CN1328574C - Motion state sensing device for rotation gear - Google Patents
Motion state sensing device for rotation gear Download PDFInfo
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- CN1328574C CN1328574C CNB2005100206768A CN200510020676A CN1328574C CN 1328574 C CN1328574 C CN 1328574C CN B2005100206768 A CNB2005100206768 A CN B2005100206768A CN 200510020676 A CN200510020676 A CN 200510020676A CN 1328574 C CN1328574 C CN 1328574C
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Abstract
The present invention relates to a motion state sensing device of a rotating mechanism, which is provided with a rotating unit of a permanent magnet sensing source, and the rotating unit is supported on a supporting unit. At least one sensor group corresponding to the permanent magnet sensing source is arranged in the action range of magnetic sensing corresponding to the rotating trace of the permanent magnet sensing source, wherein the sensor group at least comprises two sensing units which are arranged in a spacing mode. At least two sensing units in the sensor group are respectively connected with a calculation comparison circuit which can judge the time sequence variation of sensing signals of the sensing units. The calculation comparison circuit is at least provided with a positive/negative direction discrimination circuit for comparing the variable time sequence state of the sensing signals of the calculation comparison circuit or a velocity composition circuit for carrying out the differential processing to the variable time sequences of the sensing signals. The device can provide rotation direction and/or rotational speed sensing output signals in high resolution, high reliability and high transient response.
Description
Technical field
The present invention relates to be used to detect the motion state of rotating mechanism, the sensing device that comprises motion states such as its rotational speed, sense of rotation, at first and especially suitable but be not the sensing device that motion states such as the speed of motor vehicle and/or advance and retreat direction is detected only for being used for.
Background technology
For rotating mechanism, as the speed in the vehicles running statuses such as motor vehicle/or the running status of direction, and motion state such as operating rotational speed such as running device and/or sense of rotation detects in real time in many industrial circles, and, often be needs and requisite with the foundation of this testing result as other control operation.With the fluid drive motor vehicle is example, for guaranteeing normal, the safety of driving process, its direction to the speed of a motor vehicle and the speed of a motor vehicle all has special requirement, wherein mainly be reflected in sensing requirement to height explanation degree, high-reliability and the high transient response of the speed of a motor vehicle and travel direction, these requirements are embodied in: the sensing of the speed of a motor vehicle is as the important speed change parameter of self-shifting, particularly low speed driving, automatic cruising and starting stage etc., all requiring provides the speed of a motor vehicle transducing signal of high precision with high explanation degree to control system; The fluid drive vehicle is at driving process, and control system needs the outside travel direction signal that high-reliability is provided, with artificial error operations in the correct processing driving process; In the uphill starting process, the speed/resolution of direction identification, responsiveness to the speed of a motor vehicle require higher, anti-sliding identification during as uphill starting, this resolution and transient response degree directly reflect the anti-sliding distance of car load, and anti-sliding distance is directly relevant with the traffic safety of uphill starting again.
Existingly comprise about the electronic type speed of a motor vehicle of motor vehicle and/or the bibliographical information of direction sensor or sensing mode:
A kind of sensor of only using is disclosed among the Jap.P. JP2004212347, by the annular permanent-magnet body that has profile of tooth being carried out the sensing of rotating speed and direction, wherein in turning to identification, adopted the asymmetric triangular wave that asymmetric triangular tooth sensed to come travel direction identification.This technology is in the sensing that is applied to the rotating speed under the specified conditions and turns to, a kind of mode preferably of can yet be regarded as.But its deficiency is: the length of the long hypotenuse of triangular tooth (degree of asymmetry of dissymmetrical magnetic field) has determined the fiduciary level of rotation direction sensing, when hope obtains the direction signal of high-reliability, its long limit is longer, but the resolution of revolution speed sensing is reduced, otherwise, when hope obtained the tach signal of high-resolution, the length ratio on length limit must be dwindled, and the reliability that turns to is reduced.Therefore be two conflicting aspects to rotating speed and the sensing that turns in the document, often be difficult in actual applications both hold concurrently so, particularly be not suitable for the speed of operation of motor vehicle and the detection of travel direction.
In U.S. Pat 3,728, in 565 " direction of axle and the sensing devices of rotating speed " that propose, disclose two sensors of a kind of usefulness the detection of rotation direction has been carried out in a rotating shaft, utilize the front and back physical location of two sensors and sensing object to obtain the phase differential of each output, and the identification that turns to of the authentication technique by phase differential relation, can avoid the defective of above-mentioned document.Simultaneously, also can therefrom obtain tach signal by a kind of mode.By adopting different magnetic sensing modes, the direction identification technology of different phase places can obtain different effects on this basis.
