CN111492249A - Rotational speed sensor with improved resolution and multiple switching thresholds - Google Patents
Rotational speed sensor with improved resolution and multiple switching thresholds Download PDFInfo
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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
- 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
- G01D5/245—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 using a variable number of pulses in a train
- G01D5/2451—Incremental encoders
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- G—PHYSICS
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- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
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- G01P3/44—Devices characterised by the use of electric or magnetic means for measuring angular speed
- G01P3/48—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage
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Abstract
The invention relates to a sensor for detecting relative movement between an encoder having a substantially periodic scale and/or pattern and at least one sensor element, wherein the sensor has at least one sensor element and a signal processing device, wherein the signal processing device is designed such that the signal processing device provides a movement signal as a function of a sensor element output signal of the sensor element, wherein the signal processing device is designed such that the signal processing device has two or more switching thresholds with respect to the at least one sensor element output signal, wherein movement information is generated substantially in each case when the sensor element output signal exceeds or falls below the switching threshold, and wherein the movement information is taken into account when generating the movement signal. Increased resolution and a defined number of pulses per code signal period can be achieved by a plurality of switching thresholds. The switching threshold can be determined such that the additional pulses are distributed substantially uniformly over a period. This can be achieved by model-supported calculation of suitable switching thresholds or by measuring the current amplitude at the desired time.
Description
Technical Field
The invention relates to a sensor and a sensor arrangement according to the preamble of claim 1.
Background
Document WO 2016/023769 a2 proposes a rotation speed sensor which offers an increase in resolution, wherein the sensor, in the case of detection of a periodic pattern of the encoder, generates a sine signal and a cosine signal by means of a sensor element, respectively, wherein from these signals an angle signal is calculated by means of an arccosine function, which angle signal is quantized with a resolution of 8 bits, whereby each detection period sensor of the encoder can provide 7 or 8 position or angle information. The implementation of the signal processing means of the sensor is naturally relatively costly and expensive, in particular in terms of the arccosine function, and moreover the calculation of the angle signal requires a relatively large amount of time.
Disclosure of Invention
The invention is based on the object of providing a sensor which is relatively inexpensive, or has a relatively rapid signal processing or performs a measurement/detection with a relatively high resolution.
This object is achieved according to the invention by a sensor according to claim 1 or by a sensor for detecting a relative movement between an encoder having a substantially periodic scale and/or pattern and at least one sensor element, wherein the speed sensor has at least one sensor element and a signal processing device, wherein the signal processing device is configured, such that the signal processing means provide a movement signal in dependence of the sensor element output signal of the sensor element, wherein the signal processing device is designed such that the signal processing device has two or more switching thresholds with respect to the output signal of the sensor element, in this case, the movement information is generated essentially in each case when the sensor element output signal, in particular the amplitude thereof, exceeds or falls below a switching threshold, and this movement information is taken into account when generating the movement signal.
The sensor is preferably designed as a speed sensor and/or a rotational speed sensor and/or an angular speed sensor, in particular as a crankshaft rotational speed sensor or a wheel rotational speed sensor or a transmission rotational speed sensor or a turbocharger rotational speed sensor.
The amplitude value is preferably understood to be a value of the magnetic field detected by the at least one sensor element (which value is provided by the at least one sensor element output signal or contains information of this value therein), in particular a field strength value or a value related thereto or an angle value of the magnetic field. Expediently, amplitude values are also understood to mean values which are digitized or detected and quantified at a specific detection time.
Preferably, the signal processing device has three or more switching thresholds, in particular 2N +1 switching thresholds, with N being a natural number, in particular N ═ 1 being selected, with respect to the at least one sensor element output signal, one of these switching thresholds being designed as an average switching threshold, so that its threshold value corresponds substantially to the average value of the sensor element output signal.
Preferably, the at least one sensor element comprises a bridge circuit with two half bridges, or the sensor has two sensor elements, wherein the half bridges or the two sensor elements each provide a sensor element output signal, which is provided to a signal processing device, which is designed such that, when the respective sensor element output signal of one of the half bridges or one of the two sensor elements exceeds and falls below the respective switching threshold, a movement information item is generated in each case, which movement information item is taken into account when generating the movement signal. The signal processing device preferably comprises two signal paths for this purpose.
In particular, the two half-bridges or the two sensor elements are arranged in the sensor such that they detect or can detect a periodic graduation and/or pattern of the encoder with a phase difference of substantially 90 °. In particular, it is preferred that the sensor elements or half-bridges are designed and/or arranged in the sensor, in particular in this case in particular in the sensor arrangement, so arranged and oriented relative to the encoder that the sensor element output signals of the two sensor elements or half-bridges have substantially sine-shaped or cosine-shaped time profiles with a phase difference of substantially 90 ° from one another.
