CN100559129C - 可移动机械系统用的位置感应系统 - Google Patents

可移动机械系统用的位置感应系统 Download PDF

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CN100559129C
CN100559129C CNB2006800093141A CN200680009314A CN100559129C CN 100559129 C CN100559129 C CN 100559129C CN B2006800093141 A CNB2006800093141 A CN B2006800093141A CN 200680009314 A CN200680009314 A CN 200680009314A CN 100559129 C CN100559129 C CN 100559129C
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CN101147044A (zh
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罗伯特·M·莫克
格兰特·斯威尔
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Woodward HRT Inc
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
    • G01D5/142—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices
    • G01D5/145—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices influenced by the relative movement between the Hall device and magnetic fields
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
    • G01D5/245—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains using a variable number of pulses in a train
    • G01D5/2451—Incremental encoders
    • G01D5/2452—Incremental encoders incorporating two or more tracks having an (n, n+1, ...) relationship
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D2205/00—Indexing scheme relating to details of means for transferring or converting the output of a sensing member
    • G01D2205/20—Detecting rotary movement
    • G01D2205/26—Details of encoders or position sensors specially adapted to detect rotation beyond a full turn of 360°, e.g. multi-rotation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D2205/00—Indexing scheme relating to details of means for transferring or converting the output of a sensing member
    • G01D2205/20—Detecting rotary movement
    • G01D2205/28—The target being driven in rotation by additional gears
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/02—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using mechanical means
    • G01D5/04—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using mechanical means using levers; using cams; using gearing

Abstract

本发明公开了包括但不局限于机器部件的可移动元件的位置感应。可移动元件的运动能够产生能够由磁传感器探测的磁场的运动。利用传感器、相关磁铁或关联磁材料的运动的任何组合可产生磁场和/或磁通量的运动和/或变化。磁传感器能够测量或者旋转或者线性运动或两者。这种传感器能够提供增量位置改变、绝对位置或两者的指示。绝对位置和高分辨率位置感应可被产生用于感应或者线性和/或角度运动的测量。合适的磁传感器包括但不局限于霍耳效应设备和/或磁阻元件，并可包括多元件磁传感器。诸如控制电子装置的合适信号调节和/或控制装置能够用于从传感器接收输出信号。