Chinese patent 02276822.X (notification number CN 2553383Y) discloses a kind of " phase place output magnetoelectric transducer ", by two tachometer heads the gear that rotates is carried out rotating speed and the identification that turns to.The sensing of its magnetic head is a kind of ferromagnetic sensing mode to liking gear.Because gear is a kind of soft magnetic material, with gear during, when when a crown of gear turns over sensor, being magnetized, have hysteresis by the external magnetic field as the sensing sources in the ferromagnetic sensing; When this crown leaves sensor and loses the external magnetic field, also has magnetic after effect.Therefore, in ferromagnetic sensing mode, the variation of magnetic induction density always lags behind the variation of external magnetic field, that is: the output state of sensor always lags behind outside condition sensing.Because the existence of magnetic after effect, and ferromagnetic sensing is as a kind of weak magnetic sensing mode, wherein the shape of the rotating speed and the soft magnetic material of sensing object (as the tooth pitch of gear, profile of tooth etc.), environment temperature etc. all there is certain restriction, therefore, be not suitable for the rotating speed of high stable, high rotating speed, high transient response and the sensing that turns to.Similar techniques also is embodied in as US 4,370 with it, in 614 documents such as grade.
In Japanese car association " brush collection No.34-03 before the disquisition meeting ", a kind of " vehicle speed sensor that is used for the ramp about brake control system " disclosed, wherein adopted two Magnetic Sensors that permanent magnet wheel is carried out the detection of rotating speed and direction, and be used for the car ramp starting-up process oppositely slide detection.When having detected when oppositely sliding signal, start a kind of clamping device and control coasting distance.Because the identification to the direction signal in the document is to be based upon on a kind of basis of pulse shape, therefore must be through could obtaining after the recurrence interval to the identification of direction signal, so the transient response that direction is discerned is not high.
Based on the importance of transient response for direction of traffic identification, among the Deutsche Bundespatent PCT/EP2004/000782 disclosed " a kind of control method of motor vehicles transmission and device ", in order to improve the transient response time of direction identification, except that discerning the direction of traffic with two sensor S1 and S2, also adopted the 3rd sensor S3, the induction wheel after mechanical raising speed of a correspondence by the S3 correspondence obtains higher frequency, in a same period of this higher frequency to S1, the phase differential of S2 output is discerned, though this has improved the transient response degree of direction identification relatively, its structure is comparatively complicated.
To the similar rotating mechanism that uses in other field, have the needs that the rotational speed in its operational process and/or sense of rotation are carried out sensing, detection or supervision equally.
Summary of the invention
At above-mentioned situation, the present invention will provide a kind of energy transient state to detect and reflect the sensing device of motion states such as the rotational speed of rotating mechanism, sense of rotation, and the motion state that goes for the rotating mechanism in the multiple field detects.On this basis, further aim of the present invention provides a kind of speed/direction sensor that is specially adapted to motor vehicle, make that it is long in the life-span, structural volume is little and multi-functional basis cheaply on, can also realize high explanation degree, high-reliability and high transient response, and under the situation that does not influence sensing explanation degree, the active volume and the sensing sources sensing polarity quantity of comparable existing disclosed vehicle speed sensor reduce over half.The direction of traffic and the speed of a motor vehicle transducing signal of this high explanation degree, high-reliability and high transient response, significant for the control of fluid drive motor vehicle.
The motion state sensing device of rotating mechanism of the present invention, its structure is: the rotary unit that is provided with the permanent magnet sensing sources is supported on the bearing unit, is provided with the sensing unit that adapts with the permanent magnet sensing sources in the magnetic transducing reach that the rotational trajectory with the permanent magnet sensing sources adapts.In the magnetic transducing reach that the track that rotatablely moves with the permanent magnet sensing sources adapts, be provided with at least one said this sensor groups, wherein include two sensing units that are provided with in the spacing mode at least; At least two sensing units in the sensor groups are connected with the computing comparator circuit that is used for the timing variations of its transducing signal is judged respectively.Should include in wherein said this computing comparator circuit be used for to the time sequence status that its transducing signal changes compare just/anti-(or forward/back) directional interpreting circuit and the sequential that transducing signal changes done at least a in the speed combiner circuit that differential handles.Wherein said permanent magnet sensing sources can select neodymium iron boron or other suitable magnetic material then commonly used to make.
As the measure of further raising sensing accuracy, this permanent magnet sensing sources can be set to two at least, in addition can for along said rotational trajectory circumference with mode uniformly-spaced be provided with more a plurality of.The most convenient set-up mode of a plurality of permanent magnet sensing sources is that each permanent magnet sensing sources structure is arranged on the said rotary unit on the corresponding circumferential location of rotational trajectory same with it.Specifically the be provided with form of said permanent magnet sensing sources on rotary unit, can adopt to be rendered as on as common type rotary unit bodies such as cylinder or disks to have double wedge shape form radially and/or axial, also can adopt the form that in the cylinder circumference of rotary unit body and/or sagittal plane, is provided with by magnetic material and non-magnet material space.
