DE102020105933A1 - COMPARED TO AN EXTERNAL FIELD, ROBUST ANGLE DETECTION WITH DIFFERENTIAL MAGNETIC FIELD - Google Patents

Abstract

A magnetic angle sensor device and a method of operating such a device are provided. The magnetic angle sensor device includes: a shaft that is rotatable about a rotation axis; a magnetic assembly coupled to the shaft, the magnetic assembly producing a differential magnetic field comprising a plurality of diametrical magnetic fields; a first magnetic angle sensor provided in the differential magnetic field and configured to generate a first signal representing a first angle based on a first diametrical magnetic field of the differential magnetic field; a second magnetic angle sensor provided in the differential magnetic field and configured to generate a second signal representing a second angle based on a second diametrical magnetic field of the differential magnetic field; and a combination circuit configured to determine a combined rotation angle based on the first signal and the second signal.

Description

This registration is a partial continuation of the US patent application serial no. 15 / 713,877 , filed on September 25, 2017 promoting the benefits of the German patent application No. 10 2016 118 384.9 , filed September 28, 2016, which are hereby incorporated by reference in their entirety.

The present disclosure relates to a magnetic angle sensor assembly and, more particularly, to a magnetic angle sensor device configured to determine a rotational position or movement of a shaft and a method of operating.

A magnetic angle sensor can be used to detect a rotational position or movement of a shaft. Typically, a permanent magnet is attached to a rotatable shaft and a single magnetic field sensor is placed on the axis of rotation and adjacent to the magnet.

A disadvantage of known solutions is that they are very sensitive to magnetic interference. For example, if the magnet has a field of e.g. B. 45 mT generated at the sensor elements, leads to a magnetic disturbance that z. B. 3 mT (in the worst case in a direction perpendicular to the axis and orthogonal to the field of the magnet), to an error of 3.8 ° (arctan (3/45) = 3.8 °), which is generally not acceptable.

Magnetic interference fields are common in vehicles so that magnetic angle measurements often have to withstand harsh environments. This is particularly problematic in new hybrid and electric vehicles where there are many wires with high currents near the sensor system. Accordingly, external magnetic interference fields can be generated by busbars in a vehicle, which influence the accuracy of the magnetic angle measurements.

One object is to improve known approaches and in particular to improve the detection of the rotational position and movement of a shaft.

This object is achieved according to the features of the independent claims. Preferred embodiments can be inferred in particular from the dependent claims.

Embodiments provided here relate to a magnetic angle sensor arrangement which determines a rotational position or a movement of a shaft.

• - eine Welle, die um eine Drehachse drehbar ist;
• - eine magnetische Anordnung, die mit der Welle gekoppelt ist, wobei die magnetische Anordnung ein Magnetfeld bereitstellt, das mehrere diametrale Magnetfelder umfasst, die entlang der Drehachse angeordnet sind, wobei jedes der mehreren diametralen Magnetfelder einen unterschiedlichen Magnetfeldgradienten aufweist, und wobei die mehreren diametralen Magnetfelder eine solche Feldrichtungsänderung beinhalten, dass wenigstens ein erstes der mehreren diametralen Magnetfelder eine erste Feldrichtung aufweist und wenigstens ein zweites der mehreren diametralen Magnetfelder eine zweite Feldrichtung aufweist, die entgegengesetzt zu der ersten Feldrichtung ist;
• - einen ersten magnetischen Winkelsensor, der in dem Magnetfeld bei einer ersten Position entlang der Drehachse bereitgestellt ist und zum Erzeugen eines ersten Signals, das einen ersten Winkel repräsentiert, basierend auf einem ersten diametralen Magnetfeld des Magnetfeldes eingerichtet ist;
• - einen zweiten magnetischen Winkelsensor, der in dem Magnetfeld bei einer zweiten Position entlang der Drehachse bereitgestellt ist und zum Erzeugen eines zweiten Signals, das einen zweiten Winkel repräsentiert, basierend auf einem zweiten diametralen Magnetfeld des Magnetfeldes eingerichtet ist;
• - einen Kombinationsschaltkreis, der zum Bestimmen eines kombinierten Drehwinkels basierend auf dem ersten Signal und auf dem zweiten Signal eingerichtet ist.

A magnetic angle sensor device is proposed which comprises:

• - A shaft which is rotatable about an axis of rotation;
• a magnetic assembly coupled to the shaft, the magnetic assembly providing a magnetic field comprising a plurality of diametrical magnetic fields arranged along the axis of rotation, each of the plurality of diametrical magnetic fields having a different magnetic field gradient, and wherein the plurality of diametrical magnetic fields include such a field direction change that at least a first of the plurality of diametrical magnetic fields has a first field direction and at least a second of the plurality of diametrical magnetic fields has a second field direction which is opposite to the first field direction;
• a first magnetic angle sensor which is provided in the magnetic field at a first position along the axis of rotation and is configured to generate a first signal which represents a first angle based on a first diametrical magnetic field of the magnetic field;
• a second magnetic angle sensor which is provided in the magnetic field at a second position along the axis of rotation and is set up to generate a second signal which represents a second angle based on a second diametrical magnetic field of the magnetic field;
• a combination circuit which is set up to determine a combined angle of rotation based on the first signal and on the second signal.

It is a further development that the magnetic arrangement is a quadrupole magnet arrangement which defines a cavity in which the magnetic field is generated, the first magnetic angle sensor and the second magnetic angle sensor being arranged within the cavity.

It is a development that the first magnetic angle sensor and the second magnetic angle sensor are arranged on an extension of the axis of rotation and are separated by a distance in a direction that extends along the axis of rotation.

It is a further development that each magnetic sensor element of the first magnetic angle sensor is laterally spaced from the axis of rotation by less than 1 mm, and each magnetic sensor element of the second magnetic angle sensor is laterally spaced from the axis of rotation by less than 1 mm.

It is a further development that the magnetic arrangement comprises a ring magnet which defines the cavity.

It is a further development that the magnetic arrangement contains a disc magnet which lies between the ring magnet and the shaft and is coupled to them.

It is a further development that the magnetic arrangement comprises a further ring magnet which lies between the ring magnet and the shaft and is coupled to them.

It is a development that the magnetic arrangement includes a cylinder magnet with a bore that defines the cavity which extends from a first end of the cylinder magnet partially along the axis of rotation to a second end of the cylinder magnet.

It is a development that the plurality of diametrical magnetic fields contain a first part with the first magnetic direction and a second part with the second magnetic direction, which is opposite to the first magnetic direction.

It is a further development that the first magnetic angle sensor and the second magnetic angle sensor are arranged in the first part of the plurality of diametrical magnetic fields and the first diametrical magnetic field and the second diametrical magnetic field are different field size gradients of the first part.

It is a further development that the first magnetic angle sensor is arranged in the first part of the multiple diametrical magnetic fields and the second magnetic angle sensor is arranged in the second part of the multiple diametrical magnetic fields, the first diametrical magnetic field and the second diametrical magnetic field having the same field size gradients, but are with the opposite sign.

It is a further development that the first magnetic angle sensor is arranged in the first part of the plurality of diametrical magnetic fields and the second magnetic angle sensor is arranged in the second part of the plurality of diametrical magnetic fields, the first diametrical magnetic field and the second diametrical magnetic field being different field size gradients.

• - einen nichtmagnetischen Abstandshalter, der zwischen der Welle und der magnetischen Anordnung liegt und mit diesen gekoppelt ist,
• - wobei die magnetische Anordnung ein Ringmagnet ist, der einen Hohlraum definiert, in dem das Magnetfeld generiert wird, wobei der Ringmagnet ein erstes Ende beinhaltet, das mit dem nichtmagnetischen Abstandshalter gekoppelt ist, und sich der Hohlraum von dem nichtmagnetischen Abstandshalter entlang der Drehachse zu einem zweiten Ende des Ringmagneten erstreckt,
• - wobei der zweite magnetische Winkelsensor in einer Ebene mit dem zweiten Ende des Ringmagneten ausgerichtet ist.

It is a development that the magnetic angle sensor device further comprises:

• - a non-magnetic spacer which lies between the shaft and the magnetic arrangement and is coupled to them,
• - wherein the magnetic arrangement is a ring magnet that defines a cavity in which the magnetic field is generated, wherein the ring magnet includes a first end that is coupled to the non-magnetic spacer, and the cavity from the non-magnetic spacer along the axis of rotation to one extends the second end of the ring magnet,
• - wherein the second magnetic angle sensor is aligned in a plane with the second end of the ring magnet.

• - einen Leiterrahmen, auf dem der erste magnetische Winkelsensor und der zweite magnetische Winkelsensor angeordnet sind,
• - wobei der erste magnetische Winkelsensor auf einer ersten Seite des Leiterrahmens angeordnet ist und der zweite magnetische Winkelsensor auf einer zweiten Seite des Leiterrahmens angeordnet ist, die der ersten Seite gegenüberliegt.

It is a development that the magnetic angle sensor device further comprises:

• - A lead frame on which the first magnetic angle sensor and the second magnetic angle sensor are arranged,
• - wherein the first magnetic angle sensor is arranged on a first side of the lead frame and the second magnetic angle sensor is arranged on a second side of the lead frame that is opposite the first side.

• - ein Schaltkreissubstrat, das mit dem zweiten Ende des Ringmagneten gekoppelt ist und den Hohlraum einschließt,
• - wobei der Leiterrahmen auf dem Schaltkreissubstrat angeordnet ist und sich innerhalb des Hohlraums befindet.

It is a development that the magnetic angle sensor device further comprises:

• a circuit substrate coupled to the second end of the ring magnet and enclosing the cavity,
• - wherein the lead frame is arranged on the circuit substrate and is located within the cavity.

