CN101706250A - Absolute intersection angle measuring device with large scale and high accuracy - Google Patents

Absolute intersection angle measuring device with large scale and high accuracy Download PDF

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Publication number
CN101706250A
CN101706250A CN200910035399A CN200910035399A CN101706250A CN 101706250 A CN101706250 A CN 101706250A CN 200910035399 A CN200910035399 A CN 200910035399A CN 200910035399 A CN200910035399 A CN 200910035399A CN 101706250 A CN101706250 A CN 101706250A
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China
Prior art keywords
gear
angle
follower
accuracy
absolute
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CN200910035399A
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张永生
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Suzhou SAC Auto Technology Co., Ltd.
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张永生
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Priority to CN200910035399A priority Critical patent/CN101706250A/en
Publication of CN101706250A publication Critical patent/CN101706250A/en
Pending legal-status Critical Current

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Abstract

The invention relates to a high-accurate angle measuring device, in particular to an absolute intersection angle measuring device with large scale and high accuracy. The absolute intersection angle measuring device with large range and high accuracy is provided with a main gear connected with a rotation body as well as a first follow-up gear and a second follow-up gear engaged with the main gear; magnets for generating a magnetic field are embedded in the first follow-up gear and the second follow-up gear, and giant magnetoresistance chips for probing the change of a direction of the magnetic field are arranged on the first follow-up gear and the second follow-up gear. The device has the advantages of simple structure, convenient and rapid measurement, and strong error correction capacity through combining a related error correction algorithm.