Be to improve the precision and the instantaneous velocity of reaction of sensing, said sensor groups equally also is to be good to adopt at the position that the rotational trajectory circumference with above-mentioned sensing sources adapts in the mode that equidistant mode is set to two or more groups in above-mentioned sensing device.When being provided with two or more sensor groups, the sensing unit sum that is wherein comprised not is must be 2 integral multiple, promptly, add up to 3 or more for a long time, the combination of wherein any two sensing units can be as a said sensor groups in the above-mentioned sensing device of the present invention when sensing unit.
In the physical construction of the motion state sensing device of above-mentioned rotating mechanism, said rotary unit generally can adopt by the turning axle that becomes monolithic devices or fabricated construction with it and be supported on version on the bearing unit.According to different applications and/or needs, the turning axle of said this rotary unit can adopt the form that is arranged at its one-sided end, also can adopt the form that the turning axle of rotary unit is arranged at the same axial positions (being equivalent to connect the axle of the axial both sides of rotary unit form) of its opposite end surface.
In the motion state sensing device of above-mentioned rotating mechanism, if the sensing unit in the said sensor groups only with just said/anti-(or forward/back) directional interpreting circuit connection that links to each other with one of speed combiner circuit, can only detect corresponding single movement state, therefore linking to each other with the speed combiner circuit and join with just said/anti-(or forward/back) directional interpreting circuit simultaneously is the ideal style of suggestion.
In the motion state sensing device of above-mentioned rotating mechanism, said be used for to the time sequence status that the transducing signal of sensing unit changes compare just/anti-(or forward/back) directional interpreting circuit, according to the general knowledge of electronics, can there be many kinds to select or design.For example, a kind of mode that can be for reference is to adopt the circuit structure form that is connected by the d type flip flop AND circuit that has clock end and synchronous/asynchronous trigger end, and the simple form that d type flip flop input end wherein is connected with sensing unit.
Said being used for carried out the speed combiner circuit that differential is handled to the sequential that sensing changes in the above-mentioned motion state sensing device, remove can adopt monostalbe trigger that a kind of rising edge that is connected with the output terminal of sensor unit respectively by trigger end that provides as a reference triggers and, outside the circuit structure form that the monostalbe trigger circuit of a negative edge triggering is formed, other multiple choices or design form can also be arranged equally also according to the general knowledge of electronics.
Below in conjunction with accompanying drawing, and this device is arranged on the position and as a kind of concrete application mode of the speed of a motor vehicle and/or direction of motion sensor, again foregoing of the present invention being described in further detail of matching with the driving mechanism power output shaft of motor vehicle.But the scope that this should be interpreted as the above-mentioned theme of the present invention only limits to following each embodiment.Do not breaking away under the above-mentioned technological thought situation of the present invention, various replacements or change according to ordinary skill knowledge and customary means are made still comprise within the scope of the invention.
Description of drawings
Fig. 1 is the ultimate principle block diagram of motion state sensing device of the present invention.
Fig. 2 is a kind of structural representation of motion state sensing device of the present invention as vehicle directional/speed pickup.
Fig. 3 is the deployed condition synoptic diagram of two sensing units in the sensor groups that is provided with of plane radially among Fig. 2.
Fig. 4 be among Fig. 2 the magnetic transducing source in the view that is provided with at rotary unit top end face place.
Fig. 5 be in addition motion state sensing device of the present invention as the another kind of structural representation of vehicle directional/speed pickup.
Fig. 6 is that two sensing unit a in a sensing sources that is provided with on the rotary unit periphery in the motion state sensing device of the present invention and the sensor groups that is provided with along its periphery, the position of b concern synoptic diagram.
Fig. 7 is that transducing signal output phase sequence and the corresponding rate signal of by two sensing unit a, b sensing sources being done different directions when rotation with rotary unit among Fig. 6 concern synoptic diagram.
Fig. 8 is a kind of basic electrical schematic diagram that is used for discriminating direction in the above-mentioned motion state sensing device.
Fig. 9 is used for the synthetic a kind of basic electrical schematic diagram of speed in the above-mentioned motion state sensing device.
Figure 10 is the version of a kind of rising edge monostalbe trigger unit among Fig. 8,9.
Figure 11 is the version of the another kind of rising edge monostalbe trigger unit among Fig. 8,9.
Figure 12 is a kind of rising edge among Fig. 8,9 and the version of negative edge monostalbe trigger unit.
Figure 13 is the version of the another kind of negative edge monostalbe trigger unit among Fig. 8,9.
