CN109804224B - Method for determining an absolute position, electric motor and operating device for a friction clutch - Google Patents
Method for determining an absolute position, electric motor and operating device for a friction clutch Download PDFInfo
- Publication number
- CN109804224B CN109804224B CN201780060959.6A CN201780060959A CN109804224B CN 109804224 B CN109804224 B CN 109804224B CN 201780060959 A CN201780060959 A CN 201780060959A CN 109804224 B CN109804224 B CN 109804224B
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- gmr sensor
- magnet
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- gmr
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
- G01D5/142—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices
- G01D5/145—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices influenced by the relative movement between the Hall device and magnetic fields
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
- G01D5/24471—Error correction
- G01D5/24476—Signal processing
Abstract
A method for determining an absolute position by means of a magnet sensor device having a GMR sensor and a sensing magnet, wherein the GMR sensor and the sensing magnet are movable relative to each other, wherein the GMR sensor and the sensing magnet are initially movable relative to each other in a first direction of movement and subsequently movable relative to each other in a second direction of movement opposite to the first direction of movement in order to correspond to positions which initially cannot correspond due to hysteresis; an electric motor having a stator and a rotor and a magnet sensor arrangement with a GMR sensor and an induction magnet, wherein the GMR sensor is connected to the stator and the induction magnet is connected to the rotor, wherein the absolute angular position of the rotor can be determined by means of this method; and an operating device for a friction clutch, wherein the operating device has at least one such electric motor.
Description
Technical Field
The invention relates to a method for determining an absolute position by means of a magnet sensor device having a GMR sensor and an induction magnet (GeberMagnet), wherein the GMR sensor and the induction magnet are movable relative to each other. The invention also relates to an electric motor having a stator and a rotor and a magnet sensor arrangement with a GMR sensor and an induction magnet, wherein the GMR sensor is connected to the stator and the induction magnet is connected to the rotor. The invention also relates to an operating device for a friction clutch.
Background
From the german patent application with the reference number 102016211802.1, a method is known for determining the rotational speed of a component rotating about an axis of rotation and having a magnet element by means of at least one multiturn sensor (multiturn sensors) operating according to the GMR principle, which has an electrical conductor arranged helically along or about the axis of rotation and having four signal states with respect to a rotation of the magnet element, wherein for determining the rotational speed the resistance of the conductor with respect to the angle of rotation is detected and a rotation is determined accordingly as a function of the signal states, wherein two signal states are indistinguishable at the angle of rotation and a distinguishable connection state is detected between the indistinguishable states, wherein a sensor with two multiturn sensors which are twisted relative to one another about the axis of rotation by a twist angle different from zero, The correspondence of the angular position of the rotating member of the indistinguishable signal state of one multiturn sensor is determined by detecting the distinguishable signal state of the other multiturn sensor.
From the german patent application No. 102016212173.1, a method is known for determining the rotational speed and the angular position of a component rotating about an axis of rotation, which component has a magnet element, by means of at least one multiturn sensor operating according to the GMR principle, which multiturn sensor has an electrical conductor arranged helically along or about the axis of rotation, which electrical conductor has two distinguishable half-bridge signals with respect to a rotation of the magnet element, the resistance of the detection conductor at a torsional angle being used to detect the rotational speed and a rotation being determined accordingly from the half-bridge signals, wherein the angular position of the component in the respective two semicircles is determined by means of the magnet sensor operating according to the AMR principle and the angular position is determined in which semicircle by means of the multiturn sensor.
Disclosure of Invention
The object underlying the invention is to improve the method described at the outset. The object underlying the invention is also to improve the electric motor described above. The object underlying the invention is also to improve the operating device described at the outset.
This object is achieved by a method having the features of the invention.
The method can be used to determine an absolute angle. The GMR sensor and the sensing magnet are rotatable relative to each other. The GMR sensor and the sensing magnet are initially rotatable with respect to each other in a first rotational direction and subsequently rotatable with respect to each other in a second rotational direction opposite to the first rotational direction. GMR sensors can be used to count rotation numbers. The GMR sensor can also be denoted as a multi-turn sensor.
The method can be used to determine absolute travel. The GMR sensor and the sensing magnet are movable relative to each other along the stroke axis. The GMR sensor and the sensing magnet are initially movable relative to each other along a stroke axis in a first direction of motion and are subsequently rotatable relative to each other along the stroke axis in a second direction of motion opposite the first direction of motion. The stroke axis can be linear.