Description

The absolute corner measuring apparatus of a kind of large scale and high accuracy
Technical field
The present invention relates to a kind of high precision angle measurement unit, the absolute corner measuring apparatus of especially a kind of large scale and high accuracy.
Background technology
Along with industrial expansion, need to detect the absolute corner number of degrees of rotary body multi-turn under a lot of situations.Especially automotive field, in recent years along with the development of automotive electronics, vehicle electronic stability system (VDC), electronic power assist steering (EPS), the popularity rate of bend auxiliary lighting system (AFS) etc. is more and more higher, come work and these systems all rely on bearing circle rotational angle signal, the steering wheel angle signal is the absolute high precision rotational angle of multi-turn.
For the measurement of rotational angle, a lot of methods have been arranged at present, principle of work also has nothing in common with each other.By the output signal type, can be divided into absolute, relative two kinds of measurement of angle modes.The relative angle measurement is meant memoryless function at the zero point of signal, can not obtain the absolute angle information of current rotary body, needs extra ECU (Electrical Control Unit) to use algorithm to cooperate and could use this angle information.It then is directly to export current angle behind Zero calibration that absolute angle is measured.
Difference by principle has photo-electric, hall effect type, magnetoresistance formula, electric resistance partial pressure type equal angles metering system.
The outer corner measurement that section's generation reaches company of company adopts the photoelectric measurement principle, and its measuring accuracy is 1.5 °, and the shortcoming of this method is that the battery power down needs later on to recalibrate, and a very big shortcoming of photoelectric measurement is that the unthreaded hole inefficacy is difficult to control simultaneously.
The outer corner measurement of Delphi company adopts the Hall-type principle, and its measuring accuracy is 0.7 ° ... 1.5 °.This method also can't be discerned current angle state after the battery power down, so also need recalibrate after power down.
And the present invention can remember current pinion wheel angle and gear set absolute angle in conjunction with the giant magnetoresistance chip to measure two parts content, current angle that can memory based pinion wheel and the current absolute angle that relation is inferred gear wheel thereof.
Summary of the invention
In order to overcome the deficiency that above-mentioned various outer corner measurement exists, the invention provides a kind of corner measuring apparatus that detects absolute corner based on giant magnetoresistance effect.
The technical solution adopted for the present invention to solve the technical problems is: the absolute corner measuring apparatus of a kind of large scale and high accuracy has main drive gear that links to each other with rotary body and first follower gear and second follower gear that meshes with main drive gear; In first follower gear and second follower gear, be embedded with the magnet that produces magnetic field, above first follower gear and second follower gear, be provided with the giant magnetoresistance chip that is used to survey the magnetic direction variation.Described first follower gear is different with the number of teeth of second follower gear: the gear ratio of the main drive gear and first follower gear is 3~5, with the gear ratio of second follower gear be 2~3.Described giant magnetoresistance chip is no more than 2mm apart from the magnet distance.
Steering wheel angle sensor based on this device design can satisfy vehicle steering 4 circle measurement of angle area requirements, output angle resolution can reach 0.1 degree, satisfy vehicle electronic stability system (VDC), electronic power assist steering (EPS), the request for utilization of systems such as (AFS) of bend auxiliary lighting system.This device output be absolute corner, the bearing circle null position is a rote memory, still can remember after the sensor power down powers on next time, need not backup system and calculates or store null position.
The present invention measures the individual pen angle by the angle detection chip based on giant magnetoresistance effect (GMR). and this chip constitutes Huygens's bridge structure with four giant magnetoresistances (GMR), this structure can reduce the influence of external environment to the sensor output stability, increases transducer sensitivity.
Description of drawings
The present invention is further described below in conjunction with drawings and Examples.
Fig. 1 is main drive gear of the present invention and two follower gears engagement vertical view.
Fig. 2 is a stereographic map of the present invention.
Fig. 3 is main drive gear and follower gear multi-turn angle relation figure.Wherein transverse axis is represented the anglec of rotation of main drive gear, and the longitudinal axis is represented the actual anglec of rotation of follower gear.Two straight lines have been represented the angular relationship between driving gear and two follower gears.
Fig. 4 is main drive gear and two follower gear angle variation relations.
Fig. 5 is the relativeness of two follower gears angle when changing with the main drive gear angle.
Among the figure: 1 main drive gear, 2 rotary bodies, 3 first follower gears, 4 first follower gears, 5 magnet, 6 giant magnetoresistance effect chips.
Embodiment
The absolute corner measuring apparatus of a kind of large scale and high accuracy as shown in Figure 1 and Figure 2 has main drive gear 1 that links to each other with rotary body 2 and first follower gear 3 and second follower gear 4 that meshes with main drive gear 1; In first follower gear 3 and second follower gear 4, be embedded with the magnet 5 that produces magnetic field, be provided with the giant magnetoresistance chip 6 that is used to survey the magnetic direction variation above first follower gear 3 and second follower gear 4, giant magnetoresistance chip 6 is no more than 2mm apart from magnet 5 distances.。Described first follower gear 3 is different with the number of teeth of second follower gear 4: the gear ratio of the main drive gear 1 and first follower gear 3 is 3~5, with the gear ratio of second follower gear 4 be 2~3.
The present invention proposes a cover and can realize that main drive gear 1 is positioned at the measurement of 1680 degree angle ranges.In main drive gear 1 rotation 1680 degree scopes, can calculate the number of degrees of first follower gear 3 and 4 rotations of the second follower gear gear by ratio of gear, can draw out Fig. 3 by this characteristic, transverse axis is that main drive gear 1 rotates the multi-turn angle, and the longitudinal axis is that first follower gear 3 and second follower gear 4 rotate the multi-turn angle.Because of this magnetic field detection Hall element can only be surveyed 0~360 degree individual pen corner, the angle of first follower gear 3 and second follower gear 4 is calculated by 360 degree, can obtain main drive gear 1 and rotate the multi-turn angle, the rotational angle relation that first follower gear 3 and second follower gear 4 calculate by 360 degree.Gear that this patent is described than scope in, the angle output resolution ratio can be up to 0.1 degree, the inner pinion gear angle-measurement accuracy is higher.
By software the combination of angles that current first follower gear 3 and second follower gear 4 obtain just can be drawn main drive gear 1 angle by the mathematical formulae conversion.Be set and be zero point, the angle that is about to main drive gear 1 this moment is as side-play amount and store, and next angle that obtains constantly deducts the angle that this side-play amount can obtain rotating.Even after system's power down, the side-play amount that can deduct storage by the combination of current first follower gear 3 and second follower gear 4 that powers on next time obtains current angle.At this moment system output be absolute rotational angle.System user can carry out zero point and confirm after end is installed, in system's life course, need not to carry out once more to confirm zero point, is mounted again until system.
This algorithm has very strong false judgment ability, when when the combination of angles of first follower gear 3 and second follower gear 4 is not within the scope that corresponding curve allows, can learn that there is mistake in internal system, so this measuring method has error correcting capability.
Because in the process of gear rotation, the original angle combination of reading in real time from first follower gear 3 and second follower gear 4 exists non-linear, so must make up the in addition judgement of appropriate algorithm to reading the original angle of returning, thereby determine actual combination of angles. the present invention claims this suitable decision algorithm to be " near algorithm ".
According to Fig. 3 combination gear combination revolving property, can draw out gear anglec of rotation cycle variation diagram 4, Fig. 4 reflects the gear rule that angle changes in rotary course intuitively, but this rule not fit algorithm realizes, be difficult to write out suitable algorithm, so utilize the angle variation relation of gear 1, gear 3 and gear 4 to simulate algorithmic characteristic curve map 5 by modeling algorithm by figure.
Based on algorithmic characteristic curve map 5, current state near the rotation of algorithm real-time analysis gear, comprise the gear sense of rotation, gear cycle change frequency, the gear rotational speed, the comparative analysis of many group real-time sampling points, and combine the true physical location that PD (proportion differential algorithm) analyzes real-time sampling point.Algorithm can be corrected because the non-linear main drive gear that the causes 1 actual angle miscount that the gear rotation brings thus.

