CN110546463A - 用于确定旋转构件、尤其用于车辆的离合器操纵系统的电动机的角位置的方法 - Google Patents
用于确定旋转构件、尤其用于车辆的离合器操纵系统的电动机的角位置的方法 Download PDFInfo
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- H—ELECTRICITY
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- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
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- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
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- F16D29/00—Clutches and systems of clutches involving both fluid and magnetic actuation
- F16D29/005—Clutches and systems of clutches involving both fluid and magnetic actuation with a fluid pressure piston driven by an electric motor
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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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- 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
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- 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
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- 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
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- 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
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- 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
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
- H02K11/21—Devices for sensing speed or position, or actuated thereby
- H02K11/215—Magnetic effect devices, e.g. Hall-effect or magneto-resistive elements
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K24/00—Machines adapted for the instantaneous transmission or reception of the angular displacement of rotating parts, e.g. synchro, selsyn
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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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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/06—Means for converting reciprocating motion into rotary motion or vice versa
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D25/00—Fluid-actuated clutches
- F16D25/08—Fluid-actuated clutches with fluid-actuated member not rotating with a clutching member
- F16D2025/081—Hydraulic devices that initiate movement of pistons in slave cylinders for actuating clutches, i.e. master cylinders
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D2300/00—Special features for couplings or clutches
- F16D2300/18—Sensors; Details or arrangements thereof
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D2500/00—External control of clutches by electric or electronic means
- F16D2500/10—System to be controlled
- F16D2500/102—Actuator
- F16D2500/1021—Electrical type
- F16D2500/1023—Electric motor
- F16D2500/1025—Electric motor with threaded transmission
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D2500/00—External control of clutches by electric or electronic means