Figure 14 is the version of a kind of d type flip flop unit among Fig. 8,9.
Figure 15 is that the present invention and prior art contrast synoptic diagram on the output-response length velocity relation of transducing signal.
Figure 16 is after increasing a sensing unit c on the basis of Fig. 6 and Fig. 7 again, and transducing signal output phase sequence and corresponding rate signal when by three sensing unit a, b, c sensing sources being done the different directions rotation with rotary unit concern synoptic diagram.
Embodiment
Shown in Figure 1, be the basic structure principle of rotating mechanism motion state sensing device of the present invention.Have one to be supported in the bearing unit and can be with the rotary body of rotating mechanism rotation as forms such as disc or right cylinders in its structure, it is provided with one or sentence the sensing sources (as shown in Figure 4) that equidistant mode is provided with a plurality of permanent magnet materials in same rotational trajectory circumferential location; With rotary body on the magnetic transducing reach that adapts of permanent magnet sensing sources rotational trajectory in be provided with one or more sensor groups, in sensor groups, include two modes at least and be provided with sensing unit and the corresponding peripheral component that adapts with this permanent magnet sensing sources, and have at least two sensing units to be connected with the computing comparator circuit that is used for the timing variations of its transducing signal is judged respectively in the sensor groups with spacing (particularly equidistant).Be useful on the time sequence status that its transducing signal is changed in this computing comparator circuit and compare differentiating just/in the other direction judging circuit of its sense of rotation, and the sequential that transducing signal changes is carried out at least a in the speed combiner circuit that differential handles.Have two sensing units at least in said and the sensor groups that this computing comparator circuit is connected, can be respectively be connected, or all be connected with two treatment circuits simultaneously respectively with in two transducing signal sequential processing circuit one in this computing comparator circuit.The sensing input signal of this computing comparator circuit receiving sensor group, after computing comparator circuit inside included directional interpreting circuit and the processing of speed combiner circuit, outwards the signal of rotation direction and the signal of velocity of rotation were represented in output respectively.These signals are except that can be used for supervision, and bigger meaning is its input signal that can be further used as other control section.
Fig. 2～shown in Figure 4 is that motion state sensing device of the present invention can be used as a kind of version of vehicle directional/speed pickup when using.The end of said rotary body 5 through being positioned at the one side and its become the turning axle 2 of monolithic devices (or assembled) structure and the bearing arrangement 4 of cooperation to be supported on the bearing support 1.Bearing support 1 can be attached on the vehicle transmission housing, turning axle 2 can with variator speed of a motor vehicle output revolving shaft fork-join.Permanent magnet sensing sources 6 is provided with in equidistant mode at the transverse plane circumferential part of rotary unit 5, as shown in Figure 4.On the bearing support 1 in the magnetic transducing reach that the rotational trajectory circumference with permanent magnet sensing sources 6 adapts, be provided with some equally spaced respective sensor groups in corresponding mode, be provided with 2 in each sensor groups respectively as suitable sensing unit a such as Hall element, b.Shown in Figure 3 is the deployed condition signal of two sensing units in a sensor groups.When the speed of a motor vehicle of motor vehicle is non-vanishing, the transmission output shaft rotation, driven rotary axle 2 and on sensing sources rotate, make itself and the variation of the relative position generating period of sensor groups 3, thus the transducing signal that on the output terminal of sensor 3, obtains the current rotating speed of expression and turn to.
Motion state sensing device of the present invention can be used as when vehicle directional/speed pickup uses another kind of version that shown in Figure 5 is.What be that the turning axle 2 of its rotary body 5 adopts with the difference of Fig. 2 structure is the form that is arranged at the same axial positions of its opposite end surface, purpose be its turning axle 2 tops output terminal can with the motor vehicle flexible axle fork-join that tests the speed, use for the motor vehicle speed table.
Fig. 6 is when in the motion state sensing device of the present invention the magnetic transducing source being arranged on the excircle cylinder position of rotary body 5 with the double wedge form, with the position relation signal of two sensing unit a, b in the sensor groups that is provided with in its cylinder excircle sensing scope.
Shown in Figure 7, be with two sensing unit a, b in this sensor groups shown in Figure 6 when sensing sources is done clockwise and counterclockwise different directions rotation with rotary body 5, its transducing signal output phase sequence and corresponding rate signal relation and realize to rotation direction differentiate and/the synthetic principle of work signal of speed.
By being not difficult to find out among the figure, when being used as clockwise direction and rotating, 4 kinds of sense state of two sensing unit a and b are followed successively by: 1) sensing unit a is by sensing, and sensing unit b is not as yet by sensing; 2) sensing unit a, b are by sensing; 3) sensing unit a loses sensing and sensing unit b continues by sensing; 4) sensing unit a, b lose sensing simultaneously.In like manner, when doing counterclockwise to rotate, the status exchange of the sense state of sensing unit a, b during just in time with clockwise direction.
