CN116529563A

CN116529563A - Dual-channel differential sensor

Info

Publication number: CN116529563A
Application number: CN202180080575.7A
Authority: CN
Inventors: 拉斐尔·吉奥尔巴斯; 马利乌斯·格洛格; 戴维·维茨
Original assignee: Kyocera Avx Components Weirney Co ltd
Current assignee: Kyocera Avx Components Weirney Co ltd
Priority date: 2020-11-30
Filing date: 2021-09-29
Publication date: 2023-08-01
Also published as: WO2022112873A1

Abstract

A dual channel differential may include: a first channel configured to generate a first component signal; and a second channel independent of the first channel, the second channel configured to generate a second component signal. The sensor may include a sensing circuit configured to: acquiring a first component signal and a second component signal, wherein the first component signal has a first polarity and the second component signal has a second polarity, and the second polarity is opposite to the first polarity; determining a first cross-channel differential signal based at least in part on the first component signal and the second component signal; and providing the first cross-channel differential signal as a first output of the dual-channel differential sensor.

Description

Dual-channel differential sensor

Priority claim

The present application claims priority from U.S. provisional application No. 63/119,169, entitled "Dual Channel Differential Sensor (dual channel differential sensor)" having a filing date of 11/30 of 2020, which is incorporated herein by reference.

Technical Field

The present disclosure relates generally to dual channel differential sensors, such as sensors that produce dual channel sinusoidal outputs.

Background

The dual channel differential sensor may generate an output in response to a sense input. For example, the output may be a differential sinusoidal signal. For example, an external stimulus or other condition to be sensed (e.g., an electromagnetic field) may produce a sinusoidal output on two separate channels of the differential sensor. The sensor may interact with the target and a change caused by the target may be measured at the sensor.

Disclosure of Invention

Aspects and advantages of embodiments of the disclosure will be set forth in part in the description which follows, or may be learned by practice of the embodiments.

One example aspect of the present disclosure is directed to a dual channel differential sensor. The dual-channel differential sensor may include a first channel configured to generate a first component signal. The dual channel differential sensor may include a second channel independent of the first channel, the second channel configured to generate a second component signal. The dual channel differential sensor may include a sensing circuit. The sensing circuit may be configured to: a first component signal and a second component signal are acquired, the first component signal having a first polarity and the second component signal having a second polarity, the second polarity being opposite to the first polarity. The sensing circuit may be configured to determine a first cross-channel differential signal based at least in part on the first component signal and the second component signal. The sensing circuit may be configured to provide the first cross-channel differential signal as a first output of the dual-channel differential sensor.

Another example aspect of the present disclosure is directed to a method for operating a dual channel differential sensor. The method may include: a first component signal from a first channel of a dual-channel differential sensor is acquired, and a second component signal from a second channel of the dual-channel differential sensor is acquired, the first component signal having a first polarity and the second component signal having a second polarity, the second polarity being opposite the first polarity. The method may include: the first cross-channel differential signal is determined based at least in part on the first component signal and the second component signal. The method may include: the first cross-channel differential signal is provided as an output of the dual-channel differential sensor.

These and other features, aspects, and advantages of the various embodiments will become better understood with reference to the following description and appended claims. The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description, serve to explain the principles of interest.

Drawings

For those of ordinary skill in the art, a detailed discussion of the embodiments is presented herein with reference to the drawings wherein:

FIG. 1A depicts a block diagram of at least a portion of an example dual channel differential sensor, according to an example embodiment of the present disclosure;

FIG. 1B depicts a block diagram of at least a portion of an example dual channel differential sensor, according to an example embodiment of the present disclosure;

FIG. 2 depicts a graph of example component signals from example channels forming example differential signals, according to an example embodiment of the present disclosure;

FIG. 3 depicts an example sensor coil according to an example embodiment of the present disclosure;

FIG. 4 depicts a flowchart of an example method for operating a dual channel differential sensor, according to an example embodiment of the present disclosure; and

fig. 5 depicts a flowchart of an example method for operating a dual channel differential sensor, according to an example embodiment of the present disclosure.

Detailed Description

Reference will now be made in detail to embodiments, one or more examples of which are illustrated in the drawings. Each example is provided by way of explanation of these embodiments, and not limitation of the disclosure. Indeed, it will be apparent to those skilled in the art that various modifications and variations can be made to these embodiments without departing from the scope of the disclosure. For example, features illustrated or described as part of one embodiment can be used with another embodiment to yield still a further embodiment. Accordingly, aspects of the present disclosure are intended to cover such modifications and variations.

Example aspects of the present disclosure are directed to dual channel differential sensors, such as sensors that generate dual channel differential signals (e.g., sinusoidal outputs). As an example, the sensor may be or include an inductive sensor, such as an inductive position sensor (e.g., a rotational position sensor), an inductive motor sensor, an inductive gearbox sensor, a magnetic encoder and/or control system (e.g., an electric brake booster, an electric brake system, a steering system, a torque control system), and/or any other suitable sensor configured to generate a differential signal. For example, the sensor may generate a differential signal in response to an appropriate stimulus, characteristic, phenomenon, and/or other object for which the sensor is configured to measure. As one example, the sensor may be configured to measure the position and/or movement of the target (e.g., rotational movement of the target) by electromagnetically sensing the interaction of the target with the sensor.

As used herein, a "differential signal" includes at least one pair of related component signals. These component signals may be combined (e.g., additively combined and/or subtractively combined with respect to polarity) to produce a differential signal. These component signals may be electrical signals, such as analog signals and/or digital signals. For example, the component signals may be or may include electrical signals, such as voltage signals, current signals, and the like. As one example, the component signals may be measured and/or sampled from a coil (e.g., a sinusoidal coil).

The dual channel differential sensor may include two (or more) independent channels that communicate redundant, correlated, and/or identical information. In general, while a sensor may operate at least in part with information from only one channel (e.g., a single channel may collect all of the information required for an intended measurement of the sensor), including two or more channels to communicate related, redundant information and/or other corroborative information may provide many improvements in sensor functionality, such as increased reliability and/or robustness. For example, information from the first channel may be cross-checked against information from the second channel to verify the desired operation of the sensor. As another example, including two or more channels may improve the security of the sensor and/or the system operating based on the sensor measurements. For example, inconsistencies between multiple channels may indicate fault conditions and/or other undesirable operations (e.g., miscalibration) in a larger system (e.g., motor). For example, inconsistencies between multiple channels (e.g., greater than a certain tolerance) may be used to trigger alarms, troubleshooting actions, braking actions, shutdown, etc., and may be provided to a technician or other individual for troubleshooting and/or repair, and/or may be provided in other suitable manners to ensure safe and reliable operation of the system.

Additionally and/or alternatively, the differential signal may provide improved noise margin of the sensor. For example, the sensor and/or a system employing the sensor may include components that are sensitive to electromagnetic interference during operation of the sensor, and/or to other forms of noise present in the environment, such as a length of wire. As one example, some sensors may be susceptible to common mode noise. The differential signal may be advantageous to mitigate the effects of common mode noise.

However, including differential signals and/or two or more channels may increase the wiring required to transmit the output from the sensor. For example, two or more signal lines may be required for each differential signal to carry an output. If each channel produces two differential signals (e.g., sine and cosine), four signal lines may be required per channel. Thus, a dual channel differential sensor may require eight or more signal lines to communicate all of the information from these signals as follows: the eight or more signal lines are coupled to and/or otherwise contained within the sensor. Such increased wiring may result in increased manufacturing costs, operating costs, and/or maintenance costs, reduced reliability (e.g., greater risk of line breaks, loose connections, etc.), increased susceptibility to electromagnetic interference, noise, crosstalk, etc., and/or other drawbacks. Accordingly, it may be desirable to reduce the number of signal lines required to communicate information from a dual-channel differential sensor while maintaining most or all of the benefits associated with a dual-channel differential sensor, such as increased safety, reliability, and/or noise margin, particularly in safety critical applications (e.g., vehicle control).