Description

可移动机械系统用的位置感应系统
背景技术
位置传感器通常用于测量可移动机械系统的多个元件的位置。这种系统经常包括一个或多个传动装置，其典型地包括电机和输出传动系统，以提供期望的线性或旋转运动。这些传动装置通常是电磁、压电、气动和液压传动装置。这些系统还可包括位置反馈传感器和电路，作为相关传动系统的一部分，并且可被称作伺服拖动装置或伺服控制系统。
机械系统用的位置传感器典型地测量传动装置的元件或由这种元件移动的部件的位移。在一些系统中，磁传感器被用于感应期望部件的位置。这种分成两类：
一类霍耳效应传感器包括数字霍耳效应传感器，其典型地提供根据磁场存在、不存在和/或方位的二进制输出。该二进制输出也称作数字霍耳状态，其能够被计算并用于指示一个或多个磁铁联接到的关注部件的运动。采用这种方式，可确定关注的伺服拖动装置部件的运动和位置。数字霍耳效应设备典型地包括例如施密特(Schmitt)逆变器的信号调节电路，以调节模拟RED的输出信号。
目前的利用磁传感器感应位置的技术存在限制。这种限制在具有复杂传动系统的可移动机械系统中特别突出。当单个磁传感器遭到诸如温度变化、局部磁场变化和电磁干扰或噪声的周围环境因素时，会出现不精确的位置测量。传感器中的校准误差也会产生，或加剧位置测量的误差。
当一个或多个磁传感器被用于测量具有间隙或机械柔量的单个机械元件时，不精确的位置测量会出现在包括具有复杂传动系统的那些的可移动机械系统中。例如，用于测量EMA电机轴的旋转的磁传感器不适应在复杂传动系统中的间隙和机械柔量，其中所述EMA电机轴用作传动系统的原动机。
发明内容
本发明解决了上述局限性。本发明的方面可被用于探测可移动元件的运动，可移动元件包括但不局限于可移动机械系统的机器部件。可移动元件的运动可产生相对于磁传感器的磁铁的磁场的运动和/或变化。通过感应可移动机械系统的两个或多个可移动元件的运动，提高了相关机械部件的位置的确定。利用传感器、相关磁铁或介于传感器和相关磁铁之间的相关磁性材料的运动的任何组合可产生磁场和/或磁通量的运动和/或变化。本发明的特定方面针对用于可移动元件的位置感应的多元件磁传感器，可移动元件包括但不局限于机器部件。根据本发明的多元件传感器能够测量或者旋转或者线性运动或两者。这种多元件传感器能够提供增量位置改变、绝对位置或两者的指示。本发明的特定方面提供用于绝对位置感应高分辨率位置感应的组合，用于或者线性和/或角度位置的测量。通过将两个或多个磁传感器结合在例如传动装置的可移动机器组件中，冗余位置测量功能性能够以不同水平的机械利益提供或组合在组件中，以提供更大范围的位置测量或更高测量精度，或两者。合适的磁传感器包括但不局限于霍耳效应设备和/或磁阻元件。诸如控制电子装置的合适信号调节和/或控制装置可用于从传感器接收输出信号。从而能够测量和控制诸如包括传动装置的机械系统的可移动元件的运动。在特定实施例中，位置信号能够被用于期望的控制功能。对于非限制性实例，从一个或多个多元件磁传感器取得的位置信号可被用于控制无刷DC电机、例如联接到驱动系的EMA的电机的换向。
在位置感应操作期间，一个或多个多元件磁传感器可提供电信号到电控制单元，这能够使电控制单元能够控制例如EMA电机的期望无刷DC电机的换向顺序。对于这种换向顺序，电控制单元可使用一个或多个位置信号，每个来自不同的多元件磁传感器，以控制到关注DC电机内的定子线圈的输出电流。通过以换向顺序切换到定子线圈的电流，定子线圈中的电流产生磁场，所述磁场在与定子关联的转子的轴上产生扭矩，引起转子和轴旋转到相对于定子的期望位置。
本发明的一个实施例包括用于具有多个可移动驱动元件的驱动系的位置感应系统。该系统包括多个磁铁，每个对应或附于多个驱动元件中的一个。该系统包括多个磁传感器，每个磁传感器被配置和操作以探测由多个磁铁中的对应的一个产生的磁场的运动所产生的通量密度的变化。每个磁传感器可操作以产生对应于相应的可移动驱动元件的运动的输出信号。控制装置可操作以从多个磁传感器接收输出信号，并组合输出信号。多个磁铁可包括多极磁铁，诸如八极磁铁。该磁传感器可包括多元件磁传感器。该系统电控制装置可操作以产生作为输出的控制信号。该多元件磁传感器可包括多个磁阻元件。多个磁阻元件可包括采用电桥配置的电配置的四个磁阻元件。该电桥配置可以是惠斯登电桥。该多元件磁传感器可包括多个霍耳效应元件。多个霍耳效应元件可包括比例霍耳效应元件。多个霍耳效应元件可包括数字霍耳效应元件。多个霍耳效应元件可包括在IC中配置和安排的四个比例霍耳效应元件。
该系统可包括高分辨率磁传感器和以期望的配置布置的具有交替的北和南磁极的多个高分辨率磁铁，并且多个磁铁可被附于多个可移动驱动元件中的一个。该高分辨率磁传感器可操作以测量在可移动元件运动期间，由多个高分辨率磁铁产生的磁场变化。该系统可包括带齿磁通量引导器，所述带齿磁通量引导器靠近高分辨率磁传感器并可操作以将磁通量从多个高分辨率磁铁引导到高分辨率磁传感器。该高分辨率磁传感器可包括磁阻元件。该高分辨率磁传感器可包括模拟霍耳效应元件。该高分辨率磁传感器可包括数字霍耳效应元件。该期望配置可以是环。该期望配置可以是线性排列。该系统可包括通量引导器，所述能量引导器附于可移动元件并可操作以调节磁传感器处的磁通量。多个驱动系元件可包括可旋转轴，并且多个磁传感器中的一个或多个可包括磁正交传感器。该磁正交传感器可包括适合于轴的圆周的两对磁轭。该轴可包括多个磁铁。各个磁传感器可介于两对磁轭的各个对的端部之间；并且磁正交传感器可操作以探测轴的运动，并产生作为输出的对应于运动的正交信号。该控制装置可包括电控制单元，所述电控制单元可操作以从磁正交传感器接收正交信号，并提供对正交信号的正弦波正交解码以确定轴的位置。该磁轭可包括顺磁材料。该磁铁可包括从铁、镍、钴、镝和钆组成的组中选择的磁性材料。
