CN107024232B

CN107024232B - Rotation angle sensor

Info

Publication number: CN107024232B
Application number: CN201610932876.9A
Authority: CN
Inventors: F·于特尔默伦; A·默茨; D·奥什努比; I·赫尔曼; O·克瑞尔; S·莱迪克; T·布克
Original assignee: Robert Bosch GmbH
Current assignee: Robert Bosch GmbH
Priority date: 2015-10-22
Filing date: 2016-10-24
Publication date: 2021-08-10
Anticipated expiration: 2036-10-24
Also published as: CN107024232A; DE102015220631A1

Abstract

The angle of rotation sensor (10) comprises a stator element (12) having three coils (20), a rotor element (14) rotatably mounted relative to the stator element (12), said stator element being designed to be inductively coupled to each of the at least two coils (20) to a different extent depending on the angle of rotation, and an evaluation unit (22) for determining the angle of rotation between the rotor element (14) and the stator element (12). The at least three coils (20) are connected together in a delta circuit (30), wherein the evaluation unit (22) is designed to supply the three coils (20) with a three-phase alternating voltage (V1, V2, V3) by means of a three-phase input line (32) and to determine the magnitude and/or phase of at least one branch current in the input line (32) and to determine the angle of rotation therefrom.

Description

Rotation angle sensor

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 by means of a corresponding magnetic field sensor. The measurement of the magnetic field vector allows to deduce the rotation angle. Such sensors also react to external magnetic fields, which are caused by adjacently arranged wires, for example by currents, and which may be very sensitive to interference.

Another type of rotation angle sensor utilizes the eddy current effect. In this case, for example, a metal target is moved by means of a sensor coil, which is supplied with an alternating voltage and induces eddy currents in the target. This leads to a reduction in the inductance of the sensor coil and the angle of rotation is deduced from the frequency change. For example, a coil is a component of an oscillating circuit whose resonant frequency is shifted when the inductance changes. However, such a rotation angle sensor can have a high lateral sensitivity with respect to installation tolerances (in particular, the inclination of the target). It is also possible to interfere with the generated frequency by external electromagnetic fields (injection locking), since this usually operates in the frequency range of a few tens of mhz.

Furthermore, documents US 7191759B 2, US 7276897B 2, EP 0909955B 1, US 6236199B 1 and EP 0182085B 1 disclose rotation angle sensors based on coupling coils. In these documents, an electromagnetic alternating field is created in a single excitation coil, which electromagnetic alternating field is coupled into a plurality of receiving coils and induces a voltage there in each case. An electrically conductive rotatably mounted target is used for measuring the angle of rotation, which target influences the inductive coupling between the excitation coil and the receiving coil as a function of its angular position.

Disclosure of Invention

Embodiments of the invention can be implemented in an advantageous manner in that the angle of rotation between the shaft and the further component is determined such 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 environments with high electromagnetic interference fields. For example, the angle sensor can be used in or near the engine compartment, for example for determining the position of a throttle, the rotor position of a BLDC motor (brushless direct current motor), the position of an accelerator pedal or the position of a camshaft.

According to an embodiment of the invention, the angle of rotation sensor comprises a stator element having at least two coils, a rotor element which is mounted rotatably relative to the stator element and which is designed to be inductively coupled to each of the at least two coils to a different extent as a function of the angle of rotation or to cover the at least two coils to a different extent with an inductive element, and an evaluation unit for determining the angle of rotation between the rotor element and the stator element. The stator element, which can also carry an evaluation unit (for example an IC, i.e. an integrated circuit, or an ASIC, application-specific integrated circuit), can be arranged, for example, opposite the end of the shaft on which the rotor element is fixed. The rotor element can carry a target or inductive element which moves with the shaft, covers the coil and thereby changes the inductance of the coil.