The at least one sensor element is preferably designed as a magnetic field sensor element, in particular as an AMR sensor element (i.e. an anisotropic magnetoresistive sensor element) or as a hall sensor element or as a GMR sensor element (i.e. a giant magnetoresistive sensor element) or as a sensor element based on the giant magnetoresistive principle or as a TMR sensor element (i.e. a tunnel magnetoresistive sensor element).
The signal processing device is preferably designed such that each switching threshold comprises a hysteresis.
Expediently, each switching threshold comprises a first subswitch threshold and a second subswitch threshold for forming a hysteresis, wherein the first subswitch threshold is triggered by exceeding and the second subswitch threshold is triggered by falling, and/or each switching threshold is formed by means of a schmitt trigger element or is configured by means of a signal processing device such that the signal processing device comprises a hysteresis for each switching threshold, which hysteresis behaves substantially like a schmitt trigger element.
A schmitt trigger element is preferably understood to be an analog comparator with positive feedback, which acts as a comparator for two analog voltage signals and acts as a threshold switch for these signals. The schmitt trigger has two thresholds for hysteresis: an upper threshold value, which, if the voltage signal to be evaluated, in particular the sensor element output signal, exceeds, leads to a switching process, in particular a maximum or defined, relatively large output voltage value being provided at the output of the schmitt trigger; a lower threshold value, which leads to a switching process when the voltage signal to be evaluated, in particular the sensor element output signal, falls below, in particular here provides a minimum or defined, relatively small output voltage value at the output of the schmitt trigger.
Suitably, the sensor comprises two sensor elements each providing a sensor element output signal and each having a signal path in the signal processing means. In this case, each of the two signal paths comprises a hysteresis, which is particularly preferably implemented at least by schmitt trigger elements or substantially identically acting circuits, wherein one of the sensor element output signals is supplied to the respective schmitt trigger element on the input side as the voltage signal to be evaluated and the respective other sensor element output signal is inverted as the comparison signal.
Signal processing means are preferably understood to mean signal processing circuits and/or freely programmable circuits.
The signal processing device preferably comprises a microcontroller which performs at least some or all of the calculations and/or signal generation and/or matching/adjusting of the threshold values of the switching thresholds and is designed accordingly.
Preferably, the signal processing device is designed such that the signal processing device independently carries out a threshold value adaptation of the switching threshold, wherein the adaptation takes place as a function of the time profile of the output signal of the at least one sensor element.
The signal processing device is expediently designed such that a defined number of amplitude values (minimum and/or maximum here) of the output signal of the at least one sensor element, in particular following one another at defined time intervals, are stored in a memory unit of the signal processing device, and subsequently/at the same time the threshold value of at least one of the switching thresholds is adapted in dependence on this stored amplitude value. In particular, the mean switch threshold is adapted to the arithmetic mean of the respective values of the stored amplitude values, wherein in particular one or more of the stored amplitude values are discarded before the arithmetic mean is formed and/or equal amounts of minima and maxima of the values of the stored amplitude values are taken into account when forming the arithmetic mean and/or the stored amplitude values or each of their values and/or the arithmetic mean are multiplied by a defined factor before or after the arithmetic mean is formed. In particular, the signal processing device is preferably designed such that the further switching thresholds are additionally adapted as a function of the distance of the respective switching threshold from the mean switching threshold, the signal processing device taking this distance into account and/or adapting the further switching thresholds after the calculation of the value of the mean switching threshold to be adapted.
The signal processing device preferably has a clock generator unit which is in particular designed as an oscillator and particularly preferably has at least one transistor and at least one capacitive element. Suitably, the clock generator unit does not comprise a quartz oscillator and a ceramic resonator.
Preferably, the signal processing device is configured such that the signal processing device stores a defined number of amplitude values, in particular the last amplitude value, in a memory unit, which is finally calculated or measured in the signal processing device at the detection or sampling instant determined by means of the clock generator unit.
Preferably, a signal shape model or function model of the signal type to be detected in general (e.g. a sinusoidal function) is stored or saved in the signal processing device. The parameter determination of the functional model is carried out by means of parameter extraction, which is stored, for example, in the form of a numerical algorithm. The signal processing device is expediently designed such that from a defined number of amplitude values available in the memory unit (in particular with regard to these values, filtering or averaging and/or weighting is also carried out), function parameters are calculated by means of parameter extraction, new threshold values for the switching thresholds (including the mean switching threshold or alternatively preferably none) are calculated on the basis thereof and stored as threshold values for the respective switching threshold and used for the measurement and generation of the movement signal or the sensor output signal.