- F16D2500/30—Signal inputs
- F16D2500/302—Signal inputs from the actuator
- F16D2500/3021—Angle
Abstract
本发明涉及一种用于确定旋转构件、尤其用于车辆的离合器操纵系统的电动机的角位置的方法,在该方法中,由沿径向相对旋转构件的旋转轴线(7)间隔开定位的传感机构(6)获取旋转构件(2)的角位置(θ),其中,固定地且对中地布置在旋转构件(2)上的磁环(4)建立相对于传感机构(6)变化的磁场,磁场由传感机构(6)探测,其中,对由传感机构(6)获取的信号进行关于角位置的评估。在测量角位置时可轻松校正误差的方法中,对由传感机构(6)获取的信号进行关于磁场的幅度信息的评估,其中,由幅度信息得出校正参数(β),借助校正参数确定由传感机构(6)的信号获取的角位置(θ)的角度误差(γ),其中,角度误差(γ)用于校正通过由传感机构(6)发出的信号得出的角位置(θ)。
Description
技术领域
本发明涉及一种用于确定旋转构件、尤其用于车辆的离合器操纵系统的电动机的角位置的方法,在该方法中,由沿径向相对旋转构件的旋转轴线间隔开定位的传感机构获取旋转构件的角位置,其中,固定地且对中地布置在旋转构件上的磁环建立相对于传感机构变化的磁场,磁场由传感机构探测,其中,对由传感机构获取的信号进行关于角位置的评估。
背景技术
DE 10 2006 033 525 A1公开了一种用于确定旋转构件的角位置的方法。
DE 10 2010 032 061 A1公开了一种用于测量旋转角和/或扭矩的装置。
DE 10 2015 105 854 A1公开了一种用于确定转子相对于定子的角位置的传感器组件。
EP 0 986 162 A1公开了一种用于确定转子磁化方向和/或转子的轴向位置的传感器组件。
DE 10 2012 202 404 A1公开了一种用于确定多转数以及绝对转角的转角传感器。
由WO 2017/036476A1已知一种用于旋转驱动的直线型致动器的角测量装置,其中使用离轴的结构方式,即传感机构相对于电动机的转子的中央轴线平行地且间隔开地布置。在转子上对中地布置有磁环,磁环提供磁场,该磁场由传感机构监控且由该磁场确定转子的角位置。
DE 10 2013 222 366 A1公开了一种用于确定电动机的位置的方法,其中传感器布置在电动机的旋转轴线之外。在此,评估在传感机构处获取的传感器信号的评估单元在空间上相对传感机构分开地定位。
此外已知,通过由传感机构发出的值算出正弦信号,并且根据正弦信号的零点交叉确定磁场的方向。然后由磁场分量得出角信息。但是在离轴式应用中,在确定角位置时产生可能大于20°的误差。此外,通过径向布置在电动机的转子上的磁环的摆动而产生的动态误差可能非常大。
发明内容
因此,本发明所要解决的技术问题是,提供一种用于确定电动机的角位置的方法,在该方法中尽可能限制误差的可能性。
根据本发明,该技术问题通过以下方式实现,对由传感机构获取的信号进行关于磁场的幅度信息的评估,其中,由幅度信息得出校正参数,借助校正参数确定由传感机构的信号获取的角位置的角度误差,并且角度误差用于校正通过由传感机构发出的信号得出的角位置。采用幅度信息基于知识:在不同的空间方向上的磁场矢量的幅度在出现误差时大多不相等。因此在利萨茹曲线中形成椭圆,椭圆的主轴或副轴相应于磁场的幅度。因此可由幅度轻松地得出校正参数,借助该校正参数可确定旋转构件的正确角位置。基于这种简单的数学方法,可不进行结构非常复杂且成本非常高的磁体形状变化,由此实现了成本非常有利的方法。
有利地,为了由幅度信息得出校正参数,确定磁通的切向磁场方向的幅度和径向磁场方向的幅度,幅度彼此的比例得出校正参数。切向磁场方向和径向磁场方向的应用相应于磁场的x-y维度,固定在旋转构件上的磁环延伸在该维度中,且通过传感机构探测该维度。
在一种设计方案中,在传感机构和构件的结构单元装配结束时得出校正参数。如此得出的校正参数可在任意时间确定角位置。
为了校正在确定角位置时的静态误差,将校正参数作为恒值。
在一种实施方式中,在旋转构件的角位置的测量过程期间调整校正参数,其中尤其将在装配结束时确定的校正参数用作测量过程开始时的初始校正参数。通过调整校正参数也很好地校正了动态误差,例如磁环的摆动。
在一种变型方案中,为了对由传感机构获取的信号进行关于磁场的幅度和旋转构件的角位置的评估,使用包含在传感机构中的评估电子器件。在此可取消用于将由传感机构输出的信号正确地传递给评估电子器件的措施。
在一种改进方案中,以高频的方式探测由评估电子器件输出的、表征旋转构件的角位置的信号。因此,能在构件快速旋转时可靠地确定不同的角信息,这些角信息在很短的时间段中依次被获取。
有利地,以低频的方式探测由评估电子器件输出的、表征磁场的幅度的信号。因为由表征幅度的信号确定校正参数,该校正参数仅需以预定的时间间隔被校正,这对于精确地确定角位置是足够的。
在另一实施方式中,以旋转构件的每转中至少两次的频率探测由评估电子器件输出的、表征磁场的幅度的信号。该评估方法足以设定足够正确的校正参数来补偿在确定旋转构件的角位置时的动态误差。
附图说明
本发明包括多种实施方式。根据在图纸中示出的附图详细阐述其中一个。
其中示出:
图1示出了具有传感机构的致动器的侧面剖视图,
图2示出了包含评估装置的传感机构的原理示意图,
图3示出了在传感机构内部的处理信号的原理示意图,
图4示出了根据利萨茹曲线的由磁环引起的磁场的磁通的磁方向的原理示意图,
图5示出了根据本发明的方法的实施例,
图6示出了根据由传感机构发出的信号得到的角误差的示意图。
具体实施方式
在图1中示出了具有传感机构的致动器1的实施例的侧视图,其中致动器1具有电动机,电动机具有转子2和围绕转子2的固定不动的定子3。在转子2的端面上布置有磁环4,磁环具有相反的磁化。呈测量和评估单元形式的传感机构6定位在电路板5上,其中,传感机构6沿径向相对电动机2、3的旋转轴线7间隔开地布置。
在图2中以原理示意图再现传感机构6。多个环形布置的霍尔传感器8围绕中央轴线定位,霍尔传感器探测磁环4的磁场。霍尔传感器8发出正弦形的输出信号,如在图3中所示。在图3中示出了磁环4的磁场关于旋转磁场的角度的变化。正弦形信号的每个点10在此呈现每一个霍尔传感器8的信息。因此,霍尔传感器8形成用于360角度的测量范围的单转传感器。
在此,在测量时同时接收由霍尔传感器8发出的所有值,并且计算在图3中示出的正弦信号。然后,根据零位交叉9确定由磁环4产生的磁场的方向。在此,传感机构6的输出信号的幅度相应于磁场的值。磁环4的磁场具有磁通B,该磁通在磁场中的每个位置都可通过矢量表示。该矢量具有切向磁场方向BY、径向磁场方向BX和法向磁场方向BZ。在此,切向磁场方向BY平行于x-y平面且平行于磁环4的极的定向地延伸。径向磁场方向BX平行于x-y平面且横向于磁极的定向地延伸。未进一步涉及的法向磁场方向BZ横向于切向磁场方向和径向磁场方向地延伸。