The evaluation unit is also designed to supply three-phase alternating voltages to the three coils by means of three-phase input lines. The individual voltages of the alternating voltages can, for example, each be phase-shifted by 120 degrees and/or have the same frequency and/or the same amplitude or the same magnitude. In a typical case, the evaluation unit supplies voltages offset by 120 degrees with respect to one another as alternating voltages, which have the same frequency and the same magnitude. Three-phase voltage systems are often present and can also be produced in a simple manner in vehicles. The alternating voltage can be, for example, a frequency in the order of megahertz. The evaluation unit is also designed to determine the magnitude and/or phase of the current in at least one branch of the input line in order to determine the angle of rotation therefrom. For example, the inductance of the coil is influenced by the electrically conductive inductive element arranged on the rotor, which leads to different branch currents in the three conductors of the input line.

For example, a measuring resistor can be arranged in the conductor of each input line, for example between a corner of a triangular circuit and an ac voltage source of the respective evaluation unit. The individual measuring resistors need not be provided as separate components, but can also be the internal resistance of the evaluation unit.

By measuring one or more branch currents (for example, by means of voltages at the respective measuring resistors), the evaluation unit can determine the current relative rotational angle between the rotor element and the stator element. For example, the branch current (usually sinusoidal) is an alternating current with a magnitude and a phase, which is measured as an alternating voltage by means of a voltage drop across a measuring resistor. The evaluation unit can determine the angle of rotation from the magnitude and/or phase of the branch current.

Since the rotation angle sensor detects the rotation angle in this way in a simple manner by means of a relative change in inductance, the measurement can be influenced only to a small extent by means of an electromagnetic field which is as homogeneous as possible by means of a coil. In this way, the rotation angle sensor is robust against electromagnetic interference. Since the additional excitation coil, which often extends outside the sensor coil, can be dispensed with, the production space for the sensor is small.

According to one embodiment of the invention, an evaluation unit is provided for determining the magnitude and/or phase of the two or three branch currents in the input line in order to determine the angle of rotation therefrom. It is not necessary to measure all three branch currents. The angle of rotation can also be determined, for example, on the basis of only two branch currents.

According to an embodiment of the invention, these branch currents or the present branch currents add up to zero with the same inductance of the coil. In other words, the voltages at the outer connections of the coils cancel each other out (for example in the case of branch currents of the same magnitude that are 120-degree out of phase). When the coils have the same inductance, the branch currents are also the same. If these inductances are changed by the rotation of the rotor element, these branch currents will be different.

The evaluation unit is designed to determine the axial distance between the stator element and the rotor element from the magnitude and/or phase of the at least one branch current. In addition to the current angle of rotation, the distance between the two components can also be determined (for example by averaging over time) in order to reduce systematic errors in the determination of the angle in this way.

According to an embodiment of the invention, the coil is a planar coil. A planar coil is understood here to mean a coil in which all its turns or windings (Windung) lie substantially in one plane. The planar coil capability has a height of, for example, only 1% of its diameter.

According to an embodiment of the invention, the coil is arranged on and/or in the circuit board. For example, the turns or windings can be mounted entirely on both sides of the circuit board. In a circuit board with multiple planes, the wire coil or winding can also extend within the circuit board. The circuit board can also carry components and/or ICs for the analysis processing unit.

According to an embodiment of the invention, the coils at least partially overlap each other in the axial direction. The coils can be arranged substantially in one plane in the stator element (for example on or in the circuit board), wherein the coils are offset relative to one another in the circumferential direction. Each of these coils can be arranged substantially in a plane perpendicular to the axial direction. The at least partial mutual covering of the two coils in the axial direction can be understood as: the two coils at least partially overlap each other when viewed in the axial direction. This can also be understood as: the two coils at least partially overlap each other when projected in the axial direction onto a plane perpendicular to the axial direction.

According to an embodiment of the invention, each of the coils has at least two windings or segments which follow one another in the circumferential direction. The coil can have a plurality of loops, seen from an axial perspective (i.e. seen in a viewing direction in the direction of the rotational axis of the rotor element). The winding or segment can comprise one or more loops of wire of the coil, which loops completely surround the area surrounded by the coil. The windings can extend in a plane which extends substantially perpendicular to the axis of rotation of the rotor element.

