DE102017222020A1 - Sensor arrangement for determining at least one rotational property of an element rotating about at least one axis of rotation - Google Patents

Abstract

A sensor arrangement (110) for determining at least one rotational property of an element rotating about at least one axis of rotation (112) is proposed. The sensor arrangement (110) comprises at least one transmitter wheel (114) which can be connected to the rotating element, the transmitter wheel (114) having a transmitter wheel profile (116). Furthermore, the sensor arrangement (110) furthermore has at least one first incremental angle sensor (118) and at least one second incremental angle sensor (120), wherein the first incremental angle sensor (118), the second incremental angle sensor (120) and the at least one encoder wheel (114) are arranged relative to one another in that at least one first sensor signal (122) generated by the first incremental angle sensor (118) and at least one second sensor signal generated by the second incremental angle sensor (120) are mutually phase-shifted.

Description

State of the art

Numerous sensors are known from the prior art which detect at least one rotational property of rotating elements. Under a rotation property is generally a property to understand, which at least partially describes the rotation of the rotating element. This may, for example, be an angular velocity, a rotational speed, an angular acceleration, a rotation angle or another property which may characterize a continuous or discontinuous, uniform or non-uniform rotation or rotation of the rotating element. Examples of such sensors are in Konrad Reif (ed.): Sensors in the motor vehicle, 2nd edition, 2012, pages 63 - 74 and 120 -129 described.

For example, a rotational speed of a rotor or an angular position of a rotor of an electric machine, in particular an electric machine of an electric vehicle can be determined. Furthermore, a position of a camshaft of an internal combustion engine can be determined relative to a crankshaft with a so-called phase encoder by means of a Hall sensor. Typically, a donor wheel is mounted on the rotating axle. There may be teeth on the sender wheel that are sensed by the Hall sensor as the camshaft rotates.

So will in the DE 40 11 503 A1 a device for detecting a rotating part of an internal combustion engine, in which the rotating part is provided with a Geberradscheibe with a plurality of regular teeth, wherein at least two distinguishable fiducial marks are provided. The encoder disc is either mounted on the camshaft or on the shaft in the distributor. Furthermore, in the DE 10 2013 203 937 A1 an electrical machine with a rotor which is rotatably mounted in a stator about a rotation axis, wherein at least one optical sensor is provided, which is mounted stationary relative to the stator and which has an optical detection range. The rotor has here a marking device with at least one optical marking.

Despite the improvements provided by such sensor devices, there is still room for improvement. Thus, sensor devices of the type described often require a lot of installation space and / or can not usually be adapted to the specific constructional conditions of the machine, for example the electric machine, in terms of their design. Furthermore, usually high costs arise during assembly and / or when changing sensor arrangements of the type described. Furthermore, functional safety plays a role in sensor arrangements of the type mentioned and / or in the machines in which these sensor arrangements determine at least one rotational property of at least one Rotary axis rotating element usually be installed, a big role. Furthermore, the determination of the at least one rotational property of the element rotating about the axis of rotation is often too slow.

Disclosure of the invention

In the context of the present invention, therefore, a sensor arrangement for determining at least one rotational property of a rotating element is proposed. In the context of the present invention, a "sensor arrangement for determining at least one rotational property of a rotating element" can in principle be understood to mean any device which is suitable for detecting the at least one rotational property and which, for example, can generate at least one electrical measurement signal corresponding to the detected property, such as a voltage or a current. Combinations of properties can also be detected. In the context of the present invention, a "rotation property" can basically be understood as meaning a property which at least partially describes the rotation of the rotating element. This may be, for example, an angular velocity, a rotational speed, a rotational direction, an angular acceleration, an angular position or other properties which may at least partially characterize a continuous or discontinuous, uniform or non-uniform rotation or rotation of the rotating element. For example, the rotation property may be a position, in particular an angular position, or a rotational speed or a combination of both. Other properties and / or other combinations of properties may also be detectable. In the context of the present invention, an "angular position" can basically be understood to mean a rotational angle of a rotatable device, for example of the rotating element or of the encoder wheel, with respect to an axis perpendicular to the axis of rotation.

The sensor arrangement can be set up in particular for use in a motor vehicle, in particular in an internal combustion engine or an electric motor. In the context of the present invention, a "rotating element" can basically be understood to mean any element which has an axis of rotation and rotates about it. For example, the rotating element may be a shaft in an engine, for example a camshaft. For example, an angular position of a camshaft or a rotational speed of a camshaft or a combination of both variables can be determined. Furthermore, the rotating element can also be a rotating element of an electric motor, for example a rotor.

The sensor arrangement for determining at least one rotational property of an element rotating about at least one axis of rotation comprises at least one encoder wheel which can be connected to the rotating element, wherein the transmitter wheel has a transmitter wheel profile. The sensor arrangement further comprises at least one first incremental angle sensor and at least one second incremental angle sensor, wherein the first incremental angle sensor, the second incremental angle sensor and the at least one encoder wheel are arranged such that at least one generated by the first incremental angle sensor first sensor signal and at least one of the second incremental angle sensor second sensor signal are out of phase with each other.

In the context of the present invention, a "sensor wheel" can in principle be understood to mean any component which can be connected to the rotating element and is designed to effect at least one measurable signal, for example a change in magnetic field, upon connection to the rotating element per revolution of the rotating element. In the context of the present invention, a "sender wheel profile" can be understood in principle to mean the entirety of profile elements and intermediate spaces of the sender wheel arranged between the profile elements. Furthermore, the arrangement, for example the order, of the profile elements can be understood by the sender wheel profile. In the context of the present invention, a "profile element" of the transmitter wheel can basically be understood to mean any element which, as a component of the transmitter wheel, contributes to effecting the at least one measurable signal upon connection of the transmitter wheel to the rotating element per revolution of the rotating element. In particular, the profile element may be any shape of the contour of the encoder wheel, in particular a bulge, for example a pin-shaped, a tooth-shaped or a serrated bulge, or a notch or a recess, for example a hole. In particular, the serrated bulge may be referred to as a tooth and the notch may be referred to as a gap. In particular, the encoder wheel may comprise at least one ferromagnetic material. In particular, the at least one profile element may comprise at least one ferromagnetic material. However, the profile element can leave an example, circular contour of the encoder wheel unchanged. In particular, the profile element can contribute to the formation of the measurable signal by electrical, magnetic or optical properties. For example, a donor wheel, in particular a donor wheel with a circular contour, have a plurality of profile elements, which can be arranged such that at least two successive profile elements have different magnetic properties. Such a partially differently magnetized encoder wheel can also be referred to as a pole wheel or as a multipole wheel. The profile element may have a dimension D in a direction of extension tangential to the encoder wheel. In particular, the profile element may be formed as a tooth and the tooth may be dimensioned tangentially to the encoder wheel in the extension direction DZ respectively. Furthermore, the profile element can be formed as a gap and the gap can span direction tangential to the encoder wheel a dimension DL respectively. In particular, the dimension DL may have a value of 1 mm to 8 mm, preferably 2 mm to 5 mm, particularly preferably 3.5 mm. Furthermore, the dimension DZ in particular have a value of 1 mm to 8 mm, preferably 2 mm to 5 mm, particularly preferably of 3.2 mm. In particular, the dimension DL may be the dimension DZ to exceed a value of 5% to 15%, preferably 7% to 12%, particularly preferably of 10%. The at least one encoder wheel may have at least one profile element. The sender wheel may in particular have a multiplicity of profile elements. The sender wheel may have a radius r.