Preferably, the signal processing device is configured such that the signal processing device has an offset compensation with respect to the sensor element and/or a signal path within the signal processing device. In particular, the signal processing device is designed such that the signal processing device compensates for a bias of the at least one amplifier element and/or the signal processing device carries out a bias compensation by means of the actuation of the at least one amplifier element.
The signal processing device is expediently designed such that, on the basis of the occurrence of the movement information, a movement pulse of defined length and/or an additional data pulse sequence of defined length or an additional data pulse, respectively, is generated in the movement signal. In particular, the signal processing device has at least one current source, particularly preferably 3 current sources for 3 defined current levels, for generating motion pulses and/or additional data pulses or additional data pulse sequences of defined length. The at least one current source is used to generate a movement signal in the form of a resulting current signal as an output signal of the sensor.
Preferably, the signal processing device is designed in such a way that it has a mode switching unit which, as a function of the movement speed and/or rotational speed detected by the sensor over a defined speed value, places or retains the signal processing device in a normal operating mode, wherein the signal processing device is designed in such a way that it provides a movement signal in the normal operating mode, which movement signal generates a movement pulse with a defined first amplitude and a defined duration in each case only above and below a mean value switching threshold, which movement pulse is followed by a defined number of additional data pulses with a defined second amplitude and a defined duration, wherein in particular nine additional data pulses follow the movement pulse, wherein each additional data pulse encodes a further additional data information provided by the sensor, in this case, it is particularly preferred or alternatively preferred that the number of immediately following additional data pulses is dependent on the detected speed/rotational speed, and it is particularly preferred, particularly preferably, expediently in the case of a relatively high speed/rotational speed, to follow the additional data pulses only before a new movement pulse is generated or a new movement pulse is generated in the immediate vicinity of a defined maximum time.
Expediently, the mode switching unit is configured such that it has a hysteresis with respect to the speed or rotational speed.
The signal processing device is expediently designed such that it has a mode switching unit which, as a function of the movement speed and/or rotational speed detected by the sensor at a defined speed value, places or retains the signal processing device in a special operating mode, wherein the signal processing device is designed such that, in the special operating mode, it provides a movement signal which, in each case, generates a movement pulse with a defined first amplitude and a defined duration only above and below a mean value switching threshold, which movement pulse is followed by a defined number of additional data pulses with a defined second amplitude and a defined duration, wherein in particular nine additional data pulses follow the movement pulse, wherein each additional data pulse encodes a further additional data information provided by the sensor, and the signal processing device is designed such that, in the special operating mode, it generates only a defined number of additional data pulses each having a defined second amplitude and a defined duration, in particular nine additional data pulses, each of which encodes a further additional data information provided by the sensor, above and below a further switching threshold, i.e. a non-mean switching threshold.
Particularly preferably, the additional data pulses, which are generated in particular directly one after the other, comprise position or angle information, which is particularly preferably information that is just above or below the switching threshold. Particularly preferably, the information is encoded in the 6 th, 7 th and 8 th additional data pulses.
Suitably, the encoding by the additional data pulses is binary.
The signal processing device is preferably designed such that the generation of a motion pulse, in particular a motion pulse with trailing/following additional data pulses and/or the generation of a defined number of additional data pulses without a motion pulse, is effected on the basis of the motion information.
Preferably, the motion signal describes at least a relative motion between the encoder and the sensor or the at least one sensor element. In particular, the sensor arrangement is designed such that the sensor transmits a movement signal to the electronic control unit, which calculates the speed/rotational speed from the movement signal.
As regards the detected speed/rotational speed for the mode switching, it is preferred that the sensor itself performs the calculation for the mode switching, or alternatively preferably receives a mode signal for this purpose from the electronic control unit.
The speed signal is preferably at least dependent on the relative speed between the encoder and the sensor element and is provided on the output side by a speed sensor, in particular on a two-wire interface.
The signal processing means are preferably understood to be signal processing circuits.
The term "sensor element output signal" is to be understood as meaning, as appropriate, at least one sensor element or an initial signal of one sensor element.
In particular, the sensor according to the invention has the particular advantage that it enables increased resolution and rotation direction detection, which is very advantageous for automated parking of a motor vehicle.