另一实施例包括一种测量具有多个可移动元件的驱动系的可移动元件的位置的方法。该方法可包括产生多个可移动元件的可移动元件的运动。通过可移动元件的运动，可产生第一磁场相对于第一磁传感器的运动。通过可移动元件的运动，可产生第二磁场相对于第二磁传感器的运动。可探测到磁场中的变化。可产生对应于磁场中的变化的输出信号，并可测量可移动元件的位置。产生可移动元件的运动的步骤可包括使传动装置输出元件运动的步骤。产生可移动元件的运动的步骤可包括使附于可移动元件的磁铁运动的步骤。产生磁场的运动的步骤可包括使第一磁传感器运动的步骤。该磁场的运动可直接对应于所述可移动元件的运动，在这种情况中，输出信号对应于可移动元件的绝对位置。该磁场的运动可与可移动元件的运动成比例，在这种情况中，输出信号对应于所述可移动元件的相对位置。该输出信号可被用于控制机械连接到第一可移动元件的无刷DC电机的换向顺序。
另一实施例包括万向节，该万向节包括由可旋转连接可旋转地彼此联接的多个可旋转框架元件。传动装置被联接到多个可旋转框架元件的可旋转中连接对。该传动装置可操作以旋转可旋转框架元件对的每个。该万向节包括多个第一磁铁，并且每个都被附于多个可旋转框架元件中的相应的一个。该万向节包括多个第一磁传感器，每个第一磁传感器被配置和操作以探测由多个第一磁铁的相应的一个产生的磁场的磁通量密度，并且进一步可操作以产生对应于探测磁通量的输出信号。一个或多个第二磁铁每个都被附于可旋转地联接到多个可旋转框架元件中的一个的辅助驱动元件。一个或多个磁传感器每个都被配置和操作以探测由一个或多个第二磁铁的相应的一个所产生的磁场的磁通量密度，并且进一步可操作以产生对应于探测磁通量的输出信号。该万向节包括电控制装置，其可操作以从多个第一磁传感器和一个或多个第二磁传感器接收输出信号，并以产生复合分辨率位置信号。
该传动装置可包括EMA。该多个第一磁传感器可包括多元件磁传感器。该多元件磁传感器可包括多个磁阻元件。多个磁阻元件可包括采用电桥配置的电配置的四个磁阻元件。该电桥配置是惠斯登电桥。该多元件磁传感器可包括多个霍耳效应元件。多个霍耳效应元件可包括比例或数字霍耳效应元件。多个霍耳效应元件可包括在IC中配置和安排的四个比例霍耳效应元件。该万向节可包括高分辨率磁传感器和围绕EMA的电机轴的圆周以环布置的具有的交替的北和南磁极的多个高分辨率磁铁。该高分辨率磁传感器可操作以测量当EMA电机轴旋转时，由多个高分辨率磁铁的运动产生的磁场变化。
附图说明
参照下述描述、所附权利要求和附图，本发明的这些和其它特性、方面以及优点将会得到更好的理解。附图并不一定是成比例的，重点是说明本发明的原理。这些附图包括下述图：
图1显示了包括EMA的本发明的实施例的立体图。
图2包括图2A-2B，显示了本发明的一个实施例，包括被配置以探测两极磁铁的运动的多元件磁传感器。
图3显示了根据本发明的一个实施例的多元件磁传感器。
图4显示了包括EMA和电控制装置的实施例的侧视图。
图5包括图5A-5C，显示了根据本发明的多元件磁传感器和磁配置的实施例。
图6显示了包括密封在外壳中的传动装置电机的实施例。
图7显示了根据本发明的万向节的实施例。
图8显示了根据本发明的一个实施例的高分辨率位置传感器。
图9包括图9A-9B，分别显示了包括使用磁通量导管的高分辨率位置传感器的实施例的俯视图和侧视图。
图10显示了包括绝对位置传感器的实施例的横截面视图。
图11显示了包括磁正交传感器的实施例的横截面视图。
图12包括图12A-12C，显示了根据本发明的正交传感器的不同实施例的透视图。
图13显示了根据本发明一个实施例的测量位置的方法中的步骤。
具体实施方式
本发明的一方面可被用于探测可移动元件的运动，包括但不局限于机器部件。本发明的实施例将一块或多块磁铁联接到当运动时能够产生与该一块或多块磁铁关联的磁场和/或磁通量的运动和/或变化的可移动元件，这能够由联接到其上的磁传感器探测到。在磁传感器、相关磁铁之间的相对运动的任何组合或在磁铁与对应的磁传感器之间设置的相关磁性材料的运动可产生磁场和/或磁通量的运动和/或变化。根据本发明的磁传感器能够测量或者旋转或者线性运动或两者。这种传感器能够提供增量位置变化、绝对位置或两者的指示。本发明的特定方面提供用于或者线性和/或角度位置的测量的绝对位置感应和高分辨率位置感应的组合。通过将两个或多个磁传感器结合在例如传动装置的可移动机器组件中，冗余位置测量功能性能够以不同水平的机械利益提供或组合在组件中，以提供更大范围的位置测量或更高测量分辨率，或两者。适合的磁传感器包括但不局限于霍耳效应设备和/或磁阻元件。
本发明的特定方面针对用于可移动元件的位置感应的多元件磁传感器，包括但不局限于机器部件。诸如控制电子装置或电子控制器的合适信号调节和/或控制装置可用于从传感器接收输出信号。从而能够测量和控制诸如包括传动装置的机械系统的可移动元件的运动。位置信号能够被用于特定实施例中，用于期望的控制功能。对于非限制性实例，从一个或多个多元件磁传感器取得的位置信号可被用于控制无刷直流电机、例如联接到传动系统的EMA的电机的换向。