One solution to this problem is to use only a single-ended output that includes one component signal, e.g., only a sine + signal and/or a cosine + signal, from each channel of each pair of component signals having a common polarity. This approach can reduce the total number of signal lines because it requires only four signal lines as follows: the four signal lines include sine+ and cosine+ from each channel. However, this approach effectively eliminates the differential nature of the signal. Thus, this method may be susceptible to electrical noise such as common mode noise.

According to example aspects of the present disclosure, a dual-channel differential sensor may be configured to reduce wiring while maintaining advantages of the dual-channel differential sensor, including safety, reliability, and noise margin. According to example aspects of the present disclosure, the dual channel differential sensor may be any one or more of the following: inductive sensors, inductive motor sensors, inductive transmission sensors, inductive position sensors, magnetic encoders, electric brake boosters, electric brake systems, steering systems, torque control systems, and/or any other suitable dual channel differential sensor.

The dual channel differential sensor may include a first channel and a second channel. The second channel may be independent of the first channel. The first channel may be configured to generate a first component signal. Additionally and/or alternatively, the second channel may be configured to generate a second component signal. The first component signal may have a first polarity and the second component signal may have a second polarity. The second polarity may be opposite to the first polarity. As used herein, polarity may refer to a design interpretation of a signal (e.g., a cross-channel differential signal that is conventionally labeled positive or negative). Additionally and/or alternatively, when considering a designed phase difference (e.g., a channel phase difference and/or an output phase difference) between a plurality of channels and/or between a plurality of signals, opposite polarity may refer to a phase difference of about 180 degrees and/or greater than about 90 degrees. For example, due to convention, a sine signal having a first polarity may be about 90 degrees out of phase with a cosine signal having the same polarity. As another example, the sine signal from the first channel may be approximately 135 degrees out of phase with a cosine signal having the same polarity from the second channel as follows: the second channel has a channel phase offset of 45 degrees relative to the first channel. For example, due to channel phase offset, the phase offset may be greater than 90 degrees for common polarity. As used herein, polarity is intended to refer to a differential relationship between multiple signals and is not necessarily related to the polarity of the values of these signals (e.g., a component signal having a negative polarity may still have positive values at some or all points).

According to example aspects of the present disclosure, a differential sensor may determine a cross-channel differential signal based at least in part on a first component signal and a second component signal and provide the first cross-channel differential signal as an output of the dual-channel differential sensor. For example, the cross-channel differential signal may be formed from multiple component signals from multiple independent channels, which may provide improved robustness, security, noise margin (e.g., common mode noise margin), and/or other advantages associated with multiple channels, while providing reduced routing (e.g., only two signals are needed instead of four).

As used herein, "channel" refers to any suitable system, such as signal lines, circuitry, coils, etc., for conveying sufficient information to perform a desired measurement using a differential sensor. For example, in some embodiments, each channel may include one or more coils (e.g., one or more receive coils and/or one or more transmit coils), a channel circuit configured to excite and/or measure signals (e.g., coil characteristics) at the one or more coils and/or generate component signals based on the measured signals (e.g., coil characteristics), and/or one or more signal lines for transmitting differential signals (e.g., component signals).

In some embodiments, each channel may generate one or more component signals associated with one or more differential signals. For example, in some embodiments, a channel may generate at least one component signal for each of at least two different differential signals (e.g., a sine differential signal and a cosine differential signal). For example, the first channel may generate a component signal associated with a first differential signal (e.g., a sine differential signal) and a second differential signal (e.g., a cosine differential signal). In some embodiments, a single channel may only produce one component signal of a pair of component signals associated with each differential signal. The corresponding component signal from the second channel may be used with the component signal from the first channel to produce a cross-channel differential signal. For example, in some embodiments, the first component signal from the first channel and the second component signal from the second channel may be sinusoidal signals and/or the first cross-channel differential signal may be a sinusoidal differential signal. For example, a sine+ signal from a first channel may be combined with a sine-signal from a second channel to produce a cross-channel sine differential signal.

For example, in some embodiments, the first channel may be configured to generate a third component signal. The third component signal may have a first polarity (e.g., the same polarity as the first component signal from the first channel). Additionally and/or alternatively, the second channel may be configured to generate a fourth component signal. The fourth component signal may have a second polarity (e.g., the same polarity as the second component signal from the second channel). The third component signal and the fourth component signal may be used to determine a second cross-channel differential signal based at least in part on the third component signal and the fourth component signal. The second cross-channel differential signal may be provided (e.g., in addition to the first cross-channel differential signal) as an output of the dual-channel differential sensor. For example, in some embodiments, the third component signal and the fourth component signal may be cosine signals and/or the second cross-channel differential signal may be cosine differential signals. For example, a cosine+ signal from a first channel may be combined with a cosine-signal from a second channel to produce a cross-channel cosine differential signal. The cross-channel cosine differential signal may be about 90 degrees out of phase with the cross-channel sine differential signal.

Thus, in some embodiments, the component signal from the first channel may be a positive component signal (e.g., a sine + signal and/or a cosine + signal) and the component signal from the second channel may be a negative component signal (e.g., a sine-signal and/or a cosine-signal). Additionally and/or alternatively, one positive component signal and/or one negative component signal from each of the first and second channels may be used.

In some embodiments, the sensor may be further configured to determine the output angle based at least in part on the first and second cross-channel differential signals. For example, in some embodiments, the output angle may be a two-parameter arctangent of the first and/or second cross-channel differential signals. For example, in some embodiments, the output angle may be made by arctan2 (SIN _out ，COS _out ) Determining, wherein, SIN _out Is a first cross-channel differential signal (e.g., sinusoidal differential signal), while COS _out Is a second cross-channel differential signal (e.g., a cosine differential signal).

In some embodiments, one or both of the first and/or second channels may include one or more coils configured to interact with the target and to generate one or more coil features in response to the interaction with the target. In some embodiments, the one or more coils may be or may include a receive coil and/or a transmit coil. For example, the coil characteristic may be a receive signal measured from and/or sampled from a receive coil, which may be generated in response to a transmit signal at a transmit coil. In some embodiments, one or more of the coils may be or may include a sinusoidal shaped coil (e.g., a sinusoidal receiving coil). For example, the shape of the coil may be designed to produce a sinusoidal component signal in response to rotational, linear, and/or other desired movement of the target. In some embodiments, the one or more coils are rotationally offset about the central axis. For example, the one or more coils may rotationally offset a channel phase difference (e.g., between multiple channels) and/or an output phase difference (e.g., between each differential signal in a channel). In some embodiments, the channel phase difference (e.g., about zero degrees, e.g., less than about 5 degrees) may be negligible.

Additionally and/or alternatively, the one or more channels may include the following channel circuitry: the channel circuit is configured to generate component signals of one or more differential signals in response to one or more coil characteristics. The channel circuitry may be provided for each channel independently. For example, the channel circuitry associated with the first channel may be disposed in a first integrated circuit (integrated circuit, IC) (e.g., application-specific integrated circuit (ASIC)), while the channel circuitry associated with the second channel may be disposed in a second integrated circuit. The second integrated circuit may be different from the first integrated circuit (e.g., an IC separate from the first integrated circuit). For example, in some embodiments, the channel circuit may be configured to process the coil characteristics and generate a sinusoidal component signal, wherein the phase of the sinusoidal component signal corresponds to the rotational position and/or location of the target. For example, in some embodiments, the first and second component signals may be sinusoidal signals (e.g., sine signals), while the third and fourth component signals may be sinusoidal signals (e.g., cosine signals) phase shifted with respect to the first and second component signals.