Preferably, the signal processing device is configured such that it recognizes or determines or can determine the direction of rotation of the encoder to be detected or its pattern/scale. The direction of rotation is determined in particular by the phase difference between the output signals of the two sensor elements, or sine signal and cosine signal.
Preferably, the first amplitude is larger/higher than the second amplitude.
Preferably, the signal processing means and the at least one sensor element are integrated on a chip or ASIC (application specific integrated circuit).
The sensor expediently has a plastic housing and two connection terminals as an interface for connection to an electronic control unit of a motor vehicle control and regulation system. The sensor is in particular designed as an active sensor and is supplied with power via the interface.
Alternatively, the signal processing device is preferably designed such that it does not store or store the function model or the signal shape model, but rather detects and/or calculates a last zero crossing interval time, which is obtained from the time interval D in which the motion information occurs on the basis of the last and last to last detected exceedance and/or undershooting of the mean switching threshold, and from this time interval determines for each switching threshold a switching threshold occurrence prediction time, in particular for 2N +1 switching thresholds in the case of N ═ 1, which is located at D/3 and 2D/3 after the respective exceedance and/or undershooting of the mean switching threshold, and then stores the amplitude values in the memory unit or in a memory unit additional thereto continuously at these switching threshold occurrence prediction times for each of the switching thresholds, wherein a new threshold value is calculated from these amplitude values for the respective switching threshold and stored in the memory unit.
Suitably, the motion signal is measured and calculated after a defined time, in particular after at least one half period of the detected signal, using a newly calculated threshold value of the switching threshold.
It is particularly preferred that this matching of the thresholds and the new calculation is not used for the mean switching threshold, but only for some of the remaining switching thresholds, for example for switching thresholds with a positive amplitude and switching thresholds with a negative amplitude in the case of 2 switching thresholds.
Expediently, for determining the time interval D, each newly calculated value D is stored, at least for a certain time, and the filtered value of D is used by means of filtering from a defined number of the last calculated values of D for determining the switching threshold occurrence prediction instant. The filtering here comprises in particular a low-pass filtering.
In order to calculate a new threshold value for the switching threshold, a plurality or a defined number of amplitude values which were stored last at the moment of the prediction of the occurrence of the switching threshold are expediently filtered, in particular by means of low-pass filtering.
Preferably, for determining the switching threshold occurrence prediction instant on the basis of the calculated value of D or the filtered defined quantity value D, acceleration information and/or acceleration change information and/or higher-order acceleration change information is taken into account, wherein the acceleration information and/or acceleration change information and/or higher-order acceleration change information is based on the last acceleration or acceleration change directly calculated before or on a higher-order acceleration change and/or on a defined number of a plurality of last calculated and stored acceleration information or acceleration change information or higher-order acceleration change information, which is in particular filtered, particularly preferably filtered by means of low-pass filtering.
Preferably, the expression "storing a value/an information" is used to store a value or information in a memory unit or in an additional/separate memory unit for this.
Suitably, the storage of the values or information is effected by means of one or more counters in the signal processing means.
The invention further relates to a sensor arrangement comprising a sensor according to the invention and a magnetic, in particular permanent-magnet, encoder having a substantially periodic scale and/or pattern.
The invention also relates to the use of a sensor and/or a sensor arrangement according to the invention in a motor vehicle.
Drawings
Exemplary embodiments of a sensor device and a diagram of a signal profile of a sensor or a sensor device are shown in a schematic diagram.
Detailed Description
Fig. 1 illustrates an exemplary signal profile of an exemplary sensor in a special operating mode, wherein the signal processing device has 2N +1 switching thresholds, where N is 1:
the mean switching threshold 4 is known from the prior art and is widely used.
The other two switching thresholds 3 are arranged such that a plurality of event or movement information is generated in one complete cycle of the approximately sinusoidal signal or the sensor element output signal 6, wherein by correspondingly selecting the threshold values, a nominal angle is allocated equidistantly to the event or the corresponding movement information, each threshold value or each switching threshold being crossed, i.e. being respectively exceeded and undershot twice per signal cycle.
The individual target values of the switching thresholds are illustratively symmetrical with respect to a mean value, which is illustratively represented by the mean switching threshold.
The switching thresholds each have a hysteresis 5, which is formed by schmitt trigger elements in the signal processing means. The switching thresholds illustratively each have hysteresis and thus have slightly different values when crossed from above or below, or when exceeded and undershot, for noise suppression. Two different pulse sequences are generated when motion information occurs based on one of the switching thresholds being exceeded or fallen below. The motion pulse 1 together with a defined number of trailing additional data pulses is generated when the mean switching threshold 4 is exceeded or fallen below, whereas only a defined number of trailing additional data pulses are generated each when the other switching threshold 3 is exceeded or fallen below.
