CN106996738B - Rotation angle sensor - Google Patents
Rotation angle sensor Download PDFInfo
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- CN106996738B CN106996738B CN201611271986.1A CN201611271986A CN106996738B CN 106996738 B CN106996738 B CN 106996738B CN 201611271986 A CN201611271986 A CN 201611271986A CN 106996738 B CN106996738 B CN 106996738B
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- rotation angle
- angle sensor
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- 238000004804 winding Methods 0.000 claims abstract description 57
- 230000005672 electromagnetic field Effects 0.000 claims abstract description 22
- 230000008878 coupling Effects 0.000 claims abstract description 10
- 238000010168 coupling process Methods 0.000 claims abstract description 10
- 238000005859 coupling reaction Methods 0.000 claims abstract description 10
- 230000001939 inductive effect Effects 0.000 claims abstract description 9
- 230000001419 dependent effect Effects 0.000 claims abstract description 5
- 239000003990 capacitor Substances 0.000 claims description 9
- 239000000126 substance Substances 0.000 claims 1
- 230000005540 biological transmission Effects 0.000 abstract description 7
- 239000004020 conductor Substances 0.000 description 15
- 238000005259 measurement Methods 0.000 description 7
- 238000013461 design Methods 0.000 description 3
- 230000005284 excitation Effects 0.000 description 3
- 238000009434 installation Methods 0.000 description 2
- 230000010363 phase shift Effects 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 238000012935 Averaging Methods 0.000 description 1
- 230000027311 M phase Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000002847 impedance measurement Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 230000009897 systematic effect Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/30—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring angles or tapers; for testing the alignment of axes
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K29/00—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices
- H02K29/06—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices with position sensing devices
- H02K29/08—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices with position sensing devices using magnetic effect devices, e.g. Hall-plates, magneto-resistors
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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
- G01D5/20—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 by varying inductance, e.g. by a movable armature
- G01D5/204—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 by varying inductance, e.g. by a movable armature by influencing the mutual induction between two or more coils
- G01D5/2053—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 by varying inductance, e.g. by a movable armature by influencing the mutual induction between two or more coils by a movable non-ferromagnetic conductive element
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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
- G01D5/20—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 by varying inductance, e.g. by a movable armature
- G01D5/204—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 by varying inductance, e.g. by a movable armature by influencing the mutual induction between two or more coils
- G01D5/2066—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 by varying inductance, e.g. by a movable armature by influencing the mutual induction between two or more coils by movement of a single coil with respect to a single other coil
Abstract
The rotation angle sensor comprises a stator element with a stator transmission coil and at least one stator receiving coil; a rotor element rotatably supported relative to the stator element and having a rotor receiver coil and a rotor transmitter coil electrically connected to each other; wherein the rotor receive coil is inductively coupled with the stator transmit coil such that an electromagnetic field generated by the stator transmit coil induces a current in the rotor receive coil, the current flowing through the rotor transmit coil such that the rotor transmit coil generates a further electromagnetic field; the at least one stator receive coil is inductively coupled with the rotor transmit coil such that the inductive coupling is related to the angle of rotation between the stator element and the rotor element, and the electromagnetic field generated by the rotor transmit coil induces at least one angle-dependent alternating voltage in the at least one stator receive coil. The rotor transmitter coil and the at least one stator receiver coil each have oppositely extending windings.
Description
Technical Field
The invention relates to a rotation angle sensor, by means of which, for example, the rotation angle between a shaft and a further component can be determined.
Background
For measuring the angle of rotation, angle of rotation sensors are known, for example, in which a magnet is rotated past a corresponding magnetic field sensor. Measurement of the magnetic field vector allows the angle of rotation to be derived. Such sensors also react to external magnetic fields which can be caused, for example, by currents of adjacently arranged current cables and are very sensitive to interference.
Another rotation angle sensor utilizes the eddy current effect. In this case, for example, a metal object is moved past a sensor coil, which is supplied with an alternating voltage and induces eddy currents in the object. This results in a reduction of the inductance of the sensor coil and allows the angle of rotation to be deduced by a change in frequency. For example, the coil is part of an oscillating circuit whose resonant frequency shifts when the inductance changes. However, such a rotation angle sensor may have a high lateral sensitivity with respect to installation tolerances (mainly the target tilt). Frequencies generated by external electromagnetic fields are also disturbed (phase Locking) because they typically operate at frequencies in the tens of MHz range.
