two or more units may be integrated in one module. The integrated modules may be implemented in hardware or in software functional modules. The integrated modules described above, if implemented in the form of software functional modules and sold or used as a stand-alone product, may also be stored in a computer-readable storage medium. The storage medium may be a read-only memory, a magnetic or optical disk, or the like.
The foregoing is merely illustrative of the present application, and the present application is not limited thereto, and any person skilled in the art will readily recognize that various changes and substitutions are possible within the scope of the present application. Therefore, the protection scope of the application is subject to the protection scope of the claims.
Claims (8)
1. A hall effect based torque measurement method, comprising:
Constructing a torque measurement system based on a Hall sensor, and starting to measure the torque of the rotating shaft after the construction is completed;
The offset angle data is calculated according to the Hall voltage obtained by the Hall sensor, and specifically, the offset angle can be obtained by calculating the ratio of the time difference to one complete sine period, as follows:
The peak voltage in the sine period is , the voltage value at each moment/> , and the angle of the voltage value at each moment/> relative to the original position, namely the offset angle/> , is calculated by the formula (1), and the formula is as follows:
（1）；
Responding to the offset angle data, judging whether the rotating shaft forms a complete cycle, otherwise, waiting for the rotating shaft to form the complete cycle;
Judging that the rotating shaft forms a complete period and then forms a complete period at the current moment, and then calculating a total offset angle, specifically, calculating the total offset angle through a phase difference existing between two Hall sensors when dynamic torque exists, specifically, calculating the real-time offset angle at two ends of the rotating shaft through calculating the relative position in a sine period portrait, and then calculating and obtaining the total offset angle through offset angle data and direction variables, wherein the formula is as follows:
（2）；
Wherein and/> represent the offset angle and direction of the magnetic ring 1 relative to the limit point, respectively; each of/> and/> represents an offset angle and a direction of the magnetic ring 2 with respect to the limit point; and the total offset angle/> is positive or negative in degrees;
Obtaining the elastic coefficient of the rotating shaft;
and calculating the real-time torque of the rotating shaft according to the total offset angle and the rotating shaft elastic coefficient.
2. The hall effect based torque measurement method of claim 1, wherein a direction variable d is introduced when calculating an offset angle from a hall voltage obtained by the hall sensor, wherein the direction variable d is obtained by comparing a current time with a voltage value of a previous full period, and when the current voltage value is higher than the voltage value of the previous time, the direction variable d is determined to be 1, and conversely the direction variable d is determined to be-1.
3. The hall effect based torque-measuring method of claim 1, wherein determining whether the shaft has formed a complete cycle, specifically determining whether the shaft has passed a limit point, if so, having passed the limit point and being in a process of being away from the limit point, the central axis being at an angle to the central axis of the limit point;
If not, the shaft is approaching the limit point and has not reached the limit point, and the central axis is at angle to the central axis of the limit point.
4. The hall effect based torque measurement method of claim 1, wherein the spring rate of the shaft is obtained, and in particular, the shaft spring rate is calculated from the torque and angle information obtained from the test, as follows:
（3）；
Wherein represents the torque obtained at the time of the test; the/> represents the angle the spindle rotated when testing the torque/> ;
According to the total offset angle and the elastic coefficient of the rotating shaft, calculating the real-time torque of the rotating shaft, wherein the formula is as follows:
（4）。
5. The hall effect-based torque measurement method of claim 1, further comprising performing an offset angle accurate determination after calculating an offset angle according to a hall voltage obtained by the hall sensor, wherein the offset angle accurate determination specifically determines whether a measured value is within a preset range, determines that the offset angle is within the preset range, and normally performs, and determines that the offset angle is not within the preset range, and then performs calibration of the offset angle, and the specific calibration offset angle is as follows:
presetting simulation offset angles matched with different time differences;
The offset angle can be obtained by calculating the ratio of the time difference to a complete sine period, so that the actually measured offset angle is obtained, and the calibration weight coefficient at the current moment is analyzed with the simulated offset angle;
Performing calibration offset angle operation according to the calibration weight coefficient at the current moment and the actual measurement offset angle at the last moment; the calibration formula is shown as formula (5) and formula (6):
（5）；
wherein is the total number of time series,/> is the actual measurement offset angle at the time/> ,/> is the simulation offset angle at the time/> , and/> is the calibration weight coefficient at the time/> in the sine cycle/> ;
（6）；
Wherein is the simulated offset calibration angle at time/> , is the actual measured offset angle at time/> , is the calibrated offset angle at time/> , and is the calibrated offset angle.
6. The hall effect based torque measurement method of claim 5, wherein after the offset angle is calibrated, a determination is made again as to whether the measured value is within a predetermined range, if no further calibration is performed, and when the repeated calibration is performed, a record is made as to whether the number of times of repeated calibration reaches an upper limit, and if the number of times of repeated calibration reaches the upper limit, an abnormal torque data alarm is issued to complete the reminding, inspection and repair of the relevant components.
7. The method for measuring torque based on the Hall effect according to claim 1, wherein the torque measuring system based on the Hall sensor is constructed, the torque measuring system comprises a magnetic ring arranged at two ends of a rotating shaft and the Hall sensor arranged above the magnetic ring, 2 permanent magnets are arranged on an intermediate rotating shaft, the polarities of the 2 permanent magnets are consistent, and the two Hall sensors are arranged on a shell and are respectively arranged above the same position as the 2 permanent magnets.
8. The hall effect based torque measurement method of claim 1, further comprising a spindle torque standard data analysis after calculating the real-time torque of the spindle, wherein the spindle torque standard data analysis comprises forming a set of torque measurement data by measuring the spindle torque result a plurality of times, and then repeatedly measuring to reach a threshold value, forming a plurality of sets of torque data, and then performing a standard analysis of the spindle torque data, wherein the standard analysis of the spindle torque data comprises processing the plurality of sets of torque data by means of a mean, variance or covariance method.
Priority Applications (1)
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201983887U (en) * | 2010-12-09 | 2011-09-21 | 天津市松正电动汽车技术股份有限公司 | Non-contact torque sensor and electric power-assisted steering system |
| CN102445146A (en) * | 2010-08-13 | 2012-05-09 | 巴鲁夫有限责任公司 | Device for detecting the twist angle of a shaft and/or a torque occurring on the shaft and methods for operating the device |
| CN102705506A (en) * | 2010-09-28 | 2012-10-03 | 通用汽车环球科技运作有限责任公司 | Method for detecting powertrain torque output |
| TW201608221A (en) * | 2014-08-20 | 2016-03-01 | Univ Nat Yunlin Sci & Tech | Contactless eccentricity rotary torque sensing device |
| CN205192671U (en) * | 2015-09-15 | 2016-04-27 | 联合汽车电子有限公司 | Engine torque detection device |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102445146A (en) * | 2010-08-13 | 2012-05-09 | 巴鲁夫有限责任公司 | Device for detecting the twist angle of a shaft and/or a torque occurring on the shaft and methods for operating the device |
| CN102705506A (en) * | 2010-09-28 | 2012-10-03 | 通用汽车环球科技运作有限责任公司 | Method for detecting powertrain torque output |
| CN201983887U (en) * | 2010-12-09 | 2011-09-21 | 天津市松正电动汽车技术股份有限公司 | Non-contact torque sensor and electric power-assisted steering system |
| TW201608221A (en) * | 2014-08-20 | 2016-03-01 | Univ Nat Yunlin Sci & Tech | Contactless eccentricity rotary torque sensing device |
| CN205192671U (en) * | 2015-09-15 | 2016-04-27 | 联合汽车电子有限公司 | Engine torque detection device |
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