In the context of the present invention, an "incremental angle sensor" can in principle be understood to mean any sensor which detects an angular position of an element connected to a transmitter wheel discontinuously, for example at least once per revolution, and at least one measurement signal corresponding to at least one element rotating about at least one axis of rotation can generate a detected angular position, in particular an electrical measurement signal, for example a voltage or a current. In particular, the incremental angle sensor can be set up to detect an angular position of the element per revolution of the element connected to the sender wheel and rotating about at least one axis of rotation. However, the incremental angle sensor may also be arranged to be a plurality angular positions of the encoder wheel connected to rotate about at least one axis of rotation element to capture.

The first incremental angle sensor, the second incremental angle sensor and the at least one encoder wheel are arranged relative to one another such that at least one first sensor signal generated by the first incremental angle sensor and at least one second sensor signal generated by the second incremental angle sensor are out of phase with one another. With the expression "be arranged relative to one another" with respect to any objects in the context of the present invention, it can be understood that the objects are positioned in relation to each other and / or a position of an object in space is selected according to the position of at least one further object.

In the context of the present invention, a "sensor signal" can basically be understood as meaning any measurable signal which is generated by a sensor in accordance with a property detected by the sensor. In particular, the sensor signal may be an electrical signal, for example a voltage or a current.

The at least one first sensor signal generated by the first incremental angle sensor and the at least one second sensor signal generated by the second incremental angle sensor are phase-shifted relative to one another. In the context of the present invention, the term "phase-shifted" can basically be understood as meaning a relation of the sensor signals with respect to at least two sensor signals, wherein the sensor signals are generated periodically according to at least one property of at least one periodic operation. Accordingly, the sensor signals themselves may be periodic. In particular, the sensor signals may have the period of the periodic process whose at least one property they detect. The sensor signals may be said to be out of phase if they coincide in their periods, but not in the times of their zero crossings. The sensor signals may be generated periodically, in particular in the context of the at least partial detection of the same periodic process, and may coincide in their period. In particular, the period may correspond to a duration of one complete revolution of the rotating element. The relation of the phase-shifted sensor signals can be described in more detail by a phase shift. If the two phase-shifted sensor signals agree in their period or if the period of one signal is an integer multiple of the period of the other signal, the phase shift is constant for the duration of the periodic process. The first sensor signal and the second sensor signal are out of phase with each other. The first sensor signal and the second sensor signal have a phase shift. The phase shift between the first sensor signal and the second sensor signal may be constant. The period of the first sensor signal and the period of the second sensor signal may change, in particular according to a change in the duration of the complete revolution of the rotating element. The phase shift between the first sensor signal and the second sensor signal may be constant even with the changing period duration. The phase shift between the first sensor signal and the second sensor signal may be in particular a quarter of the period. Another phase shift is possible in principle.

The first incremental angle sensor and the second incremental angle sensor may be selected from the group consisting of: an active incremental angle sensor; a single Hall sensor; a differential Hall sensor; a GMR-based sensor; a TMR based sensor; an AMR-based sensor; an inductive incremental angle sensor.
In the context of the present invention, an "active incremental angle sensor" can basically be understood to be any incremental angle sensor which can generate a measurement signal corresponding to a detected property, in particular an electrical measurement signal, for example a voltage or a current, the measurement signal being generated at a constant magnetic flux , for example in the presence of a static magnetic field. The active incremental angle sensor may in particular comprise at least one Hall element and / or at least one magnetic field generator, in particular a permanent magnet and / or an electromagnet. In particular, the active incremental angle sensor can be designed as a single Hall sensor. In the context of the present invention, a "single Hall sensor" can be understood to mean any sensor, in particular an active incremental angle sensor, which comprises a Hall element. Furthermore, the single Hall sensor may comprise at least one magnetic field generator, in particular a permanent magnet and / or an electromagnet. Furthermore, the active incremental angle sensor can be designed as a differential Hall sensor. In the context of the present invention, a "differential Hall sensor" can be understood to mean any sensor, in particular an active incremental angle sensor, which comprises a plurality of Hall elements, for example two Hall elements, preferably three Hall elements. Accordingly, the Hall elements of the differential Hall sensor as a first Hall element, a second Hall element and a third Hall element are called. Furthermore, the differential Hall sensor may comprise at least one magnetic field generator, in particular a permanent magnet and / or an electromagnet. In particular, the differential Hall sensor and / or an evaluation unit described in more detail below can be configured to at least a difference between a Hall voltage of the first Hall element and the second Hall element and a difference between a Hall voltage the second and to determine the third Hall element. Furthermore, the differential Hall sensor may comprise at least one sensor signal according to the difference between the Hall voltage of the first Hall element and the second Hall element and at least one further sensor signal according to the difference between the Hall voltage of the second and the third Hall element. In particular, the Hall element, in particular the first and / or the second and / or the third Hall element, in a direction of extension tangential to the sender wheel have a dimension of 0.2 mm to 5 mm, preferably from 0.3 mm 2.5 mm, more preferably from 0.4 mm to 1 mm.