GMR sensors are sensors based on the Giant-Magneto-resistive effect (Giant-Magneto-Resistance-offset). The GMR sensor can have a spiral. The screw can have a helical arm. The spiral can be arranged in a diamond shape. The GMR sensor can have a GMR layer stack. The GMR sensor can have a reference layer and a sensor layer. The magnetization state of the sensor layer can be changed. GMR sensors can have domain wall generators
The domain wall generator can be arranged on the end of the spiral. A 180 ° magnetic domain can be generated in a domain wall generator. The magnetic domain can be injected into the spiral body and/or can be eliminated again. The magnetization state of the spiral arm can be changed under the influence of a moving magnetic field. By moving the magnetic field and the spiral body relative to each other, the magnetization state of the spiral arm can be changed. The number of revolutions can be stored magnetically. Motion can be detected without power supply. The motion can also be stored without power supply. The resistance value of the spiral can be related to the magnetization state.
When the sensing magnet and the GMR sensor rotate relative to each other, a rotating magnetic field can be applied to the GMR sensor. A GMR sensor can have four signal states with respect to one rotation. GMR sensors have hysteresis. Due to hysteresis, the signal state of the GMR sensor cannot be distinguished in sections.
The GMR sensor and the sensing magnet are movable relative to each other by a path/angle which is predetermined in view of the movement resolution, in particular the angular resolution, of the GMR sensor. GMR sensors are capable of angular resolution of 90 °. The GMR sensor and the sensing magnet are rotated about +/-45 deg. relative to each other from an angular position that initially cannot correspond.
The GMR sensor can be connected in a half-bridge circuit. Three distinguishable signal levels can be output, respectively. Accordingly, high, middle and low levels can be output. The signal states of the GMR sensors can be distinguished by a combination of the signal states of the different half-bridges.
The object of the invention is also achieved by means of an electric motor having the features of the invention.
The electric motor can be controlled by means of an electric control device. The electrical control device can be a controller.
The electrical control means can be a local controller. The electronic control device can have a computing device. The electrical control device can have a memory device. The electrical control device can have at least one electrical signal input. The electrical control device can have at least one electrical signal output. The electrical control device can be connected in a signal-conducting manner to at least one further electrical control device, structurally and/or functionally. A bus system (for example a CAN bus) CAN be used for the connection of the conducting signals.
The motor can have a housing. The stator can be arranged stationary with respect to the housing. The rotor can be rotatably supported in the housing. The induction magnet can be fixed on the rotor side. The GMR sensor can be fixed on the stator side. The induction magnet and the GMR sensor can delimit a measuring gap for contactless counting of revolutions and determination of absolute angle.
The motor can be used as an actuating drive (stellrantrieb). The motor can be used for applications in motor vehicles. The electric motor can be used to operate an automatic transmission, an electronic throttle, a valve actuator, a window actuator, a seat actuator, a sliding roof actuator, a mirror actuator and/or a throttle actuator.
The object is also achieved according to the invention by means of an operating device having the features of the invention.
The operating device can be a hydraulic operating device. The operating device can have at least one master cylinder, at least one slave cylinder and at least one hydraulic path formed between the at least one master cylinder and the at least one slave cylinder. The at least one electric motor can be used to load the at least one master cylinder. The at least one slave cylinder can correspond to a friction clutch.
The friction clutch can be a single clutch or a dual clutch. The friction clutch can be used in a drive train of a motor vehicle. The drive train can include a drive machine. The drive machine can be an internal combustion engine. The drive train can have a friction clutch. The drive train can have a transmission. The transmission can be a shifting transmission. The drive train can have at least one drivable wheel. The friction clutch can be used for arrangement between the drive machine and the transmission.
In summary and in other words, the invention thus enables, in particular, a rotation to be determined without angular information by means of a GMR multi-turn sensor. The output of the magnetoresistive multi-turn sensor (half-bridge signal) has three states (high, medium, low). Depending on the position of the magnet, four possible "combinations" are visible in one revolution, but due to the inherent hysteresis of the sensor, this state may be ambiguous. If the system allows, the magnet is rotated slightly, e.g. +/-45 °, or the piston with the magnet is moved slightly, to move away from the hysteresis region and thus know the exact rotation (e.g. 1/4 revolutions).
By means of the invention, the determination of the absolute angle can be achieved in addition to the number of revolutions. An additional angle sensor can be dispensed with. The installation consumption is reduced. The measurement accuracy is improved.
Drawings
Embodiments of the present invention are described in detail below with reference to the accompanying drawings. Further features and advantages result from this description. The specific features of these embodiments are capable of presenting a general context of the invention. Features of these embodiments that are associated with other features can also represent separate features of the invention.