Each 9 additional data pulses contain or encode information in the form of a data word (here bit 5, bit 6, bit 7) which encodes the switching sequence of the switching thresholds during the traversal of the periodic signal in accordance with the detected periodic encoder mode. Bit 2 encodes information about the operating mode.
Table 1 shows the principle structure of a data packet or data word encoded by 9 additional data pulses. The data packet consists of 9 bits and additionally bit 0 gives a message about the error, bit 1 gives the status pattern, bit 3 gives the validity of the diversion, bit 4 gives the diversion and bit 8 gives the parity check. The data packets are transmitted binary.
Fig. 2 illustrates the structure of the sensor device: the encoder (20) generates an approximately sinusoidal signal 24 at the output of the magnetic field sensor element 21 by means of its periodic pattern. The magnetic field sensor element output signal is output as an input signal to a signal processing block 22 of the signal processing device, which signal processing block 22 contains 2N +1 schmitt triggers or switching thresholds, for example three, each with a hysteresis quantity, and also contains heuristic means for matching the threshold value of the switching threshold to a change in the amplitude or average value of the signal 24. At the output, 2N +1 signals 25 are present, which represent the state of the respective schmitt trigger as digital signals. These signals are conducted to the input of a second signal processing block 23 of the signal processing device, which contains a digital circuit or software solution with which, for example, error correction is carried out and the motion signal is generated as the output signal of the sensor, as shown in the lower part of fig. 1, by means of different pulses or pulse packets 1 and 2.
Fig. 3 shows an exemplary signal curve. In the upper part, there is a signal (24, solid line) with three switching thresholds (dashed lines), which are shown here in simplified form only as individual lines, corresponding to line 3 in fig. 1. In the lower part there is the output signal 25 of the schmitt trigger element (upper: upper threshold; middle: average threshold; lower: lower threshold). The horizontal axis corresponds to time t (the units of which are not further shown). It can be seen that there is a certain temporal and logical relationship between the signals 25: the signal edges must occur in a definite order and the logic levels are correlated accordingly, e.g. the up signal is "high", then the other two signals must likewise be "high". These relationships can be used for error correction. For example, signal 24 in fig. 3 contains an abnormal condition between t 3.5 and t 4. Due to the reduction in amplitude, the lower threshold is not reached. This can be due to different causes, such as temperature changes or changes in the spacing between the sensor and the encoder. The signal processing block 22 of the signal processing device has the purpose or is designed such that this is avoided as far as possible by the adaptation of the trigger or threshold value of the switching threshold of the signal processing block, but there may be occasional situations in which this cannot be successfully avoided. The representation of the signal is idealized in order to clarify the error recognition. The measured signal always has a superposition of different error types, wherein the rate of change of the error varies strongly. Between t 3.5 and t 4, two edges of the lower signal 25 are missing. The signal processing block 23 recognizes the sequence corruption of the edges as an error and can either supplement the missing edges on the output or inform it by protocol. In addition or alternatively, an error situation can be detected in the electronic control unit on the receiver side, since two data words, one pulse preceding the two data words, directly follow one another.
As an additional or alternative embodiment of the sensor and its signal processing device, the following exemplary embodiments and implementations are described:
the method for determining the new threshold value of the switching threshold (with the exception of the average switching threshold) is described in its most basic form, i.e. in a model with constant speed and without low-pass filtering, independently of the implementation:
1. the duration D between the last two averaged switching thresholds is measured. D is related to the velocity.
2. In the case of each averaged switching threshold, the desired value for the next switching threshold is reached after time D/(2N +1) and after all multiples of this time up to 2N D/(2N +1) or until the next averaged switching threshold is reached.
3. At these moments, the current measured values of the signals of the encoder scanning device are stored in order to be used as comparison values for the respective switching thresholds. Such values are stored for each switching threshold other than the average switching threshold.
4. The initial signals are generated for the upper and lower switching thresholds (and for all further switching thresholds in the case of N >1, except for the average switching threshold) by comparing the current value of the signal of the encoder scanning device with the stored value at each instant.
In another description of this example, the parameters of the index are applied. For the parameter X, where X (i) represents the last known or measured value of X, and X (i-1), X (i-2), etc., represent earlier values of X. This can be the penultimate and third-to-last values of X, in a further abstraction the spacing in the measurement sequence can however also be higher, so that each difference in index by 1 corresponds to a fixed but arbitrary spacing in the measurement sequence.