Furthermore, the active incremental angle sensor can also be based on further magnetic effects, in particular magnetoresistive effects. For example, the active incremental angle sensor may be based on at least one of the following effects: a GMR effect; a TMR effect; an AMR effect. The abbreviations GMR, TMR and AMR stand for the commonly used English terms "giant magnetoresistance" (GMR), "tunnel magnetoresistance" (TMR) and "anisotropic magnetoresistance" (AMR). Furthermore, as already mentioned, the first incremental angle sensor and the second incremental angle sensor can also be configured as an inductive incremental angle sensor. In the context of the present invention, an "incremental incremental angle sensor" can basically be understood as meaning any incremental angle sensor which can generate a measurement signal corresponding to a detected characteristic, in particular an electrical measurement signal, for example a voltage or a current, wherein a generation of the measurement signal is based on a change in a magnetic flux density is based. The inductive incremental angle sensor may in particular comprise at least one coil and / or at least one magnetic field generator, in particular a permanent magnet and / or an electromagnet. The inductive incremental angle sensor may also comprise further elements, in particular at least one core at least partially surrounded by the coil. The first incremental angle sensor and the second incremental angle sensor can be configured identically. In particular, the first incremental angle sensor and the second incremental angle sensor can be designed as active incremental angle sensors, in particular as differential Hall sensors.

The first incremental angle sensor, the second incremental angle sensor and the at least one encoder wheel are arranged relative to one another such that at least one first sensor signal generated by the first incremental angle sensor and at least one second sensor signal generated by the second incremental angle sensor are out of phase with one another. A first distance A1 of the first incremental angle sensor to the rotation axis and a second distance A2 of the second incremental angle sensor to the rotation axis may be the same. In particular, the sensor arrangement can have a transmitter wheel and the first incremental angle sensor, the second incremental angle sensor and the one transmitter wheel can be arranged in the same plane. Furthermore, the first incremental angle sensor and the second incremental angle sensor can be arranged offset from one another on a circular path around the encoder wheel, in particular about the axis of rotation. Furthermore, the first incremental angle sensor and the second incremental angle sensor may enclose an angle α with respect to the axis of rotation. In particular, this may have the sender wheel at least one gap and at least one tooth and the angle α can satisfy the following equation: $$\begin{array}{cc}2\mathrm{\pi }\text{r}*\mathrm{\alpha }/360°\ne \text{n}*\text{p}& \text{with n element of natural numbers}\end{array}$$

Here, p is the sum of the dimension DL of the gap and the dimension DZ of the tooth. Here, r is a radius of the encoder wheel. In particular, the angle α may be selected such that the phase shift between the first sensor signal and the second sensor signal is one quarter of the period of the first sensor signal, the second sensor signal and the rotating element. However, another phase shift is possible. In particular, the angle α can satisfy the following equation: $$\begin{array}{cc}2\mathrm{\pi }\text{r}*\mathrm{\alpha }/360°=\left(\text{n}+0.25\right)*\text{p}& \text{with n element of natural numbers}\end{array}$$

Also, the angles β and γ, which are further introduced below and described in detail, can satisfy equations (1) and (2) (see equations (3), (4), (5) and (6) below).

$$\begin{array}{cc}2\mathrm{\pi }\text{r}*\mathrm{\beta }/360°=\left(\text{n}+0.25\right)*\text{p}& \text{mit n Element der natürlichen Zahlen}\end{array}$$

Furthermore, the sensor arrangement may comprise a plurality of encoder wheels. In particular, the plurality of encoder wheels can be arranged offset in the axial direction along the axis of rotation. In particular, the sensor arrangement may comprise two encoder wheels, which may be referred to as the first encoder wheel and as the second encoder wheel. In particular, the first sender wheel and the second sender wheel can be arranged offset along the axis of rotation. In particular, the sensor arrangement may have a first transmitter wheel with a first transmitter wheel profile and a second transmitter wheel with a second transmitter wheel profile, wherein the first incremental angle sensor and the first transmitter wheel may be arranged in a first plane, wherein the second incremental angle sensor and the second transmitter wheel arranged in a second plane could be. In the context of the present invention, the terms first transmitter wheel profile and transmitter wheel profile of the first transmitter wheel as well as the terms second transmitter wheel profile and transmitter wheel profile of the second transmitter wheel are used synonymously. In particular, the planes may be spaced by a distance A3 from 1 mm to 10 cm, preferably from 2 mm to 5 cm, particularly preferably from 3 mm to 3 cm. In particular, the first encoder wheel profile and the second encoder wheel profile can be formed identically. Furthermore, the Geberradprofil the first encoder wheel and the Geberradprofil the second encoder wheel can be arranged offset from each other. In particular, the encoder wheel profile of the first encoder wheel can be arranged rotated in relation to the encoder wheel profile of the second encoder wheel with respect to the axis of rotation. In particular, a projection of the first encoder wheel profile in the direction of the axis of rotation and a projection of the second encoder wheel profile in the direction of the axis of rotation may have an offset, in particular an offset along a circular path around the encoder wheel, in particular about the axis of rotation. In particular, the projection of the first Geberradprofils and the projection of the second Geberradprofils with respect to the axis of rotation may include an angle β. In particular, the angle β may be selected such that the phase shift between the first sensor signal and the second sensor signal is one quarter of the period of the first sensor signal, the second sensor signal and the rotating element. However, another phase shift is possible. In particular, the angle β can satisfy the equations (1) and (2) formulated above for the angle α: $$\begin{array}{cc}2\mathrm{\pi }\text{r}*\mathrm{\beta }/360°\ne \text{n}*\text{p}& \text{with n element of natural numbers}\end{array}$$

$$\begin{array}{cc}2\mathrm{\pi }\text{r}*\mathrm{\beta }/360°=\left(\text{n}+\mathrm{12:25}\right)*\text{p}& \text{with n element of natural numbers}\end{array}$$

Here p is the sum of the dimension DL the gap and the dimension DZ of the tooth. Here, r is the radius of the encoder wheel. However, the multiplicity of encoder wheels, in particular the first transmitter wheel with the first transmitter wheel profile and the second transmitter wheel with the second transmitter wheel profile, can also be arranged in alignment with respect to the axis of rotation.

$$\begin{array}{cc}2\mathrm{\pi }\text{r}*\mathrm{\gamma }/360°=\left(\text{n}+0.25\right)*\text{p}& \text{mit n Element der natürlichen Zahlen}\end{array}$$