According to an embodiment of the invention, each of the coils has at least one first winding and at least one second winding, wherein the at least one first winding and the at least one second winding run in opposite directions. When the coil is supplied with an alternating voltage, it then generates an electromagnetic alternating field which runs (substantially) in a first direction in the first winding and in a second, opposite direction in the second winding. The first direction and the second direction can run substantially parallel to the axis of rotation of the rotor element.

The alternating fields generated by the coils induce currents in the rotor elements (depending on the position of the rotor elements), which in turn generate alternating fields that interact with the coils or its windings and thus change the inductance.

External electromagnetic fields acting on the coil and extending substantially uniformly through the two windings running in opposite directions generate currents in the coil which substantially cancel each other out (in the case of windings having the same large inductance). In this way, external interference fields can be balanced.

According to an embodiment of the invention, the first and second windings of the coil are arranged mutually alternating in the circumferential direction of the stator element. In this way, each coil produces a winding chain, which runs in opposite directions one after the other.

According to an embodiment of the invention, the area surrounded by the first winding is equal to the area surrounded by the second winding. When each of these windings has the same number of conductor loops, this then results in: the coil already substantially suppresses the homogeneous interference field. It is possible here to: one or more of the coils have windings of different sizes.

According to an embodiment of the invention, the windings of the coil encircle areas of different sizes. In the case of a plurality of windings of a coil, it is also possible: the coils have windings of different sizes, so that although the coils overlap one another, the windings are arranged offset from one another.

According to an embodiment of the invention, the windings of the coil are arranged offset to each other. Thereby, the rotor elements or the induction elements located thereon cover the windings of the different coils, which at least partly cover each other, to a different extent, so that different inductances of the associated coils are obtained.

According to an embodiment of the invention, the coils are arranged in only one angular region of the rotor element. For example, the coils can be arranged offset from each other by α/N (N is the number of coils, α is the sensing range of the sensor, and is 360 degrees or less) about the center point of the axis of rotation of the rotor element. It is also possible that: the coils completely cover each other and only their windings are arranged offset to each other.

According to an embodiment of the invention, each of these coils completely surrounds the stator element. All coils can be arranged around the stator element either along a segmental arc (less than 360 degrees) or a full arc (equal to 360 degrees). It will be appreciated that in this case the area surrounded by the coil does not necessarily have to cover the axis or centre of the stator element. That is, the coils can be arranged only in the edge regions of the stator element.

According to an embodiment of the invention, the rotor element has at least one inductive element or target, which is arranged in an angular region of the rotor element. In other words, the rotor element only partially surrounds the inductive element. As with the coils, the inductive elements can be arranged only in the edge region of the rotor element. The inductive element may be a metallic target which is arranged on the rotor element so as to be rotatable in the axial direction opposite the stator element. The inductive element can be made of full material or of conductors on a circuit board. The inductive element can also be provided by a notch in the monolithic material, for example a milled slot or as a stamping.

According to an embodiment of the invention, the inductive element covers substantially only one winding of one coil in the axial direction. The inductive element and the winding of the coil can be arranged substantially in a plane perpendicular to the axial direction. If the inductive element and the winding at least partially overlap each other in the axial direction, this can be understood as: the inductive element and the winding at least partially overlap each other when viewed in the axial direction. This can also be understood as: the inductive element and the winding at least partially overlap each other when projected in the axial direction onto a plane perpendicular to the axial direction.

In this way, the inductive element only changes the inductance of at most one winding and the angle sensor obtains maximum resolution. It is also possible that: the rotor element comprises a plurality of inductive elements which are arranged, for example, at equal distances in the circumferential direction around the axis of rotation.

Drawings

Embodiments of the invention are described below with reference to the drawings, wherein neither the drawings nor the description serve as a limitation of the invention.

Fig. 1 schematically shows a rotation angle sensor according to an embodiment of the present invention.

Fig. 2 schematically shows a rotation angle sensor according to another embodiment of the present invention.

Fig. 3A,3B and 3C schematically show a coil arrangement for the rotation angle sensor in fig. 2.

Fig. 4 shows a sensor element for the rotation angle sensor in fig. 2.