Extension to the exemplary model, including consideration of constant acceleration:
at least two measured values D (i) and D (i-1) are stored for the duration D, respectively. The difference a ═ D (i) -D (i-1) is related to acceleration. Instead of the last value of D, a value D (i) + c a raised by c a is applied in step 2-4 of the above method, where c is a fixed coefficient for scaling.
Extensions to the exemplary model, including higher order:
if a model with constant velocity is defined as first order and a model taking into account constant acceleration as second order, a model with an improvement of the first order can be defined by detecting a change in the following parameters, namely: this parameter is considered in the next lower order model, but not in the lower order. The change of this parameter is determined in the same way as the acceleration, which is a change in speed.
Expansion by low-pass filtering:
each of the possible schemes of low-pass filtering may be applied individually or in any combination. The principle is as follows: for each parameter X used in the method, instead of inputting the last determined value X (i) into the corresponding calculation step, the sequence X (i), X (i-1), X (i-2), etc. is introduced into the input of the filter, which is filtered with reference to the older values X (i-1), X (i-2), etc. compared to X (i). Particularly advantageous is the application of digital filtering. Consider for X: D. a and additionally parameters which describe the speed variation in a higher order; in addition, there are stored switching thresholds.
The method is implemented in its most basic form, i.e. as a speed-constant model, as a digital circuit without low-pass filtering:
1. during the time duration between the two average switching thresholds, there is a counter Z1, for example, this counter and all further counters use a clock generator unit. The counter starts counting up or down from zero at a frequency f.
2. Each reaching of the average switching threshold triggers copying of the content by counter Z1 into register D, setting counter Z1 to zero and restarting it.
3. At each instant, register D contains the value of the time interval between the two last averaged switching thresholds. D is related to the velocity.
4. In the case of a switching threshold which is averaged each time, a further counter Z2 is started with a counting frequency (2N +1) f — 3f, where N is 1. The counter Z2 is loaded with a start value by copying the value of register D in a manner to count three times faster and counts down or up.
5. Each time the counter Z2 reaches zero, i.e. the moment of the two averaged switching thresholds has shifted by 60 °, it reloads the value of register D as starting value and counts down until the next averaged switching threshold is reached or the process repeats 2N times (over a half period). These two events end the sequence (5) and result in continuation in (4). A counter Z3 (see below) determines the number of repetitions.
6. Each time the counter Z2 reaches zero, the current time is the desired value for reaching the next switching threshold. The current measured values of the signals of the encoder scanning device are thus stored for use as comparison values for the respective switching thresholds. This applies here to:
a.N ═ 1: it can be distinguished by the sign of the signal (in the sense of being larger or smaller than the average value) which of the two switching thresholds is. Two variants are possible here: each switching threshold can be processed independently of the other switching threshold, no symmetry being assumed in the calculation model, or the non-current switching thresholds being updated, symmetry being assumed in the calculation model by: the non-current switching threshold is set to a value that is obtained by the same distance from the average value. In this case, for example, two thresholds, "one" upper threshold "and" one "lower threshold correspond to the case where N is 1.
N > 1: additionally, the number of zero crossings of the start of the last average switching threshold counter Z2 is counted in counter Z3. The correct switching threshold can then be selected by the state of Z3 and by the sign (as above) in order to store the signal of the encoder scanning device. In this case, it is also optionally possible to jointly update the switching thresholds which are symmetrical with respect to the average switching threshold by: it is assumed that the encoder scans a symmetrical curve of the signal of the device, i.e. the respective switching thresholds above and below the average switching threshold are always the same distance away from the average switching threshold.
7. Generating initial signals for the upper and lower switching thresholds (and in the case of N >1 all further switching thresholds except the averaged switching threshold) by: the current value of the signal of the encoder scanning device is compared at each instant with the value stored in (6), thereby representing, for example: 2N +1 digital signals are generated which enter the sequence for "time observation" of the two thresholds.
The counting frequency f is neither necessarily known nor stable over time, since it is used only to form a fraction of the duration between two average switching thresholds. Therefore, a high-quality oscillator is not required for this frequency, and in particular an oscillator that can be integrated on an ASIC (application specific integrated circuit) without external components can be applied. Quartz or ceramic resonators are not required here.