Additionally and/or alternatively, one or more of the channels may include the following interfaces: the interface is configured to provide one of a first differential signal and a second differential signal (e.g., of a first channel), or one of a third differential signal and a fourth differential signal (e.g., of a second channel), such as one or both of them. For example, one or more channels may each include the following interfaces: the interface includes one or more signal lines configured to provide a plurality of pairs of signals associated with the differential signals. In some embodiments, the sensor may include the following interfaces: the interface has signal lines and/or connectors for only the signals used (e.g., one signal of each pair of signals as described herein). In some embodiments, the sensor may include the following interfaces: the interface has signal lines and/or connectors for each signal, and the sensor may be connected only with the desired signal to reduce wiring as described herein.

In some embodiments, each of the plurality of channels may be configured to generate one or two component signals of two differential signals. For example, the first channel may generate one or two component signals associated with the first differential signal and the second differential signal. Additionally and/or alternatively, the second channel may generate one or two component signals associated with the third differential signal and the fourth differential signal. The third differential signal may correspond to the first differential signal. For example, the third differential signal may communicate the same, redundant information, or other determination information to the first differential signal. Additionally and/or alternatively, the fourth differential signal may correspond to the second differential signal. For example, the fourth differential signal may communicate the same, redundant information, or other determination information to the second differential signal. As one example, both the first differential signal and the third differential signal may be sinusoidal outputs. Additionally and/or alternatively, both the second differential signal and the fourth differential signal may be cosine outputs.

For example, each differential signal may include a pair of component signals. For example, the first differential signal may include a first pair of component signals. Additionally and/or alternatively, the second differential signal may comprise a second component signal. Additionally and/or alternatively, the third differential signal may comprise a third component signal. The third component signal may correspond to the first component signal. For example, in some embodiments, the third component signal may be substantially identical and/or identical to the first component signal, and/or the phase shifted first component signal. Additionally and/or alternatively, the fourth differential signal may comprise a fourth pair of component signals. The fourth pair of component signals may correspond to the second pair of component signals. For example, in some embodiments, the fourth component signal may be substantially the same and/or the same as the second component signal and/or the phase shifted second component signal. The sensor may be configured to generate one or both of the pair of component signals and/or to make one or both of the pair of component signals available for measurement. For example, in some embodiments, one component signal of each pair of component signals may be omitted from generating the signal, and the sensor may be configured to reduce wiring as described herein.

Each of the pair of component signals may have an associated polarity. For example, a first signal of the pair of component signals may have a first polarity (e.g., positive) and a second signal of the pair of component signals may have a second polarity (e.g., negative) opposite the first polarity. These component signals may be combined (e.g., additively combined) based at least in part on their respective polarities to produce a differential signal. For example, the second signal having a negative polarity may be subtracted from the first signal having a positive polarity to generate the differential signal. The combining may be performed in the analog domain (e.g., by direct analog combining of analog component signals), and/or in the digital domain (e.g., by digital combining of digital component signals, digital samples of analog component signals), and/or in any other suitable manner. According to example aspects of the present disclosure, a cross-channel differential signal may be generated by taking a plurality of opposite component signals from a corresponding differential signal for each channel and combining the opposite component signals with respect to polarity and/or phase offset.

In some embodiments, the component signal and/or the differential signal may be a sinusoidal signal, such as a sine signal and/or a cosine signal. For example, in some embodiments, the first differential signal and the third differential signal may each be a differential sine signal, and the second differential signal and the fourth differential signal may each be a differential cosine signal. For example, in some embodiments, the multi-component signal may include a sine+ signal, a sine-signal, a cosine+ signal, a cosine-signal, and the like. As another example, in some embodiments, the differential signal may be or may include a sine output and/or a cosine output. For example, one or both channels may be configured to produce a sine output and a cosine output. For example, in some embodiments, a pair of component signals may be measured from one or more coils (e.g., receive coils) rotatably disposed about a central axis. The sine output may be measured from a first coil and/or the cosine output may be measured from a second coil that is rotationally set out of phase with the output phase difference, e.g., the second coil is 90 degrees out of phase with the first coil. For example, the second coil may be similar and/or identical in structure to the first coil and rotated 90 degrees about the central axis to produce a cosine output.

The dual channel differential sensor may include a sensing circuit. For example, the sensing circuit may be part of the channel circuit, and/or separate from the channel circuit. For example, the sensing circuitry may be included in the following package (e.g., integrated circuit, computing device, etc.): the package is connected to the dual channel differential sensor via an interface, such as an interface comprising one or more signal lines. These signal lines may be pins (e.g., on an integrated circuit), traces, wires, cables, and/or other suitable systems that may be configured for signal transmission. According to example aspects of the present disclosure, the number of signal lines required to connect with a dual-channel differential sensor may be reduced while maintaining the advantages associated with the dual-channel differential sensor.

The sensing circuit may be configured to acquire (e.g., receive and/or sample) the component signals and generate a cross-channel differential signal of the dual-channel differential sensor. For example, the sensing circuit may acquire a first component signal from a first channel and a second component signal from a second channel. The second channel may be independent of the first channel. The first component signal may have a first polarity and/or the second component signal may have a second polarity. The second polarity may be opposite to the first polarity. Additionally and/or alternatively, the sensing circuit may acquire a third component signal having a first polarity from the first channel and a fourth component signal having a second polarity from the second channel. For example, the sensing circuit may acquire signals via the following interfaces: the interface includes one or more signal lines coupled to a dual channel differential sensor (e.g., sensing circuitry, coils, etc.). In some embodiments, each of the acquired plurality of component signals may have an associated signal line, e.g., an associated signal line of a total of four signal lines.

In some embodiments, the plurality of component signals may each be one of a pair of component signals of the differential signals, and signal lines associated with other component signals of each differential signal may be omitted from the sensor (e.g., interface and/or joint to interface) to reduce wiring (e.g., reduce the number of signal lines) required for the sensing circuit to connect with the dual channel differential sensor (e.g., reduce the required wiring from eight signal lines to four signal lines). Additionally and/or alternatively, omitting other signal lines may help reduce costs (e.g., reduce operating costs and/or manufacturing costs), reduce bus widths, reduce computational requirements (e.g., requiring processing of fewer signals, sampling/measuring fewer signals at a coil, etc.), and/or various other advantages. For example, in some embodiments, the interface may provide the following joints: a junction to an omitted signal that may not be connected. In some embodiments, the interface may omit the junction to the omitted signal entirely.

In some embodiments, each of these signals may have an associated phase. For example, the phase of the first component signal may be different from the phase of the third component signal by a channel phase difference. Additionally and/or alternatively, the phase of the second component signal may be different from the phase of the fourth component signal by the channel phase difference.

In some embodiments, the first component signal and the second component signal may each be sinusoidal component signals, such as component signals associated with differential sinusoidal signals. Additionally and/or alternatively, the first cross-channel differential signal may be a sinusoidal differential signal (e.g., a sinusoidal output). For example, a first cross-channel differential signal may be associated with a sinusoidal signal (e.g., where zero values correspond to phases of 0 degrees and/or 180 degrees), and may be calculated based on component signals of the differential sinusoidal signal from each channel. Additionally and/or alternatively, the third component signal and the fourth component signal may each be cosine component signals, e.g. component signals associated with differential cosine signals. Additionally and/or alternatively, the second cross-channel differential signal may be a cosine output. For example, the second cross-channel differential signal may be associated with a cosine signal (e.g., where zero values correspond to phases of 90 degrees and/or 270 degrees), and may be calculated based on component signals of the differential cosine signal from each channel.

Additionally and/or alternatively, the sensing circuit may be configured to determine the first cross-channel differential signal based at least in part on the first component signal and the second component signal. For example, the first component signal and the second component signal may be combined based on the respective polarities. For example, the first component signal may have a first polarity (e.g., positive) and the second component signal may have a second polarity (e.g., negative), and the second component signal may be added to the first component signal, and/or may be subtracted from the first component signal (e.g., subtracted from the first component signal based on the negative polarity). In some embodiments, prior to determining the first cross-channel differential signal, these signals may be adjusted to solve for a phase difference (e.g., a channel phase difference).