Furthermore, the first incremental angle sensor and the second incremental angle sensor can be arranged offset to one another. In particular, the first incremental angle sensor can be arranged rotated in relation to the rotational axis with respect to the second incremental angle sensor. In particular, a projection of the first incremental angle sensor in the direction of the axis of rotation and a projection of the second incremental angle sensor in the direction of the axis of rotation may have an offset along a circular path around the encoder wheel, in particular about the axis of rotation. In particular, the projection of the first incremental angle sensor and the projection of the second incremental angle sensor with respect to the axis of rotation may include an angle γ. In particular, the angle γ can satisfy the equations (1) and (2) formulated above for the angles α and β: $$\begin{array}{cc}2\mathrm{\pi }\text{r}*\mathrm{\gamma }/360°\ne \text{n}*\text{p}& \text{with n element of natural numbers}\end{array}$$

$$\begin{array}{cc}2\mathrm{\pi }\text{r}*\mathrm{\gamma }/360°=\left(\text{n}+\mathrm{12:25}\right)*\text{p}& \text{with n element of natural numbers}\end{array}$$

Here p is the sum of the dimension DL the gap and the dimension DZ of the tooth. Here, r is the radius of the encoder wheel. However, the first incremental angle sensor and the second incremental angle sensor may also be arranged in alignment with respect to the axis of rotation.

Furthermore, the sensor arrangement may comprise at least one evaluation unit, wherein the evaluation unit may be configured to detect the first sensor signal and the second sensor signal. The evaluation unit can be designed as a single unit. However, the evaluation unit can also be completely or partially outsourced to a control unit, in particular in a central control. Furthermore, can the evaluation unit may also be integrated in whole or in part in the first incremental angle sensor and / or in the second incremental angle sensor, in particular in the form of at least one ASIC. Here, the common abbreviation ASIC stands for the English term application-specific integrated circuit. Furthermore, the evaluation unit can have at least one first evaluation circuit, wherein the first evaluation circuit is set up to process the first sensor signal. Furthermore, the evaluation unit can have at least one second evaluation circuit, wherein the second evaluation circuit is set up to process the second sensor signal. The first sensor signal and / or the second sensor signal may in particular each comprise a plurality of sensor signals. In particular, the first sensor signal and / or the second sensor signal may each comprise two sensor signals, as described using the example of the differential Hall sensor. In particular, the evaluation unit can be set up to compare the difference between the Hall voltage of the first Hall element and of the second Hall element with at least one first upper threshold value and / or with at least one first lower threshold value. Furthermore, the evaluation unit can be set up to output a logical zero when the first upper threshold value is exceeded by the ASIC. Furthermore, the evaluation unit can be set up to output a logical one when the first lower threshold value is undershot by the ASIC. Furthermore, the evaluation unit can be set up to compare the difference between the Hall voltage of the second Hall element and of the third Hall element with at least one second upper threshold value and / or with at least one second lower threshold value. Furthermore, the evaluation unit can be set up to output a logical zero when the second upper threshold value is exceeded by the ASIC. Furthermore, the evaluation unit can be set up to output a logical one when the second lower threshold value is undershot by the ASIC.

In particular, the evaluation unit may be configured to determine from the first sensor signal and / or from the second sensor signal the at least one rotation property of the rotating element. Furthermore, the evaluation unit can be set up to conclude from a comparison of the first sensor signal and the second sensor signal to a direction of rotation of the rotating element. Furthermore, the evaluation unit can be configured to conclude from the first sensor signal and the second sensor signal to a functionality of the sensor arrangement. Within the scope of the present invention, a "functionality of the sensor arrangement" can basically be understood as meaning a state relating to a healthiness, in particular a functionality, of the sensor arrangement. Thus, the evaluation unit can be set up, in particular, to conclude from the first sensor signal and the second sensor signal, in particular from the presence or absence of the phase shift, an integrity or a defective state of the sensor arrangement, for example, an electromagnetic interference, in particular an EMC fault. Event, caused defect condition. The abbreviation EMC stands for electromagnetic compatibility. An EMC event may in particular be an electromagnetic interference event.

Furthermore, the sensor arrangement can be set up to pass on the first sensor signal and / or the second sensor signal to the control unit. In particular, the evaluation unit can be set up to pass on the first sensor signal and / or the second sensor signal to the control unit. As already described, the evaluation unit can also be formed as part of the control unit. Alternatively, however, the control unit can also be set up as part of the evaluation unit. In a further aspect of the present invention, a method for determining at least one rotational property of a rotating element about at least one axis of rotation is proposed, the method comprising the use of at least one with the rotating element-connecting encoder wheel, wherein the encoder wheel has a Geberradprofil. The method comprises the following steps, preferably in the order given. Also a different order is possible. Furthermore, one or more or all of the method steps can also be carried out repeatedly. Furthermore, two or more of the method steps may also be performed wholly or partially overlapping in time or simultaneously. The method may, in addition to the method steps mentioned, also comprise further method steps.

1. a) Erzeugen mindestens eines ersten Sensorsignals durch mindestens einen ersten Inkrementalwinkelsensor; und
2. b) Erzeugen mindestens eines zweiten Sensorsignals durch mindestens einen zweiten Inkrementalwinkelsensor, wobei das erste Sensorsignal und das zweite Sensorsignal gegeneinander phasenverschoben sind.

The process steps are:

1. a) generating at least one first sensor signal by at least one first incremental angle sensor; and
2. b) generating at least one second sensor signal by at least one second incremental angle sensor, wherein the first sensor signal and the second sensor signal are out of phase with each other.

The method can in particular be carried out using a sensor arrangement according to the present invention, that is to say according to one of the abovementioned embodiments or according to one of the embodiments described below in more detail. Accordingly, for definitions and optional configurations, reference may largely be made to the description of the sensor arrangement. However, other embodiments are possible in principle.

• c) Weitergeben des ersten Sensorsignals an eine Steuereinheit.

Furthermore, the method may include:

• c) passing the first sensor signal to a control unit.

• d) Weitergeben des zweiten Sensorsignals an die Steuereinheit.

Furthermore, the method may include:

• d) passing the second sensor signal to the control unit.

• e) Bestimmen der Rotationseigenschaft aus dem ersten Sensorsignal und/oder dem zweiten Sensorsignal.

Furthermore, the method may include:

• e) determining the rotation property from the first sensor signal and / or the second sensor signal.