• - der erste Winkel ein erster Fehlerwinkel ist, der auf dem ersten diametralen Magnetfeld und einem Störungsmagnetfeld basiert, die beide an den ersten magnetischen Winkelsensor angelegt werden, wobei das Störungsmagnetfeld bewirkt, dass ein erster resultierender Magnetfeldvektor um den ersten Fehlerwinkel von einem ersten Magnetzielfeldvektor abweicht,
• - der zweite Winkel ein zweiter Fehlerwinkel ist, der auf dem zweiten diametralen Magnetfeld und dem Störungsmagnetfeld basiert, die beide an den zweiten magnetischen Winkelsensor angelegt werden, wobei das Störungsmagnetfeld bewirkt, dass ein zweiter resultierender Magnetfeldvektor um den zweiten Fehlerwinkel von einem zweiten Magnetzielfeldvektor abweicht.

It's a continuing education that

• the first angle is a first error angle based on the first diametrical magnetic field and a disturbance magnetic field, both of which are applied to the first magnetic angle sensor, the disturbance magnetic field causing a first resulting magnetic field vector to deviate from a first target magnetic field vector by the first error angle,
• the second angle is a second error angle based on the second diametrical magnetic field and the disturbance magnetic field, both of which are applied to the second magnetic angle sensor, the disturbance magnetic field causing a second resulting magnetic field vector to deviate from a second target magnetic field vector by the second error angle.

One development is that the combination circuit is set up to determine the first error angle and the second error angle and to determine the combined angle of rotation based on the first error angle and the second error angle.

• - der erste magnetische Winkelsensor das erste Signal erzeugt, das den ersten Fehlerwinkel zwischen dem ersten diametralen Magnetfeld, das an den ersten magnetischen Winkelsensor angelegt wird, und einer ersten Referenzrichtung repräsentiert,
• - der zweite magnetische Winkelsensor das zweite Signal erzeugt, das den zweiten Fehlerwinkel zwischen dem zweiten diametralen Magnetfeld, das an den zweiten magnetischen Winkelsensor angelegt wird, und einer zweiten Referenzrichtung repräsentiert.

It's a continuing education that

• the first magnetic angle sensor generates the first signal which represents the first error angle between the first diametrical magnetic field that is applied to the first magnetic angle sensor and a first reference direction,
• - The second magnetic angle sensor generates the second signal which represents the second error angle between the second diametrical magnetic field that is applied to the second magnetic angle sensor and a second reference direction.

• - Erzeugen, durch einen ersten magnetischen Winkelsensor, der in dem Magnetfeld bei einer ersten Position entlang der Drehachse bereitgestellt ist, eines ersten Signals, das einen ersten Winkel repräsentiert, basierend auf einem ersten diametralen Magnetfeld des Magnetfeldes;
• - Erzeugen, durch einen zweiten magnetischen Winkelsensor, der in dem Magnetfeld bei einer zweiten Position entlang der Drehachse bereitgestellt ist, eines zweiten Signals, das einen zweiten Winkel repräsentiert, basierend auf einem zweiten diametralen Magnetfeld des Magnetfeldes; und
• - Bestimmen des kombinierten Drehwinkels basierend auf dem ersten Signal und auf dem zweiten Signal.

Furthermore, a method is specified for determining a combined angle of rotation of a shaft, wherein the shaft is configured to rotate about an axis of rotation, and a magnetic arrangement, which is coupled to the shaft, generates a magnetic field comprising a plurality of diametrical magnetic fields that run along the axis of rotation, wherein each of the plurality of diametrical magnetic fields has a different magnetic field gradient, and wherein the plurality of diametrical magnetic fields include such a field direction change that at least a first of the plurality of diametrical magnetic fields has a first field direction and at least a second of the plurality of diametrical magnetic fields has a second field direction which is opposite to the first field direction, the method comprising:

• Generating, by a first magnetic angle sensor provided in the magnetic field at a first position along the axis of rotation, a first signal which represents a first angle based on a first diametrical magnetic field of the magnetic field;
• Generating, by a second magnetic angle sensor, which is provided in the magnetic field at a second position along the axis of rotation, a second signal which represents a second angle based on a second diametrical magnetic field of the magnetic field; and
• - Determining the combined angle of rotation based on the first signal and on the second signal.

• - der erste Winkel ein erster Fehlerwinkel ist, der auf dem ersten diametralen Magnetfeld und einem Störungsmagnetfeld basiert, die beide an den ersten magnetischen Winkelsensor angelegt werden, wobei das Störungsmagnetfeld bewirkt, dass ein erster resultierender Magnetfeldvektor um den ersten Fehlerwinkel von einem ersten Magnetzielfeldvektor abweicht,
• - der zweite Winkel ein zweiter Fehlerwinkel ist, der auf dem zweiten diametralen Magnetfeld und dem Störungsmagnetfeld basiert, die beide an den zweiten magnetischen Winkelsensor angelegt werden, wobei das Störungsmagnetfeld bewirkt, dass ein zweiter resultierender Magnetfeldvektor um den zweiten Fehlerwinkel von einem zweiten Magnetzielfeldvektor abweicht, und
• - der kombinierte Drehwinkel basierend auf dem ersten Fehlerwinkel und dem zweiten Fehlerwinkel bestimmt wird.

It's a continuing education that

• the first angle is a first error angle based on the first diametrical magnetic field and a perturbation magnetic field, both of which are applied to the first magnetic angle sensor, wherein the disturbance magnetic field causes a first resulting magnetic field vector to deviate from a first target magnetic field vector by the first error angle,
• - the second angle is a second error angle based on the second diametrical magnetic field and the disturbance magnetic field, both of which are applied to the second magnetic angle sensor, the disturbance magnetic field causing a second resulting magnetic field vector to deviate from a second target magnetic field vector by the second error angle, and
• the combined angle of rotation is determined based on the first error angle and the second error angle.

According to one or more embodiments, a magnetic angle sensor device includes: a shaft rotatable about an axis of rotation; a magnetic assembly coupled to the shaft, the magnetic assembly producing a differential magnetic field comprising a plurality of diametrical magnetic fields; a first magnetic angle sensor provided in the differential magnetic field and configured to generate a first signal representing a first angle based on a first diametrical magnetic field of the differential magnetic field; a second magnetic angle sensor provided in the differential magnetic field and configured to generate a second signal representing a second angle based on a second diametrical magnetic field of the differential magnetic field; and a combination circuit configured to determine a combined rotation angle based on the first signal and the second signal.

According to one or more embodiments, a method is provided for determining a combined angle of rotation of a shaft using a magnetic arrangement that produces a differential magnetic field including a plurality of diametrical magnetic fields. The method includes: generating, by a first magnetic angle sensor provided in the differential magnetic field, a first signal representing a first angle based on a first diametrical magnetic field of the differential magnetic field applied to the first magnetic angle sensor; Generating, by a second magnetic angle sensor provided in the differential magnetic field, a second signal representing a second angle based on a second diametrical magnetic field of the differential magnetic field applied to the second magnetic angle sensor; and determining the combined angle of rotation based on the first signal and on the second signal.

According to one or more embodiments, a computer program product that can be loaded directly into a memory of a digital processing device, including software code parts that enable the digital processing device to carry out one or more methods described herein.

According to one or more embodiments, a computer readable medium, e.g. Non-volatile storage of any type is provided with computer-executable instructions configured to cause a computer system to perform one or more of the methods described herein.

• 1 zeigt ein Ausführungsbeispiel eines Sensorsystems, das eine Welle beinhaltet, die sich um eine Drehachse herum dreht, wobei ein Magnet an der Welle angebracht ist und sich oberhalb von drei magnetischen Winkelsensoren dreht, die auf der Drehachse angeordnet sind;
• 2 zeigt ein schematisches Diagramm, das einen diametral magnetisierten Magneten und einen magnetischen Winkelsensor, der einen Magnetzielfeldvektor und einen Störungsfeldvektor zeigt, umfasst;
• 3 zeigt einen diametral magnetisierten Magneten, der um eine Drehachse drehbar angeordnet ist;
• 4 zeigt den in 3 veranschaulichten Magneten, wobei zwei Winkelsensoren auf der Drehachse in unterschiedlichen Abständen von dem Magneten platziert sind;
• 5 zeigt die in 4 veranschaulichten Winkelsensoren aus einer unterschiedlichen Perspektive, wobei die Drehwinkelfehler aufgrund eines Störungsfeldes angegeben sind;
• 6 zeigt eine beispielhafte Anordnung eines Doppelsensorgehäuses;
• 7 zeigt ein Doppelmagnetsystem, bei dem zwei Winkelsensoren in unterschiedlichen Abständen von zwei diametral magnetisierten Magneten auf der Drehachse platziert sind, gemäß einer oder mehreren Ausführungsformen;
• 8A zeigt ein Doppelmagnetsystem, das zwei Ringmagneten beinhaltet, die zum Erzeugen eines differentiellen Magnetfeldes gemäß den unter Bezugnahme auf 7 beschriebenen Prinzipien eingerichtet sind, gemäß einer oder mehreren Ausführungsformen;
• 8B zeigt ein Doppelmagnetsystem, das zwei Ringmagneten beinhaltet, die zum Erzeugen eines differentiellen Magnetfeldes gemäß den unter Bezugnahme auf 7 beschriebenen Prinzipien eingerichtet sind, gemäß einer oder mehreren Ausführungsformen;
• 9 zeigt ein Doppelmagnetsystem, das einen ebenen diametralen Magneten in Kombination mit einem Ringmagneten beinhaltet, die zum Erzeugen eines differentiellen Magnetfeldes gemäß den unter Bezugnahme auf 7 beschriebenen Prinzipien eingerichtet sind, gemäß einer oder mehreren Ausführungsformen;
• 10 zeigt eine Quadrupolmagnetsensoranordnung, die zum Erzeugen eines differentiellen Magnetfeldes gemäß den unter Bezugnahme auf 7 beschriebenen Prinzipien konfiguriert ist, gemäß einer oder mehreren Ausführungsformen;
• 11 zeigt eine Quadrupolmagnetsensoranordnung, die zum Erzeugen eines differentiellen Magnetfeldes gemäß den unter Bezugnahme auf 7 beschriebenen Prinzipien konfiguriert ist, gemäß einer oder mehreren Ausführungsformen;
• 12 zeigt eine Quadrupolmagnetsensoranordnung, die zum Erzeugen eines differentiellen Magnetfeldes gemäß den unter Bezugnahme auf 7 beschriebenen Prinzipien konfiguriert ist, gemäß einer oder mehreren Ausführungsformen; und
• 13 zeigt eine Quadrupolmagnetsensoranordnung, die zum Erzeugen eines differentiellen Magnetfeldes gemäß den unter Bezugnahme auf 7 beschriebenen Prinzipien konfiguriert ist, gemäß einer oder mehreren Ausführungsformen.