Coupled coil-based rotation angle sensors are also known from documents US 7191759B 2, US 7276897B 2, EP 0909955B 1, US 6236199B 1 and EP 0182085B 1. In these documents, an alternating electromagnetic field is formed in an excitation coil, which alternating electromagnetic field is coupled into a plurality of receiving coils and induces a voltage there in each case. For measuring the angle of rotation, a rotatably mounted, electrically conductive target is used, which influences the inductive coupling between the exciter coil and the receiver coil as a function of its angular position. In EP 0909955B 1 and US 6236199B 1, a short-circuited planar conductor loop is located on the target, said conductor loop interacting with the alternating electromagnetic field of the excitation coil.
Disclosure of Invention
Embodiments of the invention can be advantageously implemented in such a way and method that the angle of rotation between the shaft and a further component is determined in such a way that external disturbances and/or component tolerances have only a small influence on the measurement.
The invention relates to a rotation angle sensor which can be used in particular in surroundings with a high electromagnetic interference field. The rotation angle sensor may be used, for example, in or near the engine compartment of the vehicle, for example, for determining a throttle position, a rotor position of the BLDC motor, a driver pedal position or a camshaft position. The rotation angle sensor described below is cost-effective, requires little installation space and is based on a simple measuring principle.
According to an embodiment of the invention, the rotation angle sensor comprises a stator element having a stator transmission coil and at least one stator reception coil; a rotor element rotatably supported relative to the stator element and having a rotor receiver coil and a rotor transmitter coil electrically connected to each other; wherein the rotor receiver coil is inductively coupled to the stator transmitter coil such that an electromagnetic field generated by the stator transmitter coil induces a current in the rotor receiver coil, which current flows through the rotor transmitter coil such that the rotor transmitter coil generates a further electromagnetic field; and wherein the at least one stator receiver coil is inductively coupled with the rotor transmitter coil such that the inductive coupling is dependent on the angle of rotation between the stator element and the rotor element, and the electromagnetic field generated by the rotor transmitter coil induces at least one angle-dependent alternating voltage in the at least one stator receiver coil.
The control unit (which may be arranged, for example, on the stator element) may supply the stator transmitter coil with an alternating current, so that the stator transmitter coil generates an electromagnetic field, which in turn generates an alternating current in the rotor receiver coil. In this way energy is transferred from the stator element to the rotor element via the electromagnetic field. The current induced in the rotor receiver coil is then used to energize the rotor transmitter coil, for example by connecting the rotor transmitter coil directly to the rotor receiver coil, and the current of the rotor receiver coil also flows directly through the rotor transmitter coil. The rotor transmitter coil then generates a (further) electromagnetic field which generates an alternating current in the at least one stator receiver coil. The stator element may also carry a plurality of stator receiving coils.
The inductive coupling between the rotor transmitter coil and the one or more stator receiver coils is related to the angle of rotation between the rotor element and the stator element. This can be achieved, for example, by different degrees of overlapping of the coils (viewed along the axis of rotation) and/or by different degrees of overlapping of the coil windings (Windungen). The alternating current induced in the one or more stator receiving coils may have a different high amplitude and/or a different phase depending on the angle of rotation than the supplied alternating current in the stator transmitting coil. The control unit can determine the angle of rotation, for example by measuring or determining the phase and/or amplitude.
The stator element, which may also carry a control unit (e.g. an IC), may be arranged geometrically, for example with respect to an end of a shaft, on which end the stator element is fixed. The stator element may comprise, for example, a stator circuit board having a stator transmit coil and at least one stator receive coil. The rotor element can carry a target or a rotor printed circuit board with a rotor receiving coil and a rotor transmitting coil, which target or rotor printed circuit board moves with the shaft.
Additionally, the rotor transmitting coil has oppositely extending windings. At least one stator receiving coil also has oppositely running windings which are designed to generate oppositely directed electromagnetic fields.
It is to be understood here that a coil can have a conductor which is constructed from a plurality of conductor loops. A conductor loop may be a section of the conductor which is to be surrounded almost completely once by the surface around which the coil turns.
A coil (e.g. a rotor transmitter coil and/or a stator receiver coil) may also have a plurality of windings that do not overlap from an axial point of view (i.e. in a direction along the rotational axis of the rotor element).
A winding may comprise a conductor loop or a plurality of conductor loops of the coil, all of which loop or loops surround the same surface around which the coil is wound. The windings may extend in a plane extending substantially orthogonal to the rotor element axis of rotation. The two different windings of a coil do not normally overlap each other.
For each coil (rotor transmitter coil and/or stator receiver coil), the plane on which the oriented winding turns may be equal to the plane on which the other oriented winding turns.