Claims (4)

1. the absolute corner measuring apparatus of large scale and high accuracy is characterized in that: have main drive gear (1) that links to each other with rotary body (2) and first follower gear (3) and second follower gear (4) that meshes with main drive gear (1); In first follower gear (3) and second follower gear (4), be embedded with the magnet (5) that produces magnetic field, be provided with the giant magnetoresistance chip (6) that is used to survey the magnetic direction variation in the top of first follower gear (3) and second follower gear (4).
2. the absolute corner measuring apparatus of a kind of large scale and high accuracy according to claim 1 is characterized in that: described first follower gear (3) is different with the number of teeth of second follower gear (4).
3. the absolute corner measuring apparatus of a kind of large scale and high accuracy according to claim 2 is characterized in that: the gear ratio of described main drive gear (1) and first follower gear (3) is 3~5, with the gear ratio of second follower gear (4) be 2~3.
4. the absolute corner measuring apparatus of a kind of large scale and high accuracy according to claim 1 is characterized in that: described giant magnetoresistance chip (6) is no more than 2mm apart from magnet (5) distance.
CN200910035399A 2009-09-22 2009-09-22 Absolute intersection angle measuring device with large scale and high accuracy Pending CN101706250A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN200910035399A CN101706250A (en) 2009-09-22 2009-09-22 Absolute intersection angle measuring device with large scale and high accuracy

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Application Number Priority Date Filing Date Title
CN200910035399A CN101706250A (en) 2009-09-22 2009-09-22 Absolute intersection angle measuring device with large scale and high accuracy

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Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101893423A (en) * 2009-05-20 2010-11-24 阿尔卑斯电气株式会社 Multi-rotation angle detection device
CN102175271A (en) * 2011-01-26 2011-09-07 哈姆林电子(苏州)有限公司 Rotary position sensor
CN102506698A (en) * 2011-11-04 2012-06-20 合肥工业大学 Contactless corner-torque sensor
CN102589412A (en) * 2010-12-21 2012-07-18 Lg伊诺特有限公司 Angle sensor
CN102736664A (en) * 2011-04-12 2012-10-17 东洋电装株式会社 Joystick device
CN102749026A (en) * 2012-07-10 2012-10-24 万向钱潮(上海)汽车系统有限公司 Detection device and method for absolute-type multi-circle rotation angle
CN103359167A (en) * 2012-03-28 2013-10-23 比亚迪股份有限公司 Method and device for measuring steering wheel rotation angle
CN103983183A (en) * 2014-05-09 2014-08-13 华东师范大学 Steering wheel angle sensor
CN105698828A (en) * 2016-03-11 2016-06-22 桂林数联汽车科技有限公司 Multi-turn absolute encoder with parallel gear structure
CN105698671A (en) * 2016-02-01 2016-06-22 重庆理工大学 Novel angular displacement sensor
CN108519500A (en) * 2018-04-11 2018-09-11 航天科技控股集团股份有限公司 Car speed sensor comparison type detection device

Cited By (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101893423A (en) * 2009-05-20 2010-11-24 阿尔卑斯电气株式会社 Multi-rotation angle detection device
CN102589412A (en) * 2010-12-21 2012-07-18 Lg伊诺特有限公司 Angle sensor
CN102175271A (en) * 2011-01-26 2011-09-07 哈姆林电子(苏州)有限公司 Rotary position sensor
CN102736664B (en) * 2011-04-12 2015-02-18 东洋电装株式会社 Joystick device
CN102736664A (en) * 2011-04-12 2012-10-17 东洋电装株式会社 Joystick device
CN102506698A (en) * 2011-11-04 2012-06-20 合肥工业大学 Contactless corner-torque sensor
CN103359167A (en) * 2012-03-28 2013-10-23 比亚迪股份有限公司 Method and device for measuring steering wheel rotation angle
CN102749026A (en) * 2012-07-10 2012-10-24 万向钱潮(上海)汽车系统有限公司 Detection device and method for absolute-type multi-circle rotation angle
CN102749026B (en) * 2012-07-10 2015-01-21 万向钱潮(上海)汽车系统有限公司 Detection device and method for absolute-type multi-circle rotation angle
CN103983183A (en) * 2014-05-09 2014-08-13 华东师范大学 Steering wheel angle sensor
CN103983183B (en) * 2014-05-09 2017-06-16 华东师范大学 A kind of steering wheel angle sensor
CN105698671A (en) * 2016-02-01 2016-06-22 重庆理工大学 Novel angular displacement sensor
CN105698828A (en) * 2016-03-11 2016-06-22 桂林数联汽车科技有限公司 Multi-turn absolute encoder with parallel gear structure
CN108519500A (en) * 2018-04-11 2018-09-11 航天科技控股集团股份有限公司 Car speed sensor comparison type detection device
CN108519500B (en) * 2018-04-11 2020-08-18 航天科技控股集团股份有限公司 Automobile speed sensor contrast type detection device

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Owner name: SUZHOU SAKE AUTOMOBILE TECHNOLOGY CO., LTD.

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Applicant before: Zhang Yongsheng

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Open date: 20100512