Embodiments are shown and illustrated with reference to the drawings. The drawings serve to illustrate the basic principle, so that only aspects necessary for understanding the basic principle are illustrated. The drawings are not to scale. In the drawings, the same reference numerals denote the same features.

• 1 Figure 3 shows an embodiment of a sensor system that includes a shaft rotating about an axis of rotation, with a magnet attached to the shaft and rotating above three magnetic angle sensors disposed on the axis of rotation;
• 2 Fig. 13 is a schematic diagram including a diametrically magnetized magnet and a magnetic angle sensor showing a target magnetic field vector and a perturbation field vector;
• 3 shows a diametrically magnetized magnet which is rotatably arranged about an axis of rotation;
• 4th shows the in 3 illustrated magnets, wherein two angle sensors are placed on the axis of rotation at different distances from the magnet;
• 5 shows the in 4th illustrated angle sensors from a different perspective, the rotation angle errors due to an interference field being indicated;
• 6th shows an exemplary arrangement of a dual sensor housing;
• 7th shows a double magnet system in which two angle sensors are placed at different distances from two diametrically magnetized magnets on the axis of rotation, according to one or more embodiments;
• 8A FIG. 13 shows a double magnet system that includes two ring magnets that are used to generate a differential magnetic field according to the FIGS 7th described principles are established according to one or more embodiments;
• 8B FIG. 13 shows a double magnet system that includes two ring magnets that are used to generate a differential magnetic field according to the FIGS 7th described principles are established according to one or more embodiments;
• 9 FIG. 12 shows a double magnet system which includes a planar diametrical magnet in combination with a ring magnet, which is used to generate a differential magnetic field according to the FIGS 7th described principles are established according to one or more embodiments;
• 10 FIG. 13 shows a quadrupole magnetic sensor arrangement which is used to generate a differential magnetic field according to the FIGS 7th described principles is configured according to one or more embodiments;
• 11 FIG. 13 shows a quadrupole magnetic sensor arrangement which is used to generate a differential magnetic field according to the FIGS 7th described principles is configured according to one or more embodiments;
• 12 FIG. 13 shows a quadrupole magnetic sensor arrangement which is used to generate a differential magnetic field according to the FIGS 7th described principles is configured according to one or more embodiments; and
• 13 FIG. 13 shows a quadrupole magnetic sensor arrangement which is used to generate a differential magnetic field according to the FIGS 7th described principles is configured according to one or more embodiments.

Examples described here relate in particular to magnetic angle sensors, wherein a permanent magnet can be attached to a rotatable shaft and a magnetic field sensor can be placed on the axis of rotation and adjacent to the magnet. The magnetic angle sensor detects in particular the rotatable magnetic field, which points in a diametrical direction, and deduces the rotational position of the shaft from this.

Various sensors can be used, e.g. B. an anisotropic magnetoresistance (AMR: Anisotropy Magneto-Resistor), a Giant Magneto-Resistor (GMR: Giant Magneto-Resistor), a Tunneling Magneto-Resistor (TMR: Tunneling Magneto-Resistor), Hall devices (e.g. Hall plates, vertical Hall Effect devices) or magnetic field effect transistors (MAG-FETs) (e.g. MAG-FETs with split drain).

The embodiments provided here use multiple angle sensors and combine their outputs to derive an angle estimate that is robust to external interference fields.

This can be beneficial in harsh environments, such as in a vehicle or an automobile, where external magnetic fields generated by bus bars in the vehicle affect the accuracy of the magnetic angle measurement. This becomes particularly problematic in hybrid or electric cars that comprise a large number of wires that carry strong currents adjacent to or in the vicinity of the sensor system.

1 Figure 3 shows an embodiment of a sensor system that includes a shaft that rotates about an axis of rotation, with a magnet attached to the shaft and rotating above three magnetic angle sensors that are disposed on the axis of rotation.

2 Fig. 13 is a schematic diagram including a diametrically magnetized magnet and a magnetic angle sensor showing a target magnetic field vector and a perturbation field vector. In particular shows 2 a schematic diagram showing a diametrically magnetized magnet 201 and a magnetic angle sensor 202 includes. The magnet 201 has a target magnetic field vector 203 on; also is a perturbation field vector 204 available. The perturbation field vector 204 becomes with the target field vector 203 of the magnet 201 superimposes and generates an angle error of the magnetic angle sensor 202 .

1 shows an exemplary arrangement that uses a shaft 108 includes that revolve around an axis of rotation 107 turns around. A magnet 109 is at the bottom of the shaft 108 attached, the magnet having a magnetization 110 in the x-direction. Three angle sensors 101 , 102 and 103 are in a potting body 111 arranged below the magnet 109 is arranged. The distance between the magnet 109 and the potting body 111 can be in a range between 1 mm and 3 mm. Each of the angle sensors 101 to 103 comprises a sensor element 104 to 106 . The angle sensors 101 to 103 are via bond wires 115 electrically with leads 113a , 113b connected, the potting body 111 via the supply lines 113a , 113b with a circuit board 114 connected is.

The magnetic angle sensors 101 to 103 are of a type of "perpendicular angle sensor", which means that they respond to the rotation angle of the shaft, the magnetic field component influencing a detection surface of the respective angle sensor that is perpendicular to the rotation axis. They are stacked on top of one another, so that the focus of their sensor elements 104 to 106 essentially on the axis of rotation 107 and they are at three different distances from the magnet 109 (ie in different z-positions). The angle sensor 101 and the angle sensor 102 are through a spacer 112 separated, with the angle sensor 102 on a die base plate 113c is located. The angle sensor 103 is below the die base 113c mounted, the sensor elements 105 , 106 on opposite sides of the angle sensors 102 , 103 are arranged.

The angle sensor 101 detects an angle φ ₁ . The sensor element 104 of the angle sensor 101 is in an axial position z ₁ .

The angle sensor 102 detects an angle φ ₂ . The sensor element 105 of the angle sensor 102 is in an axial position z ₂ .

The angle sensor 103 detects an angle φ ₃ . The sensor element 106 of the angle sensor 103 is in an axial position z ₃ .

It is noted that each of the angle sensors 101 to 103 at least one sensor element 104 to 106 may include.

It is noted that each angle sensor can include two vertical Hall devices (also referred to as vertical Hall effect devices). In one embodiment, a first vertical Hall device is oriented such that it only detects magnetic field components in a first direction (e.g. in the x direction, whereas magnetic field components in the y and z directions are not detected by the first vertical Hall device become). A second vertical Hall device is oriented in such a way that it only detects magnetic field components in a second direction that is different from the first direction (e.g. in the y direction, whereas magnetic field components in the x and z directions through the second vertical direction Hall device cannot be detected). The angle sensor determines a signal which corresponds to the arctangent of the magnetic fields B _x and B _y , ie arctan ₂ (B _x , B _y ). This is equivalent to the angle between the magnetic field with a vanishing B _z component and a positive x-axis. If the B _z component of the magnetic field is set to zero, a projection of the magnetic field perpendicular to the axis of rotation which is parallel to the z-axis can be obtained. This projection is also called a diametrical magnetic field.

It is possible that each angle sensor can comprise two Wheatstone bridges made of magnetoresistive resistors. A bridge provides a signal that is proportional to the sine of an angle between the diametrical magnetic field and the x-axis. The other bridge provides a signal that is proportional to the cosine of that angle. The angle sensor can accordingly provide the signal which corresponds to the arctangent of this sine and cosine, ie arctan ₂ (cos, sin).

Each bridge comprises four resistors in a Wheatstone bridge arrangement. If GMRs or TMRs are used, the main diagonal resistors of the sine bridge comprise a pinned layer that is magnetized in a positive y-direction. The secondary diagonal resistors of the sine bridge comprise a pinned layer that is magnetized in a negative y-direction. The resistors of the main diagonal of the cosine bridge comprise a pinned layer that is magnetized in a positive x-direction, and the resistors of the secondary diagonal of the cosine bridge comprise a pinned layer that is magnetized in a negative x-direction.

If AMR sensors are used, the signals from the bridges are proportional to cos (2φ) and sin (2φ), where φ is the angle between the diametrical magnetic field component and the positive x-axis. The resistances of the cosine bridge show a current flow in the x-direction along the main diagonal and a current flow in the y-direction along the secondary diagonal (positive or negative is irrelevant in this case). The resistances of the sine bridge show a current flow in the x direction plus 45 degrees (clockwise) along the main diagonal and a current flow in the x direction minus 45 degrees (counterclockwise) along the secondary diagonal.