Based on arbitrary magnetic transducing source among the figure do with rotary unit different directions when rotation its with two sensing unit a, b between above-mentioned different sensing locations relations, 21 among the figure shows is that the correspondence of two sensing unit a, b is exported phase sequence a1, b1 when clockwise rotating; 22 that show is output phase sequence a1, the b1 of two sensing unit a when rotating counterclockwise, b correspondence.By above-mentioned two sensing unit a with phase difference output, the output transducing signal of b is as can be seen: when a unit angle is rotated in the magnetic transducing source, at sensing unit a, b finishes a sensing during cycle, the output signal a1 that it is corresponding, b1 will have the combination of four kinds of states, that is: a, b is not by sensing (a-/b-), a, b is by sensing (a+/b+) and a, b one of them by sensing (a-/b+, or a+/b-), obtained the signal of four expression rotating speeds thus in a unit angle, the output of four signals is fully by sensing sources and sensing unit a, the relative mechanical location decision of b.
Particularly, rising edge one of among two sensing unit a, the b when entering sensing (a ↑ or b ↑) and when losing the negative edge (a ↓, b ↓) of sensing, the residing state of another sensing unit, not having any repetition situation that may cause judging by accident in the sensing output signal combination when different directions rotates occurs, that is: be in condition sensing and sensing unit b during as sensing unit a just in time by sensing, or be in not condition sensing and sensing unit b when just in time losing sensing as sensing unit a, its expression be a kind of rotation direction of magnetic transducing source with rotary unit; Otherwise, when sensing unit a not by sensing and sensing unit b during just in time by sensing, or sensing unit a is by sensing and sensing unit b when just in time losing sensing has then represented a kind of opposite rotation direction.Therefore, the rotation direction of rotary unit can be by accurately, determine fully by the two ends sensing unit in the sensor groups.Increase the quantity that is provided with of sensor groups, can significantly shorten the time of detecting of differentiating undoubtedly.
Among the figure 23 shows is the tach signal that different phase sequences with a1 in 21 and 22 and b1 output are combined into after by synchronous and asynchronous differential.
Fig. 8 is that the corresponding relation with two sensing unit a, b output phase sequence shown in Figure 7 and direction is a kind of a kind of basic electrical schematic diagram that can be used for discriminating direction of example.
This circuit is by having the circuit structure form that the d type flip flop of clock end with the synchronous/asynchronous trigger end (a kind of structure wherein can as shown in figure 14) AND circuit is connected, the input end of d type flip flop is connected with sensing unit, utilize the effective and invalid triggering state of d type flip flop and the synchronous and asynchronous triggering mode of clock end, obtain the direction discrimination process.Wherein, the output terminal of U1-U4 has been represented a rotation direction, and the output terminal of U5-U8 has been represented another rotation direction: for U1, when a is between low period, U1 is in effective triggering state, and when rising edge signal of b input, the clock end by U1 is triggered; Among the U2, when b is between high period, U2 is in effective triggering state, and when rising edge signal of a input, the clock end by U2 is triggered; When a is between high period, U3 is in effective triggering state, and when negative edge signal of b input, the clock end by U3 is triggered; When b is between low period, U4 is in effective triggering state, when negative edge signal of a input, clock end by U4 is triggered, this process is presented the circulation of above-mentioned four same periods when the motion of direction, by four or door U9, and the high level signal of a direction of output expression.In above four cycles, as long as the direction difference of a same period is wherein arranged, when the rising edge of a, b input signal or negative edge, all can make corresponding among a U5-U9 trigger produce a high level signal, and through four or the rising edge singlet trigger that constitutes of door U12 and rising edge d type flip flop U13, impact damper U14 make all trigger resets of U1-U5, low level signal of U9 output simultaneously.This low level signal has been represented another rotation direction.U10 and U13 constitute the monostalbe trigger that a kind of rising edge triggers by each self-corresponding impact damper U11, U14, its clock end is under the rising edge effect, time delay by U11, U14, output terminal can produce a very narrow pulse, is the other side's trigger reset of different directions when being respectively applied for the direction variation.
Fig. 9 is that the corresponding relation with two sensing unit a, b output phase sequence shown in Figure 7 and direction is that example a kind of can be used for that the sequential that sensing changes is carried out the speed that differential handles and synthesize basic electrical schematic diagram.
Monostalbe trigger circuit U 20, U21 and U24, U25 that the rising edge that this circuit is connected with the output terminal of sensor unit respectively by trigger end triggers; Monostalbe trigger circuit U 22, U23 and the U26 of a negative edge triggering, the composition form of U27.The trigger end of the monostalbe trigger that monostalbe trigger that the output terminal of sensor unit a, b triggers with this rising edge respectively and negative edge trigger links to each other, therefore constantly at separately rising edge and negative edge, on the output terminal of U20, U22, U24 and U26, obtain a very narrow pulse, these pulses by four or door U28 obtained the signal of velocity of rotation.