Additionally and/or alternatively, the sensing circuit may be configured to determine the second cross-channel differential signal based at least in part on the third component signal and the fourth component signal. For example, the third component signal and the fourth component signal may be combined based on the respective polarities. For example, the third component signal may have a first polarity (e.g., positive) and the fourth component signal may have a second polarity (e.g., negative), and the fourth component signal may be added to the third component signal and/or may be subtracted from the third component signal (e.g., subtracted from the third component signal based on the negative polarity). In some embodiments, the second cross-channel differential signals may be adjusted to solve for phase differences (e.g., channel phase differences) prior to determining the signals.

The second cross-channel differential signal may be a cosine output of the dual-channel differential sensor. The second cross-channel differential signal may correspond to a desired output of the sensor. For example, the sensor may be configured to produce a total cosine output. For example, in some embodiments, the total cosine output may be obtained by subtracting the cosine-output of the second channel from the cosine-output of the first channel. As one example, the second cross-channel differential signal may be calculated as: COS (COS) _out Cosino1+ -cosino2-, where cosino1+ is a sine-cosine component signal from a first channel and cosino2-is a negative cosine component signal from a second channel.

Additionally and/or alternatively, the sensing circuit may be configured to provide a first cross-channel differential signal as a first output of the dual-channel differential sensor and/or to provide a second cross-channel differential signal as a second output of the dual-channel differential sensor. For example, the sensor may include the following external interfaces: the external interface is configured to be stimulated by the first and/or second cross-channel differential signals such that these signals may be provided to an external device capable of reading these signals.

Additionally and/or alternatively, the sensing circuitry may implement a security check to verify desired operation of the sensor and/or one or more systems (e.g., motor, gearbox, control system, encoder, etc.) coupled to the sensor. For example, the sensing circuitry may implement a security check to verify that the sensor is operating properly, and/or that one or more operating conditions of the system are safe and/or accurate. The operation of the sensor and/or one or more systems may be adjusted based on the security check. For example, operation of the system may be stopped based on the security check, an alarm may be issued based on the security check, and the like.

For example, to enable a security check, the sensing circuit may determine the first channel angle based at least in part on the first component signal and the third component signal. For example, both component signals may be from the same channel (e.g., first channel), and/or have the same polarity (e.g., positive). For example, in some embodiments, the two signals may include a sine+ signal and a cosine+ signal from the first channel. In some embodiments, the first channel angle may be a two-parameter arctangent (e.g., atan 2) function. For example, the first channel angle may be determined by atan2 (sine+ ).

Additionally and/or alternatively, the sensing circuit may determine the second channel angle based at least in part on the second component signal and the fourth component signal. For example, both signals may be from the same channel (e.g., the second channel), and/or have the same polarity (e.g., negative). For example, in some embodiments, the two signals may include a sine-signal and a cosine-signal from the second channel. In some embodiments, the second channel angle may be a two-parameter arctangent (e.g., atan 2) function. For example, the second channel angle may be determined by atan2 (sine-, cosine-).

Additionally and/or alternatively, the sensing circuit may determine a cross-channel angle difference based at least in part on the first channel angle and the second channel angle. For example, in some embodiments, the sensing circuit may subtract the second channel angle from the first channel angle to determine the cross-channel angle difference. Additionally and/or alternatively, in some embodiments, the sensing circuit may also determine that the cross-channel angular difference is within a cross-channel related tolerance range. For example, the cross-channel correlation tolerance range may be or may include a threshold (e.g., an amplitude threshold), a minimum value, and/or a maximum value, etc. For example, in some embodiments, determining that the cross-channel angular difference is within a cross-channel related tolerance may include determining that the magnitude of the cross-channel angular difference is less than a related tolerance threshold, such as a related tolerance threshold δ.

In some embodiments, the sensor may be considered to be in a normal operating condition in response to determining that the cross-channel angular difference is within a cross-channel related tolerance. For example, the measurement result may be obtained from the sensor, and/or the correction control action related to the correction operation of the sensor may not be performed. In some embodiments, in response to determining that the cross-channel angular difference is not within the cross-channel related tolerance range, the sensing circuit may initiate and/or otherwise perform one or more corrective control actions to correct operation of the sensor and/or otherwise adjust operation of one or more systems: the one or more systems are coupled to the sensor and/or the sensor is configured to monitor a condition of the one or more systems. For example, in some cases, in response to determining that the cross-channel angular difference is not within the cross-channel related tolerance range, the corrective control action may be or may include a flag, an alarm, a troubleshooting action, a braking action, a shutdown, and/or other suitable corrective control actions to ensure safe and reliable operation of the system.

As one example, in one embodiment, a dual channel differential sensor may generate a sine differential signal and a cosine differential signal at a first channel as follows: the first channel includes a sine1+ (sine 1+) signal, a sine1- (sine 1-) signal, a cosine1+ (cosine 1+) signal, and a cosine1- (sine 1-) signal. Additionally and/or alternatively, the second channel may generate a sine2+ (sine 2+) signal, a sine2- (sine 2-), a cosine2+ (cosine 2+) signal, and a cosine2- (sine 2-) signal. Signal lines associated with the sine1+ signal, the cosine1+ signal, the sine 2-signal, and the cosine 2-signal may be included. Additionally and/or alternatively, signal lines associated with sine1-, cosine1-, sine2-, and cosine2+ may be omitted from the sensor to reduce routing. Additionally and/or alternatively, measurement points or other electrical devices for measuring signals having omitted signal lines may also be omittedThe circuit is such that a signal with an omitted signal line may not have any dedicated components at the sensor and may exist merely as a convention. The total sinusoidal output of the sensor can be calculated as: SIN (SIN) _out =sine1+ -sine2-. Additionally and/or alternatively, the total cosine output of the sensor may be calculated as: COS (COS) _out =cosin1+ -cosin2-. If necessary, an angular compensation may be included in the calculation. Additionally and/or alternatively, the angle between these signals may be calculated as: atan2 (SIN) _out ，COS _out ). For example, the angle may be resistant to the effects of common mode noise.

These signals may also be used to perform security checks. For example, a first channel angle between two signals may be calculated as: angle1+ (angle1+) =atan2 (sine1+, cosin1+). The second channel angle between the two signals can be calculated as: angle2+ (angle2+) =atan2 (sine 2- ). The second channel angle may be subtracted from the first channel angle to produce a cross-channel angle difference angle _diff (angle _diff ) =angl1+ -angl2-. The cross-channel angular difference may be checked as being within a cross-channel related angular range (e.g., having a magnitude less than a safety threshold (e.g., δ)). If the cross-channel angular difference is outside of the cross-channel related angular range (e.g., has a magnitude greater than and/or equal to a safety threshold), the sensor may operate at unexpected performance and various safety measures may be performed (e.g., corrective control actions implemented) based on the results of the safety check.

In practice, slight differences may be observed between the multiple channels (e.g., between the first component signal and the third component signal and/or between the second component signal and the fourth component signal) without departing from example aspects of the present disclosure, e.g., due to sensor design, manufacturing variations, etc. For example, due to limited space on a circuit board or other substrate, the coils generating the first and third component signals may be offset (e.g., rotational offset), thereby introducing a known channel phase difference between the first and third component signals. Similarly, the coils that generate the second and fourth component signals may be offset (e.g., rotational offset) to introduce a known channel phase difference between the second and fourth component signals (e.g., the same channel phase difference as between the first and third component signals). As one example, a two-channel component sensor may be implemented using two channels of coaxially positioned sinusoidal coils. The coils associated with each channel may be offset by a known phase difference, such as about 45 degrees, due to interference between coils, space limitations, and the like. In some embodiments, the sensor may be designed (e.g., using a multi-layer printed circuit board (printed circuit board, PCB)) such that there is no channel phase difference, and/or the sensor may be designed to at least partially compensate for the channel phase difference (e.g., having a channel phase difference of less than about 45 degrees (e.g., less than about 15 degrees)).