Fig. 5 schematically shows a rotation angle sensor according to another embodiment of the present invention.

Fig. 6A,6B and 6C schematically show a coil arrangement for the rotation angle sensor in fig. 5.

Fig. 7 shows a sensing element for the rotation angle sensor in fig. 5.

These illustrations are merely schematic and are not to scale. The same reference signs indicate features of the same or similar effect in these figures.

Detailed Description

Fig. 1 shows a rotation angle sensor 10 which is formed from a stator element 12 and a rotor element 14. The rotor element 14 can be fastened to a shaft 16 of a component, for example, a shaft of a throttle, a motor, a camshaft, an accelerator pedal, etc., or can be provided by the shaft 16. The shaft 16 is rotatable about an axis a and the stator element 12 is disposed facing 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 circuit board 18 on which a plurality of coils 20 are arranged in the plane of the circuit board 18. The circuit board 18 may be a multi-layer circuit board 18 and the conductors of the coil 20 can be located on both sides of the circuit board 18 and can be located between the single layers of the circuit board 18. Other components for the analysis processing unit 22 can be located on the circuit board 18. The evaluation unit 22 is able to supply the coils 20 with a multiphase alternating current and is also able to determine the relative angle of rotation between the stator element 12 and the rotor element 14 by measurement.

The rotor element 14 comprises one or more inductive elements 24, which are located facing away from the coil 20 in the axial direction. The inductive element 24 can be arranged, as shown in fig. 1, on a further circuit board, which is fastened to the shaft 16. It is also possible that: the inductive element 24 is created by machining the end of the shaft 16.

When the coil 20 is supplied with an alternating voltage by the evaluation unit 22, the alternating voltage generates a magnetic field which in turn induces eddy currents in the inductive element 24 made of electrically conductive material. These eddy currents in turn generate magnetic fields that interact with the coil 20 and change the inductance of the coil 20. Based on these changed inductances, the analysis processing unit 22 is able to determine the rotation angle.

Fig. 2 shows a rotation angle sensor 10. The rotation angle sensor has a first coil 20a, a second coil 20b, and a third coil 20 c. In this embodiment, the three

coils

20a, 20b, 20c cover only one angular range of less than 360 degrees (here for example 120 degrees) about the axis a. For greater clarity, each of these coils does not cover the full angular range.

The three

coils

20a, 20b, 20c are connected to the evaluation unit 22 at a first connection 26 and are supplied there by the evaluation unit 22 with three-phase alternating voltages having three individual voltages V1, V2, V3. The further connection 28 is connected to the connection 26 in such a way that: a triangular circuit 30 is generated by the three

coils

20a, 20b, 20 c. In this case, the other connection 28 of the first coil 20a is connected to the first connection 26 of the second coil 20 b. The other connection 28 of the second coil 20b is connected to the first connection 26 of the third coil 20 c. The other terminal 28 of the third coil 20c is connected to the first terminal 26 of the first coil 20 a. In this way, the triangular circuits 30 are connected together. The individual voltages V1, V2, V3 of the alternating voltage can have the same frequency and the same amplitude and in this case have a phase difference of 120 degrees in each case.

The evaluation unit 22 supplies the triangular circuit 30 with ac voltages V1, V2, V3 by means of the three-phase input lines 32. In each branch of the input line 32 there is a measuring resistor Rm1, Rm2, Rm3, by means of which the evaluation unit 22 can measure the voltage Vm1, Vm2, Vm3 which drops over the respective resistor. From these voltages Vm1, Vm2, Vm3, the respective corresponding branch currents can then be determined.

Due to the different inductances of the three

coils

20a, 20b, 20c, which are caused by the position of the inductive element 24 in relation to the angle of rotation, the branch currents are also related to the angle of rotation. In particular, the magnitude and/or phase of each branch current is related to the angle of rotation. From the magnitudes and/or phases of the three branch currents, the evaluation unit 22 can then determine the angle of rotation.