In particular, the rotation property of the first sensor signal and / or the second sensor signal can be determined by an evaluation unit and / or by the control unit.

• f) Vergleichen des ersten Sensorsignals mit dem zweiten Sensorsignal durch die Steuereinheit.

Insbesondere kann von der Steuereinheit ein zeitlicher Versatz des Eintreffens des ersten Sensorsignals und des zweiten Sensorsignals bestimmt werden.Furthermore, the method may include:

• f) comparing the first sensor signal with the second sensor signal by the control unit.

In particular, a time offset of the arrival of the first sensor signal and the second sensor signal can be determined by the control unit.

• g) Vergleichen der aus dem ersten Sensorsignal bestimmten Rotationseigenschaft mit der aus dem zweiten Sensorsignal bestimmten Rotationseigenschaft.

Furthermore, the method may include:

• g) comparing the rotation characteristic determined from the first sensor signal with the rotation characteristic determined from the second sensor signal.

In particular, the first sensor signal and / or the second sensor signal may each comprise a plurality of sensor signals

Advantages of the invention

The Device according to the invention and the method according to the invention have numerous advantages over known devices and methods. In particular, it may be possible for the sensor arrangement to have a simple and / or flexible structure, in particular a simple and / or flexible sensor structure. In particular, in the case of an axially limited installation space, the sensor arrangement may have only one encoder wheel and the first incremental angle sensor, the second incremental angle sensor and the one encoder wheel may be arranged in the same plane. Furthermore, in the case of a radially limited installation space, the sensor arrangement may have a first encoder wheel and a second encoder wheel, wherein the first incremental angle sensor and the first encoder wheel may be arranged in a first plane, wherein the second incremental angle sensor and the second encoder wheel may be arranged in a second plane. Furthermore, it may be possible that the sensor arrangement according to the invention requires little installation space, in particular less space than the prior art. In particular, the sensor arrangement according to the invention can be very compact.

Furthermore, it may be possible that a combination of the first incremental angle sensor and the second incremental angle sensor, in particular by the combination of two individual sensors, can fulfill high requirements for functional safety. Furthermore, it is possible for the sensor arrangement according to the invention to reduce costs compared with the prior art, in particular during assembly and / or during complete and / or partial replacement of the sensor arrangement, since the first incremental angle sensor and / or the second incremental angle sensor are radial with respect to the at least a sensor wheel may be arranged and, for example, a motor shaft must not completely enclose, as may be the case with other sensor arrangements of the prior art, in particular for example in a resolver. Furthermore, it may be possible for the sensor arrangement to recognize a rotational direction of the rotating element quickly, in particular at the latest after a passage of a profile element, in particular after passing a tooth. Furthermore, it may be possible for the device according to the invention and the method according to the invention to be usable for a large number, in particular all types, of electrical machines. Furthermore, it may be advantageous that in the case of the present device and / or in the case of the present method, the rotational speed of the rotating element does not have to be derived from an absolute angle information of the resolver by a differentiation.

list of figures

Further details and optional features of the invention are shown in the embodiments which are shown schematically in the following drawings.

• 1A, 1B und 1C einen ersten, als Differenzial-Hall-Sensor ausgestalteten Inkrementalwinkelsensor mit einem Geberrad (1A), ein erstes Sensorsignal umfassend zwei Signale (1B) und ein weiteres erstes Sensorsignal umfassend zwei Signale (1C);
• 2 ein Ausführungsbeispiel einer Sensoranordnung in einer Vorderansicht;
• 3 ein Ausschnitt eines Geberradprofils in einer Vorderansicht;
• 4 ein weiteres Ausführungsbeispiel der Sensoranordnung in einer perspektivischen Ansicht;
• 5A, 5B, 6A und 6B zwei weitere Ausführungsbeispiele der Sensoranordnung in einer Vorderansicht ( 5A und 6A) sowie jeweils ein Ausschnitt der beiden Sensoranordnungen in einer Draufsicht (5B und 6B); und
• 7 ein Flussdiagramm eines erfindungsgemäßen Verfahrens zur Bestimmung mindestens einer Rotationseigenschaft eines um mindestens eine Rotationsachse rotierenden Elements.

Show it:

• 1A . 1B and 1C a first incremental angle sensor designed as a differential Hall sensor with a transmitter wheel ( 1A) , a first sensor signal comprising two signals ( 1B) and another first sensor signal comprising two signals ( 1C) ;
• 2 an embodiment of a sensor arrangement in a front view;
• 3 a section of a Geberradprofils in a front view;
• 4 a further embodiment of the sensor arrangement in a perspective view;
• 5A . 5B . 6A and 6B two further embodiments of the sensor arrangement in a front view ( 5A and 6A) and in each case a section of the two sensor arrangements in a plan view ( 5B and 6B) ; and
• 7 a flowchart of a method according to the invention for determining at least one rotational property of an element rotating about at least one axis of rotation.

Embodiments of the invention

The sensor arrangement 110 for determining at least one rotational property of one about at least one axis of rotation 112 rotating element comprises at least one connectable to the rotating element encoder wheel 114 , where the donor wheel 114 a transmitter wheel profile 116 having. The sensor arrangement 110 further comprises at least a first incremental angle sensor 118 and at least one second incremental angle sensor 120 wherein the first incremental angle sensor 118 , the second incremental angle sensor 120 and that at least one donor wheel 114 are arranged such that at least one of the first incremental angle sensor 118 generated first sensor signal 122 and at least one of the second incremental angle sensor 120 generated second sensor signal are out of phase with each other. The first incremental angle sensor 118 and the second incremental angle sensor 120 may be selected from the group consisting of: an active incremental angle sensor 126 ; a single Hall sensor; a differential Hall sensor 127 ; a GMR-based sensor; a TMR based sensor; an AMR-based sensor; an inductive incremental angle sensor. 1A shows by way of example a first, as a differential Hall sensor 127 designed incremental angle sensor 112 with a donor wheel 114 , The differential Hall sensor 127 can be a plurality of Hall elements 128 , for example, two Hall elements 128 , preferably three Hall elements 128 , include, as in 1A shown. Accordingly, the Hall elements 128 of the differential Hall sensor 127 as a first Hall element 130 , a second reverb element 132 and a third reverb element 134 be designated. Furthermore, the differential Hall sensor 127 at least one magnetic field generator 136 , in particular a permanent magnet 138 and / or an electromagnet, as in 1A shown. The permanent magnet 138 can have a magnetic north pole 137 and a magnetic south pole 139 include. In particular, the differential Hall sensor 127 and / or an evaluation unit described in more detail below 140 be set up to at least a difference between a Hall voltage of the first Hall element 130 and the second Hall element 132 and a difference between a Hall voltage, the second Hall element 132 and the third Hall element 134 to determine. Furthermore, the differential Hall sensor 127 at least one sensor signal 142 according to the difference between the Hall voltage of the first Hall element 130 and the second Hall element 132 and at least one further sensor signal 142 according to the difference between the Hall voltage of the second Hall element 132 and the third Hall element 134 , In particular, the Hall element 128 , in particular the first Hall element 130 and / or the second Hall element 132 and / or the third Hall element 134 in a direction of extension tangential to the encoder wheel 114 have a dimension of 0.2 mm to 5 mm, preferably from 0.3 mm to 2.5 mm, particularly preferably from 0.4 mm to 1 mm.