Additionally and/or alternatively, variations such as manufacturing variations, power supply variations, noise, etc. may introduce small amplitude differences between the multiple channels such that a first channel may have a first amplitude (e.g., the amplitude common to the first differential signal and the second differential signal) and a second channel may have a second amplitude (e.g., the amplitude common to the third differential signal and the fourth differential signal). For example, due to manufacturing variations, power supply differences, noise, etc., the performance (e.g., gain) of a circuit associated with a first channel (e.g., an Application Specific Integrated Circuit (ASIC)) may be slightly different than the performance of a circuit associated with a second channel (e.g., an ASIC), which may result in amplitude variations. As another example, tuning algorithms (e.g., automatic gain stabilization algorithms) may converge on different solutions for different circuits. Thus, in some embodiments, the first amplitude and the second amplitude may be desired to be the same, but in practice there may still be minor (e.g., less than about 10%) variations.

Thus, in some embodiments, channel phase compensation may be applied to the measurements from the sensors. For example, channel phase compensation may be applied to the output angle to correct for phase differences between the first channel and the second channel. For example, in some embodiments, determining an output angle between the first and second cross-channel differential signals may include: the channel phase correction is applied to the output angle.

The channel phase correction may be based at least in part on the channel phase difference. For example, in some embodiments, channel phase correction may be applied to correct for channel phase differences. Additionally and/or alternatively, in some embodiments, the channel phase correction may be based at least in part on an amplitude of the first channel and an amplitude of the second channel. For example, in some embodiments, small variations between the first channel and the second channel may result in small differences in the amplitude of each channel.

For example, in some embodiments, determining an output angle between the first and second cross-channel differential signals may include: an amplitude of the first channel is determined and an amplitude of the second channel is determined. For example, the amplitude of the channel may be determined by measuring the amplitude (e.g., maximum amplitude) of the channel over one or more periods (e.g., full periods) of the component signal. For example, the amplitude of a channel may correspond to the amplitude of a component signal (e.g., one of a plurality of component signals), and/or the amplitude of a differential signal (e.g., after combining the pair of component signals), and/or the amplitude of any other suitable signal associated with the channel (e.g., an intermediate signal).

Additionally and/or alternatively, in some embodiments, determining the output angle may include determining a channel phase correction based at least in part on the amplitude of the first channel, the amplitude of the second channel, and the phase difference. For example, in some embodiments, determining the angular offset may be based on the following formula:

where Δθ is the channel phase correction,is the channel (e.g., physical) phase difference, a is the amplitude of the first channel, and B is the amplitude of the second channel.

Additionally and/or alternatively, in some embodiments, determining the output angle may include applying a channel phase correction to the output angle. For example, the channel phase correction may be combined with (e.g., additively combined with) the output angle, such as adding the channel phase correction to the output angle, and/or subtracting the channel phase correction from the output angle.

Example aspects of the present disclosure may provide a number of technical effects and benefits. For example, a dual-channel differential sensor may be configured to reduce wiring while maintaining the advantages of the dual-channel differential sensor, including safety, reliability, and noise margin, according to example aspects of the present disclosure. For example, acquiring signals from a sensor as described herein (e.g., sine + signal and cosine + signal from a first channel, and sine-signal and cosine-signal from a second channel) may require only half the number of signal lines as compared to acquiring four complete differential signals. Additionally and/or alternatively, acquiring sensor measurements as described herein may provide low noise measurements (which are robust) to noise (e.g., common mode noise) while achieving a reduction in signal lines. For example, signals as described herein may maintain (e.g., between signals of opposite polarity) the following differential characteristics: the differential characteristic provides resistance to the effects of common mode noise. Additionally and/or alternatively, using signals from both channels may provide increased security and reliability while achieving a reduction in signal lines. For example, using signals from two channels may provide a security check between signals from two channels, which is robust to operational variations.

Referring now to the drawings, example aspects of the present disclosure will be discussed in more detail with respect to example embodiments thereof.

Fig. 1A depicts a block diagram of at least a portion of an example dual channel differential sensor 100, according to an example embodiment of the present disclosure. The differential sensor 100 may include a first channel 110 and/or a second channel 130. The first channel 110 may include a first channel circuit 112. The first channel circuit 112 may be configured to process signals related to sensor measurements and generate the first differential signal 120 and/or the second differential signal 125.

The first differential signal 120 may include a first component signal 122 and a second component signal 124. In some embodiments, the first differential signal 120 may be or may include a differential sinusoidal output. For example, the first component signal 122 may be a sinusoidal signal, while the second component signal 124 may be a sinusoidal signal having an opposite polarity than the first component signal 122. For example, in some embodiments, the first component signal 122 and the second component signal 124 may be 180 degrees out of phase. As one example, the first component signal 122 may be a sine+ signal and the second component signal 124 may be a sine-signal.

Additionally and/or alternatively, in some embodiments, the second differential signal 125 may be or may include a differential sinusoidal output. For example, the second differential signal 125 may include a first component signal 126 and a second component signal 128. For example, the first component signal 126 may be a sinusoidal signal, while the second component signal 128 may be a sinusoidal signal having an opposite polarity than the first component signal 126. For example, in some embodiments, first component signal 126 and second component signal 128 may be 180 degrees out of phase. Additionally and/or alternatively, the first component signals 122 and 126 and/or the second component signals 124 and 128 may have a known phase difference, such as an output phase difference. As one example, the second differential signal 125 may be configured as a cosine output. As one example, the first component signal 126 may be a cosine+ signal and the second component signal 128 may be a cosine-signal. Accordingly, the cosine signal of the second differential signal 125 may have a phase difference of 90 degrees from the sine signal of the first differential signal 120. For example, many systems may operate from sine and cosine measurements from sensors (e.g., inductive rotation sensors (inductive rotation sensor)).

Additionally and/or alternatively, in some embodiments, the first channel 110 may include a receive coil 114 and/or a transmit coil 116. For example, the first channel circuit 112 may be configured to energize the transmit coil 116. The energized transmit coil 116 may generate an electromagnetic field that interacts with the target 105. The electromagnetic field may also interact with the receive coil 114 and/or may be affected by the target 105. For example, the electromagnetic field may induce a received signal (e.g., induce a current) in the receive coil 114. The first channel circuit 112 may measure, sample, and/or process the received signal to generate differential signals 120 and 125. As one example, the transmit coil 116 and the receive coil 114 are discussed with reference to fig. 3. Other suitable arrangements of coils 114 and 116, and/or other suitable sensor arrangements (e.g., magnetic encoders) may be employed in accordance with example aspects of the present disclosure.

Additionally and/or alternatively, the differential sensor 100 may include a second channel 130. The second channel 130 may include a second channel circuit 132. The second channel circuit 132 may be configured to process signals related to sensor measurements and generate a third differential signal 140 and/or a fourth differential signal 145.

The third differential signal 140 may include a first component signal 142 and a second component signal 144. In some embodiments, the third differential signal 140 may be or may include a differential curve sinusoidal output. For example, the first component signal 142 may be a sinusoidal signal, while the second component signal 144 may be a sinusoidal signal having an opposite polarity than the first component signal 142. For example, in some embodiments, first component signal 142 and second component signal 144 may be 180 degrees out of phase. As one example, the first component signal 142 may be a sine+ signal and the second component signal 144 may be a sine-signal.

Additionally and/or alternatively, in some embodiments, the fourth differential signal 145 may be or may include a differential sinusoidal output. For example, the fourth differential signal 145 may include a first component signal 146 and a second component signal 148. For example, the first component signal 146 may be a sinusoidal signal, while the second component signal 148 may be a sinusoidal signal having an opposite polarity than the first component signal 146. For example, in some embodiments, first component signal 146 and second component signal 148 may be 180 degrees out of phase. Additionally and/or alternatively, the first component signals 142 and 146 and/or the second component signals 144 and 148 may have a known phase difference, such as an output phase difference. As one example, the fourth differential signal 145 may be configured as a cosine output. As one example, the first component signal 146 may be a cosine+ signal and the second component signal 148 may be a cosine-signal. Accordingly, the cosine signal of the fourth differential signal 145 may have a phase difference of 90 degrees from the sine signal of the third differential signal 140. For example, many systems may operate based on sine and cosine measurements from sensors (e.g., inductive rotation sensors).