A diametrical magnetic field on the axis of rotation 107 in the axial position z ₁ , which is controlled by the rotatable magnet 109 is generated is B ₁ , which includes the components B _x1 and B _y1 (the B _z component is irrelevant). It is noted that “diametrically” means a projection of the magnetic field vector onto the xy plane, ie a field vector with no or no significant z component.

A diametrical magnetic field on the axis of rotation 107 in the axial position z ₂ , which is controlled by the rotatable magnet 109 is generated is k ₂ · B ₁ , which includes the components k ₂ · B _x1 and k ₂ · B _y1 (the B _z component is irrelevant).

The diametrical magnetic field on the axis of rotation 107 in the axial position z ₃ , which is controlled by the rotatable magnet 109 is generated is k ₃ * B ₁ , which includes the components k ₃ * B _x1 and k ₃ * B _y1 (the B _z component is irrelevant).

Furthermore, there can be a homogeneous interference field Bd which comprises the components Bd _x and Bd _y (the B _z component is irrelevant).

$$\text{tan}{\phi }_2=\frac{k_2\cdot B_{y1}+B{d}_y}{k_2\cdot B_{x1}+B{d}_x}$$

$$\text{tan}{\phi }_3=\frac{k_3\cdot B_{y1}+B{d}_y}{k_3\cdot B_{x1}+B{d}_x}$$

The following applies: $$\text{<figure-callout id="1" label="tan φ" filenames="DE102020105933A1\_0049.png" state="{{state}}">tan </figure-callout>}{\phi }_{}{}_1=\frac{{\mathrm{<figure-callout\; id="1"\; label="B.\; y"\; filenames="DE102020105933A1\_0049.png"\; state="\{\{state\}\}">B.\; </figure-callout>}}_y+\mathrm{B.}{d}_y}{{\mathrm{B.}}_{x1}+\mathrm{B.}{d}_x}$$

$$\text{<figure-callout id="2" label="tan φ" filenames="DE102020105933A1\_0051.png" state="{{state}}">tan </figure-callout>}{\phi }_{}{}_2=\frac{{\mathrm{<figure-callout\; id="2"\; label="k"\; filenames="DE102020105933A1\_0051.png"\; state="\{\{state\}\}">k</figure-callout>}}_2\cdot {\mathrm{<figure-callout\; id="1"\; label="B.\; y"\; filenames="DE102020105933A1\_0049.png"\; state="\{\{state\}\}">B.\; </figure-callout>}}_y+\mathrm{B.}{\mathrm{<figure-callout\; id="2"\; label="d\; y\; k"\; filenames="DE102020105933A1\_0051.png"\; state="\{\{state\}\}">d\; </figure-callout>}}_y}{k_{}}$$

$$\text{<figure-callout id="3" label="tan φ" filenames="DE102020105933A1\_0048.png,DE102020105933A1\_0049.png" state="{{state}}">tan </figure-callout>}{\phi }_{}{}_3=\frac{{\mathrm{<figure-callout\; id="3"\; label="k"\; filenames="DE102020105933A1\_0048.png,DE102020105933A1\_0049.png"\; state="\{\{state\}\}">k</figure-callout>}}_3\cdot {\mathrm{<figure-callout\; id="1"\; label="B.\; y"\; filenames="DE102020105933A1\_0049.png"\; state="\{\{state\}\}">B.\; </figure-callout>}}_y+\mathrm{B.}{\mathrm{<figure-callout\; id="3"\; label="d\; y\; k"\; filenames="DE102020105933A1\_0048.png,DE102020105933A1\_0049.png"\; state="\{\{state\}\}">d\; </figure-callout>}}_y}{k_{}}$$

Therefore, the rotational position is φ0 of the shaft 108 : $$\text{tan}{\phi }_0=\frac{{\mathrm{<figure-callout\; id="1"\; label="B.\; y"\; filenames="DE102020105933A1\_0049.png"\; state="\{\{state\}\}">B.\; </figure-callout>}}_y}{{\mathrm{B.}}_{x1}}$$

Multiplying equation (1) by (Bx1 + Bdx) results in: $$\left({\mathrm{B.}}_{x1}+\mathrm{B.}{d}_x\right)\cdot \text{tan}{\phi }_1={\mathrm{B.}}_{y1}+\mathrm{B.}{d}_y;$$

Multiplying equation (2) by (k ₂ B _x1 + Bd _x ) leads to: $$\left(k_2\cdot {\mathrm{B.}}_{x1}+\mathrm{B.}{d}_x\right)\cdot \text{tan}{\phi }_2=k_2\cdot {\mathrm{B.}}_{y1}+\mathrm{B.}{d}_y;$$

Multiplying equation (3) by (k ₃ B _x1 + Bd _x ) leads to: $$\left({\mathrm{<figure-callout\; id="3"\; label="k"\; filenames="DE102020105933A1\_0048.png,DE102020105933A1\_0049.png"\; state="\{\{state\}\}">k</figure-callout>}}_3\cdot {\mathrm{B.}}_{x1}+\mathrm{B.}{d}_x\right)\cdot \text{<figure-callout id="3" label="tan φ" filenames="DE102020105933A1\_0048.png,DE102020105933A1\_0049.png" state="{{state}}">tan </figure-callout>}{\phi }_{}{}_3={\mathrm{<figure-callout\; id="3"\; label="k"\; filenames="DE102020105933A1\_0048.png,DE102020105933A1\_0049.png"\; state="\{\{state\}\}">k</figure-callout>}}_3\cdot {\mathrm{<figure-callout\; id="1"\; label="B.\; y"\; filenames="DE102020105933A1\_0049.png"\; state="\{\{state\}\}">B.\; </figure-callout>}}_y+\mathrm{B.}{d}_y.$$

Subtracting equations (5) - (6) leads to: $$\left({\mathrm{B.}}_{x1}+\mathrm{B.}{d}_x\right)\cdot \text{tan}{\phi }_1-\left({\mathrm{<figure-callout\; id="2"\; label="k"\; filenames="DE102020105933A1\_0051.png"\; state="\{\{state\}\}">k</figure-callout>}}_2\cdot {\mathrm{B.}}_{x1}+\mathrm{B.}{d}_x\right)\cdot \text{<figure-callout id="2" label="tan φ" filenames="DE102020105933A1\_0051.png" state="{{state}}">tan </figure-callout>}{\phi }_{}{}_2={\mathrm{B.}}_{y1}-{\mathrm{<figure-callout\; id="2"\; label="k"\; filenames="DE102020105933A1\_0051.png"\; state="\{\{state\}\}">k</figure-callout>}}_2\cdot {\mathrm{<figure-callout\; id="1"\; label="B.\; y"\; filenames="DE102020105933A1\_0049.png"\; state="\{\{state\}\}">B.\; </figure-callout>}}_y{}_1$$

Subtracting equations (5) - (7) leads to: $$\left({\mathrm{B.}}_{x1}+\mathrm{B.}{d}_x\right)\cdot \text{tan}{\phi }_1-\left({\mathrm{<figure-callout\; id="3"\; label="k"\; filenames="DE102020105933A1\_0048.png,DE102020105933A1\_0049.png"\; state="\{\{state\}\}">k</figure-callout>}}_3\cdot {\mathrm{B.}}_{x1}+\mathrm{B.}{d}_x\right)\cdot \text{<figure-callout id="3" label="tan φ" filenames="DE102020105933A1\_0048.png,DE102020105933A1\_0049.png" state="{{state}}">tan </figure-callout>}{\phi }_{}{}_3={\mathrm{B.}}_{y1}-{\mathrm{<figure-callout\; id="3"\; label="k"\; filenames="DE102020105933A1\_0048.png,DE102020105933A1\_0049.png"\; state="\{\{state\}\}">k</figure-callout>}}_3\cdot {\mathrm{<figure-callout\; id="1"\; label="B.\; y"\; filenames="DE102020105933A1\_0049.png"\; state="\{\{state\}\}">B.\; </figure-callout>}}_y{}_1.$$

wodurch es ermöglicht wird, By1 in Gleichungen (8) und (9) zu ersetzen, was zu Folgendem führt: $$\left(B_{x1}+B{d}_x\right)\cdot \text{tan}{\phi }_1-\left(k_2\cdot B{x}_1+B{d}_x\right)\cdot \text{tan}{\phi }_2=\left(1-k_2\right)\cdot B_{x1}\cdot \text{tan}{\phi }_0;$$

$$\left(B_{x1}+B{d}_x\right)\cdot \text{tan}{\phi }_1-\left(k_3\cdot B{x}_1+B{d}_x\right)\cdot \text{tan}{\phi }_3=\left(1-k_3\right)\cdot B_{x1}\cdot \text{tan}{\phi }_0.$$

Equation (4) can be transformed into: $${\mathrm{<figure-callout\; id="1"\; label="B.\; y"\; filenames="DE102020105933A1\_0049.png"\; state="\{\{state\}\}">B.\; </figure-callout>}}_y={\mathrm{B.}}_{x1}\cdot \text{tan}{\phi }_0$$

thereby making it possible to replace By1 in equations (8) and (9), resulting in: $$\left({\mathrm{B.}}_{x1}+\mathrm{B.}{d}_x\right)\cdot \text{tan}{\phi }_1-\left(k_2\cdot \mathrm{B.}{x}_1+\mathrm{B.}{d}_x\right)\cdot \text{tan}{\phi }_2=\left(1-k_2\right)\cdot {\mathrm{B.}}_{x1}\cdot \text{tan}{\phi }_0;$$

$$\left({\mathrm{B.}}_{x1}+\mathrm{B.}{d}_x\right)\cdot \text{tan}{\phi }_1-\left({\mathrm{<figure-callout\; id="3"\; label="k"\; filenames="DE102020105933A1\_0048.png,DE102020105933A1\_0049.png"\; state="\{\{state\}\}">k</figure-callout>}}_3\cdot \mathrm{B.}{x}_1+\mathrm{B.}{d}_x\right)\cdot \text{<figure-callout id="3" label="tan φ" filenames="DE102020105933A1\_0048.png,DE102020105933A1\_0049.png" state="{{state}}">tan </figure-callout>}{\phi }_{}{}_3=\left(1-k_3\right)\cdot {\mathrm{B.}}_{x1}\cdot \text{tan}{\phi }_0.$$

$$B{d}_x\left(\text{tan}{\phi }_1-\text{tan}{\phi }_3\right)=\left(1-k_3\right)B_{x1}\text{tan}{\phi }_0-B_{x1}\text{tan}{\phi }_1+k_3{B}_{x1}\text{tan}{\phi }_3.$$