Claims (18)
1. A sensor for detecting relative movement between an encoder and at least one sensor element, the encoder having a substantially periodic scale and/or pattern, wherein the sensor has at least one sensor element and signal processing means, wherein the signal processing means is configured such that the signal processing means provides a movement signal as a function of a sensor element output signal of the sensor element,
it is characterized in that the preparation method is characterized in that,
the signal processing device is designed such that the signal processing device has two or more switching thresholds with respect to the output signal of the at least one sensor element, wherein the movement information is generated substantially when the output signal of the sensor element exceeds or falls below the switching threshold, respectively, and is taken into account when generating the movement signal.
2. Sensor according to claim 1, characterized in that the signal processing device has three or more switching thresholds, in particular 2N +1 switching thresholds, with N being a natural number, in particular N is selected to be 1, with respect to at least one sensor element output signal, wherein one of the switching thresholds is designed as an average switching threshold, so that its threshold value is substantially equal to the average value of the amplitudes of the sensor element output signals.
3. Sensor according to at least one of the preceding claims, characterized in that each switching threshold comprises hysteresis.
4. Sensor according to at least one of the preceding claims, characterized in that each switching threshold has a first subswitch threshold and a second subswitch threshold for forming a hysteresis, wherein the first subswitch threshold is triggered by an overshoot and the second subswitch threshold is triggered by an undershoot, and/or each switching threshold is formed by means of a schmitt trigger element or the signal processing means are configured such that the signal processing means comprise a hysteresis for each switching threshold, which hysteresis behaves substantially like a schmitt trigger element.
5. Sensor according to at least one of the preceding claims, characterized in that the at least one sensor element is constructed as a magnetic field sensor element, in particular as an AMR sensor element or a hall sensor element or a GMR sensor element or a TMR sensor element.
6. Sensor according to at least one of the preceding claims, characterized in that the at least one sensor element comprises a bridge circuit with two half bridges or the sensor has two sensor elements, wherein the half bridges or the two sensor elements each provide a sensor element output signal which is provided to a signal processing device, which is designed such that, when the respective sensor element output signal of one of the half bridges or one of the two sensor elements exceeds and falls below the respective switching threshold, respectively, movement information is generated which is taken into account when generating the movement signal.
7. Sensor according to at least one of the preceding claims, characterized in that the signal processing device is designed such that it independently performs a threshold value adaptation of the switching threshold, in particular in this case not of the average switching threshold, wherein the adaptation takes place as a function of the time profile of the output signal of the at least one sensor element.
8. Sensor according to at least one of the preceding claims, characterized in that a defined number of amplitude values, in particular minimum values and/or maximum values, in particular in this case minimum values and/or maximum values, of the at least one sensor element output signal, in particular following one another at defined time intervals, are stored in a memory unit of the signal processing device, and the threshold value of at least one of the switching thresholds is subsequently adapted as a function of this stored amplitude value.
9. Sensor according to at least one of the preceding claims, characterized in that the mean switch threshold is matched to the arithmetic mean of the respective values of the stored amplitude values, wherein in particular one or more of the stored amplitude values are discarded before the arithmetic mean is formed and/or equal minimums and maximums of the values of the stored amplitude values are taken into account when forming the arithmetic mean and/or the stored amplitude values or each of their values and/or the arithmetic mean are multiplied by a defined factor before or after the arithmetic mean is formed.
10. Sensor according to at least one of the preceding claims, characterized in that a signal shape model or a function model of the signal type to be detected in general, for example a sinusoidal function, is stored or saved in the signal processing device, the implementation of the parameter determination of the function model being effected by means of parameter extraction, which is saved, for example, in the form of a numerical algorithm.
11. Sensor according to at least one of the preceding claims, characterized in that the signal processing device is designed such that it does not store and/or store any function or signal shape model, but detects and/or calculates a last zero crossing interval time, which is obtained from a time interval D in which movement information occurs on the basis of the last detected and last-to-last detected exceedance and/or undershoot of the mean switching threshold, from which a switching threshold occurrence prediction time is determined for each switching threshold, in particular for the case of 2N +1 switching thresholds and N ═ 1, which is located at D/3 and 2D/3 after the respective exceedance and/or undershoot of the mean switching threshold, and subsequently successively at these switching threshold occurrence prediction times a storage unit or a storage unit added thereto is used for each of the switching thresholds The bins store amplitude values, wherein new threshold values are calculated from these amplitude values for the respective switching thresholds and stored in the memory cells.