The first differential signal 120 and the third differential signal 140 may be correlated such that the first differential signal 120 corresponds to the third differential signal 140. For example, the third differential signal 140 may transmit the same, redundant information, or other determination information to the first differential signal 120. For example, in some embodiments, the pair of component signals 122 and 124 may be nearly identical and/or identical to the pair of component signals 142 and 144 (e.g., the pair of phase shifted component signals 142 and 144).

Additionally and/or alternatively, the second differential signal 125 and the fourth differential signal 145 may be correlated such that the second differential signal 125 corresponds to the fourth differential signal 145. For example, the fourth differential signal 145 may transmit the same, redundant information, or other determination information to the second differential signal 125. For example, in some embodiments, the pair of component signals 126 and 128 may be nearly identical and/or identical to the pair of component signals 146 and 148 (e.g., the pair of phase shifted component signals 146 and 148).

The first channel 110 and/or the second channel 130 may be coupled to a sensing circuit 150. For example, the sensing circuit 150 may be configured to acquire the component signals 122, 126, 144, and 148 as shown in fig. 1A. According to example aspects of the present disclosure, any one of differential signals 120, 125, 140, and 145 is another suitable signal. The sensing circuit 150 may be configured to process measurements from the sensor 100. For example, the sensing circuit 150 may acquire a cross-channel differential signal and/or perform a security check. The sensing circuit 150 may be separate from the sensor 100 and/or incorporated into the sensor 100.

For example, in some embodiments, the sensing circuit 150 may be or include a microcontroller and/or other suitable circuitry. In some embodiments, the sensing circuitry may be configured to sample (e.g., digitally sample) the component signals 122, 126, 144, and 148, and/or perform an angle calculation on the output. In these embodiments, and/or where the angular and phase differences between the channels are close to or exactly zero, the angles may be averaged to remove noise. As another example, the sensor 100 may include a differential input stage (e.g., in the sensing circuit 150) such that measurements of the analog signal may be directly obtained, and/or calculations may be performed directly on the analog signal. For example, the differential input stage may perform analog calculations to directly calculate the value of the cross-channel differential signal. This may provide improved noise removal characteristics.

FIG. 1B depicts a block diagram of at least a portion of an example dual channel differential sensor 160, according to an example embodiment of the present disclosure. Sensor 160 is similar to sensor 100 of fig. 1A, but signal lines associated with omitted signals (e.g., signal lines 124, 128, 142, and 146 of fig. 1A) are omitted from the sensor. Thus, while FIG. 1A depicts an embodiment in which the omitted signals are present (e.g., generated by channel circuits 112, 132) and simply unconnected, FIG. 1B depicts an embodiment in which the omitted signals are completely removed from the sensor and the channel circuits 112 and 132 generate only four component signals. According to example aspects of the present disclosure, both configurations depicted in fig. 1A and 1B may be employed in addition to and/or in lieu of any other suitable modification.

Fig. 2 depicts a graph 200 of example component signals from example channels forming example differential signals, according to an example embodiment of the present disclosure. For example, component signal 202 and component signal 204 are associated with first differential signal 210. For example, the first component signal 202 may have a first polarity (e.g., positive) and the second component signal 204 may have a second polarity (e.g., negative). The second component signal 204 may be subtracted from the first component signal 202 to produce a first differential signal 210. For example, the first differential signal 210 may be a sinusoidal output. Additionally and/or alternatively, component signal 206 and component signal 208 are associated with a second differential signal 212. For example, the first component signal 202 may have a first polarity (e.g., positive) and the second component signal 204 may have a second polarity (e.g., negative). The second component signal 204 may be subtracted from the first component signal 202 to produce a second differential signal 212. For example, the second differential signal 212 may be a cosine output.

Fig. 3 depicts an example sensor coil 300 according to an example embodiment of the disclosure. For example, the coil 300 may be disposed on a substrate, such as formed from traces on a Printed Circuit Board (PCB), a flexible printed circuit board, and/or other suitable substrate. For example, in some embodiments, the coil 300 is formed on a multi-layer substrate (e.g., a dual layer PCB). For example, each layer of the multi-layer substrate may include one or more coils 300. Additionally and/or alternatively, the coil 300 may be cut from sheet metal, formed from a wound or bent wire, or other conductive filament wound or bent, and/or formed in any suitable manner in accordance with example aspects of the present disclosure. The coils 300 (e.g., the transmit coil 310 and/or the receive coils 302-308) may be disposed about a central axis 315. In some embodiments, the receive coils 302-308 may be configured to generate a pair of component signals. For example, according to example aspects of the present disclosure, each of the receive coils 302-308 may be measured at two points to generate a pair of component signals, only one of which may be utilized at the sensing circuit. Additionally and/or alternatively, the receive coils 302-308 may be measured at only a single point.

Coil 300 may include a transmit coil 310. The transmit coil 310 may be energized (e.g., by a channel circuit) to generate an electromagnetic field. For example, the transmit coil may be energized by any suitable electrical signal (e.g., voltage signal, current signal, etc.) and/or constant signal and/or time-varying signal. The electromagnetic field generated by the transmit coil may interact with the environment of the sensor (e.g., the target) and may be altered by elements in the environment (e.g., the target). For example, the target may be configured to generate fringing fields that attenuate and/or enhance the electromagnetic field in a particular region. As one example, the targets may include rotational targets as follows: the rotating target rotates (e.g., rotates coaxially with the central axis 315) to change the electromagnetic field according to the rotational position of the target.

Additionally and/or alternatively, coil 300 may include receive coils 302, 304, 306, and 308. The first receive coil 302 may be configured to generate a first differential signal. For example, the received signal (e.g., induced current) may be an electromagnetic field induced in the first receiving coil 302, such as an electromagnetic field from the transmitting coil 310, an electromagnetic field induced by a target present in the 87 coil environment, and/or an electromagnetic field from any other suitable source. The channel circuit may sample and/or measure the first receive coil 302 to generate a pair of component signals associated with the first differential signal from the first receive coil 302. Similarly, the second receive coil 304 may be configured to generate a second differential signal. For example, the channel circuit (e.g., associated with the same channel as the first receive coil 302) may sample and/or measure the second receive coil 304 to generate a pair of component signals associated with the second differential signal from the second receive coil 304. For example, the first receive coil 302 and the second receive coil 304 may form a single channel. As shown in fig. 3, the first receive coil 302 and the second receive coil 304 are sinusoidal coils configured to generate a sinusoidal differential signal. Additionally and/or alternatively, as shown in fig. 3, the second receive coil 304 is rotationally offset 90 degrees relative to the first receive coil 302. Thus, the first receive coil 302 may be configured to produce a sine output and the second receive coil 304 may be configured to produce a cosine output.

Similarly, the third receive coil 306 may be configured to generate a third differential signal and the fourth receive coil 308 may be configured to generate a fourth differential signal. For example, the third receive coil 306 and/or the fourth receive coil 308 may be sampled and/or measured by the following channel circuitry: the channel circuit is associated with a different channel than the first receive coil 302 and/or the second receive coil 304. For example, in some embodiments, the first receive coil 302 and/or the second receive coil 304 may be disposed on a first layer of a multi-layer substrate, while the third receive coil 306 and/or the fourth receive coil 308 may be disposed on a second layer of the multi-layer substrate. As shown in fig. 3, the third receive coil 306 and/or the fourth receive coil 308 are rotationally offset about the central axis 315 by a channel phase offset of 45 degrees relative to the first receive coil 302 and/or the second receive coil 304. For example, the channel phase offset may be implemented due to space constraints of the substrate containing the coils 300, interference considerations between the coils 300, and so on. In some embodiments, the coil 300 may alternatively have a channel phase offset of less than about 45 degrees (e.g., less than about 15 degrees). As another example, in some embodiments, the coil 300 may have a channel phase offset of 0 degrees.