Separating Bdx on the left side of equations (10) and (11) leads to: $$\mathrm{B.}{d}_x\left(\text{tan}{\phi }_1-\text{tan}{\phi }_2\right)=\left(1-k_2\right){\mathrm{B.}}_{x1}\text{tan}{\phi }_0-{\mathrm{B.}}_{x1}\text{tan}{\phi }_1+k_2{\mathrm{B.}}_{x1}\text{tan}{\phi }_2;$$

$$\mathrm{B.}{d}_x\left(\text{tan}{\phi }_1-\text{tan}{\phi }_3\right)=\left(1-k_3\right){\mathrm{B.}}_{x1}\text{tan}{\phi }_0-{\mathrm{<figure-callout\; id="1"\; label="B.\; x"\; filenames="DE102020105933A1\_0049.png"\; state="\{\{state\}\}">B.\; </figure-callout>}}_x\text{<figure-callout id="1" label="tan φ" filenames="DE102020105933A1\_0049.png" state="{{state}}">tan </figure-callout>}{\phi }_{}{}_1+{\mathrm{<figure-callout\; id="3"\; label="k"\; filenames="DE102020105933A1\_0048.png,DE102020105933A1\_0049.png"\; state="\{\{state\}\}">k</figure-callout>}}_3{\mathrm{B.}}_{x1}\text{<figure-callout id="3" label="tan φ" filenames="DE102020105933A1\_0048.png,DE102020105933A1\_0049.png" state="{{state}}">tan </figure-callout>}{\phi }_{}{}_3.$$

A division of equations (12) / (13) and solving the result for tan φ0 leads to: $$\begin{array}{l}\text{tan}{\phi }_0\\ =\frac{\left(\left(\text{tan}{\phi }_1-\text{tan}{\phi }_3\right)\left({\mathrm{<figure-callout\; id="2"\; label="k"\; filenames="DE102020105933A1\_0051.png"\; state="\{\{state\}\}">k</figure-callout>}}_2\text{tan}{\phi }_2-\text{tan}{\phi }_1\right)-\left(\text{tan}{\phi }_1-\text{tan}{\phi }_2\right)\left({\mathrm{<figure-callout\; id="3"\; label="k"\; filenames="DE102020105933A1\_0048.png,DE102020105933A1\_0049.png"\; state="\{\{state\}\}">k</figure-callout>}}_3\text{tan}{\phi }_3-\text{tan}{\phi }_1\right)\right)}{\left(\left(1-k_3\right)\left(\text{tan}{\phi }_1-\text{tan}{\phi }_2\right)-\left(1-k_2\right)\left(\text{tan}{\phi }_1-\text{tan}{\phi }_3\right)\right)}\end{array}$$

was in Radiant (rad) angegeben ist. Daher kann Folgendes anstelle von Gleichung (14) gelten: $${\phi }_0={\text{arctan}}_2\left(A,B\right)$$

mit $$\begin{array}{c}A=\left(1-k_3\right)\text{cos}{\phi }_1\text{cos}{\phi }_3\left(\text{sin}{\phi }_1\text{cos}{\phi }_2-\text{sin}{\phi }_2\text{cos}{\phi }_1\right)-\\ \left(1-k_2\right)\text{cos}{\phi }_1\text{cos}{\phi }_2\left(\text{sin}{\phi }_1\text{cos}{\phi }_3-\text{sin}{\phi }_3\text{cos}{\phi }_1\right);\end{array}$$

$$\begin{array}{c}B=\left(\text{sin}{\phi }_1\text{cos}{\phi }_3-\text{sin}{\phi }_3\text{cos}{\phi }_1\right)\cdot \left(k_2\text{sin}{\phi }_2\text{cos}{\phi }_1-\text{sin}{\phi }_1\text{cos}{\phi }_2\right)-\\ \left(\text{sin}{\phi }_1\text{cos}{\phi }_2-\text{sin}{\phi }_2\text{cos}{\phi }_1\right)\cdot \left(k_3\text{sin}{\phi }_3\text{cos}{\phi }_1-\text{sin}{\phi }_1\text{cos}{\phi }_3\right).\end{array}$$

It is noted that the arctan function is not without ambiguity over 360 °. The arctan function only ranges from -90 ° to + 90 °. In the examples used, a range from -180 ° to + 180 ° would be preferred. This can be achieved using the function arctan2 (x, y), which is identical to arctan (y / x) if x≥0. However, if x <0 then the following applies: $${\text{arctan}}_2\left(x,y\right)=\text{arctan}\frac{y}{x}-\pi ,$$

what is given in radians (rad). Therefore, instead of equation (14), the following can apply: $${\phi }_0={\text{arctan}}_2\left(\mathrm{A.},\mathrm{B.}\right)$$

With $$\begin{array}{c}\mathrm{A.}=\left(1-k_3\right)\text{cos}{\phi }_1\text{cos}{\phi }_3\left(\text{sin}{\phi }_1\text{cos}{\phi }_2-\text{sin}{\phi }_2\text{cos}{\phi }_1\right)-\\ \left(1-k_2\right)\text{cos}{\phi }_1\text{cos}{\phi }_2\left(\text{sin}{\phi }_1\text{cos}{\phi }_3-\text{sin}{\phi }_3\text{cos}{\phi }_1\right);\end{array}$$

$$\begin{array}{c}\mathrm{B.}=\left(\text{sin}{\mathrm{<figure-callout\; id="1"\; label="\phi "\; filenames="DE102020105933A1\_0049.png"\; state="\{\{state\}\}">\phi </figure-callout>}}_1\text{cos}{\phi }_3-\text{<figure-callout id="3" label="sin φ" filenames="DE102020105933A1\_0048.png,DE102020105933A1\_0049.png" state="{{state}}">sin </figure-callout>}{\phi }_{}{}_3\text{cos}{\phi }_1\right)\cdot \left({\mathrm{<figure-callout\; id="2"\; label="k"\; filenames="DE102020105933A1\_0051.png"\; state="\{\{state\}\}">k</figure-callout>}}_2\text{<figure-callout id="2" label="sin φ" filenames="DE102020105933A1\_0051.png" state="{{state}}">sin </figure-callout>}{\phi }_{}{}_2\text{cos}{\phi }_1-\text{<figure-callout id="1" label="sin φ" filenames="DE102020105933A1\_0049.png" state="{{state}}">sin </figure-callout>}{\phi }_{}{}_1\text{cos}{\phi }_2\right)-\\ \left(\text{<figure-callout id="1" label="sin φ" filenames="DE102020105933A1\_0049.png" state="{{state}}">sin </figure-callout>}{\phi }_{}{}_1\text{cos}{\phi }_2-\text{<figure-callout id="2" label="sin φ" filenames="DE102020105933A1\_0051.png" state="{{state}}">sin </figure-callout>}{\phi }_{}{}_2\text{cos}{\phi }_1\right)\cdot \left({\mathrm{<figure-callout\; id="3"\; label="k"\; filenames="DE102020105933A1\_0048.png,DE102020105933A1\_0049.png"\; state="\{\{state\}\}">k</figure-callout>}}_3\text{<figure-callout id="3" label="sin φ" filenames="DE102020105933A1\_0048.png,DE102020105933A1\_0049.png" state="{{state}}">sin </figure-callout>}{\phi }_{}{}_3\text{cos}{\phi }_1-\text{<figure-callout id="1" label="sin φ" filenames="DE102020105933A1\_0049.png" state="{{state}}">sin </figure-callout>}{\phi }_{}{}_1\text{cos}{\phi }_3\right).\end{array}$$

The arctangent applied to the right-hand side of equation (14) provides the angle of rotation φ0. This calculated angle of rotation φ0 is no longer (significantly) influenced and / or falsified by the interference field. The angle sensors 101 to 103 provide their data so that they are substituted into equation (14) above. In addition, the numbers k2 and k3 are used, which can be fixed numbers that can depend on the ratios of magnetic field strengths at the positions z2, z3 compared to the position z1. The positions z1, z2 and z3 are advantageously located on the axis of rotation 107 . Hence the positions of the sensors 101 to 103 known along the z-axis based on the system design.

In the case of significant axial play, this could be the field strengths at the angle sensors 101 to 103 affect, but the ratio of the field strength at the angle sensor 102 to the field strength at the angle sensor 101 (ie k2) and the ratio of the field strength at the angle sensor 103 to the field strength at the angle sensor 101 (ie k3) change considerably less.

If the function of the absolute value of the diametrical magnetic field B along the axis of rotation (ie the z-axis) is a function linear over z, the numbers k2 and k3 are constants, even if the magnet 109 experiences axial shifts.

There is a possibility of using magnets that provide such a linear relationship. For example, a small pin hole can be drilled in the surface of the magnet, particularly in the surface containing the angle sensors 101 to 103 facing (if all angle sensors are on the same side of the magnet 109 are located).