图1显示了包括电磁传动装置(EMA)105的优选实施例100的立体图。该EMA 105包括磁传感器组件102，包括多元件磁传感器102a-102c，其被配置和安排以分别探测附于EMA 105的可移动驱动元件110a-110c的多个磁铁104a-104c的运动。适合的磁铁104a-104c包括永久多极磁铁和/或多块磁铁的结构。每个磁传感器102a-102c被配置以探测对应的磁铁104a-104c的磁场中通量或变化。在特定实施例中，传感器102a-102c可包含在集成电路(ICs)中，其能够被安装在印刷电路板(PCB)103上。来自磁传感器的输出信号可被用于EMA元件的复合分辨率位置感应，如下面更详细地描述。
在位置感应操作期间，诸如102a-102c的一个或多个多元件磁传感器可提供电信号到电控制单元(未示出)，其能够使电控制单元能够控制例如EMA电机的期望的无刷直流电机的换向顺序。对于这种换向顺序，电控制单元可使用一个或多个位置信号，每个都来自不同的多元件磁传感器102a-102c，来控制到关注的直流电机内的定子线圈的输出电流。通过以换向顺序切换到定子线圈的电流，定子线圈中的电流产生在与定子关联的转子的轴上产生扭矩的磁场，导致转子和轴旋转到相对于定子的期望位置。在特定实施例中，电控制单元可使用自一个或多个多元件磁传感器连续接收的位置信号来用于三相EMA电机的换向。
该驱动元件110a-110d包括通过电机轴108从电机106接收动力的主驱动元件110b-d，和不向输出元件传送动力的辅助驱动元件110a。利用与主驱动元件110d的螺纹连接112，该主驱动元件110b-d将动力传送到负载输出轴114和输出轴承118。该输出轴114具有由箭头116指示的运动方向。该主或辅驱动元件可以是例如轴、齿轮、螺丝或曲柄的旋转元件，或例如螺丝、连杆或齿条的线性元件。在特定应用中，诸如连杆的驱动元件能够在其运动中同时平移和旋转。
在EMA 105的操作中，每块磁铁104a-104c与它附于的各个传动系统元件110a-110c一起运动。每个磁传感器102a-102c探测对应的磁铁104a-104c的运动，并且从而也探测各个磁铁附于的驱动元件的运动。由磁传感器101a-102c产生的电信号可被引导至电控制装置并由电控制装置接收，例如用于下面更详细描述的组合分辨率位置测量的控制电子装置(未示出)。通过调节驱动元件110-110c的尺寸、例如半径，能够改变驱动元件的机械利益。这可产生对由磁传感器102a-102c产生的输出信号的对应调节，及对位置测量的复合分辨率的类似调节。
在一些实施例中，磁铁104a-104c和磁传感器102a-102c的相对定位可以对换，其中：磁传感器相对于固定的磁铁旋转。此外，在特定实施例中，磁铁和磁传感器能够相对于彼此保持静止，并且传动装置的运动能够导致介于磁铁和传感器之间或放置在磁铁和传感器附近的磁性材料的运动。合适的磁性材料包括顺磁性和/或铁磁体材料，其有时被分别称作“软”和“硬”磁性材料。
图2包括图2A-2B，显示了根据本发明的实施例200的用于位置感应的合适传感器。多元件磁传感器202被配置和安排以探测附于传动系统元件(例如可旋转轴203)的两极磁铁204的磁场201的运动。该多元件磁传感器202可包括HED和或磁阻元件。该传感器202可以是集成电路(IC)的部分和封装在IC组件中，其还可包括合适的信号调节电子装置。如图2A所示，多元件磁传感器202被配置和安排以探测由两极磁铁204产生的磁场201的通量密度。该磁铁204可被安装在可旋转轴204的一端，例如由传动装置的机器元件旋转的一端。随着轴203相对于多元件磁传感器202运动，由磁铁204产生的由磁通量201表示的磁场也旋转。磁场201的不同定向被多元件磁传感器202探测。该轴203和/或机械连接部件的绝对和/或相对位置可由连接到多元件磁传感器202的诸如控制电子装置(未示出)的合适控制装置测量。如图2b所示，在特定实施例中，多个多元件磁传感器202a-202d可共同用于促进由表面201指示的、时间和/或空间变化的磁场的平均。在优选实施例中，可从Austria Micro Systems得到的产品号AS5040的旋转磁传感器被用于磁传感器202。
图3显示了根据本发明的可选实施例300的用于位置感应的多元件磁传感器302。该传感器302包括彼此电连接的多个比例磁阻磁传感器302a-302d。该比例磁传感器302a-302d采用电桥结构配置和安排以感应由运动磁场301导致的可变磁通量密度。电压供给304提供电压到比例磁传感器302a-302d。在特定应用中，如所示，比例磁传感器302a-302d可采用适合的惠斯登电桥(Wheatstone bridge)安排。
通过彼此紧密接近和以诸如惠斯登电桥的电桥结构连接，比例磁传感器302a-302d能够自校准和/或使由单个传感器产生的测量误差的影响最小化。对于其中每个传感器具有标称相同的电阻R的电桥结构，如图3所示，环境或机械因素可在传感器302a-302d中产生很小的电阻变化，如ΔR所示。这种电阻变化ΔR也可由探测的磁场301中的局部变化产生。电桥结构的不同部分之间的电阻变化ΔR在305处产生电流，这导致磁传感器302a-302d的电阻值的均衡或平均。作为自校准能力的结果，比例磁传感器302a-302d能够减小或消除由于温度变化、电磁干扰、相关磁铁的较小的未对准或运动和/或应用电压304中的变化所引起的位置测量误差。