Fig. 4 depicts a flowchart of an example method 400 for operating a dual channel differential sensor, according to an example embodiment of the present disclosure. Although FIG. 4 depicts steps performed in a particular order for purposes of illustration and discussion, the methods of the present disclosure are not limited to the particular illustrated order or arrangement. The various steps of method 400 may be omitted, rearranged, combined, and/or modified in various ways without departing from the scope of the present disclosure.

For example, the method 400 may include: at 402, a first component signal from a first channel and a second component signal from a second channel are acquired. The second channel may be independent of the first channel. The first component signal may have a first polarity and/or the second component signal may have a second polarity. The second polarity may be opposite to the first polarity. Additionally and/or alternatively, the method 400 may include, at 404, acquiring a third component signal having a first polarity from a first channel and a fourth component signal having a second polarity from a second channel. For example, the sensing circuit may acquire signals via the following interfaces: the interface includes one or more signal lines coupled to a dual channel differential sensor (e.g., sensing circuitry, coils, etc.). In some embodiments, each of the acquired plurality of component signals may have an associated signal line, e.g., an associated signal line of a total of four signal lines.

In some embodiments, the plurality of component signals may each be one of a pair of component signals of the differential signals, and signal lines associated with other component signals of each differential signal may be omitted from the sensor (e.g., interface and/or joint to interface) to reduce wiring (e.g., reduce the number of signal lines) required for the interface of the sensing circuit with the dual channel differential sensor (e.g., reduce the required wiring from eight signal lines to four signal lines). Additionally and/or alternatively, omitting other signal lines may help reduce costs (e.g., reduce operating costs and/or manufacturing costs), reduce bus widths, reduce computational requirements (e.g., requiring processing of fewer signals, sampling/measuring fewer signals at a coil, etc.), and/or various other advantages. For example, in some embodiments, the interface may provide the following joints: a junction to an omitted signal that may not be connected. In some embodiments, the interface may omit the junction to the omitted signal entirely.

Additionally and/or alternatively, the method 400 may include, at 406, determining a first cross-channel differential signal based at least in part on the first component signal and the second component signal. For example, the first component signal and the second component signal may be combined based on the respective polarities. For example, the first component signal may have a first polarity (e.g., positive) and the second component signal may have a second polarity (e.g., negative), and the second component signal may be added to the first component signal, and/or may be subtracted from the first component signal (e.g., subtracted from the first component signal based on the negative polarity). In some embodiments, prior to determining the first cross-channel differential signal, these signals may be adjusted to solve for a phase difference (e.g., a channel phase difference).

Additionally and/or alternatively, the method 400 may include, at 408, determining a second cross-channel differential signal based at least in part on the third component signal and the fourth component signal. For example, the third component signal and the fourth component signal may be combined based on the respective polarities. For example, the third component signal may have a first polarity (e.g., positive) and the fourth component signal may have a second polarity (e.g., negative), and the fourth component signal may be added to the third component signal and/or subtracted from the third component signal (e.g., subtracted from the third component signal based on the negative polarity). In some embodiments, the second cross-channel differential signals may be adjusted to solve for phase differences (e.g., channel phase differences) prior to determining the signals.

The second cross-channel differential signal may be a cosine output of the dual-channel differential sensor. The second cross-channel differential signal may correspond to a desired output of the sensor. For example, the sensor may be configured to produce a total cosine output.For example, in some embodiments, the total cosine output may be obtained by subtracting the cosine-output of the second channel from the cosine-output of the first channel. As one example, the second cross-channel differential signal may be calculated as: COS (COS) _out Cosino1+ -cosino2-, where cosino1+ is a sine-cosine component signal from a first channel and cosino2-is a negative cosine component signal from a second channel.

Additionally and/or alternatively, the method 400 may include, at 410, providing a first cross-channel differential signal as a first output of a dual-channel differential sensor. Additionally and/or alternatively, the method 400 may include, at 412, providing a second cross-channel differential signal as a second output of the dual-channel differential sensor. For example, the sensor may include the following external interfaces: the external interface is configured to be stimulated by the first and/or second cross-channel differential signals such that these signals may be provided to an external device capable of reading these signals.

In some embodiments, channel phase compensation may be applied to the measurements from the sensors. For example, channel phase compensation may be applied to the output angle to correct for phase differences between the first channel and the second channel. For example, in some embodiments, determining an output angle between the first and second cross-channel differential signals may include: the channel phase correction is applied to the output angle.

where Δθ is the channel phase correction,is the channel phase difference, a is the amplitude of the first channel, and B is the amplitude of the second channel.

Additionally and/or alternatively, in some embodiments, determining the output angle may include applying a channel phase correction to the output angle. For example, the channel phase correction may be combined with the output angle (e.g., additively combined with the output angle), such as adding the channel phase correction to the output angle, and/or subtracting the channel phase correction from the output angle.

Fig. 5 depicts a flowchart of an example method 500 for operating a dual channel differential sensor, according to an example embodiment of the present disclosure. Although FIG. 5 depicts steps performed in a particular order for purposes of illustration and discussion, the methods of the present disclosure are not limited to the particular illustrated order or arrangement. The various steps of method 500 may be omitted, rearranged, combined, and/or modified in various ways without departing from the scope of the present disclosure.

For example, a sensor (e.g., sensing circuitry) may implement the steps of method 500 as a security check to verify desired operation of the sensor and/or one or more systems (e.g., motor, gearbox, control system, encoder, etc.) coupled to the sensor. For example, the sensing circuitry may implement the method 500 (e.g., security check) to verify that the sensor is operating properly, and/or that the operating conditions of one or more systems are safe and/or accurate. The operation of the sensor and/or one or more systems may be adjusted based on the security check. For example, operation of the system may be stopped based on the security check, an alarm may be issued based on the security check, and the like.

The method 500 may include, at 502, acquiring a first component signal and a third component signal from a first channel and a second component signal and a fourth component signal from a second channel. The second channel may be independent of the first channel. The first component signal may have a first polarity and/or the second component signal may have a second polarity. The second polarity may be opposite to the first polarity. The third component signal may have a first polarity. The fourth component signal may have a second polarity. For example, the sensing circuit may acquire signals via the following interfaces: the interface includes one or more signal lines coupled to a dual channel differential sensor (e.g., sensing circuitry, coils, etc.). In some embodiments, each of the acquired plurality of component signals may have an associated signal line, e.g., an associated signal line of a total of four signal lines.

The method 500 may include, at 504, determining a first channel angle based at least in part on the first component signal and the third component signal. For example, both component signals may be from the same channel (e.g., first channel), and/or have the same polarity (e.g., positive). For example, in some embodiments, the two signals may include a sine+ signal and a cosine+ signal from the first channel. In some embodiments, the first channel angle may be a two-parameter arctangent (e.g., atan 2) function. For example, the first channel angle may be determined by atan2 (sine+ ).

Additionally and/or alternatively, method 500 may include, at 506, determining a second channel angle based at least in part on the second component signal and the fourth component signal. For example, both signals may be from the same channel (e.g., the second channel), and/or have the same polarity (e.g., negative). For example, in some embodiments, the two signals may include a sine-signal and a cosine-signal from the second channel. In some embodiments, the second channel angle may be a two-parameter arctangent (e.g., atan 2) function. For example, the second channel angle may be determined by atan2 (sine-, cosine-).