The 1B and 1C each show a first sensor signal 122 as with the differential Hall sensor 127 designed, first incremental angle sensor 118 can be generated. The first sensor signal 122 may be a plurality of sensor signals 142 include, in particular two sensor signals 142 according to the difference between the Hall voltage of the first Hall element 130 and the second Hall element 132 and according to the difference between the Hall voltage of the second Hall element 132 and the third Hall element 134 as in the 1B and C shown. In particular, the sensor signal 142 according to the difference between the Hall voltage of the first Hall element 130 and the second Hall element 132 as A channel 144 be designated and the sensor signal 142 according to the difference between the Hall voltage of the second Hall element 132 and the third Hall element 134 can as a B-channel 146 be designated. Furthermore, the sensor signal 142 according to the difference between the Hall voltage of the first Hall element 130 and the second Hall element 132 and the sensor signal 142 according to the difference between the Hall voltage of the second Hall element 132 and the third Hall element 134 each as a difference signal 147 be designated. In particular, the evaluation circuit 140 , for example, using an ASIC, not shown here, the component of the evaluation circuit 140 can be a logical zero if at least one of the two difference signal 147 exceeds an upper threshold, and the evaluation circuit 140 , for example, using the ASIC, can output a logical one if at least one of the two difference signals 147 exceeds a lower threshold. Here, the common abbreviation ASIC stands for the English term "application-specific integrated circuit", which can be translated as an application-specific integrated circuit. Due to a spatial arrangement of the first Hall element 130 , the second Hall element 132 and the third Hall element 134 , such as in 1A can see the sensor signal 142 according to the difference between the Hall voltage of the first Hall element 130 and the second Hall element 132 and the sensor signal 142 according to the difference between the Hall voltage of the second Hall element 132 and the third Hall element 134 be out of phase with each other. Accordingly, the two differential signals may have a phase shift. In the 1A and 1B is the first sensor signal 122 for two different directions of rotation, indicated by a circular arrow in each case, of the encoder wheel which can be connected to the rotating element 114 as a signal strength 148 applied against a time. A detection of the direction of rotation can in particular by a sign evaluation of the phase shift of the two differential signals 147 happen.

The sensor device 110 indicates besides at least a first incremental angle sensor 118 at least one second incremental angle sensor 120 on. The first incremental angle sensor 118 and the second incremental angle sensor 120 can be identical. In particular, the first incremental angle sensor 118 and the second incremental angle sensor 120 as active incremental angle sensors 126 , especially as differential Hall sensors 127 be designed. The first incremental angle sensor 118 and the second incremental angle sensor 120 but can also be designed differently. The first incremental angle sensor 118 , the second incremental angle sensor 120 and that at least one donor wheel 114 are arranged to each other such that at least one of the first incremental angle sensor 118 generated first sensor signal 122 and at least one of the second incremental angle sensor 120 generated second sensor signal are out of phase with each other. A first distance A1 of the first incremental angle sensor 118 to the axis of rotation 112 and a second distance A2 of the second incremental angle sensor 120 to the axis of rotation 112 can be the same as in 2 shown. In particular, the sensor arrangement 110 a donor wheel 114 and the first incremental angle sensor 118 , the second incremental angle sensor 120 and that one donor wheel 114 can be arranged in the same plane as in 2 shown. To illustrate an arrangement in the same plane shows 2 the sensor arrangement 110 in a coordinate system comprising an x-axis and a y-axis. Furthermore, the first incremental angle sensor 118 and the second incremental angle sensor 120 offset to each other on a circular path around the sender wheel 114 , in particular around the axis of rotation 112 be arranged as well as in 2 to see. Furthermore, the first incremental angle sensor 118 and the second incremental angle sensor 120 with respect to the axis of rotation 112 include an angle α, as in 2 clarified. Furthermore, the sender wheel 114 have a radius r, in particular in the 2 and 5A shown.

The donor wheel 114 has a sender wheel profile 116 on, the at least one profile element 152 may include. In particular, the Geberradprofil 116 a plurality of profile elements 152 include, for example, a plurality of teeth 154 and a plurality of gaps 156 , The tooth 154 can be tangential to the encoder wheel in an extension direction 114 one dimension DZ have, as in 3 shown. Furthermore, the profile element 152 as a gap 156 be formed and the gap 156 Extent direction can be tangential to the encoder wheel 114 one dimension DL have, as also in 3 to see. In particular, the dimension DL have a value of 1 mm to 8 mm, preferably 2 mm to 5 mm, particularly preferably of 3.5 mm. Furthermore, the dimension DZ in particular have a value of 1 mm to 8 mm, preferably 2 mm to 5 mm, particularly preferably of 3.2 mm. In particular, the dimension DL the dimension DZ to exceed a value of 5% to 15%, preferably 7% to 12%, particularly preferably of 10%. Furthermore, the tooth can 154 a height HZ have, wherein an extension direction of the height HZ in the radial direction of the encoder wheel 114 can run, as in 3 shown.