The oppositely extendedly oriented windings result in a substantially uniform external field in the coil substantially without inducing a current. This applies, on the one hand, to the field generated by the stator transmitter coil and also to external interference fields which can be generated, for example, by nearby electrical conductors.
The windings of the rotor transmitter coil and the stator receiver coil(s) may also overlap to a different extent depending on the angle of rotation. In this way, the coils are coupled to different degrees at different angles of rotation, whereby the angle of rotation can be derived from the current induced in one or more stator receiving coils.
According to an embodiment of the invention, the rotor element has a frequency converter, which is connected between the rotor receiver coil and the rotor transmitter coil and is designed to convert the alternating current from the rotor receiver coil into an alternating current of a further frequency for the rotor transmitter coil. Before the induced alternating current is conducted to the rotor receiving coil, it can be rectified in the rotor element and then inverted to a further frequency (frequency converter). The generated electromagnetic field and the current induced in the at least one stator receiving coil then have a different frequency than the alternating current used for energizing the stator transmitting coil. On the one hand, the interference currents induced in the rotor receiver coils can be suppressed by rectification. On the other hand, the energy transfer from the stator element to the rotor element is decoupled from the measuring frequency.
The electronic circuit comprising the frequency converter, such as a passive rectifier and a controllable inverter, can be operated entirely by the rotor receiving the current of the coil. In other words, the control device of the inverter can also be operated by this current.
The electronic circuit may also comprise means for self-testing of the rotor element, which means may for example detect the impedance of two coils on the rotor element in order to detect whether it is damaged.
According to an embodiment of the invention, the rotor element has a capacitor, which forms an oscillating circuit with the rotor receiver coil and/or the rotor transmitter coil. If the resonant circuit (LC resonant circuit) is excited by an electromagnetic field having its resonant frequency, an efficient energy transfer takes place, so that a large current is generated in the rotor receiver coil and thus also in the rotor transmitter coil. As a result, a high alternating current is also induced in the at least one stator receiving coil. The frequency of the alternating voltage used to energize the stator transmitter coil can then be in the resonant frequency range of the oscillating circuit.
According to an embodiment of the invention, the stator transmitter coil and/or the rotor receiver coil is wound in one turn (Windung) around a rotational axis of the rotor element. The stator transmitter coil and/or the rotor receiver coil may both be substantially circular transmitter coils, the centre point of which may be near the axis of rotation. Both coils may comprise one or more conductor loops. The axis of rotation may coincide with the planar centre of gravity of the two coils.
According to an embodiment of the invention, the stator transmitter coil completely surrounds the at least one stator receiver coil. The stator receiver coil(s) and in particular the windings of the stator receiver coil may be arranged inside the stator transmitter coil. The rotor receiver coil can also completely surround the rotor transmitter coil and in particular the winding of said rotor transmitter coil.
According to an embodiment of the invention, the inductive coupling between the stator transmitter coil and the rotor receiver coil is angle independent. Alternatively or additionally, the stator transmit coil and the rotor receive coil may overlap in the axial direction. This is the case, for example, in substantially circular coils which overlap in the axial direction. The two coils at least partially overlap in the axial direction, which may be understood as meaning that the two coils at least partially overlap when viewed in the axial direction. This may also be understood in that the two coils at least partially overlap when projected in the axial direction onto a plane orthogonal to the axial direction.
According to an embodiment of the invention, the at least one stator receiver coil and/or the rotor transmitter coil has an even number of windings. If there are as many windings, each oriented differently, each winding on the same plane, then for example a substantially homogeneous disturbing magnetic field does not induce a current.
In one case, the geometry of the stator receive coil(s) may substantially correspond to the geometry of the rotor transmit coil. The stator receive coil(s) and the rotor transmit coil may have the same number of windings. However, it is also possible for the stator receiver coil(s) and the rotor transmitter coil to have a different number of windings.
A stator receiving coil may, for example, have two windings, each of which runs in opposite directions and around a semicircular area.
According to an embodiment of the invention, the stator element comprises two stator receiving coils which are offset by 90 ° from each other, three stator receiving coils which are offset by 120 ° from each other or in general N stator receiving coils which are offset by 360 °/N from each other, where N is an integer greater than 1. In this way, a maximum angular resolution can be achieved with two windings per stator receiving coil.
According to an embodiment of the invention, the stator transmitter coil, the one or more stator receiver coils, the rotor receiver coil and/or the rotor transmitter coil are planar coils. A planar coil is understood to mean a coil whose windings substantially all lie in a plane. The planar coil may for example have a height of only 1% of its diameter.
