CN113776416A - Magnetic field interference resistant non-contact pedal position detection device - Google Patents
Magnetic field interference resistant non-contact pedal position detection device Download PDFInfo
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Abstract
The invention relates to a device for measuring the position of a pedal in a non-contact way. The device comprises a movable magnetic field source, wherein the movable magnetic field source is connected with the pedal, a static magnetic field source and a displacement sensor are arranged on one side of the movable magnetic field source, the movable magnetic field source is movable relative to the displacement sensor, the static magnetic field source is not movable relative to the displacement sensor, and the displacement sensor is provided with at least two groups of Hall units. The invention provides the non-contact pedal position detection device with magnetic field interference resistance, which has the advantages of simple structure, low cost, small volume, high precision and no need of an auxiliary processing unit or auxiliary measures; the technical problems that a non-contact detection device in the prior art is complex in structure, high in cost, large in magnet length, insufficient in precision and easy to be influenced by magnetic field interference are solved.
Description
Technical Field
The invention relates to a device for measuring the position of a pedal in a non-contact way, which has the function of resisting the interference of an external magnetic field, in particular to an accelerator pedal, a brake pedal and a clutch pedal on a vehicle.
Background
In the automotive field, position information of various actuators such as pedals needs to be detected and used to control the travel of a vehicle. The non-contact detection method provides the advantage of wear prevention, while the magnetic method is very insensitive to dirt and damage and well meets the requirements of automobiles, so that the method has wide application in the non-contact detection means of vehicles.
Due to the rise of new energy vehicles, more complex electromagnetic environments of the vehicles are brought, and the original magnetic field interference experimental standard is improved to 4000A/m from the original 1000A/m by each large vehicle enterprise, which means that the magnetic displacement sensor faces more severe magnetic field interference requirements.
Some sensor suppliers develop differential two-dimensional or three-dimensional hall sensors, which use multiple groups of nearby hall elements to calculate the difference of magnetic field components, and then calculate the position by using the ratio of the difference values. Two groups of adjacent Hall units respectively detect two magnetic field components to obtain Bx1, Bz1, Bx2 and Bz 2. The difference is obtained by Bx1-Bx2 ═ Δ Bx and Bz1-Bz2 ═ Δ Bz. The position is then calculated from α ═ arctan (Δ Bz/Δ Bx). Although the difference method solves the problem of magnetic field interference, it also brings a new problem, that is, after the original magnetic field is calculated by using the difference, the obtained magnetic field angle is greatly different from the result before the difference, so most of the conventional magnetic field source designs cannot meet the use requirements.
FIG. 2 shows the output signal requirement corresponding to the linear movement of the pedal, the first half section is a linear region, the signal and the pedal position are in a linear corresponding relationship, and the pedal position is mostly in the linear region; the second half is the saturation region, and the signal remains fixed and is no longer linearly related to the pedal position, and the pedal will rarely move into this region. According to the common sense of design of the magnetic field source, the length of the magnet is directly related to the stroke of the test, the longer the stroke, the longer the magnet. Typically the magnet length is close to the stroke. However, in the prior art, the length of the magnet close to the linear region is used as a moving magnetic field source, but the calculated magnetic field angle of the first half section is consistent with the output signal, but the magnetic field angle of the second half section jumps due to the shorter magnet, so that the saturated output of the second half section cannot be realized. As shown in fig. 3 and 4.
Both the published european patent specification EP 2820384B 1 and the german patent specification DE 102019112572 a1 use a combination of magnetic field strengths to solve the problem in the second half. When the magnetic field intensity is in the linear area and is greater than the set value, a signal related to the magnetic field angle is output, and when the magnetic field intensity is in the saturation area and is less than the set value, a preset fixed value is output.
Although the problem of the second half section can be solved by combining the magnetic field intensity, the displacement sensor is required to collect the original magnetic field component, then the corresponding magnetic field angle and the magnetic field intensity are calculated, and the final result is obtained through logic judgment. Since the general two-dimensional or three-dimensional hall chips on the market do not have such functions, a micro-processing unit needs to be additionally added or a special chip needs to be customized, so that the cost is increased.