在图4中借助利萨茹曲线示出切向磁场方向和径向磁场方向。在此,在磁环4转动一圈期间,圆A表示径向磁场方向且椭圆B表示切向磁场方向。在此,圆A是希望达到的理想形状。圆A具有主轴a,而椭圆B具有主轴b。此外,在图4中示出了由传感机构6的信号实际获取到的角位置θ以及预期的角位置由传感机构6的信号实际获取到的角位置θ与预期的角位置相差角误差γ。
在图5中示出了根据本发明的方法。在方框100中,在考虑由切向磁场方向和径向磁场方向确定的磁通的椭圆B的长主轴b和椭圆A的短主轴a的情况下确定校正参数β。
β=b/a (1)
在方框200中,利用由此得出的校正参数β确定角误差γ。
然后,由实际测得的角位置θ和角误差γ确定电动机的转子2的实际的角位置
在图6中示出了角误差γ根据校正参数β和当前确定的角位置的变化。
角误差γ与校正参数β紧密相关。对于静态的应用,β是恒值。该恒值例如在致动器制造的生产线末端获得。但是对于动态应用,β是变化的,因为必须找到误差范围。
在以高频方式监控角位置时,以基本较慢的采样频率读取长主轴和短主轴a、b。在此,对电动机的每一圈监控两次就足够。由此在该圈转动期间多次调节校正参数β。
提及的实现方案允许在使用椭圆形的非线性的在利萨茹曲线示意图中由椭圆产生圆的校正方法的情况下可靠地得出电动机的转子2的实际角位置。
附图标记列表
1 致动器
2 转子
3 定子
4 磁环
5 电路板
6 传感机构
7 旋转轴线
8 霍尔传感器
9 零位通过
10 正弦形的输出信号上的点
Claims (9)
1.用于确定旋转构件、尤其用于车辆的离合器操纵系统的电动机的角位置的方法,在所述方法中,由沿径向相对所述旋转构件的旋转轴线(7)间隔开定位的传感机构(6)获取所述旋转构件(2)的角位置(θ),其中,固定地且对中地布置在所述旋转构件(2)上的磁环(4)建立相对于所述传感机构(6)变化的磁场,所述磁场由所述传感机构(6)探测,其中,对由所述传感机构(6)获取的信号进行关于所述角位置的评估,其特征在于,对由所述传感机构(6)获取的信号进行关于所述磁场的幅度信息的评估,其中,由所述幅度信息得出校正参数(β),借助所述校正参数确定由所述传感机构(6)的信号获取的角位置(θ)的角度误差(γ),其中,所述角度误差(γ)用于校正通过由所述传感机构(6)发出的信号得出的角位置(θ)。
2.根据权利要求1所述的方法,其特征在于,为了由所述幅度信息得出所述校正参数(β),确定磁通的切向磁场方向的幅度和径向磁场方向的幅度,所述幅度彼此的比例得出所述校正参数(β)。
3.根据权利要求2所述的方法,其特征在于,在所述传感机构和所述构件的结构单元装配结束时得出所述校正参数(β)。
4.根据权利要求1、2或3所述的方法,其特征在于,所述校正参数(β)是恒值。
5.根据权利要求1、2或3所述的方法,其特征在于,在所述旋转构件(2)的角位置(θ)的测量过程期间调整所述校正参数(β),其中,尤其将在装配结束时确定的校正参数(β)用作所述测量过程开始时的初始校正参数。
6.根据前述权利要求中任一项所述的方法,其特征在于,为了对由所述传感机构(6)获取的信号进行关于所述磁场的幅度和所述旋转构件(2)的角位置(θ)的评估,使用包含在所述传感机构(6)中的评估电子器件。
7.根据前述权利要求中任一项所述的方法,其特征在于,以高频的方式探测由所述评估电子器件输出的、表征所述旋转构件(2)的角位置(θ)的信号。
8.根据前述权利要求中任一项所述的方法,其特征在于,以低频的方式探测由所述评估电子器件输出的、表征所述磁场的幅度的信号。
9.根据权利要求8所述的方法,其特征在于,以所述旋转构件(2)的每转中至少两次的频率探测由所述评估电子器件输出的、表征所述磁场的幅度的信号。
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PCT/DE2018/100432 WO2018219388A1 (de) | 2017-05-31 | 2018-05-08 | Verfahren zur bestimmung einer winkelposition eines sich drehenden bauteiles, insbesondere eines elektromotors für ein kupplungsbetätigungssystem eines fahrzeuges |
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DE102020102064B3 (de) * | 2020-01-29 | 2021-05-27 | Schaeffler Technologies AG & Co. KG | Kupplungsaktor, Erfassungssystem und Verfahren zur Erfassung einer Winkelposition eines Drehbauteils |
DE102020102063B3 (de) | 2020-01-29 | 2021-05-27 | Schaeffler Technologies AG & Co. KG | Kupplungsaktor, Erfassungssystem und Verfahren zur Erfassung einer Winkelposition eines Drehbauteils |
DE102020105254A1 (de) | 2020-02-28 | 2021-09-02 | Schaeffler Technologies AG & Co. KG | Verfahren zum Bestimmen einer Winkelposition einer Welle |
DE102020105253A1 (de) | 2020-02-28 | 2021-09-02 | Schaeffler Technologies AG & Co. KG | Verfahren zum Bestimmen einer Winkelposition einer Welle bei einem vorhandenen Störfeld |
KR20230017290A (ko) | 2020-07-15 | 2023-02-03 | 섀플러 테크놀로지스 아게 운트 코. 카게 | 각도 위치 검출 방법 및 검출 시스템 |
DE102020124419B4 (de) | 2020-09-18 | 2022-03-31 | Schaeffler Technologies AG & Co. KG | Verfahren zur Erfassung einer Winkelposition und Erfassungssystem |
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