According to an embodiment of the invention, the stator transmitter coil and/or the one or more stator receiver coils are arranged on and/or in a stator circuit board of the stator element. The rotor transmitter coil and/or the rotor receiver coil may also be arranged on and/or in a rotor circuit board of the rotor element. For example, the windings of the respective coils may all be arranged on both sides of the stator circuit board. In case the circuit board has multiple planes, the windings may also extend inside the circuit board. The respective circuit board may also carry components for the control unit and/or an IC (i.e. an integrated circuit) or an ASIC (i.e. an application-specific integrated circuit), a capacitor for the oscillating circuit and/or a frequency converter.
According to an embodiment of the invention, the rotation angle sensor further comprises a control unit implemented for supplying the stator transmission coil with an alternating voltage and for sensing at least one alternating current induced in the at least one stator reception coil and determining the rotation angle between the stator element and the rotor element from said alternating current. The control unit can measure the phase and/or amplitude of the alternating currents in the stator receiver coils and determine therefrom, for example, the phase shift between the alternating currents in the stator receiver coils. The rotation angle can then be calculated from the phase shift.
According to an embodiment of the invention, the control unit is embodied for determining the axial distance between the stator element and the rotor element from the induced alternating current. In addition to the current angle of rotation, the distance between the two elements can also be determined (for example by averaging over time), in order to reduce the systematic error in determining the angle in this way.
Drawings
Embodiments of the invention are described below with reference to the accompanying drawings, wherein the drawings and the description are not intended to limit the invention.
Fig. 1 schematically shows a rotation angle sensor according to an embodiment of the present invention.
Fig. 2A schematically shows a stator element and a rotor element in a first relative position for a rotation angle sensor according to an embodiment of the invention.
Fig. 2B schematically shows the stator element and the rotor element in fig. 2A in a second relative position.
Fig. 3 schematically shows an alternative embodiment of a rotor element for a rotation angle sensor according to an embodiment of the invention.
Fig. 4 schematically shows an alternative embodiment of a rotor element for a rotation angle sensor according to an embodiment of the invention.
Fig. 5 schematically shows an alternative embodiment of a rotor element for a rotation angle sensor according to an embodiment of the invention.
Fig. 6 schematically shows an alternative embodiment of a rotor element for a rotation angle sensor according to an embodiment of the invention.
Fig. 7 schematically shows an alternative embodiment of a rotor element for a rotation angle sensor according to an embodiment of the invention.
Fig. 8 schematically shows an alternative embodiment of a rotor element for a rotation angle sensor according to an embodiment of the invention.
Fig. 9 schematically shows an alternative embodiment of a stator element for a rotation angle sensor according to an embodiment of the invention.
The drawings are merely schematic and are not to scale. In the drawings, like reference numbers indicate identical or functionally identical features.
Detailed Description
Fig. 1 shows a rotation angle sensor 10 comprising a stator element 12 and a rotor element 14. The rotor element 14 may be fixed to a shaft 16 of a component, such as a throttle, a motor, a camshaft, a driver pedal, etc., or may be provided by said shaft 16. The shaft 16 is rotatable about an axis a, and the stator element 12 is opposed to the rotor element 14 in the respective axial direction. For example, the stator element 12 is fixed to the housing of the component.
The stator element 12 comprises a stator circuit board 18 on which a stator transmitter coil 20 and a plurality of stator receiver coils 22 are arranged. The stator circuit board 18 may be a multi-layered stator circuit board 18 and the conductors of the coils 20, 22 may be on both sides of the circuit board 18 and between the layers of the circuit board 18. Additional components for the control unit 24 may be on the stator circuit board 18. The control unit 24 can supply the stator transmission coils 20 with an alternating voltage (for example between 1MHz and 20 MHz), and can determine the induced alternating voltage in each stator reception coil 22. The control unit 24 may determine the relative rotation angle between the stator element 12 and the rotor element 14 based on these measurements.
The rotor element 14 includes a rotor circuit board 26. A rotor receiver coil 28 and a rotor transmitter coil 30 are arranged on the rotor circuit board 26. The rotor circuit board 26 may be a multi-layer circuit board, and the conductors of the coils 28, 30 may be on both sides of the rotor circuit board 26 and between layers of the rotor circuit board 26. Additional components may be on the rotor circuit board 26 as further explained with reference to fig. 4 and 5.
Fig. 2A shows the stator element 12 and the rotor element 14 arranged in a first angular position with respect to each other. The stator element 12 and the rotor element 14 can be mounted in the rotation angle sensor 10 in fig. 1, which have been turned over one another in fig. 2A for illustration purposes, so that the two elements 12, 14 can be shown in top view. The axes of the two elements 12, 14 should generally be the same.