Disclosure of Invention
The invention provides the non-contact pedal position detection device with magnetic field interference resistance, which has the advantages of simple structure, low cost, small volume, high precision and no need of an auxiliary processing unit or auxiliary measures; the technical problems that a non-contact detection device in the prior art is complex in structure, high in cost, large in magnet length, insufficient in precision and easy to be influenced by magnetic field interference are solved.
The technical problem of the invention is solved by the following technical scheme: the device comprises a movable magnetic field source, wherein the movable magnetic field source is connected with the pedal, a static magnetic field source and a displacement sensor are arranged on one side of the movable magnetic field source, the movable magnetic field source is movable relative to the displacement sensor, the static magnetic field source is not movable relative to the displacement sensor, and the displacement sensor is provided with at least two groups of Hall units.
After the magnetic field components generated by the moving magnetic field source and the static magnetic field source are superposed, the obtained magnetic field components are shown in fig. 5 through differential calculation of the displacement sensor, and then the corresponding magnetic field angle is calculated according to a formula alpha, arctan (delta Bz/delta Bx), as shown in fig. 6. In the first half section, the magnetic field angle and the displacement always have a one-to-one correspondence relationship, and a linear output signal can be obtained through the linear calibration function of a common chip on the market; in the second half, the magnetic field angle is always higher than the clamp angle and lower than 360 °, and the signal can be kept at a fixed clamp output value by the clamp setting function of the general chip, as shown in fig. 7.
Preferably, said source of moving magnetic field comprises at least one permanent magnet.
Preferably, said static magnetic field source comprises at least one permanent magnet.
Preferably, the stationary magnetic field source and the moving magnetic field source are made of the same magnet material. The invention uses the static magnetic field source designed by the magnet with the same material as the moving magnetic field source to adjust the magnetic field component, thereby having the same temperature coefficient and keeping the increase and decrease of the same proportion of the magnetic field intensity change caused by the temperature change. As explained earlier, the magnetic field angle is calculated as the ratio of the two magnetic field components, and therefore the magnetic field angle remains substantially constant under temperature changes, and is much more accurate than the method using the magnetic field strength.
Preferably, the static magnetic field source is a cylindrical magnet, the axial direction of the static magnetic field source is parallel to the displacement direction of the moving magnetic field source, the static magnetic field source is magnetized along the axial direction, the sensor is located in the axial direction of the static magnetic field source, and the hall units in the sensor are arranged along the axial direction.
Preferably, the distance between the static magnetic field source and the closer hall element in the displacement sensor is x, the distance between the static magnetic field source and the farther hall element is x + Δ x, where Δ x is the distance between two groups of hall elements, the differential signal generated by the magnetic field of the static magnetic field source is Δ Bxj, Δ Bxj ═ Bx (x) -Bx (x + Δ x), and
where Br is the remanence of the magnet of the static magnetic field source, determined by the magnet material, L is the length of the magnet, R is the radius of the magnet, where Δ Bxj is determined by a simulation curve based on the magnetic field strength and the magnetic field angle α.
A small magnet is fixed near a chip, a certain magnetic field difference is generated between two groups of Hall units by selecting proper distance and size, an original magnetic field is changed, so that the magnetic field component (delta Bx) after difference is changed, a new magnetic field angle is obtained, and final output can be obtained through chip calibration.
The magnet size of the static magnetic field source can obtain the optimal size value through a simulation curve according to the above calculation formula, so that the cost is reduced, and the precision is ensured.
Preferably, the displacement sensor comprises two groups of Hall units, magnetic field components in the displacement direction obtained by the Hall units are Bx1 and Bx2, magnetic field components in the distance direction Bz1 and Bz2, and the difference is obtained by obtaining Bx1-Bx 2-delta Bx and Bz1-Bz 2-delta Bz; the differential signal generated by the magnetic field of the stationary magnetic field source is Δ Bxj, and the final magnetic field angle can be obtained by α ═ arctan (Δ Bz/(Δ Bx + Δ Bxj)), from which the output signal of the sensor is obtained. The invention always uses the magnetic field angle to obtain the final output signal, can be realized by using the two-dimensional or three-dimensional Hall chip commonly used in the market, does not need an additional processing circuit and has much lower cost.