Each of the angle sensors 101 to 103 may have a sensitive plane that is perpendicular to the axis of rotation 107 is. In the case of AMR, GMR, TMR or vertical Hall angle sensors, the sensitive plane can be (essentially) identical to the major surface of the die that houses the sensor element (s).

The position of the sensor elements 104 to 106 can accordingly be defined as an intersection at which the sensitive plane of the angle sensors 101 to 103 the axis of rotation 107 cuts.

The sensor elements 104 to 106 respond to a projection of the magnetic field vector into the sensitive plane at these intersection points. If the magnet 109 around the axis of rotation 107 turns around, this projection also rotates, resulting in two orthogonal magnetic field components Bx, By; the third magnetic field component Bz points out of the sensitive plane and it can be omitted in a first approximation for these types of angle sensors.

was die Stärke der Projektion des Feldvektors in die empfindliche Ebene ist.The diametrical magnetic field strength can be described as follows: $$\sqrt{{\mathrm{B.}}_x^2+{\mathrm{B.}}_y^2},$$

what is the strength of the projection of the field vector into the sensitive plane.

With reference to the terminology used here, the axial and the lateral directions can be distinguished as follows: the axial direction is along the axis of rotation 107 (z-axis); the lateral directions are perpendicular to the axis of rotation, ie in the xy plane. Hence there is an infinite number of lateral directions and only one axial direction.

One possibility is the angle sensor 101 in a first housing on top of the circuit board 114 be arranged and the angle sensor 103 in a second housing on the underside of the circuit board 114 be arranged. The angle sensor 102 can be arranged either within the first housing or the second housing.

It is noted that increased reliability is another advantage of the system: the system enables three estimates of an angle of rotation to be obtained, i.e. H. φ1, φ2, φ3, the z. B. can be combined for comparison purposes. For example, it can be decided that one of the angle sensors is defective if it produces a rotation angle that differs significantly from the rotation angles that are detected by the other two angle sensors (e.g. a predefined threshold for a variation between the rotation angles exceeds). The defect can be reported, e.g. B. as an alarm, and / or the result of the broken angle can no longer be used; in such an exemplary scenario, the angles of rotation from the other two (non-defective) angle sensors can be averaged and used for further processing.

oder $${\phi }_1<{\phi }_2<{\phi }_3$$

(in einem Modulo-360°-Schema). Falls die Winkelsensoren 101 bis 103 nicht monoton verteilt sind, gibt es einen gewissen Fehler: Entweder versagen die Winkelsensoren 101 bis 103 oder das Störungsfeld ist stark inhomogen. It is also an advantage that the system is able to determine if the angle sensors 101 to 103 are monotonically distributed. In the case of perfectly arranged angle sensors 101 to 103 and a homogeneous magnetic disturbance field either: $${\phi }_1>{\mathrm{<figure-callout\; id="2"\; label="\phi "\; filenames="DE102020105933A1\_0051.png"\; state="\{\{state\}\}">\phi </figure-callout>}}_2>{\mathrm{<figure-callout\; id="3"\; label="\phi "\; filenames="DE102020105933A1\_0048.png,DE102020105933A1\_0049.png"\; state="\{\{state\}\}">\phi </figure-callout>}}_3$$

or $${\mathrm{<figure-callout\; id="1"\; label="\phi "\; filenames="DE102020105933A1\_0049.png"\; state="\{\{state\}\}">\phi </figure-callout>}}_1<{\phi }_2<{\mathrm{<figure-callout\; id="3"\; label="\phi "\; filenames="DE102020105933A1\_0048.png,DE102020105933A1\_0049.png"\; state="\{\{state\}\}">\phi </figure-callout>}}_3$$

(in a modulo 360 ° scheme). If the angle sensors 101 to 103 are not monotonously distributed, there is a certain error: Either the angle sensors fail 101 to 103 or the interference field is very inhomogeneous.

As a possibility, the system can only check the monotony if the differences between the angles of rotation φ1, φ2 and φ3 are above a predetermined threshold which may be greater than an expected production spread. This avoids the detection of an inhomogeneous distribution of angle sensors, even if there are none.

By inserting the angle of rotation φ0 into equations (12), (13) and (6), (7), the system is able to calculate the following relationships: $$\frac{\mathrm{B.}{d}_x}{{\mathrm{B.}}_{x1}}\text{other}\frac{\mathrm{B.}{d}_{\mathrm{<figure-callout\; id="1"\; label="y\; B.\; y"\; filenames="DE102020105933A1\_0049.png"\; state="\{\{state\}\}">y\; </figure-callout>}}}{{\mathrm{B.}}_y}.$$

Equation (12) or Equation (13) can be used to calculate Bdx / Bx1 based on the rotation angles φ1, φ2, and φ3. This result can be plugged into Equation (6) or Equation (7) to calculate Bdy / By1.

was unabhängig von dem Drehwinkel ist und das Verhältnis des Störungsfeldes zu dem Zielfeld (Zielfeld: das Feld des Magneten) liefert.In particular, there is a possibility of determining the following: $$\frac{\sqrt{\mathrm{B.}{d}_x{}^2+\mathrm{<figure-callout\; id="2"\; label="B.\; d\; y"\; filenames="DE102020105933A1\_0051.png"\; state="\{\{state\}\}">B.\; </figure-callout>}{d}_y{}_{}{}^2}}{\sqrt{{\mathrm{B.}}_{x1}{}^2+{\mathrm{<figure-callout\; id="1"\; label="B.\; y"\; filenames="DE102020105933A1\_0049.png"\; state="\{\{state\}\}">B.\; </figure-callout>}}_y{}^2}}$$

which is independent of the angle of rotation and provides the ratio of the interference field to the target field (target field: the field of the magnet).

Bdx / Bxl can be used to determine: $$\frac{\mathrm{B.}{d}_x}{\sqrt{{\mathrm{B.}}_{x1}{}^2+{\mathrm{<figure-callout\; id="1"\; label="B.\; y"\; filenames="DE102020105933A1\_0049.png"\; state="\{\{state\}\}">B.\; </figure-callout>}}_y{}^2}}=\frac{\mathrm{B.}{d}_x\cdot \text{cos}{\phi }_0}{{\mathrm{B.}}_{x1}}.$$

Similarly, Bdy / Byl can be used to determine: $$\frac{\mathrm{B.}{d}_y}{\sqrt{{\mathrm{B.}}_{x1}{}^2+{\mathrm{<figure-callout\; id="1"\; label="B.\; y"\; filenames="DE102020105933A1\_0049.png"\; state="\{\{state\}\}">B.\; </figure-callout>}}_y{}^2}}=\frac{\mathrm{B.}{f}_y\cdot \text{sin}{\phi }_0}{{\mathrm{<figure-callout\; id="1"\; label="B.\; y"\; filenames="DE102020105933A1\_0049.png"\; state="\{\{state\}\}">B.\; </figure-callout>}}_y}.$$

The two equations (16) and (17) can be combined to obtain equation (15); H. Equation (16) and Equation (17) are both squared and then added, and then the square root of that addition is taken. The value given by equation (15) can be compared to a predetermined threshold to indicate whether or not the perturbation field is within an acceptable range.

Therefore, the system can determine the degree of disturbance in relation to the magnetic field of the magnet. This ratio can be compared with at least one predefined limit and the system can give an alarm if the disturbance has become too great, which can lead to unreliable or inaccurate results.

In one example, two angle sensors are used to derive the rotation / angle information. However, the embodiments are not limited thereto and more than two angle sensors can be used, each sensor generating angle information that is used to derive the final measurement (i.e., a combined angle of rotation).

The magnetic field of a magnet strongly depends on the distance between the sensor and the magnet. 3 shows a diametrically magnetized magnet 301 around an axis of rotation 302 is rotatably arranged. An ellipse with an arrow 304 gives a rotation of the magnet 301 around the axis of rotation 302 on.

A target magnetic field is indicated by arrows 303a to 303e indicated, the size of the diametrical magnetic field B with increasing distance d from the magnet 301 decreases; this is also due to a decreasing length of the arrows 303a to 303e specified. In other words, give the lengths of the arrows 303a to 303e the strength of the diametrical magnetic field at an axial distance d from the magnet 301 on.

4th shows the magnet 301 and the axis of rotation 302 out 3 , being an angle sensor 401 on the axis of rotation 302 at a distance d ₁ from the magnet 301 is placed and an angle sensor 402 on the axis of rotation 302 at a distance d ₂ from the magnet 301 is placed. In this example, the magnetic sensor elements are located on the angle sensors 401 and 402 .

In the presence of homogeneous interference fields, the angle sensors 401 and 402 due to their different distances d ₁ and d ₂ from the magnet 301 , which lead to different superimpositions of fields from the magnet and the interference field, detect different angles of rotation.

It is noted that in 4th a coordinate system with xyz axes is shown, with the axis of rotation 302 along the z-axis is and the sensors 401 , 402 are also arranged in the xy plane.

5 shows the angle sensors 401 and 402 , where both sensors have a disturbance field vector 503 which is believed to work for both angle sensors 401 , 402 is of the same size. For the angle sensor 401 becomes due to the perturbation field vector 503 a magnetic field vector 504 of the magnet 301 into a resulting magnetic field vector 505 distorted, resulting in a rotation angle error 506 leads. For the angle sensor 402 becomes due to the perturbation field vector 503 a magnetic field vector 507 of the magnet 301 into a resulting magnetic field vector 508 distorted, resulting in a rotation angle error 509 leads.

Since the angle sensor 401 closer to the magnet 301 is than the angle sensor 402 , shows the perturbation field vector 503 a greater impact on the magnetic field vector 507 than on the magnetic field vector 504 on what leads to the rotation angle error 509 which is greater than the angle of rotation error 506 is.