Which schematically and exemplarily shows:
figure 1 is a graph of the signal curve of a GMR sensor on a half bridge during a rotating magnetic field,
FIG. 2 is a partial enlarged view of the signal curve of a GMR sensor on a half-bridge during a rotating magnetic field, an
Fig. 3 is a graph of the signal curves of a GMR sensor on a half bridge in a clockwise and counterclockwise rotating magnetic field and the corresponding signal patterns with hysteresis.
Detailed Description
Fig. 1 shows a diagram 100 with signal curves, for example the signal curves 102, 104 of a GMR sensor on a half bridge during a rotating magnetic field. In the graph, at x1Axis, x2Axis and x3On the axis is the angle and on the y-axis is the voltage. The signals 102, 104 can each exhibit three different signal levels: high, medium, low. Four principally distinguishable signal level combinations 106, 108, 110, 112 flow through the signals 102, 104 during one rotation corresponding to 360 °. Signal level combination 106 is signal 102 high/signal 104 high. The signal level combination 108 is signal 102 mid/signal 104 high. The signal level combination 110 is signal 102 low/signal 104 high. The signal level combination 112 is in signal 102/in signal 104.
Fig. 2 shows a partial enlargement 200 of the signal curves 202, 204, such as the signal curves 102, 104 according to fig. 1 of a GMR sensor on a half bridge during a rotating magnetic field. In detail, it is shown that due to hysteresis, a signal level combination 208 in signal 202/signal 204 high is also briefly present at the beginning of signal level combination 212 in signal 202/in signal 204. And thus the initial rotational position cannot correspond. In order to make the rotational position still correspond, the magnetic field is rotated by approximately 45 ° until leaving the hysteresis region 214 and the rotational position can be corresponded.
Fig. 3 shows a graph 300 with a signal curve 302 of a GMR sensor on a half bridge in a magnetic field rotating clockwise and counterclockwise and a corresponding signal pattern with hysteresis.
In the graph, at x1Axis, x2Axis and x3On the axis is the rotation angle corresponding to 540 ° for 1.5 rotations and on the y-axis is the voltage. At x1On the axis is shown a sinusoidal signal curve 302, which is derived from the signal pattern of the GMR sensor. At x2On the axis is the signal pattern of the first half bridge. The signal level of the first half bridge can have a low level 304, a medium level 306 and a high level 308. At x3On the axis is the signal pattern of the second half bridge. The signal level of the second half bridge can have a low level 310, a mid level 312 and a high level 314.
A signal pattern of the GMR sensor with a first signal level, such as first signal level 316, is generated in the clockwise rotating magnetic field. A signal pattern of the GMR sensor having a second signal level, such as second signal level 318, is generated in the magnetic field rotating counterclockwise. A hysteresis region (e.g., hysteresis region 320) is created when the direction of rotation is changed.
List of reference numerals
100 diagram
102 signal, signal curve
104 signal, signal curve
106 signal level combining
108 signal level combining
110 signal level combination
112 signal level combination
200 partial enlarged view
202 signal, signal curve
204 signal, signal curve
208 signal level combining
212 signal level combination
214 hysteresis range
300 diagram
302 signal curve
304 low level
306 medium level
308 high level
310 low level
312 middle level
314 high level
316 first signal level
318 second signal level
320 hysteresis region.
Claims (6)
1. Method for determining an absolute position by means of a magnet sensor device having a GMR sensor and a sensing magnet, wherein the GMR sensor and the sensing magnet are movable relative to each other, characterized in that the GMR sensor and the sensing magnet are initially movable relative to each other in a first direction of movement and subsequently movable relative to each other in a second direction of movement opposite to the first direction of movement, the GMR sensor and the sensing magnet being rotated by about +/-45 ° relative to each other from an initially non-corresponding angular position in order to correspond to a position which initially is non-corresponding due to hysteresis.
2. Method according to claim 1, characterized in that the GMR sensor and the sensing magnet are movable relative to each other by a stroke/angle, which is predetermined taking into account the resolution of the movement of the GMR sensor.
3. Method according to at least one of the preceding claims, characterized in that the GMR sensor has an angular resolution of 90 °.
4. Method according to claim 1 or 2, characterized in that the GMR sensors are connected in a half-bridge circuit and are capable of outputting three distinguishable signal levels (304, 306, 308, 310, 312, 314), respectively.
5. An electric motor having a stator and a rotor and a magnet sensor arrangement having a GMR sensor and an induction magnet, wherein the GMR sensor is connected to the stator and the induction magnet is connected to the rotor, characterized in that the absolute angular position of the rotor can be determined by means of a method according to at least one of claims 1 to 4.