Before determining the design of the static magnetic field source, the effect to be achieved by the magnetic field of the static magnetic field source is firstly determined. To minimize the design complexity, it is preferred to adjust Δ Bx only, without changing Δ Bz, i.e. the direction of the magnetic field of the static magnetic field source is parallel to the displacement direction. From the simulated image, the range of Δ Bxj is roughly determined. Then according to the calculation formula of the magnetic field intensity, the corresponding distribution of the magnetic field intensity is obtained, according to the simulation curve, when the magnetic field intensity in the area is ensured to be above 10mT, the range of delta Bxj is further determined, and finally, according to the upper margin and the lower margin of the magnetic field angle alpha, the optimal delta Bxj value is selected.
After the value delta Bxj is determined, the optimal distance between the static magnetic field source and the Hall unit is selected according to the magnetic field component of the Hall unit in the chip, so that the size of the magnet of the optimal static magnetic field source is finally determined, the minimum size and high precision are ensured, and the obtained magnetic field output is ensured to achieve an ideal effect.
Therefore, the non-contact pedal position detection device resisting magnetic field interference of the invention has the following advantages: simple structure increases a static magnetic field source, lets output curve's latter half satisfies the requirement, and is with low costs, small, and the precision is high, satisfies the installation user demand.
Drawings
FIG. 1 is a schematic view of a non-contact pedal position sensing device that is resistant to magnetic field disturbances;
FIG. 2 illustrates pedal position versus output signal;
FIG. 3 shows the result of the difference between the two directional magnetic field components generated by a moving magnetic field source;
FIG. 4 shows the magnetic field angle calculated by the displacement sensor from the magnetic field component of the moving magnetic field source;
FIG. 5 shows the difference result of the superimposed magnetic field components in two directions generated by a moving magnetic field source and a stationary magnetic field source;
FIG. 6 shows the magnetic field angle calculated by the displacement sensor from the superimposed magnetic field components generated by the moving magnetic field source and the stationary magnetic field source;
FIG. 7 shows the correspondence of the output signals according to the magnetic field angle;
FIG. 8 shows a plot of the adjusted field angle for different adjustment values Δ Bxj;
fig. 9 shows a graph of the adjusted magnetic field strength for different adjustment values Δ Bxj;
fig. 10 shows the correspondence between the magnet length L and the magnet radius R and the magnet volume V satisfying the conditions.
Detailed Description
The technical scheme of the invention is further specifically described by the following embodiments and the accompanying drawings.
Example (b):
as shown in FIG. 1, a non-contact pedal position detecting device resisting magnetic field interference, a movable magnetic field source 3 is connected with a detected mechanism such as a pedal 2 through a connecting device such as a push rod or a spring, and can linearly move along a direction 9 along with the pedal 2. The position sensor 5 is mounted in a fixed position, at a distance from the source 3, to sense the magnetic field 6 generated by the source 3.
The displacement sensor 5 adopts a differential mode, and two groups of adjacent Hall units in the sensor chip respectively detect the magnetic field 6 generated by the movable magnetic field source to obtain magnetic field components Bx1 and Bx2 in the displacement direction and magnetic field components Bz1 and Bz2 in the distance direction. The difference is obtained by Bx1-Bx2 ═ Δ Bx and Bz1-Bz2 ═ Δ Bz. The position is then calculated from α ═ arctan (Δ Bz/Δ Bx).
Combining the output signal curve shown in fig. 2, selecting the length of the moving magnetic field source 3 slightly longer than the first half linear region according to the first half linear region, and calculating the difference of the magnetic field 6 through the displacement sensor 5 to obtain the magnetic field component of fig. 3 and the magnetic field angle of fig. 4.
The magnetic field angle diagrams of fig. 3 and 4 cannot meet the existing requirements, linear output can be realized through chip calibration in the first half section, and normal saturated output cannot be guaranteed due to jumping of the magnetic field angle in the second half section.
Therefore, in order to obtain the final desired magnetic field component as shown in fig. 5 and the magnetic field angle as shown in fig. 6, a small-sized stationary magnetic field source 4 is placed to generate a magnetic field 7 which is superimposed on the original magnetic field 6 to change the original magnetic field to obtain the final effect.