Based on this exemplary scenario, the actual angle of rotation can be determined or approximated, and even the size of the interference field can be determined or approximated. To achieve this, the field size of the magnet must be 301 be known.

It is noted that in 4th Coordinate system introduced also in 5 is shown to the orientation of the angle sensors 401 and 402 to specify.

A linear combination of the angles of rotation obtained by these two angle sensors can lead to an angle of rotation that is robust to interference.

$${\alpha }_2=\text{arctan}\frac{B{d}_n}{B_2+B{d}_p},$$

wobei: α1 der durch den Winkelsensor 401 bestimmte Drehwinkel ist; α2 der durch den Winkelsensor 402 bestimmte Drehwinkel ist; Bdn die diametrale Störungsfeldkomponente ist, die normal zu dem Feld des Magneten ist; Bdp die diametrale Störungsfeldkomponente ist, die parallel zu dem Feld des Magneten ist; B1 das diametrale Feld des Magneten ist, das den Sensor 401 beeinflusst; und B2 das diametrale Feld des Magneten ist, das den Sensor 402 beeinflusst.The magnet 301 can point in a direction associated with 0 ° (as a starting reference). The angle sensors 401 and 402 can produce the following rotation angles: $${\alpha }_1=\text{arctan}\frac{\mathrm{B.}{d}_n}{{\mathrm{B.}}_1+\mathrm{B.}{d}_p},$$

$${\alpha }_2=\text{arctan}\frac{\mathrm{B.}{d}_n}{{\mathrm{B.}}_2+\mathrm{B.}{d}_p},$$

where: α1 that by the angle sensor 401 is certain angle of rotation; α2 by the angle sensor 402 is certain angle of rotation; Bdn is the diametrical perturbation field component normal to the field of the magnet; Bdp is the diametrical disturbance field component parallel to the field of the magnet; B1 is the diametrical field of the magnet that controls the sensor 401 influenced; and B2 is the diametrical field of the magnet holding the sensor 402 influenced.

$${\alpha }_2\approx \frac{B{d}_n}{B_2}=\frac{B{d}_n}{B_1}\cdot \frac{B_1}{B_2}.$$

In the case of a small interference field Bd, the following applies: $${\alpha }_1\approx \frac{\mathrm{B.}{d}_n}{{\mathrm{B.}}_1},$$

$${\mathrm{<figure-callout\; id="2"\; label="\alpha "\; filenames="DE102020105933A1\_0051.png"\; state="\{\{state\}\}">\alpha </figure-callout>}}_2\approx \frac{\mathrm{B.}{d}_n}{{\mathrm{B.}}_2}=\frac{\mathrm{B.}{d}_n}{{\mathrm{B.}}_1}\cdot \frac{{\mathrm{B.}}_1}{{\mathrm{B.}}_2}.$$

wobei c ein Kompensationsfaktor ist.An angle of rotation α _{best estimate} can be determined as follows: $$\begin{array}{c}{\alpha }_{\mathrm{B.}este-\mathrm{E.}inscHÄtzunG}={\alpha }_1+c\cdot \left({\alpha }_1-{\alpha }_2\right)=\\ =\frac{\mathrm{B.}{d}_n}{{\mathrm{B.}}_1}+c\cdot \left(\frac{\mathrm{B.}{d}_n}{{\mathrm{B.}}_1}-\frac{\mathrm{B.}{d}_n}{{\mathrm{B.}}_1}\cdot \frac{{\mathrm{B.}}_1}{{\mathrm{B.}}_2}\right)=\\ =\frac{\mathrm{B.}{d}_n}{{\mathrm{B.}}_1}\cdot \left(1+c\cdot \left(1-\frac{{\mathrm{B.}}_1}{{\mathrm{B.}}_2}\right)\right),\end{array}$$

where c is a compensation factor.

The angle of rotation α, _{best estimate,} should be 0 ° because the magnet is pointing in this 0 ° direction.

$$c=\frac{1}{\frac{B_1}{B_2}-1}.$$

This leads to: $$\frac{\mathrm{B.}{d}_n}{{\mathrm{B.}}_1}\cdot \left(1+c\cdot \left(1-\frac{{\mathrm{B.}}_1}{{\mathrm{B.}}_2}\right)\right)=\mathrm{0,}$$

$$c=\frac{1}{\frac{{\mathrm{B.}}_1}{{\mathrm{B.}}_2}-1}.$$

zu bestimmen.An algorithm can be used to $${\alpha }_{\mathrm{B.}este-\mathrm{E.}inscHÄtzunG}={\mathrm{<figure-callout\; id="1"\; label="\alpha "\; filenames="DE102020105933A1\_0049.png"\; state="\{\{state\}\}">\alpha </figure-callout>}}_1+c\cdot \left({\alpha }_1-{\alpha }_2\right)$$

to determine.

The algorithm can use the constant c given by the last equation, which depends only on the ratio of fields of the magnet at the two angle sensors. Although the formula was derived with the assumption of a special rotational position φ = 0 °, it works for all rotational positions.

B1 / B2 can be 1.5, for example. This leads to c = 2 and $${\alpha }_{\mathrm{B.}este-\mathrm{E.}inscHÄtzunG}={\mathrm{<figure-callout\; id="1"\; label="\alpha "\; filenames="DE102020105933A1\_0049.png"\; state="\{\{state\}\}">\alpha </figure-callout>}}_1+2\cdot \left({\alpha }_1-{\alpha }_2\right)=3{\alpha }_1-2{\mathrm{<figure-callout\; id="2"\; label="\alpha "\; filenames="DE102020105933A1\_0051.png"\; state="\{\{state\}\}">\alpha </figure-callout>}}_2.$$

6th shows an exemplary arrangement of a double sensor housing. A top die 601 is on a ladder frame 600 arranged with an insulating adhesive 605 between the upper die 601 and the lead frame 600 is arranged. The upper die 601 comprises a sensor element 602 and the upper die 601 is by means of bond wires 603 electrically with the lead frame 600 connected.

A lower die 606 is on the underside of the leadframe 600 arranged with an insulating adhesive 609 between the lower die 606 and the lead frame 600 is arranged. The lower die 606 comprises a sensor element 607 and the lower die 606 is by means of bond wires 608 electrically with the lead frame 600 connected. In an exemplary use case, the sensing elements are 602 and 607 spaced apart by less than 600 µm.

The magnetic sensor elements are located in this double die structure 602 and 607 on top of each other and the two sensor elements are located 602 , 607 directly above each other so that they can both be placed on the axis of rotation if the chips are orthogonal to the axis of rotation.

A (in 6th (not shown) microcontroller can connect to the lead frame 600 (and thus with the sensor elements 602 and 607 ) to read the rotation angles and perform the compensation to determine the combined rotation angle as suggested here.

This approach advantageously enables angle of rotation measurements that are robust to interference fields.

In the 6th The arrangement shown can be used to put underneath the magnet 301 out 4th to be placed. In this case, the angle sensor corresponds 401 the sensor element 602 and corresponds to the angle sensor 402 the sensor element 607 . In particular, there is a possibility of using the angle sensors 401 and 402 on separate or on opposite sides of a printed circuit board (PCB) to increase the distance between the angle sensors (and the angle sensor elements). In this case the angle sensors 401 and 402 have their own housings and each of the angle sensors 401 and 402 can comprise at least one angle sensor element. The housings can be placed on opposite sides of the circuit board (similar to what was above with reference to FIG 1 has been described).

There is also a possibility that the corrected angle of rotation is calculated by one of the angle sensors if both angle sensors are integrated in one housing. For example, a first angle sensor can be used to determine the corrected angle of rotation if the first and a second angle sensor are connected by bonding wires or by leads: The first angle sensor therefore receives the data from the second angle sensor and calculates the corrected (e.g. compensated ) Angle of rotation based on the data determined by the first and second angle sensors. In such a scenario, a microcontroller can be provided for reading such a corrected angle of rotation from the first sensor.

Hence, this example takes advantage of the fact that the diametrical field from the magnet is different at different distances from the magnet; Placing angle sensors at different distances from the magnet enables a robust construction to at least partially compensate for magnetic interference fields.

The devices and methods provided here can in particular be based on at least one of the following embodiments. In particular, combinations of the following features of the following embodiments could be used to achieve a desired result. The features of the method could be combined with one or more arbitrary features of the device, device or system, or vice versa.

A magnetic angle sensor device is provided including: a shaft rotatable about a rotation axis; a magnetic field source, the magnetic field source being connected to the shaft; a first magnetic angle sensor and a second magnetic angle sensor, the first magnetic angle sensor generating a first signal representing a first angle based on a first diametrical magnetic field applied to the first magnetic angle sensor, the second magnetic angle sensor generating a second Signal representing a second angle based on a second diametrical magnetic field applied to the second magnetic angle sensor, generated, and wherein a combined angle of rotation is determined based on the first signal and on the second signal.

In particular, the first angle is a first error angle based on the first diametrical magnetic field from the magnetic field source and a disturbance magnetic field, both of which are applied to the first magnetic angle sensor, the disturbance magnetic field causing a first resulting magnetic field vector to deviate by the first error angle from a first magnetic target field vector . Likewise, the second angle is a second error angle based on a second diametrical magnetic field from the magnetic field source and the disturbance magnetic field, both of which are applied to the second magnetic angle sensor, the disturbance magnetic field causing a second resulting magnetic field vector to deviate from a second target magnetic field vector by the second error angle .