Additionally and/or alternatively, method 500 may include, at 508, determining a cross-channel angle difference based at least in part on the first channel angle and the second channel degree. For example, in some embodiments, the sensing circuit may subtract the second channel angle from the first channel angle to determine the cross-channel angle difference. Additionally and/or alternatively, in some embodiments, the method 500 may further include, at 510, determining that the cross-channel angular difference is within a cross-channel dependent tolerance range. For example, the cross-channel correlation tolerance range may be or may include a threshold (e.g., an amplitude threshold), a minimum and/or maximum value, and the like. For example, in some embodiments, determining that the cross-channel angular difference is within a cross-channel related tolerance may include determining that the magnitude of the cross-channel angular difference is less than a related tolerance threshold, such as a related tolerance threshold δ.

In some embodiments, the sensor may be considered to be in a normal operating condition in response to determining that the cross-channel angular difference is within a cross-channel related tolerance. For example, the measurement result may be obtained from the sensor, and/or the correction control action related to the correction operation of the sensor may not be performed. Additionally and/or alternatively, method 500 may include, at 512, determining that the cross-channel angular difference is not within a cross-channel related tolerance range. Method 500 may further include, at 514, in response to determining that the cross-channel angular difference is not within the cross-channel related tolerance range, performing one or more corrective control actions to correct operation of the sensor, and/or otherwise adjusting operation of one or more systems: the one or more systems are coupled to the sensor and/or the sensor is configured to monitor a condition of the one or more systems. For example, in some cases, in response to determining that the cross-channel angular difference is not within the cross-channel related tolerance, the corrective control action may be or may include an alarm, a troubleshooting action, a braking action, a shutdown, and/or other suitable corrective control actions to ensure safe and reliable operation of the system.

For example, one example embodiment of the present disclosure may include a dual channel differential sensor. The dual channel differential sensor may include: a first channel, a first channel circuit, and a first interface; the first channel includes one or more first receive coils configured to generate one or more first coil features in response to interaction with a target; the first channel circuit is configured to generate a first sine component signal and a first cosine component signal in response to one or more first coil characteristics, the first sine component signal and the first cosine component signal having a first polarity; the first interface is configured to provide a first sine component signal and a first cosine component signal. In addition, the dual channel differential sensor may include: a second channel, a second channel circuit independent of the first channel circuit, and a second interface; the second channel includes one or more second receive coils configured to generate one or more second coil features in response to interaction with the target; the second channel circuit is configured to generate a second sine component signal and a second cosine component signal in response to one or more second coil features, the second sine component signal and the second cosine component signal having a second polarity opposite the first polarity; the second interface is configured to provide a second sine component signal and a second cosine component signal. In addition, the dual channel differential sensor may include a sensing circuit configured to: the method includes obtaining a first sine component signal, a first cosine component signal, a second sine component signal, and a second cosine component signal, determining a cross-channel sine differential signal based at least in part on the first sine component signal and the second sine component signal, and determining a cross-channel cosine differential signal based at least in part on the first cosine component signal and the second cosine component signal, determining an output angle based at least in part on a two-parameter arctangent of the cross-channel sine differential signal and the cross-channel cosine differential signal, and providing the cross-channel sine differential signal, the cross-channel cosine differential signal, and the output angle as outputs of a two-channel differential sensor.

As used herein, "about" is used with the stated values to mean within 20% of the stated values.

While the present subject matter has been described in detail with respect to specific exemplary embodiments thereof, it will be appreciated that those skilled in the art, upon attaining an understanding of the foregoing, may readily produce alterations to, variations of, and equivalents to such embodiments. Accordingly, the scope of the present disclosure is by way of example rather than by way of limitation, and the subject disclosure does not preclude inclusion of such modifications, variations and/or additions to the present subject matter as would be readily apparent to one of ordinary skill in the art.

Claims

1. A dual channel differential sensor comprising:

a first channel configured to generate a first component signal;

a second channel independent of the first channel, the second channel configured to generate a second component signal;

a sensing circuit configured to:

acquiring the first component signal and the second component signal, the first component signal having a first polarity and the second component signal having a second polarity, the second polarity being opposite to the first polarity;

Determining a first cross-channel differential signal based at least in part on the first component signal and the second component signal; and

the first cross-channel differential signal is provided as a first output of the dual-channel differential sensor.

2. The dual channel differential sensor of claim 1, wherein:

the first channel is configured to generate a third component signal, the third component signal having the first polarity;

the second channel is configured to generate a fourth component signal, the fourth component signal having the second polarity; and is also provided with

The sensing circuit is further configured to:

acquiring the third component signal and the fourth component signal;

determining a second cross-channel differential signal based at least in part on the third component signal and the fourth component signal; and

the second cross-channel differential signal is provided as a second output of the dual-channel differential sensor.

3. The dual-channel differential sensor of claim 2, wherein the first and second component signals are sinusoidal signals, and wherein the third and fourth component signals are sinusoidal signals phase-shifted relative to the first and second component signals.

4. The dual-channel differential sensor of claim 2, wherein the sensing circuit is further configured to determine an output angle based at least in part on the first and second cross-channel differential signals.

5. The dual-channel differential sensor of claim 4, wherein the output angle is based at least in part on a dual-parameter arctangent of the first and second cross-channel differential signals.

6. The dual-channel differential sensor of claim 4, wherein the phase of the first channel is offset from the phase of the second channel by a channel phase difference, and wherein determining the output angle comprises:

determining an amplitude of the first channel;

determining an amplitude of the second channel; and

a channel phase correction is determined based at least in part on the amplitude of the first channel, the amplitude of the second channel, and the channel phase difference.

The channel phase correction is applied to the output angle.

7. The dual-channel differential sensor of claim 6, wherein determining the channel phase correction is based at least in part on the following equation:

Δθ＝(φ/2).((A-B)/(A+B))

Where Δθ is the channel phase correction, φ is the channel phase difference, A is the amplitude of the first channel, and B is the amplitude of the second channel.

8. The dual-channel differential sensor of claim 2, wherein the sensing circuit is further configured to:

determining a first channel angle based at least in part on the first component signal and the third component signal;

determining a second channel angle based at least in part on the second component signal and the fourth component signal;

determining a cross-channel angle difference based at least in part on the first channel angle and the second channel angle;

determining that the cross-channel angular difference is not within a cross-channel related tolerance range; and

one or more corrective control actions are performed in response to determining that the cross-channel angular difference is not within the cross-channel related tolerance range.

9. The dual-channel differential sensor of claim 1, wherein at least one of the first channel or the second channel comprises:

one or more coils configured to interact with a target and to generate one or more coil features in response to the interaction with the target;

A channel circuit configured to generate one or more component signals in response to the one or more coil characteristics; and

an interface configured to provide the one or more component signals.

10. The dual-channel differential sensor of claim 9, wherein the one or more coils comprise a receive coil and a transmit coil.

11. The dual-channel differential sensor of claim 9, wherein the channel circuitry associated with the first channel is disposed in a first integrated circuit and the channel circuitry associated with the second channel is disposed in a second integrated circuit, the second integrated circuit being different from the first integrated circuit.

12. The dual-channel differential sensor of claim 1, wherein the dual-channel differential sensor comprises one or more of: an inductive sensor, an inductive motor sensor, an inductive gearbox sensor, an inductive position sensor, a magnetic encoder, an electric brake booster, an electric brake system, a steering system, or a torque control system.

13. A method for operating a dual channel differential sensor, the method comprising:

Acquiring a first component signal from a first channel of a dual-channel differential sensor and a second component signal from a second channel of the dual-channel differential sensor, the first component signal having a first polarity and the second component signal having a second polarity, the second polarity being opposite to the first polarity;

the first cross-channel differential signal is provided as an output of the dual-channel differential sensor.

14. The method of claim 13, further comprising:

acquiring a third component signal having the first polarity from the first channel and a fourth component signal having the second polarity from the second channel;

the second cross-channel differential signal is provided as an output of the dual-channel differential sensor.

15. The method of claim 14, further comprising: