DE102009046997A1 - Sensor arrangement for detecting torque at steering column of motor vehicle, has sensor device detecting measured values based on electromagnetic field caused by magnet, and transmission module wirelessly sending detected values to receiver - Google Patents

Sensor arrangement for detecting torque at steering column of motor vehicle, has sensor device detecting measured values based on electromagnetic field caused by magnet, and transmission module wirelessly sending detected values to receiver

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Publication number
DE102009046997A1
DE102009046997A1 DE102009046997A DE102009046997A DE102009046997A1 DE 102009046997 A1 DE102009046997 A1 DE 102009046997A1 DE 102009046997 A DE102009046997 A DE 102009046997A DE 102009046997 A DE102009046997 A DE 102009046997A DE 102009046997 A1 DE102009046997 A1 DE 102009046997A1
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Germany
Prior art keywords
sensor arrangement
sensor
module
sensor device
measured values
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
DE102009046997A
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German (de)
Inventor
Holger Behrens
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Priority to DE102009046997A priority Critical patent/DE102009046997A1/en
Publication of DE102009046997A1 publication Critical patent/DE102009046997A1/en
Withdrawn legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D6/00Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B62D6/08Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to driver input torque
    • B62D6/10Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to driver input torque characterised by means for sensing or determining torque
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01LMEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L3/00Measuring torque, work, mechanical power, or mechanical efficiency in general
    • G01L3/02Rotary-transmission dynamometers
    • G01L3/04Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft
    • G01L3/10Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft involving electrical or magnetic means for indicating
    • G01L3/101Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft involving electrical or magnetic means for indicating involving magnetic or electromagnetic means
    • G01L3/104Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft involving electrical or magnetic means for indicating involving magnetic or electromagnetic means involving permanent magnets
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01LMEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/22Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers
    • G01L5/221Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers to steering wheels, e.g. for power assisted steering

Abstract

Sensor arrangement for detecting the torque on a steering column (10) having an input shaft (12), an output shaft (14) and a torsion bar (16) disposed between the input shaft and the output shaft with one on the input shaft (12) or the output shaft (14 ) and a corresponding arranged on the opposite output shaft (14) or input shaft (12) sensor device (20) for detecting measured values on the basis of an electromagnetic field caused by the multipole magnet, wherein the sensor device (20) a Transmitter module (22) which transmits the acquired measured values wirelessly to a receiver.

Description

  • The present invention relates to a sensor arrangement for detecting a torque according to the preamble of patent claim 1.
  • In particular, vehicles with electrically assisted steering systems usually require a corresponding torque signal, which can serve as a control variable for the steering assistance of the driver of the motor vehicle.
  • State of the art
  • From the EP 1 269 133 B1 a magnetic device is known by means of which a torque signal can be generated. The magnetic circuit of the device consists of a magnetic ring, two Fluxringen and one or more Hall elements. By twisting the magnet in the Fluxringen the magnetic field strength is changed between the Fluxringen, and measured with one or more Hall elements. The teeth which are in communication with the respective flux rings engage in one another in the axial direction and grasp the magnetic field information on the circumference in order to supply them to the Hall element. Axial tolerances of the Hall elements to the flux rings, however, have a strong effect on the measurement effect here. Thus, the enlargement of the air gap causes a smaller magnetic flux with adverse influence on the torque sensor.
  • From the DE 10 2005 031 086 A1 is a sensor arrangement for detecting a differential angle with at least one magnetic field-sensitive sensor element, with which the magnetic field information of a magnetic circuit consisting of a connectable to a wave Magnetpolrad and ferromagnetic Fluxringen with teeth is evaluated, the teeth extend in the radial direction of the shaft and the radial tap of the magnetic field information serve the Magnetpolrades.
  • A wireless torque sensor for detecting the rotation of a continuous shaft is known from US 7,307,517 B2 known.
  • Incidentally, sensors for detecting the torque in the steering shaft of a motor vehicle, in particular cars, in various other versions on the market. These include non-contact principles in which the torque or Verdrehwinkelinformation is transmitted by a magnetic circuit from the steering shaft to the housing, or transmitted by means of electromagnetic fields.
  • Particularly pleasant and effective in handling are steering shafts arranged between an input shaft and an output shaft torsion bars. By interposing such torsion bars, the steering behavior can be favorably influenced, since it is possible, for example, to cushion bumps or smaller obstacles on the road.
  • There are known sensors which measure the twist of a torsion bar on the steering shaft, and transmit this information via a coil spring to the non-rotatable or static steering housing.
  • Sensors with a clock spring make it possible to provide a very precise and direct measuring method. In such methods, a sensor only has to measure the position of a transmitter magnet. The measurement is independent of the position of the steering shaft. The disadvantage is that the electromagnetic compatibility of such coil springs is not very good, and they show signs of wear. Furthermore, the assembly of such springs is cumbersome. When using the non-contact method elements are used, which distribute the position information to the Lenkwellenumfang so that the information can be tapped regardless of the steering shaft position. Signals obtained in this way are influenced by the signal distribution in the guide elements, and experience distortions by the position tolerances of the steering shaft (so-called circulation modulation).
  • Object of the invention
  • It is an object of the present invention to accomplish the most accurate possible measurement of a torque of a torsion bar having steering shaft in a simple manner.
  • Disclosure of the invention
  • This object is achieved by a sensor arrangement having the features of patent claim 1.
  • By means of the invention, a precise measurement of the torque is provided in a non-contact manner, wherein in particular also tolerances of the steering shaft can be avoided in the context of a circulation modulation.
  • According to the invention, a magnetic torque sensor device used in the context of a sensor arrangement detects the change in angle via the position of a transmitter magnet serving multipole magnet. This is a precise, high-resolution measurement of the angle of rotation of the steering shaft, which is proportional to the torque on a torsion bar of the steering shaft, possible. Precise angle information is transmitted according to the invention by means of a transmission module wirelessly to a receiver arranged advantageously spaced. On a Clock spring can be completely dispensed with.
  • Advantageous embodiments of the invention are the subject of the dependent claims.
  • According to a particularly preferred embodiment, the sensor device has an energy module which, in particular for supplying the transmitter module with energy, can be excited electromagnetically by means of movements of the steering column and / or. By providing such an energy module, the supply of the transmission module can be completely self-sufficient realized on the steering shaft.
  • It is preferred that the energy module comprises means for detecting magnetic field changes and / or accelerations and means for converting the energy of the magnetic field changes and / or accelerations into electrical energy.
  • Appropriately, the energy module can be excited by the movement of the steering shaft and thus connected by the relative movement of the multipole magnet to the power module. In addition, the energy module (optional) can be excited by an external electromagnetic field. Thus, safe operation of the sensor is possible even with longer service lives of the vehicle, for example when the stored energy in an energy module is dissipated.
  • It proves to be particularly favorable that the energy module has a micromechanical structure, which generates a voltage due to the small relative movements and the thus changing field direction of the multipole. The voltage is supplied to an energy store. The multipole on the output shaft is always moved relative to the power module of the input shaft when driving relatively with small deflections, which should be mentioned as causes in particular uneven ground or small obstacles on the roadway. By this more or less constant relative movement a corresponding power generation is ensured in a sufficient manner.
  • In particular, the use of a MEMS structure that is comparable to a micromechanical microphone membrane is suitable here. Such a microphone membrane or such a microphone is in a particularly effective manner capable of generating an electrical output voltage by the magnetic field change. The resulting current can be supplied to an impedance converter. An energy store, for example a capacitor, can be charged via the output current of the impedance converter, which provides an output voltage for supplying energy to the sensor device. A MEMS structure is understood to mean a structure with microelectronic mechanical systems.
  • It is also conceivable that the energy module has at least one piezoelectric element. Such a piezoelectric element can be excited by means of movement and / or electromagnetically, wherein electrical energy or voltage arising here can be stored, for example, in a capacitor element connected to the piezoelectric element.
  • The sensor arrangement according to the invention expediently has a receiver module designed to receive the measured values transmitted by the transmission module and a processing device, in particular a microcontroller. This processing means is for calculating control data based on the transmitted measurement values. The possibility created according to the invention of wirelessly connecting a receiver module to the transmitter module of the sensor device opens up the possibility of better positioning the receiver module, for example, than directly on the transmitter module. The receiver module can be housed, for example, in the control unit of the EPS and there use the existing microcontroller.
  • The sensor arrangement according to the invention expediently has a further sensor device, in particular a steering angle sensor device formed on the output shaft of the steering column, wherein the processing device is advantageously designed such that measured values of the further sensor device can also be processed. The connection between the further sensor device and the processing device can also be done wirelessly by means of the same receiver module, but also a wired connection is conceivable. With this measure, a variety of functions can be performed using the same function blocks.
  • Conveniently, the receiver module is stationary in a motor vehicle, in particular on the housing arranged.
  • It proves to be particularly advantageous to arrange the receiver module, the processing device and optionally also the exciter for an external electromagnetic excitation of the energy module together on a printed circuit board. Even with these measures, the number of components can be effectively reduced.