Figure 10 is the version that adopts said a kind of rising edge monostalbe trigger unit among discrete component pie graph 8 and Fig. 9.R2 among the figure, C1 are a kind of typical R C delay circuits in the electronic applications, determine by the value size of R2, C1 time delay.When high level signal of input, electric current is outwards exported high level by R1 on the one hand, on the other hand by R2 more slowly to the C1 stored charge, at the initial stage of stored charge, the base stage of T1 is failed to reach triggering level and is in cut-off state, its output terminal still keeps high level output, increase along with stored charge, the base stage of T1 reaches triggering level and conducting, between output terminal and ground, form a loop, output terminal is low level, so input end is in each rising edge stage, and output terminal all can obtain a very short high level signal.
According to same principle,, can obtain the effect of negative edge monostalbe trigger unit as long as input signal is carried out anti-phase.
Figure 11 adopts discrete component to mix said rising edge monostalbe trigger unit among the another kind of Fig. 8,9 that constitutes with logic gates.R3 among the figure, C2 are the RC delay circuit equally, when input during a high level signal, outwards export high level by U30, simultaneously U30 again by R3 more slowly to the C2 stored charge, at the initial stage of stored charge, the A level point remains on a lower state, and U30 continues the output high level, along with the increase of stored charge, the A level point raises, make the U30 output terminal be low level, so input end is in each rising edge stage, output terminal all can obtain a very short high level signal.According to same principle,, can obtain the effect of negative edge monostalbe trigger unit as long as input signal is carried out anti-phase.
Figure 12 adopts discrete component to mix said a kind of rising edge and negative edge monostalbe trigger unit structural form in the pie graph 8,9 with logic gates.Constitute negative edge RC differentiating circuit by C3, R4 among the figure; C4, R5 form the RC differentiating circuit of rising edge.Synthesize by U31 by two groups of differentiating circuit, thereby when being formed on the rising edge of an input signal and negative edge, obtained short high level signal respectively at output terminal.
Except that the version shown in the figure, this rising edge and negative edge monostalbe trigger can also adopt as integrated circuit forms such as 4098,74121,74122.Use as 8051 single-chip microcomputers such as grade and programming device such as PLD etc. and can constitute above-mentioned monostalbe trigger.
Figure 13 is the version that adopts said another kind of negative edge monostalbe trigger unit among Fig. 8,9 that counter circuit constitutes.When input negative edge signal, remove the reset signal of counter U51 by U50, counter begins counting under the internal clocking effect, the output terminal of counter since by or door U52 link to each other, on the output terminal of U52, produce a high level signal, when counting reaches set delay end Qn, Qn produces a high level signal, with counter reset, back all output terminals of counter that reset all are low level state, the U52 output low level through U50.Formed when the negative edge of an input signal, obtained short high level signal respectively at output terminal.
Figure 14 is the structure that adopts combinational logic circuit to come said a kind of d type flip flop unit in the pie graph 8,9, is made up of three gate circuits.When the RESET input CLR was in high level, no matter what attitude data input pin D and input end of clock CLK were in, and U40, U41 be output low level, and the output terminal Q of U42 is in low level; When the RESET input CLR and output terminal Q are in low level, U41 always is in low level, the output state of output terminal Q depends on U40: when data input pin D was in high level, clock input end CLK began to make U40 to be in high level when rising edge, made Q output high level by U42; When clock input end CLK finished a high level period and enters low level, U40 was in low level, to the U42 input high level, makes Q continue to keep high level by U41.When data input pin D was in low level, U41 was in low level equally, output terminal Q output low level, and clock input end CLK begins to make U40 be in low level equally when rising edge; When clock input end CLK finished a high level period and enters low level, U40 and U41 all were in low level, make Q continue to keep low level.
Except that version as shown in the figure, above-mentioned d type flip flop can be made of various ways.For example, can adopt integrated circuit as 7475,7477 in 4042,74 series in 4000 series etc.In addition, application as 8051 single-chip microcomputers such as grade and programming device such as PLD etc. can constitute above-mentioned d type flip flop.
Figure 15 is shown, be by Fig. 6 and shown in Figure 7 when all adopting the output of two sensing units, disclosed " vehicle speed sensor that is used for the ramp about brake control system " similar technology is as vehicle directional and vehicle speed sensor the time in the above-mentioned motion state sensing device of the present invention and the aforementioned Japanese car association " disquisition can before brush collection No.34-03 ", the contrast of its direction and speed of a motor vehicle transducing signal identification output speed.