In particular, the donor wheel 114 at least one gap 156 and at least one tooth 154 and in particular in 2 shown angle α can satisfy the following equation: $$\begin{array}{cc}2\mathrm{\pi }\text{r}*\mathrm{\alpha }/360°\ne \text{n}*\text{p}& \text{with n element of natural numbers}\end{array}$$

Here p is the sum of the dimension DL the gap 156 and the dimension DZ of the tooth 154 , In particular, the angle α can be selected such that the phase shift between the first sensor signal 122 and the second sensor signal a quarter of the period of the first sensor signal 122 , the second sensor signal and the rotating element. In particular, the angle α can satisfy the following equation: $$\begin{array}{cc}2\mathrm{\pi }\text{r}*\mathrm{\alpha }/360°\ne \left(\text{n}+\text{0}\text{.25}\right)*\text{p}& \text{with n element of natural numbers}\end{array}$$

The angles β and γ, which are still introduced below and described in greater detail, can also satisfy equations (1) and (2).

4 shows a sensor arrangement 110 in perspective view. As you can see there, the first incremental angle sensor 118 and the second incremental angle sensor 120 in a common housing 158 with a plug 160 be introduced.

5A shows a further embodiment of the sensor arrangement 110 in a view from the front. The sensor arrangement 110 can be a variety of encoder wheels 114 include. As in 5A shown, the sensor assembly 110 in particular two donor wheels 114 include, which as first donor wheel 162 and as a second donor wheel 164 can be designated. In particular, the sensor arrangement 110 a first donor wheel 162 with a first sender wheel profile 166 and a second donor wheel 164 with a second sender wheel profile 168 wherein the first incremental angle sensor 118 and the first donor wheel 162 may be arranged in a first plane, wherein the second incremental angle sensor 120 and the second donor wheel 164 may be arranged in a second plane, as in 5A shown. In the context of the present invention, the terms first encoder wheel profile 166 and encoder wheel profile 116 the first donor wheel 114 as well as the terms second encoder wheel profile 168 and encoder wheel profile 116 of the second encoder wheel 164 used synonymously. In particular, the planes just described may be spaced apart by a distance A3 from 1 mm to 10 cm, preferably from 2 mm to 5 cm, more preferably from 3 mm to 3 cm. In particular, the first encoder wheel profile 166 and the second sender wheel profile 168 be formed identically. Furthermore, the Geberradprofil 116 the first donor wheel 162 and the sender wheel profile 116 of the second encoder wheel 164 be arranged offset to each other, as in the 5A and 5B shown. In particular, a projection of the first Geberradprofils 166 in the direction of the axis of rotation 112 and a projection of the second encoder wheel profile 168 in the direction of the axis of rotation 112 an offset 170 respectively. In particular, the projection of the first Geberradprofils 166 and the projection of the second encoder wheel profile 168 with respect to the axis of rotation 112 include an angle β. In particular, the angle β can be selected such that the phase shift between the first sensor signal 122 and the second sensor signal is a quarter of the period of the first sensor signal, the second sensor signal and the rotating element. As in 5A continue through the front view of the sensor assembly 110 can be a projection of the first incremental angle sensor 118 in the direction of the axis of rotation 112 and a projection of the second incremental angle sensor 120 in the direction of the axis of rotation 112 completely overlap and in particular no offset 170 respectively.

5B shows in schematic form a section of the sensor arrangement 110 out 5A in a top view. To illustrate an arrangement of the first sender wheel 162 with the first sender wheel profile 166 and the second donor wheel 164 with the second encoder wheel profile 168 and the first incremental angle sensor 118 and the second incremental angle sensor 120 show the 5A and 5B the sensor arrangement 110 in a coordinate system comprising an x-axis, a y-axis and a z-axis. In the 5B and 6B is a possible direction of rotation of the rotating element and connectable to the rotating element first encoder wheel 162 and the second encoder wheel connectable to the rotating member 164 , each indicated by a circular arrow.

The 6A shows a further embodiment of the sensor arrangement 110 in a front view. The sensor arrangement 110 can, as in 6A represented, in particular the first sender wheel 162 with the first sender wheel profile 166 and the second donor wheel 164 with the second encoder wheel profile 168 wherein the first incremental angle sensor 118 and the first donor wheel 162 may be arranged in a first plane, wherein the second incremental angle sensor 120 and the second donor wheel 164 can be arranged in a second plane. Furthermore, as in 6A through the front view of the sensor arrangement 110 illustrates a projection of the first donor wheel 162 with the first sender wheel profile 166 in the direction of the axis of rotation 112 and a projection of the second encoder wheel 164 with the second encoder wheel profile 168 completely overlap in the direction of the axis of rotation and in particular no offset 170 respectively. In particular, the first encoder wheel profile 166 and the second sender wheel profile 168 be identical. Furthermore, the first incremental angle sensor 118 and the second incremental angle sensor 120 be arranged offset to each other, as in the 6A and 6B shown. In particular, the first incremental angle sensor 118 and the second incremental angle sensor 120 an offset 170 respectively. In particular, a projection of the first incremental angle sensor 118 in the direction of the axis of rotation 112 and a projection of the second incremental angle sensor 120 in the direction of the axis of rotation 112 an offset 170 along a circular path around a projection of the first donor wheel 162 and / or the second encoder wheel 164 , in particular around the axis of rotation 112 , respectively. In particular, the projection of the first incremental angle sensor and the projection of the second incremental angle sensor with respect to the axis of rotation may include an angle γ.

6B shows in schematic form a section of the sensor arrangement 110 out 6A in a top view. To illustrate an arrangement of the first sender wheel 162 with the first sender wheel profile 166 and the second donor wheel 164 with the second encoder wheel profile 168 and the first incremental angle sensor 118 and the second incremental angle sensor 120 show the 6A and 6B the sensor arrangement 110 in a coordinate system comprising an x-axis, a y-axis and a z-axis.

Furthermore, the sensor arrangement 110 comprise at least one evaluation unit, not shown in the figures, wherein the evaluation unit may be configured to the first sensor signal 122 and to detect the second sensor signal. The evaluation unit can be designed as a single unit. However, the evaluation unit can also be wholly or partly outsourced to a control unit, also not shown in the figures, in particular in a central control. Furthermore, the evaluation unit can also be completely or partially integrated in the first incremental angle sensor and / or in the second incremental angle sensor, in particular in the form of at least one ASIC. Here, the common abbreviation ASIC stands for the English term application-specific integrated circuit. Furthermore, the evaluation unit can have at least one first evaluation circuit, wherein the first evaluation circuit is set up to process the first sensor signal. Furthermore, the evaluation unit can have at least one second evaluation circuit, wherein the second evaluation circuit is set up to process the second sensor signal.