12. Sensor according to at least one of the preceding claims, characterized in that for determining the switching threshold occurrence prediction instant on the basis of the calculated value of D or a filtered defined number of values D, acceleration information and/or acceleration change information and/or higher-order acceleration change information is taken into account, wherein the acceleration information and/or acceleration change information and/or higher-order acceleration change information is based on the last acceleration or acceleration change directly calculated before or a higher-order acceleration change and/or on a defined number of a last calculated and stored acceleration information or acceleration change information or higher-order acceleration change information, which is in particular filtered, in particular preferably by means of low-pass filtering.
13. Sensor according to at least one of the preceding claims, characterized in that the signal processing device is configured such that the signal processing device has an offset compensation with respect to the sensor element and/or a signal path within the signal processing device.
14. Sensor according to at least one of the preceding claims, characterized in that motion pulses of a defined length and/or additional data pulse sequences or additional data pulses of a defined length, respectively, are generated in the motion signal on the basis of the occurrence of motion information.
15. Sensor according to at least one of the preceding claims, characterized in that the signal processing device is configured such that it has a mode switching unit which, as a function of the movement speed and/or rotational speed detected by the sensor over a defined speed value, places or retains the signal processing device in a normal operating mode, wherein the signal processing device is configured such that it provides a movement signal in the normal operating mode, which movement signal generates a movement pulse with a defined first amplitude and a defined duration only above and below a mean value switching threshold, respectively, which movement pulse is followed or followed by a defined number of additional data pulses with a defined second amplitude and a defined duration, wherein in particular nine additional data pulses follow or follow the movement pulse, wherein each additional data pulse encodes further additional data information provided by the sensor.
16. Sensor according to at least one of the preceding claims, characterized in that the signal processing device is configured such that it has a mode switching unit which, as a function of the movement speed and/or rotational speed detected by the sensor below a defined speed value, places or retains the signal processing device in a special operating mode, wherein the signal processing device is configured such that it provides a movement signal in the special operating mode, which movement signal/in which movement pulses each with a defined first amplitude and a defined duration are generated only above and below a mean value switching threshold, which movement pulses are followed or followed by a defined number of additional data pulses with a defined second amplitude and a defined duration, wherein, in particular nine additional data pulses follow or follow the movement pulse, wherein each additional data pulse encodes a further additional data information provided by the sensor, and the signal processing device is designed such that, in a particular operating mode, it generates only a defined number of additional data pulses each having a defined second amplitude and a defined duration above and below a further switching threshold, i.e. a non-average switching threshold, wherein in particular nine additional data pulses are generated, wherein each additional data pulse encodes a further additional data information provided by the sensor.
17. Sensor according to at least one of the preceding claims, characterized in that the sensor is configured as a speed sensor and/or as a rotational speed sensor, in particular as a crankshaft rotational speed sensor or as a wheel rotational speed sensor or as a transmission rotational speed sensor or as a turbocharger rotational speed sensor.
18. Sensor device comprising a sensor according to one of the preceding claims and a magnetic, in particular permanent-magnetic, encoder with a substantially periodic scale and/or pattern.
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| DE102017011938 | 2017-12-22 | ||
| DE102017011938.4 | 2017-12-22 | ||
| PCT/EP2018/086706 WO2019122384A2 (en) | 2017-12-22 | 2018-12-21 | Rotational speed sensor with enhanced resolution and multiple switching thresholds |
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| CN111492249A true CN111492249A (en) | 2020-08-04 |
| CN111492249B CN111492249B (en) | 2022-06-17 |
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| CN115023617A (en) | 2020-01-29 | 2022-09-06 | 大陆汽车科技有限公司 | High resolution PWM wheel speed sensor protocol |
| DE102021124190A1 (en) | 2021-09-20 | 2023-03-23 | Zf Active Safety Gmbh | Method and device for operating a speed sensor, speed sensor arrangement and vehicle dynamics control system and method for data transmission |
| DE102021211337A1 (en) | 2021-10-07 | 2023-04-13 | Continental Automotive Technologies GmbH | Method for offset compensation of sensor signals, offset compensation device and sensor device |
| DE102022101930A1 (en) | 2022-01-27 | 2023-07-27 | Knorr-Bremse Systeme für Nutzfahrzeuge GmbH | Control circuit for an active speed sensor |
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| Publication number | Publication date |
|---|---|
| DE102018222791B4 (en) | 2024-02-01 |
| WO2019122384A2 (en) | 2019-06-27 |
| DE102018222791A1 (en) | 2019-06-27 |
| CN111492249B (en) | 2022-06-17 |
| WO2019122384A3 (en) | 2019-08-15 |
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