When the inductances of the first coil 20a, the second coil 20b and the third coil 20c are equal in magnitude, the currents in the branches of the input conductor 32 are also equal in magnitude. By means of the electrically conductive inductive element 24, which is opposite the three

coils

20a, 20b, 20c when viewed in the axial direction, the inductance of the

coils

20a, 20b, 20c changes and causes an imbalance in the branch currents. By measuring all three branch currents in terms of magnitude and phase (by measuring or detecting or determining the voltage drop across the resistance in terms of magnitude and phase), it is possible to determine both the distance of the inductive element 24 or the rotor element 14 from the sensor element 12 in the axial direction and the position of the inductive element and thus the angle of rotation.

Fig. 2 further illustrates: the three

coils

20a, 20b, 20c are implemented as planar coils having a plurality of windings 34 lying in one plane. The three

coils

20a, 20b, 20c are arranged on the stator element 12 offset from one another in the circumferential direction. Which at least partially overlap each other, viewed in the axial direction or in the top view, in the axial direction.

Fig. 3A,3B and 3C schematically show possible coil arrangements for the three coils 20a, 20B, 20C. The coil 20a in fig. 3A includes one first winding 34a and one second winding 34b each. The two

windings

34a, 34b are of the same size or surround the same area. The two windings are offset from each other in the circumferential direction.

The coils 20B and 20C in fig. 3B and 3C each comprise two first windings 34a and one second winding 34B. The second windings 34b are arranged between the first windings 34a in the circumferential direction. The two first windings 34a are of different sizes and/or are each smaller than the second winding 34 b. The sum of the areas surrounded by the two first windings 34a corresponds to the area surrounded by the second windings 34 a.

The coils 20a, 20B, 20C shown in fig. 3A,3B and 3C can be mounted in the angle sensor in such a way that they completely cover one another. In this case, a single ac voltage V1, V2, V3 is supplied to each of the

coils

20a, 20b, 20c, as is shown in fig. 2. In this way, the

windings

34a, 34b of the

coils

20b, 20c, which surround differently sized areas, are offset relative to the

windings

34a, 34b of the coil 20a, so that the

windings

34a, 34b of one

coil

20a, 20b, 20c, respectively, always only partially overlap the

windings

34a, 34b of the other coil. In this way, a maximum angular resolution for the angular range covered by the three

coils

20a, 20b, 20c can be achieved.

Each of the

coils

20a, 20b, 20c comprises oppositely directed windings which can be divided into a first winding 34a having a first course and a second winding 34b having an oppositely directed course. The

windings

34a, 34b of each coil are arranged one after the other in the circumferential direction about the axis a, so that a winding chain with a varying course results.

The first winding 34a and the second winding 34b each encircle the same area, so that a uniform (disturbing) magnetic field through each of the

coils

20a, 20b, 20c generates a current in the respective winding 34a, 34b, wherein the respective currents in one

coil

20a, 20b, 20c cancel each other out.

Fig. 4 shows the inductive element 24 and for reasons of intuition only one coil, namely the first coil 20 a. However, the following embodiments can also be applied to the second coil 20b and the third coil 20 c. As fig. 4 shows, the inductive element 24 is almost as large as the winding, i.e. covers almost the same area in the circumferential direction, viewed from the axial angle or in projection in the axial direction. Each of these

windings

34a, 34b generates a magnetic field which in turn generates eddy currents in the inductive element 24, which in turn generate magnetic fields which generate currents in the respective windings and which in this way change the inductance of the respective winding 34a, 34b and thus the total inductance of the

coil

20a, 20b, 20 c. Thus, the inductance of the

coils

20a, 20b, 20c varies depending on the angular position of the rotor element 14 with the inductive element. Since the

windings

34a, 34b of the

different coils

20a, 20b, 20c are arranged offset from one another, the inductive element 24 additionally varies the inductance of each

coil

20a, 20b, 20c to a different extent, so that a good angular resolution of the angle sensor 10 results.

Fig. 5 to 7 show illustrations similar to those in fig. 2 to 4. These embodiments apply correspondingly to fig. 2 to 4, when no further description is given.