6. An operating device for a friction clutch, characterized in that the operating device has at least one electric motor according to claim 5.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102016219211.6A DE102016219211A1 (en) | 2016-10-04 | 2016-10-04 | Method for absolute position determination, electric motor and actuating device for a friction clutch |
| DE102016219211.6 | 2016-10-04 | ||
| PCT/DE2017/100772 WO2018065002A1 (en) | 2016-10-04 | 2017-09-13 | Method for absolute position determining, electric motor and actuation device for a friction clutch |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109804224A CN109804224A (en) | 2019-05-24 |
| CN109804224B true CN109804224B (en) | 2022-01-25 |
Family
ID=60009388
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201780060959.6A Active CN109804224B (en) | 2016-10-04 | 2017-09-13 | Method for determining an absolute position, electric motor and operating device for a friction clutch |
Country Status (5)
| Country | Link |
|---|---|
| EP (1) | EP3523608A1 (en) |
| JP (1) | JP6828148B2 (en) |
| CN (1) | CN109804224B (en) |
| DE (2) | DE102016219211A1 (en) |
| WO (1) | WO2018065002A1 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP7063307B2 (en) * | 2019-06-05 | 2022-05-09 | Tdk株式会社 | Magnetic sensor and magnetic sensor system |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2012042353A (en) * | 2010-08-19 | 2012-03-01 | Tdk Corp | Rotation angle and torque sensor |
| CN103069709A (en) * | 2010-08-05 | 2013-04-24 | 大陆-特韦斯贸易合伙股份公司及两合公司 | Method and circuit arrangement for checking the rotor position of a synchronous machine |
Family Cites Families (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61185095A (en) * | 1985-02-09 | 1986-08-18 | Tokico Ltd | Controlling method for step motor |
| JP2002067987A (en) * | 2000-08-24 | 2002-03-08 | Aisin Seiki Co Ltd | Vehicular steering gear |
| JP4748558B2 (en) * | 2001-09-14 | 2011-08-17 | 株式会社森精機製作所 | Absolute encoder |
| DE10308030B4 (en) * | 2003-02-24 | 2011-02-03 | Meas Deutschland Gmbh | Magnetoresistive sensor for determining an angle or position |
| EP2191237B1 (en) * | 2007-08-27 | 2014-03-26 | Institut für Photonische Technologien e.V. | Magnetic revolution counter |
| JP5500785B2 (en) * | 2008-05-14 | 2014-05-21 | 新科實業有限公司 | Magnetic sensor |
| JP2012122447A (en) * | 2010-12-10 | 2012-06-28 | Toyota Motor Corp | Start control device |
| DE102015201850A1 (en) * | 2015-02-03 | 2016-08-04 | Zf Friedrichshafen Ag | Method for incremental path or angle detection and actuator device comprising an electric motor |
| JP2016151436A (en) * | 2015-02-16 | 2016-08-22 | 株式会社デンソー | Rotation angle detection device |
| DE102016211802A1 (en) | 2016-06-30 | 2018-01-04 | Schaeffler Technologies AG & Co. KG | Method and device for determining a number of revolutions |
| DE102016212173A1 (en) | 2016-07-05 | 2018-01-11 | Schaeffler Technologies AG & Co. KG | Method and device for determining a number of revolutions and an angular position of a component rotatable about an axis of rotation |
-
2016
- 2016-10-04 DE DE102016219211.6A patent/DE102016219211A1/en not_active Withdrawn
-
2017
- 2017-09-13 WO PCT/DE2017/100772 patent/WO2018065002A1/en unknown
- 2017-09-13 CN CN201780060959.6A patent/CN109804224B/en active Active
- 2017-09-13 JP JP2019518099A patent/JP6828148B2/en active Active
- 2017-09-13 EP EP17778168.9A patent/EP3523608A1/en not_active Withdrawn
- 2017-09-13 DE DE112017005027.8T patent/DE112017005027A5/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103069709A (en) * | 2010-08-05 | 2013-04-24 | 大陆-特韦斯贸易合伙股份公司及两合公司 | Method and circuit arrangement for checking the rotor position of a synchronous machine |
| JP2012042353A (en) * | 2010-08-19 | 2012-03-01 | Tdk Corp | Rotation angle and torque sensor |
Also Published As
| Publication number | Publication date |
|---|---|
| DE102016219211A1 (en) | 2018-04-05 |
| CN109804224A (en) | 2019-05-24 |
| WO2018065002A1 (en) | 2018-04-12 |
| EP3523608A1 (en) | 2019-08-14 |
| JP6828148B2 (en) | 2021-02-10 |
| DE112017005027A5 (en) | 2019-08-01 |
| JP2019536991A (en) | 2019-12-19 |
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