  • Further advantages and embodiments of the invention will become apparent from the description and the accompanying drawings.
  • It is understood that the features mentioned above and those yet to be explained below can be used not only in the particular combination indicated, but also in other combinations or in isolation, without departing from the scope of the present invention.
  • The invention is illustrated schematically by means of exemplary embodiments in the drawing and will be described in detail below with reference to the drawing.
  • Brief description of the drawings
  • 1 shows a schematically simplified side view of a preferred embodiment of the sensor arrangement according to the invention, and
  • 2 shows further details of the torque sensor device used in the sensor assembly.
  • A steering column to which the sensor arrangement according to the invention is applicable is in 1 partially shown and in total with 10 designated.
  • The steering column 10 has an input shaft 12 , which is connected to a (not shown) steering wheel, and an output shaft 14 , which is connected to a (not shown) mechanism for applying steering to the wheels of a motor vehicle.
  • input shaft 12 and output shaft 14 are, in a conventional manner, by means of a torsion bar 16 connected with each other. Such a torsion bar is used for. As to make the handling of the steering for a user more comfortable. For example, it should be noted that by means of the torsion bar on the wheels of the motor vehicle acting bumps for the user or driver are attenuated.
  • At the output shaft 14 is a multipole magnet ring 15 formed, which is about the output shaft 14 extends around. This multipole magnet ring 15 rotates with the output shaft 14 ,
  • The multipole magnetic ring 15 opposite, on the input shaft 12 , is a torque sensor element 13 intended. This sensor element, which has, for example, one or a number of Hall or AMR sensors, detects the direction of the axial field lines (with 30 referred to) of the multipole magnet ring 15 ,
  • With this torque sensor element 13 can determine the relative position of the multipole magnet 15 to the sensor element 13 be determined. Typically, this relative position will move within a range of +/- 4 °.
  • The torque sensor device 13 is with a transmission module 22 and a power module 24 educated. sensor device 13 , Transmission module 22 and energy module 24 are expediently on an electronic circuit board 27a arranged. This can, for. B. by means of a mounting plate 29 at the input shaft 12 be attached.
  • The transmission module 22 sends sensor readings based on the sensed magnetic field of the multipole magnet 15 wirelessly to a receiver module described in more detail below 26 ,
  • The energy module 24 comprises at least one MEMS structure, in particular a microphone with a MEMS structure, which or a self-sufficient or largely self-sufficient power supply of the sensor element 13 , in particular the transmission module 22 , guaranteed. By means of such a microphone, the conversion of magnetic field changes in storable energy in an effective manner feasible. In particular, a capacitor cooperating with the microphone can be used as the storage medium, although other forms of energy storage can also be used.
  • The energy module 24 is due to movement of the steering column 10 , in particular rotation or rotation of the input shaft 12 , as well as electromagnetically by means of the multipole magnet 15 excitable, whereby each voltage can be generated, which can be stored, and if necessary, the transmission module 22 and / or the sensor element 13 can supply with energy. Thus, the power module can be regularly energized during normal driving.
  • To energization of torque sensor element 13 and / or transmission module 24 Even after longer periods of use, the energy module can also be stimulated by an external, electromagnetic field. For this purpose, an electromagnetic excitation element 32 be provided, whose possible positioning is discussed below.
  • As mentioned, can be used as a torque sensor 13 z. B. both an AMR and a Hall sensor can be used. For redundancy reasons, two or more elements may be installed. For example, should the pitch of the multipole magnet ring be too small to cover the range of +/- 4 degrees, the Hall elements may be staggered whereby a combination of two received signals may yield the torque signal over the required range.
  • The receiver module 26 sits on another electronic circuit board 27b which may be located at any suitable positions within the vehicle. On this circuit board 27b is also a microcontroller serving as a processing device 28 formed by means of which of the receiver module 26 Received measured data can be evaluated.
  • Conveniently, the sensor arrangement further comprises a steering angle sensor 40 on, for detecting the steering angle of the output shaft 14 based on radial field lines (with 42 referred to) of the multipole magnet ring 15 is trained. This steering angle sensor 40 also transmits its measurement data to the microcontroller 28 This transmission may be wired or wireless, in the former case the connection via a wiring 40a and the circuit board 27b , and in the latter case, expediently via the receiver module 26 he follows.
  • Thus, the multipole magnetic ring 15 as encoder for both the torque sensor 13 as well as for the steering angle sensor 40 be used. By processing the corresponding signals by means of the microcontoller 28 Thus, a total of torque and angle sensor is provided.
  • The above-mentioned excitation element 32 for the electromagnetic field for external excitation of the energy module 24 can also on the circuit board 27b can be arranged, resulting in a total of a very compact design.
  • To be able to detect turning revolutions even when the vehicle is switched off, the microcontroller transmits 28 at constant intervals a pulse to the steering angle sensor 40 and receives corresponding angle signals. The signals are in the microcontroller 28 stored, and when turning on the motor vehicle, the stored signals can be used to calculate the current steering angle. The steering angle sensor 40 can thus detect when turned off, whether a complete steering wheel rotation has taken place, and already knows when switching both steering angle and the number of revolutions.
  • According to the embodiment shown above, the magnetic field for the steering angle sensor 40 radially magnetized while it is for the torque sensor 13 is axially magnetized. If magnetization of the multipole magnet ring is provided only in one direction, for example in a radial manner, then the steering angle sensor slides 40 and the torque sensor 13 expediently one behind the other.
  • Particularly advantageous is a inventively be provided modular structure, insofar as a torque sensor 13 or steering angle sensor can be built alone or in combination. The combination of identical parts, such as the multipole magnet ring 15 , the circuit board 27b , used connectors and the evaluation electronics used (eg microcontroller 28 ), used several times. By using the wireless transmission or radio transmission, a non-contact measurement of the torque signal and / or the steering angle signal is possible. A wear of rotary parts can thus be avoided.
  • In addition, the sensor arrangement according to the invention allows precise measurement of occurring torques insofar as the measurement of the torque in the steering only on the position tolerance of the torque sensor element 13 to multipole ring magnet 15 based. Influences on the measurement have only the quality of the sensor element and positional tolerances between the input and output shaft during the measurement. Disturbances in the signal due to, for example, flux guides or rotor geometries etc. are eliminated. The signals used according to the invention have, for example, no hysteresis, resulting overall in a significantly improved accuracy of the torque signal.
  • In 2 are those on the circuit board 27a arranged components again shown in greater detail. One recognizes the axial field lines 30 that the torque sensor element 13 apply. Torque sensor element 13 For example, it can be designed as an integrated circuit with sensor element assembly. The torque sensor element 13 is on top of the circuit board 27a arranged. Further illustrated are on the underside of the circuit board 27a , the transmitter module 22 as well as the energy module 24 , An illustration of other components is omitted here for the sake of clarity.
  • It is understood that in the illustrated figures, only exemplary embodiments of the invention are shown. In addition, any other embodiment is conceivable without departing from the scope of this invention.
  • QUOTES INCLUDE IN THE DESCRIPTION
  • This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.
  • Cited patent literature
    • EP 1269133 B1 [0003]
    • DE 102005031086 A1 [0004]
    • US 7307517 B2 [0005]