The stator transmit coil 20 is substantially circular and completely surrounds the stator receive coils 22a, 22b, wherein the axis a is the center point of the stator transmit coil 20. The first and second stator receiving coils 22a, 22b are offset by 90 ° from one another and each have two windings 32a, 32b running in opposite directions (only those in the coil 22a are provided with reference symbols). Each of the windings 32a, 32b is semi-circular. Winding 32a is oriented in a counter-extending manner with respect to winding 32b (reference current). The two windings 32a, 32b turn around the same plane. The stator receive coils 22a, 22b may have the same geometry.
The rotor receiver coil 28 is also substantially circular and completely surrounds the rotor transmitter coil 30, wherein the axis a is the center point of the stator transmitter coil 20. The rotor receiver coil 28 and the rotor transmitter coil 30 are electrically connected to each other through their ends. The rotor receive coils 28 may revolve the same plane as the stator transmit coils 20 and/or be aligned with the stator transmit coils with respect to the axis of rotation a. The geometry of the stator transmit coil 20 and the rotor receive coil 28 may be the same.
The rotor transmitting coil 30 has two oppositely extending windings 34a, 34b, each of which is semicircular. The first winding 34a is oriented in a counter-extending manner with respect to the second winding 34b (reference current). Both windings 32a, 32b turn around the same plane. The geometry of the stator receiver coils 22a, 22b and the rotor transmitter coil 30 may also be the same. In particular, the windings 32a, 32b of the stator receiving coils 22a, 22b can be constructed like the windings 34a, 34b of the rotor transmitting coil 30.
When the control unit 24 applies an alternating voltage to the stator transmission coil 20, an alternating electromagnetic field is generated, which can be received by the rotor reception coil 28 and induces a voltage there, which generates a current. To this end, the distance between the stator printed circuit board 18 and the rotor printed circuit board 26 can be selected, for example, such that the stator printed circuit board 18 is in the vicinity of the rotor printed circuit board 26.
The electromagnetic field of the stator transmitter coil 20 cannot substantially induce a current in the stator receiver coils 22a, 322b and the rotor transmitter coil 30 due to the oppositely running windings 32a, 32b or 34a, 34 b. The current induced in the rotor receiver coil 28 also flows through the rotor transmitter coil 30, which thereby generates two oppositely directed alternating electromagnetic fields by means of its windings 34a, 34 b.
These alternating fields induce an alternating current in the stator receiver coils 22a, 22b, which alternating current is related to the relative angle of rotation of the stator element 12 with respect to the rotor element 14 for each rotor receiver coil 22a, 22 b. A strong signal can be obtained if the stator receiver coils 22a, 22b have the same geometry as the rotor transmitter coil 30 and/or if the number of right-turn and left- turn windings 32a, 32b of the stator receiver coils 22a, 22b is the same as the right-turn and left- turn windings 34a, 34b of the rotor transmitter coil 30.
In fig. 2A, the stator element 12 and the rotor element 14 are oriented such that the rotor transmit coil 30 induces a maximum alternating current in the first stator receive coil 22A, while no or hardly any alternating current is induced in the second stator receive coil 22 b. The reason for this is that the windings 32a, 32b of the stator receiving coil 22a and the windings 34a, 34b of the rotor transmitting coil 30, respectively, overlap to the greatest extent, whereas in the coils 30, 22b the windings overlap only half respectively and the induced currents cancel each other out.
In fig. 2B, the situation is reversed, in that the stator element 12 and the rotor element 14 are oriented such that the rotor transmit coil 30 induces a maximum alternating current in the second stator receive coil 22B, while no or hardly any alternating current is induced in the first stator receive coil 22 a.
Fig. 3 shows a further possible design of the rotor element 14. The rotor receiving coil 28 has a plurality of conductor loops, which may all extend in one plane. The rotor receiver coil 28 may have a spiral design.
Fig. 4 shows a further embodiment of the rotor element 14, in which a frequency converter 36 is connected between the rotor receiver coil 28 and the rotor transmitter coil 30.
The frequency converter 36 may be provided by an electronic circuit, such as that present in an IC on the rotor circuit board 26. The frequency converter 36 may include a rectifier and inverter that (first) rectifies the induced alternating current and (then) inverts it to an additional frequency, such as a double frequency or a half frequency. This effectively suppresses an interference signal that may be coupled in. By selecting a further frequency, the coupling from the stator transmitter coil 20 into the stator receiver coils 22a, 22b can also be distinguished from the coupling from the rotor transmitter coil 30 into the stator receiver coils 22a, 22b by frequency-selective reading.