Before determining the design of the static magnetic field source 4, it is first determined what effect the magnetic field 7 generated by the static magnetic field source 4 is required to achieve. In order to minimize the complexity of the design, it is preferred to adjust Δ Bx only, without changing Δ Bz, i.e. the direction of the magnetic field 7 is parallel to the direction of displacement 9 of the pedal 2. Assuming that the differential signal generated by the magnetic field 7 is Δ Bxj, the final magnetic field angle α is arctan (Δ Bz/(Δ Bx + Δ Bxj)).
From the above formula, with Δ Bxj as a reference variable, a distribution of the corresponding magnetic field angle α is obtained, as shown in fig. 8. From the graph, the range of Δ Bxj can be roughly determined, and when Δ Bxj is negative, the magnetic field angle α is more and more deviated from the target curve, and when Δ Bxj is greater than 1mT, the magnetic field angle α is more and more close to the target curve, so it can be confirmed that the range of Δ Bxj needs to be selected to be 1mT or more.
As already mentioned, two-dimensional or three-dimensional hall sensors use the ratio of two magnetic field components to calculate the magnetic field angle, and the change in magnetic field strength due to temperature changes is proportional and can be cancelled out. The invention also does not require the use of magnetic field strength as a factor in the calculation. However, when the chip used by the sensor collects two magnetic field components, due to the inherent property of the integrated circuit, noise is introduced into the sampling channel, and the sampled offset value is also affected by temperature, so that the stronger the magnetic field intensity, the smaller the error brought by the sensor chip. Usually, the magnetic field intensity recommended by the chip is 10mT, and the noise and temperature drift performance is better.
The strength of the magnetic field is therefore still significant. From the calculation formula of the magnetic field strength | B | ═ SQRT { (Δ Bx + Δ Bxj)2+ Δ Bz2}, a distribution of the corresponding magnetic field strength | B | is obtained with Δ Bxj as a reference variable, as shown in fig. 9. Since there is a precision requirement only for the linear region of the first half, only the magnetic field strength of this region is considered. From the results shown in the figure, it is ensured that the magnetic field strength in the region is always 10mT or more only when Δ Bxj is between 2mT and 4 mT.
As already mentioned, in the second half of fig. 6, the magnetic field angle α is always higher than the clamping angle and lower than 360 °. In order to ensure that the magnetic field angle α always maintains such a characteristic even when the angle changes due to various factors, it is necessary to have sufficient margins for both the distance of the magnetic field angle α from 360 ° (upper margin) and the clamping angle (lower margin).
The upper and lower margins of the magnetic field angle α for Δ Bxj between 2mT and 4mT are calculated, again using Δ Bxj as a reference variable, to select the optimum value of Δ Bxj.
After the desired adjustment value is obtained, the design of the stationary magnetic field source 4 can be started so that it can generate the desired magnetic field 7.
As already mentioned, the direction of the magnetic field 7 is parallel to the displacement direction, so the stationary magnetic field source 4 can be designed as a cylindrical magnet, the axial direction is parallel to the displacement direction, and the magnet is magnetized in the axial direction, i.e. the magnetic field 7 parallel to the displacement direction can be generated.
Two groups of Hall units adjacent to each other in the sensor chip are also arranged along the axial direction of the static magnetic field source 4, one is slightly close to the other, the other is slightly far away from the other, magnetic fields with different sizes are sensed, and the required delta Bxj can be obtained through differential calculation.
The magnetic field at a distance x from the surface of the stationary magnetic field source 4 can be obtained by the following formula, where Br is the remanence of the magnet, determined by the magnet material. L is the length of the magnet and R is the radius of the magnet.
The distance between the Hall unit which is closer to the magnet in the sensor chip is defined as x, and the distance between the Hall unit which is farther from the sensor chip is defined as x + delta x, wherein delta x is the distance between two groups of Hall units, and the distance is a fixed value for chips produced by the same manufacturer.
Therefore, the final Δ Bxj ═ Bx (x) -Bx (x + Δ x), Br and Δ x are fixed values, and L, R, and x are variables, i.e., the thickness of the magnet chosen for the static magnetic field source 4, the radius, and its distance from the sensor chip, all affect the final Δ Bxj.
Since there are 3 variables that affect the final result, there are many combinations. From the above equation, for a given fixed magnet dimension L, R, the distance x is the smallest and the magnetic field bx (x) is the larger. The smaller the distance x, the smaller the required magnet size and the lower the cost of the corresponding magnet for the desired magnetic field that has been determined.