图4显示了类似于图1的全部实施例400的侧视图，包括具有磁铁、传感器和例如控制电子装置420a-420b的电子控制装置的EMA405。该EMA 405包括电机406和电机轴408，其可操作以旋转包括多个齿轮410a-410d的齿轮系。在操作中，利用动力螺丝412，齿轮系将自EMA电机406的动力传送到输出轴414。对于电机轴的旋转411a的假定方向，例如逆时针方向，齿轮410a-410c的对应旋转方向由箭头411b-411d指示。当然应该理解：当电机输出轴的旋转方向被颠倒时，所示旋转方向将颠倒。该输出轴414具有由箭头416指示的运动方向。
分别利用诸如电连接421a-421b的合适连接，该控制电子装置420a-420b被分别连接到多元件磁传感器402a-402c和402d。该控制电子装置420a-420b可包括期望的逻辑、信号处理和/或信号调节电路。该控制电子装置420a-420b分别处理和应用从多元件磁传感器402a-402c和402d接收的信号，以提供有用的监视和/或控制功能性。例如，从多元件磁传感器402a-402c和402d接收的信号可分别由控制电子装置420a-420b使用，以确定和控制连接到相关EMA 405的输出轴414的输出元件(未示出)的位置。控制电子装置420a-420b可报告感应的机械部件的位置到局部或更高级电子装置，例如告警系统或控制计算机。在一些实施例中，控制电子装置420a-420b可以是单个单元。
在特定情况中，一个或多个磁传感器和对应的磁铁可远离可移动机械组件的特定部件定位。例如，将磁传感器和对应的磁铁离开EMA的电机定位，可提供将传感器与由EMA电机产生的热量热隔离的能力。此外，传感器的远程(遥控)定位是理想的以基于与电机轴或其它驱动元件间隔开的特定驱动元件的运动而产生一个或多个位置信号。一个或多个磁传感器的远程定位的能力可允许传感器放置在适合或可接近位置，以提供否则不可获得的位置测量。在特定实施例中，通过测量机械系统的输出元件的运动，可提高磁传感器的位置测量的精度，从而减小机械间隙(mechanical backlash)的不利影响。在特定实施例中，这种间隙影响的减小能够改进伺服控制动力。
图5包括图5A-5C，分别显示了根据本发明的实施例500A-500C的用于位置感应的磁传感器502a-502b和磁铁504a-504b的多种配置。图5A显示了包括典型传动装置的实施例500A，包括电机501和经驱动螺杆512和齿轮506和508联接到电机501的传动装置输出杆510。杆端轴承组件514被连接到输出杆510，用于连接到可移动元件。该输出杆510具有由箭头516指示的运动方向。例如电机501的合适原动机和由齿轮506和508提供动力的驱动螺杆512的机械连接产生输出杆510的运动。图5B-5C包括图5A的分解视图，具有联接到传动装置的辅助驱动元件的不同磁铁和传感器结构。如图5A所示，多元件磁传感器502a能够被配置和安排以探测由磁铁504a联接到的原始驱动元件506的运动导致的对应磁铁504a的磁场的变化。多元件磁传感器502a位于磁铁504a的磁性附近内，在图5A中所示的实施例中，磁铁504a被附于连接到传动装置电机501的电机轴的加伸轴的端部上。
磁铁和传感器组件可被配置和安排以不仅探测诸如齿轮506的将动力传送到输出元件的主驱动元件的运动，而且探测不将动力传送到任何输出元件的辅助驱动元件的运动。例如，图5A-5C  示了用于探测机械连接到杆端510的不同辅助驱动元件的运动的不同磁铁和传感器组件。图5A显示了附于包括齿轮518a的辅助驱动元件的磁铁504b的一种结构。多元件磁铁传感器502b被安装在磁铁504b附近的基部上，例如PCB 503b。磁铁504b被机械联接到或附于与辅助齿轮518b啮合的齿轮518a。两个齿轮518a和518b均被安排在允许齿轮旋转和防止齿轮平移的轴承(未示出)上。利用由螺杆尾522驱动的驱动螺杆520的轴向运动旋转辅助齿轮5I8b。利用支架524，该驱动螺杆尾522被连接到传动装置输出元件510。当传动装置输出元件510沿箭头516所示的运动方向运动时，驱动螺杆尾522沿相同方向运动。这平移引起齿轮518b和518a旋转的驱动螺杆520。附于或以其它方式连接到齿轮518a的磁铁504b则在大致平行于传动装置输出杆510的轴线上旋转。来自传感器502a和502b的输出信号可由控制装置(未示出)组合，以提供例如输出杆510的期望的可移动元件的复合分辨率位置测量。通过调节多种齿轮的半径，能够改变驱动元件的机械利益。这能够产生对由磁传感器502a-502b产生的输出信号的相应调节，对位置测量的复合分辨率具有类似效果。
图5B显示了附于包括曲柄轴和曲柄臂组件518c的辅助驱动元件的磁铁504b的另一实施例500B。该磁铁504b接近或在曲柄轴和曲柄臂组件518c的旋转轴线上地附于曲柄臂518c。该曲柄臂组件518c由可枢转连接519连接到柄522a。利用支架524，该柄522a被连接到传动装置输出杆510。当传动装置输出杆510运动时，由运动方向516指示，曲柄臂518c和所附磁铁504b围绕旋转轴线旋转，如箭头526指示。在图5B中，磁铁504b的旋转大致垂直于传动装置输出杆510。图5C显示了附于包括齿条和小齿轮组件的小齿轮518e的辅助驱动元件的磁铁504b的另一实施例500C。利用支架524，该相关齿条518d被连接到传动装置输出杆510。当传动装置输出杆510沿箭头516′所示的运动范围运动时，齿条518d也如箭头516′所示平移。该磁铁504b因此与小齿轮518e一起旋转，如箭头526所示，围绕大致垂直于传动装置输出元件510的轴线旋转。