The electronic circuit on the rotor element 14 or on the rotor printed circuit board 26 can also be used for self-testing of the rotor element 14 by means of additional electronic components. This can be recognized, for example, by impedance measurements, for example, when the conductor circuit on the rotor element 14 is interrupted.
Fig. 5 shows a further embodiment of the rotor element 14, in which a capacitor 38 is integrated into the rotor transmitting coil 30. The capacitor 38 can also be arranged as a component on the rotor printed circuit board 26, for example as a chip capacitor. The capacitor 38 may be connected in series with the two coils (rotor receive coil 28 and rotor transmit coil 30) and may form a resonant or oscillating circuit with these coils. The resonance frequency may for example be in the range of several MHz.
In order to obtain a large measurement signal, the capacitor 38 can be dimensioned such that the resonance frequency of the resonant circuit corresponds to the excitation frequency, i.e. to the frequency of the alternating current in the stator transmission coil 20 (for example 13.56MHz), and thus also to the frequency of the alternating current in the coils (rotor reception coil 28 and rotor transmission coil 30). In order to move the frequency into the correct range, the number of conductor loops of the rotor receiving coil 28 (as shown in fig. 3, for example) can also be adapted (which increases the inductance, for example, quadratically).
Fig. 6, 7, 8 show a rotor element 14 similar to fig. 3, 4, 5, wherein the rotor transmitting coil 30 has four windings 34a, 34b, wherein in each case two windings 34a are oriented in a first direction and two windings 34b are oriented in an opposite second direction. The corresponding directed or resulting currents are indicated by arrows in fig. 6, 7, 8. In general, the rotor transmit coil 30 may have an even number of windings 34a, 34b with the same number of oppositely extending windings 34a, 34 b. The oppositely extending windings 34a, 34b are alternately arranged in the circumferential direction about the axis of rotation a.
The stator receiving coils 22a, 22b may also have an even number of windings 32a, 32b, respectively, with the same number of oppositely extending windings 32a, 32 b. The oppositely extending windings 32a, 32b may also be arranged alternately in the circumferential direction around the axis of rotation a. For example, the stator receiver coils 22a, 22b may have the same design as the rotor transmitter coil 30.
Fig. 7 shows a further embodiment of a rotor element 14 which, like fig. 6, has four windings 34a, 34b for a rotor transmitter coil 30, and in which, like fig. 4, a frequency converter 36 is connected between the rotor receiver coil 28 and the rotor transmitter coil 30.
Fig. 8 shows a further embodiment of a rotor element 14 which, like fig. 6, has four windings 34a, 34b for a rotor transmitting coil 30, and in which, like fig. 5, a capacitor 38 is integrated into the rotor transmitting coil 30.
Fig. 9 shows an embodiment of a stator element 12 having a first stator receiving coil 22A, a second stator receiving coil 22B and a third stator receiving coil 22c offset by 120 ° from one another (and these coils can be constructed as the stator receiving coils 22A, 22B offset by 90 ° from one another in fig. 2A and 2B, respectively).
In general, the number N of windings 32a, 32b of one of the stator receiving coils 22a, 22b, 22c determines the period of the stator element 12 or of the angle of rotation sensor 10. The period was 360 °/(N/2). The stator elements 12 shown in fig. 2A, 2B and 9, for example, have a period of 360 °. A stator receiving coil corresponding to the rotor transmitting coil 30 in fig. 6, 7 and 8 and having four windings has a period of 180 °.
The period determines the angle measurement range of the rotation angle sensor 10, since only within the period range there is a univocal correspondence of the rotation angle to the voltage induced in the stator receiving coils 22a, 22b, 22 c. For example, the stator element 12 or the rotational angle sensor 10 in fig. 2A, 2B and 9 has an angular measurement range of 360 °, since the inductive coupling of the stator receiver coils 22A, 22B, 22c to the rotor transmitter coil 30 is unambiguous over the angular measurement range of 360 °. The control unit 24 can determine the angle of rotation by mathematical operation from two, three or N voltage values measured in the stator receiving coils 22a, 22b, 22 c.
In the case of two voltage values, this can be done by ARCTAN calculation of the amplitude after optional offset compensation. From the three voltage values, a two-phase (unbiased) signal can be calculated by means of a Clarke transformation, from which the angle of rotation is then determined by means of an ARCTAN calculation.