Claims (8)

  1. Sensor arrangement for detecting the torque on a steering column ( 10 ), which has an input shaft ( 12 ), an output shaft ( 14 ) and arranged between the input shaft and output shaft torsion bar ( 16 ), with one on the input shaft ( 12 ) or the output shaft ( 14 ) provided multipole magnets ( 15 ), and one corresponding to the opposite output shaft ( 14 ) or input shaft ( 12 ) arranged sensor device ( 20 ) for the acquisition of measured values on the basis of an electromagnetic field caused by the multipole magnet, characterized in that the sensor device ( 20 ) a transmission module ( 22 ), which transmits the acquired measured values wirelessly to a receiver.
  2. Sensor arrangement according to claim 1, characterized in that the sensor device is a power module ( 24 ), which, in particular for the supply of the transmission module ( 22 ) with energy, by means of movements of the steering column ( 10 ) and / or relative movement of the multipole magnet ( 15 ) to the energy module ( 24 ) and / or external electromagnetic stimulation is excitable.
  3. Sensor arrangement according to claim 2 or 3, characterized in that the energy module ( 24 ) Means for detecting magnetic field changes and / or accelerations, and means for converting the energy of the magnetic field change and / or accelerations into electrical energy.
  4. Sensor arrangement according to claim 3, characterized in that the power module a microphone, in particular a microphone with MEMS structure auweist.
  5. Sensor arrangement according to one of the preceding claims, having a receiver module ( 26 ) for receiving from the transmission module ( 22 ) and a processing device ( 28 ), in particular a microcontroller, for calculating control data on the basis of the transmitted measured values.
  6. Sensor arrangement according to one of the preceding claims, characterized in that a further sensor device ( 40 ), in particular a steering angle sensor device, and in particular the processing device ( 28 ), also measured values of the further sensor device ( 40 ) to process.
  7. Sensor arrangement according to one of the preceding claims, characterized in that the receiver module ( 26 ) is fixed in a motor vehicle, in particular on the housing, is arranged.
  8. Sensor arrangement according to one of the preceding claims, characterized in that the receiver module ( 26 ), Processing device ( 28 ) and pathogens ( 32 ) together on a printed circuit board ( 27b ) are arranged.
DE102009046997A 2009-11-23 2009-11-23 Sensor arrangement for detecting torque at steering column of motor vehicle, has sensor device detecting measured values based on electromagnetic field caused by magnet, and transmission module wirelessly sending detected values to receiver Withdrawn DE102009046997A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE102009046997A DE102009046997A1 (en) 2009-11-23 2009-11-23 Sensor arrangement for detecting torque at steering column of motor vehicle, has sensor device detecting measured values based on electromagnetic field caused by magnet, and transmission module wirelessly sending detected values to receiver