Two sensors output signal in apparatus of the present invention that a1～d1 among the figure represents, wherein: a1, b1 are the variation of output signals relations of two sensing units, and c1 represents the output signal of different directions, d1 represents the vehicle speed signal exported; The corresponding sensing output signal of the documents that a11～d11 represents.What represent from left to right among the figure is the time of direction identification, wherein, P is actual commutating period of the point of direction conversion, and A is the commutation recognition time point of commutation transducing signal output in the documents for the commutation recognition time point of sensing unit output commutation signal in the said apparatus of the present invention, B.Be not difficult to find out: both are under the identical situation of sensor output condition, the present invention adopts rising edge and negative edge recognition technology, aspect direction identification, shifted to an earlier date the time of Δ t than the document, aspect speed of a motor vehicle identification, by rising edge and the synthetic identification of negative edge, the resolving accuracy of the speed of a motor vehicle is doubled equally.Obviously, the direction of traffic and the speed of a motor vehicle transducing signal of this high explanation degree, high-reliability and high transient response for the control of fluid drive motor vehicle, particularly under urgent or dangerous situation, have extremely important and Special Significance.
Shown in Figure 16, be on the basis of Fig. 6 and Fig. 7, after increasing a sensing unit c, transducing signal output phase sequence when sensing sources being done the different directions rotation with rotary unit and the signal of corresponding rate signal relation by three sensing unit a, b, c, 61 show among the figure, are that the correspondence of sensing unit a, b, c when clockwise rotating is exported the relation between phase sequence a1, b1 and c1; 62 show, are that the correspondence of sensing unit a, b, c when rotating counterclockwise is exported the relation between phase sequence a1, b1 and c1; 63 demonstrations is that the tach signal of doing to be combined into when above-mentioned either direction is rotated is illustrated.
Based on above-mentioned same principle, by being not difficult to find out among the figure: when sensing sources is rotated a unit angle, finish a sensing during cycle at sensing unit a, b, c, will obtain the combination of six kinds of output states between its corresponding output terminal a1, b1, the c1, that is: a, b, c be not by sensing; A, b, c are by sensing; Two of a, b and b, c are by sensing; A and c have obtained the signal of six expression rotating speeds thus separately by sensing in a unit angle.When identification speed of a motor vehicle direction,, can determine by the condition sensing of any two sensors equally based on the principle of Fig. 7, and the nonessential condition sensing that only is confined to adjacent two sensors.Obviously, increase the quantity that is provided with of sensing unit, can obviously improve identification and judgement precision sense of rotation and/or speed.
As described above, the motion state sensing device of above-mentioned rotating mechanism of the present invention is when using as the direction/speed pickup of motor vehicle, can have great superiority, remove and have high explanation degree, high-reliability and high transient response, and the life-span is long, multi-functional and characteristics such as low cost outside, and under the situation that does not influence sensing explanation degree, can also dwindle over half than the active volume and the sensing sources sensing polarity quantity of existing report or the vehicle speed sensor of using.But this do not get rid of the above-mentioned rotating mechanism motion state sensing device of the present invention use with fields such as other industry, traffic in the time can obtain same desirable effect.
Claims (12)
1. the motion state sensing device of rotating mechanism, the rotary unit (5) that is provided with permanent magnet sensing sources (6) in the structure is supported on the bearing unit (1), in the magnetic transducing reach that the rotational trajectory with permanent magnet sensing sources (6) adapts, be provided with the sensing unit that adapts with the permanent magnet sensing sources, it is characterized in that in the magnetic transducing reach that the track that rotatablely moves with permanent magnet sensing sources (6) adapts, being provided with at least one said this sensor groups (3), wherein include two sensing unit (a that are provided with in the spacing mode at least, b), at least two sensing units in the sensor groups are connected with the computing comparator circuit that is used for the timing variations of its transducing signal is judged respectively, be useful on just/in the other direction judging circuit that time sequence status that its transducing signal is changed compares in this computing comparator circuit and the sequential that transducing signal changes made the speed combiner circuit that differential is handled, the sensing unit in the said sensor groups simultaneously with just said/judging circuit connection that links to each other with the speed combiner circuit in the other direction.
2. the motion state sensing device of rotating mechanism as claimed in claim 1 is characterized in that said permanent magnet sensing sources (6) is for going up at least two that the circumferential location place corresponding with the same rotational trajectory of permanent magnet sensing sources is provided with at rotary unit (5).
3. the motion state sensing device of rotating mechanism as claimed in claim 2 is characterized in that said magnetic transducing source (6) is for to sentence a plurality of that equidistant mode is provided with in rotary unit (5) circumferential location corresponding with its rotational trajectory.