对于特定应用，它可以期望地包围例如EMA的可移动机械系统的电机和其它移动部件。EMA电机可被密封以防止流体、气体、EMI或磁场不希望的泄露进或出。密封外壳610能够保护EMA免受苛刻的环境。在特定实施例中，电机密封在外壳610中的EMA能够被浸入流体以用于湿电机操作。
图6显示了包括密封在外壳610中的EMA电机608的实施例600。磁铁604被附于EMA电机608的电机轴606。多元件磁铁传感器602在磁铁604的磁附近地被安装在外壳610的外部的例如PCB的基部603上。该外壳610可包括位于磁铁604和多元件磁传感器602之间的非磁性窗口612。
因为来自磁铁604的磁场不被非磁性材料的窗口612阻止，多元件磁传感器602将通过非磁性窗口612操作。用于窗口612的合适的非磁性材料包括但不局限于钛、特定非磁性陶瓷材料和/或塑料材料。在特定高速实施例中，窗口612可由非电导材料制成，例如，非磁性陶瓷材料或塑料材料，以避免电传导材料中的涡电流产生的反作用场导致的磁场衰减。
本发明的实施例可提供用于可移动元件的复合分辨率位置测量，例如双速分辨率。例如，通过使用两个或多个多元件磁传感器以感应经历不同运动的不同动力系元件的运动，可提供双速分辨能力。例如，两个或多个多元件磁传感器可被配置以分别探测具有不同齿轮直径的齿轮的运动。这种齿轮系中的齿轮以相对于诸如传动装置输出元件的相关机器部件的不同速度运动。
图7显示了针对万向节700中的双分辨率位置测量的另一实施例。该万向节700包括彼此可枢转地连接的三个旋转框架元件706a-706c。磁传感器702a-702f和相关磁铁704a-704f被配置以测量万向节700操作期间框架元件706a-706c的位置。例如EMA 708a-708c的传动装置被直接或者间接地机械连接到三个框架元件706a-706c的各个上。通过单独或组合控制EMA 708a-708c，框架元件706a-706c能够围绕其各自轴线旋转。由框架元件706a-706c保持的期望部件或设备能够相应地沿任何期望方向定向。由多元件磁传感器702a-702f产生的信号可被用于感应万向节700的运动和控制EMA 708a-708c的电机换向。通过调节或选择性地将动力信号应用于EMA 708a-708c之一或多个，诸如电子控制单元(未示出)的控制装置可控制万向节700的位置。
利用一个或多个适合的可枢转连接709，每个框架元件可枢转地连接到其它上，以便：当EMA电机操作时，一个框架元件相对于枢转连接的框架元件运动。如图7中配置的，框架元件706a具有到框架元件706c的单一可枢转连接709和到框架元件706b的两个可枢转连接709。框架元件706b具有到框架元件706c的两个可枢转连接709。在特定实施例中，合适的可枢转连接709可包括被固定到一个框架元件，例如框架元件706c的EMA电机轴，例如轴708b′，并且相关电机EMA 708b的外壳被固定到另一框架元件，例如框架元件706b。合适的轴瓦和/或轴承可被包括在万向节700中使用的可枢转连接709中。应该理解：虽然万向节700显示具有三个可旋转框架元件706a-706c，根据本发明的万向节可具有例如一个、两个或三个以上等的任何期望数目的可旋转框架元件。
特定的磁铁704a，704d和704e优选地安装在EMAs 708a-708c的电机轴的端部上以在万向节700的运动期间，探测相关框架元件和EMA电机轴之间的运动。相应磁传感器可以是单或多元件磁传感器，可附于框架元件706a-706c。当磁铁被安装到EMA电机输出轴时，对应的磁传感器例如以1∶1比率直接探测EMA输出轴磁铁的运动。
万向节700的每个可旋转框架元件706a-706b可具有一个以上磁传感器和磁铁，用于以例如双速的组合分辨率进行位置感应。例如，在特定实施例中，例如702b，702c和702f的一个或多个传感器探测对应的磁铁702b，702c和702f的运动，它们附于以与各个EMA 708a-708c的输出轴的不同速度运动的动力系元件712a-712c。这种配置能够提供例如双分辨率的复合分辨率，用于万向节700的多个框架元件的位置感应。利用更高速度和更低速度传感器之间的机械连接的几何结构的适合设计，期望水平的位置测量分辨率能够与绝对位置测量结合提供。为监控超过例如704f的磁铁的一圈的位置，外部电路可被用于计算指示磁铁圈数的标志脉冲的数目。
如前描述的，本发明的特定实施例可提供例如大范围运动上的组合的高分辨率磁感应和绝对位置磁感应。例如，可以期望测量在输出元件处的传动装置的整个范围的绝对位置，并且同时，另一磁传感器和磁铁监控例如电机轴的另一机器元件的运动，以提供高得多的分辨率。这种功能性可期望以确定例如机械部件的可移动元件的高分辨率与绝对位置和全范围运动。在特定实施例中，一个或多个磁传感器，例如霍耳效应或磁阻设备，可用于高分辨率位置感应。高分辨率位置测量用的合适传感器可被配置以生成或者数字或者模拟信号。
图8显示了根据本发明的另一实施例800的合适的磁铁和传感器配置，包括两个高分辨率磁性位置传感器802a-802b。这种高分辨率位置传感器可适合与绝对位置传感器一起使用。每个磁传感器802a-802b紧密接近包括围绕环804的周长设置的多个磁铁803的环结构804。该环804被固定或连接到可旋转元件，诸如传动装置电机轴或相类似物。指示了磁铁803的典型北(N)和南(S)极。该磁铁803可以是设置在应用于磁材料的固体环中的轴或N和S极上。该磁极可以或者紧密间隔，这对于数字类型的传感器是期望的，或磁极可较宽地间隔并以模拟方式感应。在特定实施例中，如所示，一对磁轭806a-806b可被用于将磁通量指向传感器802a。
图9包括图9A-9B，分别显示了根据本发明的另一实施例900的使用磁通量引导器的高分辨率位置传感器的俯视和侧视图。这种高分辨率传感器可期望以测量可旋转轴的位置，例如EMA电机轴。通量引导器将来自单个偶极子磁铁904的磁通量引导到相关磁传感器902。通量引导器包括围绕并固定到轴901的带齿磁引导环906，所述轴901可以是电机或驱动系轴或相类似物。该通量引导器还包括配置和适合于带齿引导环906的带齿引导轭908。在特定实施例中，该轭件910可被定位以从磁传感器延伸在带齿引导环906上方。当轴901旋转时，带齿引导环906的齿相对于带齿引导轭908的齿的位移导致由传感器902探测的通量变化。在特定实施例中，磁铁排列和带齿通量引导器可线性放置以探测由于线性运动的通量变化。
如上描述，本发明的特定实施例可包括用于绝对位置感应的一个或多个比例磁传感器的组合，所述比例磁传感器与用于高分辨率位置感应的一个或多个磁传感器结合使用。图10显示了根据本发明一个实施例1000的绝对位置传感器1002。该传感器1002被配置和安排以探测来自相关磁铁1004的通量密度以感应相关机械元件、例如可平移传动装置输出轴1007的运动。在一些应用中，该传感器可被附于机器元件。在其它应用中，该磁铁可被附于机器元件1007。该传感器1002可以是模拟或连续分辨率、绝对磁传感器，例如霍耳效应设备或磁阻元件。来自关联磁铁1004的通量由一对磁轭1006a-1006b被传导到传感器1002。该传感器1002和高导磁性轭1006a-1006b相对于磁铁1004的平移引起传感器1002处的通量密度以可探测的方式改变。
在特定实施例中，如箭头1001指示，传感器1002的探测范围将典型地覆盖例如传动装置的相关可移动元件的整个运动范围。采用将传动装置运动的整个范围与传感器的整个范围大致相关联的方式，该传感器1002可被机械链接到传动装置的输出。该传感器1002优选地是单霍耳效应设备或磁阻元件，虽然传感器1002可以是多元件磁传感器。
传感器1002处的通量变化能够通过相对于传感器1002运动磁铁104实现，或反之亦然，而在特定实施例中没有任何介入的通量引导器或轭。通过将通量或多或少地引导到传感器1002的方式移动通量引导器，可探测传感器1002处的通量变化。此外，可以采用阻塞或减弱传递到传感器1002的磁通量的方式移动磁元件。这能够利用一对磁铁和传感器，或多个磁铁(例如增加范围或分辨率)，或多个传感器，或一定倍数的磁铁和传感器完成。如图6所示，来自传感器1002的输出信号被引导到电子控制装置，诸如感应和控制电子装置。该输出信号可被用于期望目的，诸如报告或控制可移动元件的位置。
在特定实施例中，类似于参照图10描述的线性配置，绝对位置传感器可以旋转或圆形方式配置。对于圆形绝对位置传感器，感应顺序可在旋转360度后重复。图11显示了根据本发明另一实施例1100的磁正交传感器1101的横截面视图。这种正交传感器可期望于测量可旋转轴的位置，例如EMA电机轴。该正交传感器1101包括两个或多个磁传感器1102，诸如霍耳效应设备或磁阻元件(为了清晰，一个传感器被省略)。合适的磁传感器可以是单元件传感器或多元件传感器。每个磁传感器1102位于由磁传导材料制成的一对轭1104a-1104b之间。每个轭1104a-1104b适合到可旋转轴1106的圆周，所述可旋转轴1106可以是传动装置或可移动机器组件的驱动系的部分。永磁铁1108或其它磁性材料被配置在轴1106的圆周。
当轴1106旋转时，该传感器1102探测由磁铁1108产生的磁场的运动。通过使第二传感器1102和一对轭定位成沿轴的圆周离开第一传感器和轭对90度，例如如图12A所示，当轴旋转时取得正交信号。该磁正交传感器1100提供自校正和普通方式噪声减小的能力。传感器1100可用作高分辨率或低分辨率传感器，并可提供绝对或相对位置感应。可操作以提供正弦波正交解码的诸如电子控制单元的电控制装置(未示出)可被用于解码正交信号。包括磁正交传感器1100的实施例可期望在其中接近可旋转轴的端部很困难或不可能的应用中。可选地，轴1106可被直径地磁化以形成磁偶极，以便不需要磁铁1108。
图12包括图12A-12C，显示了根据本发明的实施例的用于绝对位置感应的正交传感器1200的不同配置。该正交传感器包括诸如霍耳效应设备的两个磁传感器1202a-1202b，沿旋转轴1206的圆周分开90度地布置。每个传感器位于适合于轴的一对轭的端部之间。图12A显示了包括两极磁铁的实施例透视图。图12B显示了包括四极磁铁的实施例透视图。图12C显示了包括四极磁铁的可选配置的实施例透视图。
图13显示了根据本发明的感应位置的方法1300的步骤。如在步骤1302处描述，产生多个可移动元件的可移动元件的运动。多个可移动元件可例如是诸如传动装置驱动系的驱动系的部分。这种运动可由期望类型的原动机产生，诸如包括但不局限于EMA、液压传动装置、水压传动装置等的多种类型的传动装置。如步骤1304描述，通过可移动元件的运动，产生第一磁场相对于第一磁传感器的运动。磁铁、介入的导磁性顺磁性材料和/或磁传感器的运动可引起磁场的运动。如步骤1306描述，通过可移动元件的运动，产生第二磁场相对于第二磁传感器的运动。如在步骤1308处描述的，探测到磁场中的通量或变化。如在步骤1310处描述的，产生对应于磁场的变化的输出信号。如步骤1312处描述的，可移动元件的位置被测量，并可具有例如双速分辨率的复合分辨率。
如在步骤1302处描述，可移动元件的运动可包括运动传动装置输出元件。如步骤1304处描述，通过运动磁铁，例如通过旋转磁铁，可产生磁场的运动。如步骤1304描述，通过运动多元件磁传感器，例如通过旋转传感器，可产生磁场的运动。如步骤1308描述，探测磁场的变化可包括使用磁正交传感器。如步骤1310描述，产生的输出信号可对应于可移动元件的绝对位置和/或相对位置。该输出信号可被用于控制机械连接到可移动元件的无刷DC电机的换向顺序。
相应地，本发明的实施例可提供超过现有技术的多种优点。根据本发明的多元件磁传感器能够提供增量位置改变和绝对位置的指示。通过使用两个或更多个多元件磁传感器可以提供位置传感器功能性的冗余。冗余在需要高可靠性的特定应用是合乎需要的。实施例可被用于感应传动设备或可移动机器组件中的位置以提供可利用来控制例如伺服传动装置的设备的测量，和/或将位置报告到例如告警系统或控制计算机的本地或更高级电子装置。实施例可用于提供对伺服传动装置的低成本、耐久、低重量、小体积和/或遥感能力。实施例可包括具有简单位置控制的传动装置，例如冲程电子装置止动机构的端部。
特定实施例可被应用于空气动力学控制表面传动装置、机载传动装置、单轴和多轴万向节和EMA。该传动装置本质上可以是液压、气动或电的。这种传动装置的原动机可以是任何合适的类型，例如电机、活塞、螺线管或音圈和相类似物。根据特定实施例的多元件位置传感器被安装在优选实施例中的单和多轴万向节上，以减小成本和重量，同时保持或增加诸如旋转变量差分变压器(RVDT)、电位计和分解器的设备的位置精度。
此外，本发明的实施例可有利地用作同步机、分解器、RVDT、线性变量差分变压器(LVDT)和电位计的可选物。这些传感器以更低成本和更小和更灵活的所占区域(footprint)提供。对于使用无刷DC电机的应用，这些传感器和关联控制电子装置可被用于提供所需的换向顺序。由这些传感器提供的高分辨率位置感应允许正弦驱动类型换向，正弦驱动类型换向能够减小扭矩波动并提高电机扭矩能力的有效使用。实施例可提供用于位置传感器的远程定位。远程位置感应能够提供优点，包括：(i)热隔离传感器的能力；(ii)产生基于特殊驱动元件的输出信号的能力；和/或(iii)将传感器定位在方便或可接近的位置的能力。
虽然参照其优选实施例已展示并描述了本发明，本领域的专业人员将会知道：在不背离所附权利要求确定的本发明的精神和范围的情况下，本发明可进行多种形式和细节的变动。

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1.一种用于具有多个可移动驱动元件的驱动系的位置感应系统，所述系统包括：
多个磁铁，其中：所述多个磁铁的每一个都被附于所述驱动系的所述多个可移动驱动元件中的对应的一个；
多个磁传感器，其中：所述多个磁传感器的每一个都被配置和可操作以探测由所述多个磁铁中对应的一个产生的磁场的运动所产生的磁通量密度的变化，并且所述磁传感器的每一个可操作以产生对应于由每个对应的可移动驱动元件的运动引起的磁通量密度的所述变化的输出信号；和
连接到所述多个磁传感器的控制装置，所述控制装置可操作以确定作为所述多个输出信号的函数的多个可移动驱动元件中的一个或多个的位置，并且其中所述多个输出信号中的每一个都是组合信号的部分。
2.根据权利要求1所述的系统，其中：所述多个磁铁包括八极磁铁。
3.根据权利要求1所述的系统，其中：所述多个磁传感器中的一个包括多元件磁传感器。
4.根据权利要求3所述的系统，其中：所述多元件磁传感器包括多个磁阻元件。
5.根据权利要求4所述的系统，其中：所述多个磁阻元件包括采用电桥配置的电配置的四个磁阻元件。
6.根据权利要求3所述的系统，其中：所述多元件磁传感器包括多个霍耳效应元件。
7.根据权利要求1所述的系统，进一步包括：通量引导器，所述通量引导器附于所述可移动元件并可操作以调节所述多个磁传感器中的一个的磁通量。
8.根据权利要求1所述的系统，其中：所述多个可移动驱动元件包括可旋转轴，并且其中：所述多个磁传感器中的一个包括磁正交传感器，所述磁正交传感器包括适合于所述轴的圆周的两对磁轭，其中：所述轴包括多个磁铁，并且其中：所述磁正交传感器的各个磁传感器布置在所述两对磁轭的各个对的端部之间，其中：所述磁正交传感器可操作以探测所述轴的运动，并产生作为输出的对应于所述运动的正交信号。
9.根据权利要求8所述的系统，其中：所述控制装置包括电控制单元，所述电控制单元可操作以从所述磁正交传感器接收所述正交信号，并对所述正交信号提供正弦波正交解码以确定所述轴的位置。
10.根据权利要求8所述的系统，其中：所述磁轭包括顺磁材料。
11.根据权利要求1所述的系统，所述多个磁传感器中的一个包括磁正交传感器，以及所述控制装置包括电控制单元，所述电控制单元可操作以从所述磁正交传感器接收所述正交信号，并对所述正交信号提供正弦波正交解码以确定所述驱动系的所述多个可移动驱动元件至少一个的位置。
12.根据权利要求1所述的系统，其中所述控制装置可操作以确定作为所述多个输出信号的函数的所述驱动系相关的移动输出元件的位置。
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