In order to generate as independent voltage values as possible at a specific angle of rotation by means of a plurality of stator receiving coils 22a, 22b, 22c, the stator receiving coils 22a, 22b, 22c are arranged geometrically offset to one another on the stator element 12. In general, in the case of an m-phase system with m stator receive coils 22a, 22b, 22c, the geometrical offset applies: the offset is period/m (if m is 3), or period/4 (if m is 2).
In fig. 2A and 2B, the two stator receiving coils 22A, 22B are geometrically offset from one another by 90 °/360 °/4. In this way, alternating voltages that are 90 ° out of phase with each other are generated in the two stator receiving coils 22a, 22 b.
In fig. 9, the three stator receiving coils 22a, 22b, 22c are geometrically offset from one another by 120 °/360 °/3. In this way, alternating voltages that are 120 ° out of phase with each other are generated in the three stator receiving coils 22a, 22b, 22 c.
Finally, it is pointed out that terms such as "having," "including," and the like do not exclude additional elements or steps, and that the terms "a," "an," or "the" do not exclude a plurality. Reference signs in the claims shall not be construed as limiting.
Claims (9)
1. A rotation angle sensor (10) comprising:
a stator element (12) having a stator transmit coil (20) and at least one stator receive coil (22);
a rotor element (14) rotatably supported relative to the stator element (12), the rotor element having a rotor receive coil (28) and a rotor transmit coil (30) electrically connected to each other;
wherein the rotor receiving coil (28) is inductively coupled with the stator transmitting coil (20) such that an electromagnetic field generated by the stator transmitting coil (20) induces a current in the rotor receiving coil (28), which current flows through the rotor transmitting coil (30) such that the rotor transmitting coil (30) generates a further electromagnetic field;
wherein the at least one stator receive coil (22) is inductively coupled with the rotor transmit coil (30) such that the inductive coupling is dependent on the angle of rotation between the stator element (12) and the rotor element (14), and the electromagnetic field generated by the rotor transmit coil (30) induces at least one angle-dependent alternating voltage in the at least one stator receive coil (22);
wherein the content of the first and second substances,
the rotor transmitting coil (30) and the at least one stator receiving coil (22) each have oppositely running windings (32a, 32b, 34a, 34b),
wherein the rotor element (14) has a frequency converter (36) which is connected between the rotor receiving coil (28) and the rotor transmitting coil (30) and is designed to convert the alternating current from the rotor receiving coil (28) into an alternating current of a further frequency for the rotor transmitting coil (30).
2. Rotation angle sensor (10) according to claim 1,
wherein the rotor element has a capacitor (38) which forms an oscillating circuit with the rotor receiver coil (28) and/or the rotor transmitter coil (30).
3. Rotation angle sensor (10) according to claim 1 or 2,
wherein the stator transmitting coil (20) and/or the rotor receiving coil (28) surrounds a rotational axis (A) of the rotor element (14) in one turn.
4. Rotation angle sensor (10) according to claim 1 or 2,
wherein the stator transmit coil (20) completely surrounds the at least one stator receive coil (22); and/or
Wherein the rotor receive coil (28) completely surrounds the rotor transmit coil (30).
5. Rotation angle sensor (10) according to claim 1 or 2,
wherein the inductive coupling between the stator transmit coil (20) and the rotor receive coil (28) is angle independent; and/or
Wherein the stator transmit coil (20) and the rotor receive coil (28) overlap in an axial direction.
6. Rotation angle sensor (10) according to claim 1 or 2,
wherein the at least one stator receiving coil (22) and/or the rotor transmitting coil (30) has an even number of windings (32a, 32b, 34a, 34 b).
7. Rotation angle sensor (10) according to claim 1 or 2,
wherein the stator element (12) has two stator receiving coils (22) which are offset by 90 DEG from one another, three stator receiving coils which are offset by 120 DEG from one another or N stator receiving coils which are offset by 360 DEG/N from one another, wherein N is an integer greater than 1.
8. Rotation angle sensor (10) according to claim 1 or 2,
wherein the stator transmit coil (20), the at least one stator receive coil (22), the rotor receive coil (28), and/or the rotor transmit coil (30) are each planar coils; and/or
Wherein the stator transmitting coil (20) and/or the at least one stator receiving coil (22) are arranged on a stator circuit board (18) and/or in the stator circuit board (18); and/or
Wherein the rotor transmitter coil (30) and/or the rotor receiver coil (28) are arranged on the rotor circuit board (26) and/or in the rotor circuit board (26).