In a further aspect of the present invention, a method is provided for determining at least one rotational property of at least one axis of rotation 112 proposed rotating element, the method using at least one with the rotating element-connecting encoder wheel 114 includes, wherein the sender wheel 114 a transmitter wheel profile 116 having. The method comprises the following steps, preferably in the order given. Also a different order is possible. Furthermore, one or more or all of the method steps can also be carried out repeatedly. Furthermore, two or more of the method steps may also be performed wholly or partially overlapping in time or simultaneously. The method may, in addition to the method steps mentioned, also comprise further method steps.

As in 7 represented, the method comprises in a first step a) (method step 172 ) generating at least a first sensor signal 122 by at least one first incremental angle sensor 118 ; and in a second step b) (method step 174 ) generating at least one second sensor signal by at least one second incremental angle sensor 120 , wherein the first sensor signal 122 and the second sensor signal are out of phase with each other.

• c) Weitergeben des ersten Sensorsignals 122 an eine Steuereinheit.
• d) Weitergeben des zweiten Sensorsignals an die Steuereinheit.
• e) Bestimmen der Rotationseigenschaft aus dem ersten Sensorsignal 122 und/oder dem zweiten Sensorsignal.

Insbesondere kann die Rotationseigenschaft aus dem ersten Sensorsignal 122 und/oder dem zweiten Sensorsignal durch eine Auswerteeinheit und/oder durch die Steuereinheit bestimmt werden.
Weiterhin kann das Verfahren umfassen:

• f) Vergleichen des ersten Sensorsignals 122 mit dem zweiten Sensorsignal durch die Steuereinheit.

Insbesondere kann von der Steuereinheit ein zeitlicher Versatz des Eintreffens des ersten Sensorsignals 122 und des zweiten Sensorsignals bestimmt werden. Weiterhin kann das Verfahren umfassen:

• g) Vergleichen der aus dem ersten Sensorsignal 122 bestimmten Rotationseigenschaft mit der aus dem zweiten Sensorsignal bestimmten Rotationseigenschaft.

Furthermore, the method may also include further, not shown in the figures steps. In particular, the method may include one or more or all of the following steps:

• c) passing on the first sensor signal 122 to a control unit.
• d) passing the second sensor signal to the control unit.
• e) determining the rotation characteristic from the first sensor signal 122 and / or the second sensor signal.

In particular, the rotation property of the first sensor signal 122 and / or the second sensor signal can be determined by an evaluation unit and / or by the control unit.
Furthermore, the method may include:

• f) comparing the first sensor signal 122 with the second sensor signal by the control unit.

In particular, from the control unit, a time offset of the arrival of the first sensor signal 122 and the second sensor signal. Furthermore, the method may include:

• g) comparing the from the first sensor signal 122 determined rotation property with the rotation characteristic determined from the second sensor signal.

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

• DE 4011503 A1 [0003]
• DE 102013203937 A1 [0003]

Claims (12)

Sensor arrangement (110) for determining at least one rotational property of an element rotating around at least one axis of rotation (112), wherein the sensor arrangement (110) has at least one encoder wheel (114) which can be connected to the rotating element, wherein the transmitter wheel (114) has a transmitter wheel profile (110). characterized in that the sensor arrangement (110) further comprises at least one first incremental angle sensor (118) and at least one second incremental angle sensor (120), wherein the first incremental angle sensor (118), the second incremental angle sensor (120) and the at least one encoder wheel (114 ) are arranged relative to one another in such a way that at least one first sensor signal (122) generated by the first incremental angle sensor (118) and at least one second sensor signal generated by the second incremental angle sensor (120) are mutually phase-shifted. The sensor assembly (110) of the preceding claim, wherein the first incremental angle sensor (118) and the second incremental angle sensor (120) are selected from the group consisting of: an active incremental angle sensor (126); a single Hall sensor; a differential Hall sensor (127); a GMR-based sensor; a TMR based sensor; an AMR-based sensor; an inductive incremental angle sensor. Sensor arrangement (110) according to one of the preceding claims, wherein the sensor arrangement (110) has a sensor wheel (114), wherein the first incremental angle sensor (118), the second incremental angle sensor (120) and the encoder wheel (114) are arranged in the same plane. Sensor arrangement (110) according to the preceding claim, wherein the first incremental angle sensor (118) and the second incremental angle sensor (120) offset from each other on a circular path about the encoder wheel (114) are arranged. A sensor assembly (110) according to any one of the preceding claims, wherein the sensor assembly (110) comprises a plurality of encoder wheels (114). Sensor arrangement (110) according to the preceding claim, wherein the sensor arrangement (110) has a first sender wheel (114, 162) with a first sender wheel profile (166) and a second sender wheel (114, 164) with a second sender wheel profile (168), wherein the first incremental angle sensor (118) and the first encoder wheel (162) are arranged in a first plane, wherein the second incremental angle sensor (120) and the second gerber wheel (164) are arranged in a second plane. Sensor arrangement (110) according to the preceding claim, wherein the first Geberradprofil (166) and the second Geberradprofil (168) are arranged offset from one another. Sensor arrangement (110) according to one of the preceding claims, wherein the first incremental angle sensor (118) and the second incremental angle sensor (120) are arranged offset to one another. Sensor arrangement (110) according to one of the preceding claims, wherein the sensor arrangement (110) comprises at least one evaluation unit, wherein the evaluation unit is adapted to detect the first sensor signal (122) and the second sensor signal. Sensor arrangement (110) according to the preceding claim, wherein the evaluation unit is adapted to close from the first sensor signal (122) and the second sensor signal to one on a functionality of the sensor arrangement (110). Sensor arrangement (110) according to one of the two preceding claims, wherein the evaluation unit is adapted to close from a comparison of the first sensor signal (122) and the second sensor signal to a direction of rotation of the rotating element. A method of determining at least one rotational characteristic of an element rotating about at least one axis of rotation, the method comprising using at least one encoder wheel (114) connectable to the rotating element, the encoder wheel (114) having a transmitter wheel profile (116), the method comprising the following Steps comprises: a) generating at least one first sensor signal (122) by at least one first incremental angle sensor (118); and b) generating at least one second sensor signal by at least one second incremental angle sensor (120), wherein the first sensor signal (122) and the second sensor signal are out of phase with each other.

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