Based on the above considerations, the static magnetic field source 4 should be as close to the sensor chip as possible in design to realize the function with the minimum magnet cost, and certainly, due to structural influences such as the position of the sensor chip, the size of the circuit board, the installation mode of the magnet and the like, the static magnetic field source 4 cannot be infinitely close to the chip, and only a reasonable minimum distance x can be comprehensively considered and selected.
When x is determined, only two variables of L and R are left, and the corresponding relation curve of L and R can be obtained by solving the equation. Assuming that the distance x is determined to be 5mm, a plot of L versus R can be calculated and a corresponding plot of magnet volume V can be obtained, as shown in fig. 10.
The combination of L and R shown in the figures is satisfactory, and in the case of the combination of L0.8 mm and R1.5 mm, the volume of the magnet is the smallest, i.e. the cost is the most optimal, and thus the most optimal combination.
Based on the above analysis and calculations, the magnet sizing and placement of the static magnetic field source 4 can ultimately be confirmed to achieve the final objective.
As described in the example, although the magnet having a length of about 40mm is usually used in combination with the original displacement measurement of more than 40mm, the present invention only needs to use a magnet having a length of less than 30mm and a small magnet having a length of 0.8mm and a radius of 1.5mm, thereby saving the length and cost of the magnet by more than 30%, and having important practical significance for miniaturization and cost reduction of the detection device.
Claims (7)
1. A non-contact pedal position detection device resistant to magnetic field interference is characterized in that: the device comprises a movable magnetic field source, wherein the movable magnetic field source is connected with a pedal, a static magnetic field source and a displacement sensor are arranged on one side of the movable magnetic field source, the movable magnetic field source is movable relative to the displacement sensor, the static magnetic field source is not movable relative to the displacement sensor, and the displacement sensor is provided with at least two groups of Hall units.
2. The magnetic field disturbance resistant non-contact pedal position detection device according to claim 1, wherein: the moving magnetic field source comprises at least one permanent magnet.
3. The magnetic field disturbance resistant non-contact pedal position detection device according to claim 1, wherein: the static magnetic field source comprises at least one permanent magnet.
4. The magnetic field disturbance resistant non-contact pedal position detection device according to claim 1, wherein: the static magnetic field source and the moving magnetic field source are made of the same magnet material.
5. The magnetic field disturbance resistant non-contact pedal position detection device according to claim 1, wherein: the static magnetic field source is a cylindrical magnet, the axial direction of the static magnetic field source is parallel to the displacement direction of the movable magnetic field source, the static magnetic field source is magnetized along the axial direction, the sensor is positioned on the axial direction of the static magnetic field source, and the Hall units in the sensor are arranged along the axial direction.
6. The apparatus for detecting the position of a non-contact pedal, which is resistant to magnetic field interference, according to any one of claims 1 to 5, wherein: the distance between the static magnetic field source and the closer Hall unit in the displacement sensor is x, the distance between the static magnetic field source and the farther Hall unit is x + delta x, wherein delta x is the distance between the two groups of Hall units, the differential signal generated by the magnetic field of the static magnetic field source is delta Bxj, delta Bxj is Bx (x) -Bx (x + delta x), and
where Br is the remanence of the magnet of the static magnetic field source, determined by the magnet material, L is the length of the magnet, R is the radius of the magnet, where Δ Bxj is determined by a simulation curve based on the magnetic field strength and the magnetic field angle α.
7. The apparatus for detecting the position of a non-contact pedal, which is resistant to magnetic field interference, according to any one of claims 1 to 5, wherein: the displacement sensor is provided with two groups of Hall units, magnetic field components in the displacement direction obtained by the Hall units are Bx1 and Bx2, magnetic field components Bz1 and Bz2 in the distance direction, and the difference is obtained by obtaining Bx1-Bx 2-delta Bx and Bz1-Bz 2-delta Bz; the differential signal generated by the magnetic field of the stationary magnetic field source is Δ Bxj, and the final magnetic field angle can be obtained by α ═ arctan (Δ Bz/(Δ Bx + Δ Bxj)), from which the output signal of the sensor is obtained.
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