4. the motion state sensing device of rotating mechanism as claimed in claim 1 is characterized in that said sensor groups (3) is provided with two groups at least in the magnetic transducing reach that the rotational trajectory with permanent magnet sensing sources (6) adapts.
5. the motion state sensing device of rotating mechanism as claimed in claim 1 is characterized in that said rotary unit (5) is through becoming the turning axle (2) of monolithic devices or fabricated construction to be supported on the bearing unit (1) with it.
6. the motion state sensing device of rotating mechanism as claimed in claim 5 is characterized in that the turning axle (2) of said rotary unit (5) is arranged at its one-sided end.
7. the motion state sensing device of rotating mechanism as claimed in claim 5 is characterized in that the turning axle (2) of said rotary unit (5) is arranged at the same axial positions of its opposite end surface.
8. the motion state sensing device of rotating mechanism as claimed in claim 1, it is characterized in that just said/in the other direction judging circuit with the sensing unit in the sensor groups (3) its separately the switch way of output of the rising edge in the output signal and/or negative edge as its discriminating direction signal.
9. the motion state sensing device of rotating mechanism as claimed in claim 1, it is characterized in that just said/in the other direction judging circuit and/or speed combiner circuit with each sensing unit in the sensor groups (3) its separately the rising edge in the output signal and/or negative edge as the tach signal of speed combiner circuit.
10. the motion state sensing device of rotating mechanism as claimed in claim 1, it is characterized in that said being used for just/in the other direction judging circuit that the time sequence status that the transducing signal of sensing unit changes the compares circuit structure form that the d type flip flop AND circuit that has clock end and synchronous/asynchronous trigger end is connected of serving as reasons, the input end of d type flip flop is connected with sensing unit.
11. the motion state sensing device of rotating mechanism as claimed in claim 1 is characterized in that said being used for carry out the circuit structure form that monostalbe trigger circuit that monostalbe trigger that speed combiner circuit that differential handles triggers for a rising edge that is connected with the output terminal of sensor unit respectively by trigger end and negative edge trigger is formed to the sequential that sensing changes.
12., it is characterized in that this device is arranged on the position of matching with the driving mechanism power output shaft of motor vehicle as the speed of a motor vehicle and/or direction of motion sensor as the motion state sensing device of the described rotating mechanism of one of claim 1 to 11.
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| CNB2005100206768A CN1328574C (en) | 2005-04-07 | 2005-04-07 | Motion state sensing device for rotation gear |
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| CNB2005100206768A CN1328574C (en) | 2005-04-07 | 2005-04-07 | Motion state sensing device for rotation gear |
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| CN1328574C true CN1328574C (en) | 2007-07-25 |
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| CN109808698B (en) * | 2017-11-22 | 2020-11-03 | 上海汽车集团股份有限公司 | Speed calculation method and device and vehicle-mounted equipment |
| CN110031029B (en) * | 2019-04-24 | 2021-03-26 | 广东工业大学 | Absolute encoder |
| CN110221092A (en) * | 2019-06-21 | 2019-09-10 | 无锡琼智信息科技有限公司 | Revolving speed steering detection method, electrical fault detection method, detection system and motor |
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| JPH1183878A (en) * | 1997-09-04 | 1999-03-26 | Matsushita Electric Works Ltd | Rotational speed detecting device |
| JP2000187039A (en) * | 1998-12-24 | 2000-07-04 | Honda Motor Co Ltd | Rotation detecting apparatus |
| US6229299B1 (en) * | 1998-11-17 | 2001-05-08 | Caterpillar Inc. | System and method for computing the angular velocity and direction of a rotational body |
| US6492804B2 (en) * | 1999-12-07 | 2002-12-10 | Denso Corporation | Detected signal processing device for rotating sensor and detected signal outputting method therefor |
| CN2804804Y (en) * | 2005-04-07 | 2006-08-09 | 成都依姆特高科技有限责任公司 | Device for sensing motion state of rotating mechanism |
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2005
- 2005-04-07 CN CNB2005100206768A patent/CN1328574C/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1183878A (en) * | 1997-09-04 | 1999-03-26 | Matsushita Electric Works Ltd | Rotational speed detecting device |
| US6229299B1 (en) * | 1998-11-17 | 2001-05-08 | Caterpillar Inc. | System and method for computing the angular velocity and direction of a rotational body |
| JP2000187039A (en) * | 1998-12-24 | 2000-07-04 | Honda Motor Co Ltd | Rotation detecting apparatus |
| US6492804B2 (en) * | 1999-12-07 | 2002-12-10 | Denso Corporation | Detected signal processing device for rotating sensor and detected signal outputting method therefor |
| CN2804804Y (en) * | 2005-04-07 | 2006-08-09 | 成都依姆特高科技有限责任公司 | Device for sensing motion state of rotating mechanism |
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