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102009046997A DE102009046997A1 (en) 2009-11-23 2009-11-23 Sensor arrangement for detecting torque at steering column of motor vehicle, has sensor device detecting measured values based on electromagnetic field caused by magnet, and transmission module wirelessly sending detected values to receiver

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DE102009046997A1 true DE102009046997A1 (en) 2011-05-26

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DE102009046997A Withdrawn DE102009046997A1 (en) 2009-11-23 2009-11-23 Sensor arrangement for detecting torque at steering column of motor vehicle, has sensor device detecting measured values based on electromagnetic field caused by magnet, and transmission module wirelessly sending detected values to receiver

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2011141179A1 (en) * 2010-05-14 2011-11-17 Trw Automotive Gmbh Sensor assembly for motor vehicle steering systems
DE102011014060A1 (en) * 2011-03-16 2012-09-20 Volkswagen Ag Method for determining resultant steering angle change of steering column in electromechanical steering system of motor car, involves determining steering angle change based on periodicity and number of periodic transitions of signal

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19533152C1 (en) * 1995-09-08 1997-03-27 Trw Fahrwerksyst Gmbh & Co Steering valve
DE19833359C1 (en) * 1998-07-24 2000-06-08 Mannesmann Vdo Ag Torque sensor
DE10120580A1 (en) * 2001-04-26 2002-11-07 Siemens Ag Sensor for measuring the torque applied the shaft of a motor vehicle gear box comprises two outer sleeve type pipe elements attached to the shaft so that their adjacent ends rotate relative to each other
EP1269133B1 (en) 2001-03-02 2004-05-19 Moving Magnet Technologies (S.A.) Position sensor, designed in particular for detecting a steering column torsion
DE102005031086A1 (en) 2005-07-04 2007-01-18 Robert Bosch Gmbh Sensor arrangement for detecting a difference angle
US7307517B2 (en) 2005-08-05 2007-12-11 Honeywell International Inc. Wireless torque sensor

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19533152C1 (en) * 1995-09-08 1997-03-27 Trw Fahrwerksyst Gmbh & Co Steering valve
DE19833359C1 (en) * 1998-07-24 2000-06-08 Mannesmann Vdo Ag Torque sensor
EP1269133B1 (en) 2001-03-02 2004-05-19 Moving Magnet Technologies (S.A.) Position sensor, designed in particular for detecting a steering column torsion
DE10120580A1 (en) * 2001-04-26 2002-11-07 Siemens Ag Sensor for measuring the torque applied the shaft of a motor vehicle gear box comprises two outer sleeve type pipe elements attached to the shaft so that their adjacent ends rotate relative to each other
DE102005031086A1 (en) 2005-07-04 2007-01-18 Robert Bosch Gmbh Sensor arrangement for detecting a difference angle
US7307517B2 (en) 2005-08-05 2007-12-11 Honeywell International Inc. Wireless torque sensor

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2011141179A1 (en) * 2010-05-14 2011-11-17 Trw Automotive Gmbh Sensor assembly for motor vehicle steering systems
CN102947167A (en) * 2010-05-14 2013-02-27 Trw汽车股份有限公司 Sensor assembly for motor vehicle steering systems
US9114833B2 (en) 2010-05-14 2015-08-25 Trw Automotive Gmbh Sensor assembly for motor vehicle steering systems
CN102947167B (en) * 2010-05-14 2015-10-21 Trw汽车股份有限公司 For the sensor module of automobile steering system
DE102011014060A1 (en) * 2011-03-16 2012-09-20 Volkswagen Ag Method for determining resultant steering angle change of steering column in electromechanical steering system of motor car, involves determining steering angle change based on periodicity and number of periodic transitions of signal

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