9. The rotation angle sensor (10) according to claim 1 or 2, further comprising:
a control unit (24) implemented for supplying the stator transmit coil (20) with an alternating voltage and for sensing at least one alternating current induced in the at least one stator receive coil (22) and determining from the alternating current a rotation angle between the stator element (12) and the rotor element (14); and/or
Wherein the control unit (24) is designed to determine the axial distance between the stator element (12) and the rotor element (14) from at least one induced alternating current.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102015220624.6 | 2015-10-22 | ||
| DE102015220624.6A DE102015220624A1 (en) | 2015-10-22 | 2015-10-22 | Rotation angle sensor |
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| Publication Number | Publication Date |
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| CN106996738A CN106996738A (en) | 2017-08-01 |
| CN106996738B true CN106996738B (en) | 2020-11-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201611271986.1A Active CN106996738B (en) | 2015-10-22 | 2016-10-21 | Rotation angle sensor |
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| Country | Link |
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| CN (1) | CN106996738B (en) |
| DE (1) | DE102015220624A1 (en) |
Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102017210655B4 (en) * | 2017-06-23 | 2023-12-21 | Robert Bosch Gmbh | Rotation angle sensor |
| DE102017211490A1 (en) * | 2017-07-06 | 2019-01-10 | Robert Bosch Gmbh | Angle of rotation sensor assembly, LiDAR system, working device and operating method for a LiDAR system |
| DE102017211491A1 (en) * | 2017-07-06 | 2019-01-10 | Robert Bosch Gmbh | Angle of rotation sensor assembly, LiDAR system, working device and operating method for a LiDar system |
| CN110568421B (en) * | 2019-08-31 | 2021-04-13 | 上海禾赛科技股份有限公司 | Method for measuring deflection angle of scanning galvanometer and laser radar using same |
| EP3792599B1 (en) | 2019-09-12 | 2023-05-03 | TE Connectivity Belgium BVBA | Sensor device for measuring the rotational position of an element |
| DE102019218399A1 (en) | 2019-11-27 | 2021-05-27 | Infineon Technologies Ag | INDUCTIVE ANGLE SENSOR WITH DISTANCE DETERMINATION |
| WO2021104642A1 (en) * | 2019-11-29 | 2021-06-03 | HELLA GmbH & Co. KGaA | Linear motion sensor |
| US11692887B2 (en) * | 2020-06-11 | 2023-07-04 | Kyocera Avx Components (Werne) Gmbh | Torque sensing device and method |
| DE102020214492A1 (en) * | 2020-11-18 | 2022-05-19 | Robert Bosch Gesellschaft mit beschränkter Haftung | Sensor system for determining at least one rotational property of a rotating element |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SE406642B (en) * | 1977-02-16 | 1979-02-19 | Aga Ab | ELECTROMECHANICAL DOCTOR |
| IE55855B1 (en) | 1984-10-19 | 1991-01-30 | Kollmorgen Ireland Ltd | Position and speed sensors |
| DE4203433A1 (en) * | 1992-02-06 | 1993-08-12 | Magnet Motor Gmbh | INDUCTIVE WORKING POSITION DETECTOR FOR AN ELECTRIC MOTOR |
| DE19738836A1 (en) | 1997-09-05 | 1999-03-11 | Hella Kg Hueck & Co | Inductive angle sensor |
| CN100445694C (en) * | 2004-04-09 | 2008-12-24 | Ksr科技公司 | Inductive position sensor |
| US7276897B2 (en) | 2004-04-09 | 2007-10-02 | Ksr International Co. | Inductive position sensor |
| US7191759B2 (en) | 2004-04-09 | 2007-03-20 | Ksr Industrial Corporation | Inductive sensor for vehicle electronic throttle control |
| DE102006055409A1 (en) * | 2006-11-22 | 2008-05-29 | Ab Elektronik Gmbh | Inductive sensor for the detection of two coupling elements |
| DE102009061032A1 (en) * | 2009-05-15 | 2010-11-18 | Tyco Electronics Belgium Ec Bvba | Magnetoelectronic angle sensor, in particular reluctance resolver |
| DE102011088725B4 (en) * | 2011-12-15 | 2015-08-06 | Continental Automotive Gmbh | Method and device for determining the torque of an electric motor and motor assembly with an electric motor |
| CN203259113U (en) * | 2013-06-04 | 2013-10-30 | 重庆理工大学 | String winding sensor for angle displacement measurement |
| CN104061854B (en) * | 2014-05-11 | 2016-08-24 | 浙江大学 | PCB coil and angle measurement method for induction angular transducer |
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2015
- 2015-10-22 DE DE102015220624.6A patent/DE102015220624A1/en active Pending
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| DE102015220624A1 (en) | 2017-04-27 |
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