Fig. 5 to 7 show a rotation angle sensor 10 whose first coil 20a, second coil 20b and third coil 20c completely surround the sensor element 12. The

coils

20a, 20b, 20c are identically constructed. As in fig. 2, these

coils

20a, 20b, 20c are arranged offset to one another on the rotor element 12. The 6

windings

34a, 34b of the

coils

20a, 20b, 20c each surround the same area in order to cancel external interference fields. The number of windings is not limited to 6 but should be an even number in order to cancel the disturbing field. The periodicity of the sensor is derived from the number of windings and the opening angle.

Fig. 7 shows an embodiment of the rotor element 14 and for reasons of intuition only the first coil 20a of the stator element 12. Fig. 7 shows: three inductive elements 24 can also be arranged on the rotor element 14. A better tolerance cancellation can be achieved in a single region of 120 ° by the three inductive elements 24, which are offset from one another by 120 °, each approximately covering one winding 34a, 34 b.

Finally, it is pointed out that: terms such as "having," "including," and the like do not exclude other elements, and terms such as "a" or "an" do not exclude a plurality. Reference signs in the claims shall not be construed as limiting the scope.

Claims

1. Rotation angle sensor (10) comprising:

a stator element (12) having three coils (20);

a rotor element (14) rotatably mounted relative to the stator element (12), the rotor element (14) being embodied for inductive coupling to different extents in relation to a rotational angle with each of the three coils (20); and

-an analysis processing unit (22) for determining the angle of rotation between the rotor element (14) and the stator element (12), characterized in that:

the three coils (20) are connected together in a triangular circuit (30);

the evaluation unit (22) is designed to supply the three coils (20) with three-phase alternating voltages (V1, V2, V3) by means of three-phase input lines (32); and is

The evaluation unit (22) is designed to determine the magnitude and/or phase of at least one branch current in the input line (32) and to determine the angle of rotation therefrom.

2. The rotation angle sensor (10) according to claim 1,

wherein the evaluation unit (22) is designed to determine the magnitude and/or phase of the two or three branch currents in the input line (32) and to determine the angle of rotation therefrom.

3. Rotation angle sensor (10) according to claim 1 or 2,

wherein the branch currents add to zero if the inductances of the coils (20) are the same.

4. Rotation angle sensor (10) according to claim 1 or 2,

wherein the evaluation unit (22) is designed to determine the axial distance between the stator element (12) and the rotor element (14) from the magnitude and/or the phase.

5. Rotation angle sensor (10) according to claim 1 or 2,

wherein the coil (20) is a planar coil; and/or

Wherein the coil (20) is arranged on the circuit board (18) and/or in the circuit board (18).

6. Rotation angle sensor (10) according to claim 1 or 2,

wherein the coils (20) at least partially overlap each other in the axial direction; and/or

Wherein each of the coils (20) has at least two windings (34) which succeed one another in the circumferential direction.

7. Rotation angle sensor (10) according to claim 1 or 2,

wherein each of the coils (20) has at least one first winding (34a) and at least one second winding (34b), wherein the at least one first winding (34a) and the at least one second winding (34b) run opposite to each other; and/or

Wherein first windings (34a) and second windings (34b) of a coil (20) are alternately arranged one after the other in the circumferential direction of the stator element (12); and/or

Wherein the area surrounded by the first winding (34a) is equal to the area surrounded by the second winding (34 b).

8. Rotation angle sensor (10) according to claim 1 or 2,

wherein the windings (34a, 34b) of the coil (20) encircle areas of different sizes; and/or

Wherein the windings (34a, 34b) of the coil (20) are arranged offset to each other.

9. Rotation angle sensor (10) according to claim 1 or 2,

wherein the coils (20) are arranged in only one angular region of the stator element (12); or

Wherein each of the coils (20) completely surrounds the stator element (12).

10. Rotation angle sensor (10) according to claim 1 or 2,

wherein the rotor element (14) has at least one inductive element (24) which is arranged in an angular range of the rotor element; and/or

Wherein the inductive element (24) covers only one winding (34a, 34b) of the coil (20) in the axial direction.