In cases where a third magnetic angle sensor is provided, the third magnetic angle sensor is configured to generate a third signal representing a third error angle based on a third diametrical magnetic field from the magnetic field source and the disturbance magnetic field, both of which are applied to the third magnetic angle sensor wherein the disturbance magnetic field causes a third resulting magnetic field vector to deviate from a third target magnetic field vector by the third error angle. The first target magnetic field vector, the second target magnetic field vector and the third target magnetic field vector can be oriented in the same direction.

A combination circuit (e.g. a combination logic, a processor and / or a microcontroller) can be operatively connected to the first magnetic angle sensor and the second magnetic angle sensor and for receiving the first signal and the second signal and for determining the combined angle of rotation based on the first signal and configured on the second signal. In particular, the combination circuit is configured to determine the first error angle and the second error angle from the first signal and the second signal and to determine the combined rotation angle based on the first error angle and the second error angle. The processor can be configured to generate a measurement signal that represents the combined angle of rotation. The processor can use the measurement signal, which represents the combined angle of rotation, for further processing and / or can output the measurement signal to another device.

The magnetic field source is particularly rigidly attached to the shaft.

Each of the magnetic angle sensors can be a magnetic field angle sensor.

The magnetic field is a vector at each point. This vector can be broken down into a vector parallel to the axis of rotation and a vector orthogonal to the axis of rotation. The latter is the diametrical magnetic field.

If a chip is oriented with its main surface perpendicular to the axis of rotation and magnetoresistive elements are sputtered onto its main surface, these elements react to diametrical magnetic fields. The same chip can include vertical Hall effect devices that also respond to diametrical magnetic field components. In contrast to this, Hall plates, if they are oriented perpendicular to the axis of rotation, react to the axial magnetic field component.

In practice, the chip may be tilted a few degrees due to assembly tolerances. If the main surface of a chip is not exactly perpendicular to the axis of rotation, the magnetoresistive elements on its main surface react mainly to the diametrical magnetic field component, but also a little to the axial magnetic field component. As long as the normal to the main chip surface deviates from the direction of the axis of rotation by less than 10 °, the magnetoresistive elements essentially still see the diametrical magnetic field components and only negligible axial magnetic field components.

As an option, vertical Hall effect devices can be used because they also mainly deal with the diametrical magnetic field components, e.g. H. detect the magnetic field components parallel to the main chip surface which is substantially orthogonal to the axis of rotation.

The example presented can be particularly robust with regard to magnetic interference fields. However, the in 3 and 4th The magnetic field gradient shown may be too small to implement this solution in an integrated application with two dies in one housing. Accordingly, it can be advantageous to use a magnet arrangement which produces a stronger magnetic field gradient. In particular, further embodiments provide a magnetic field arrangement which generates a differential magnetic field with a stronger magnetic field gradient than that shown in FIG 3 is produced, produced.

7th shows a double magnet system 700 , where two angle sensors 401 and 402 at different distances from two diametrically magnetized magnets 301 and 701 are placed on the axis of rotation, according to one or more embodiments. The two magnets are accordingly 301 and 701 flat diametrical (disc) magnets. The two diametrically magnetized magnets 301 and 701 can be arranged close to one another so that they form a quadrupole magnet arrangement which includes four poles which consist of two oppositely oriented dipoles. That is why the two diametrically magnetized magnets produce 301 and 701 a differential magnetic field in an area 704 between the two magnets.

In general, a differential magnetic field is a field that has a field difference between the two detection positions that are along a direction of the field gradient (e.g., along the direction of the axis of rotation 302 ) are spaced apart. In particular, a differential magnetic field is defined as a field that has a field gradient that includes such a change in field direction or field orientation that for at least two different positions within the magnetic field the field directions / orientations are antiparallel to one another in at least one of two different positions. That is, the field directions / orientations are oriented in opposite directions.

The two angle sensors 401 and 402 are in the area 704 between the two magnets 301 and 701 placed. In some examples, the range 704 between the two magnets 301 and 701 may be referred to as a sensor cavity.

The magnet 301 has a target magnetic field vector in the + x direction (ie, the positive x direction) that is projected into the xy plane. The magnet 701 has a target magnetic field vector in the -x direction (ie, the negative x direction) that is projected into the xy plane. The magnetizations of the magnets are corresponding 301 and 701 opposite, or antiparallel, to each other. Also, the magnets 301 and 701 be coupled to a rotary shaft which has its axis of rotation with the axis of rotation 302 having aligned. If the magnets 301 and 701 around the axis of rotation 302 rotate, the projection of the magnets (ie the magnetic field gradient) rotates accordingly in the xy-plane. When the magnets 301 and 701 turn the sensors 401 and 402 held statically (ie fixed with respect to a rotation) and they detect the rotating magnetic field.

The magnetic field gradient B increases with an increasing distance d from the magnet 301 off until that's through the magnet 301 Magnetic field produced by the opposite magnetic field generated by the magnet 701 is produced at a magnetic field gradient crossing point 702 will be annulled. The crossing point 702 is where the put by the magnet 301 and 701 generated magnetic fields balance each other and achieve equilibrium. Hence, the magnetic field gradient (ie, field size) at this point is zero.

From the crossing point 702 the magnetic field gradient B increases with an increasing distance from the magnet 701 towards, or, conversely, decreases with increasing distance from the magnet 701 , to the crossing point 702 down, down. The crossing point 702 can be exactly between the magnets 301 and 701 or can be centered depending on the field strengths exerted by the magnets 301 and 701 are produced to be offset a distance from the center.

Correspondingly, a differential magnetic target field is indicated by arrows 303a to 303d , the crossing point 702 and arrows 703a to 703d specified. The size of the diametrical magnetic field B increases with increasing distance d from the magnet 301 up to the crossing point 702 from; this is also due to a decreasing length of the arrows 303a to 303d specified. In other words, give the lengths of the arrows 303a to 303d the strength of the differential diametrical magnetic field at an axial distance d from the magnet 301 on.

Likewise, the size of the diametrical magnetic field B increases with increasing distance d from the crossing point 702 to the magnet 701 towards; this is also due to the increasing length of the arrows 703d to 703a specified. In other words, give the lengths of the arrows 703a to 703d the strength of the differential diametrical magnetic field at an axial distance d from the magnet 301 (or the magnet 701 ) on. The field directions at positions or distances along the axis of rotation 302 who have favourited the arrows 303a to 303d are different from and antiparallel to the field directions at positions or distances along the axis of rotation 302 who have favourited the arrows 703d to 703a correspond.

According to this magnet arrangement, a magnetic field with a stronger magnetic field gradient is realized in an area in which the angle sensors 401 and 402 are placed.

In the presence of a homogeneous interference field, the angle sensors 401 and 402 due to their different distances d ₁ and d ₂ from the magnet 301 , which lead to different superimpositions of fields from the magnet and the interference field, detect different angles of rotation. In particular, an interference field has a greater influence on the rotational angle error and, accordingly, the resulting magnetic field vector, corresponding to a weaker magnetic field relative to a stronger magnetic field. Accordingly, by placing the angle sensors 401 and 402 with different field size gradients of the magnetic field, two different angle of rotation errors caused by the angle sensors 401 and 402 can be detected.

wobei α1 der durch den Winkelsensor 401 bestimmte Drehwinkel ist; α2 der durch den Winkelsensor 402 bestimmte Drehwinkel ist; und c ein Kompensationsfaktor in Abhängigkeit von dem Sensorabstand und der Magnetfeldverteilung über den Abstand hinweg ist.Both angles of the first sensor 401 and the second sensor 402 can be used by the combination _circuit described here to calculate a corrected angle α _Korr by: $${\alpha }_{KOrr}={\alpha }_1-\left({\alpha }_1-{\alpha }_2\right)\cdot c$$

where α1 is the value given by the angle sensor 401 is certain angle of rotation; α2 by the angle sensor 402 is certain angle of rotation; and c is a compensation factor as a function of the sensor distance and the magnetic field distribution over the distance.

wobei ε₁ der Winkelfehler ist, der dem Winkelsensor 401 entspricht, und ε₂ der Winkelfehler ist, der dem Winkelsensor 402 entspricht. Der Winkelfehler ε₁ und ε₂ jedes Sensors kann in Beziehung zu den Störungsfeldgrößen Bd gegenüber der Betriebszielfeldgröße B₁ und B₂ gesetzt werden, wobei die Zielfeldgröße B₁ die Feldgröße des Magnetfeldes bei dem Sensor 401 ist und die Zielfeldgröße B₂ die Feldgröße des Magnetfeldes bei dem Sensor 401 ist: $${\epsilon }_1\sim \frac{B_s}{B_1}$$

$${\epsilon }_2\sim \frac{B_s}{B_2}$$

There is also a way to optimize the compensation factor c as a function of the field relationship to each sensor in normal operation in order to determine a final output angle error ε of zero: $$\epsilon ={\epsilon }_1-\left({\epsilon }_1-{\epsilon }_2\right)\cdot c=0$$

where ε _{1 is} the angle error that the angle sensor 401 and ε _{2 is} the angle error that the angle sensor 402 corresponds. The angle error ε ₁ and ε _{2 of} each sensor can be related to the disturbance field sizes Bd compared to the operating target field size B ₁ and B ₂ , the target field size B _{1 being} the field size of the magnetic field at the sensor 401 and the target field size B _{2 is} the field size of the magnetic field at the sensor 401 is: $${\mathrm{<figure-callout\; id="1"\; label="\epsilon "\; filenames="DE102020105933A1\_0049.png"\; state="\{\{state\}\}">\epsilon </figure-callout>}}_1\sim \frac{{\mathrm{B.}}_s}{{\mathrm{B.}}_1}$$

$${\mathrm{<figure-callout\; id="2"\; label="\epsilon "\; filenames="DE102020105933A1\_0051.png"\; state="\{\{state\}\}">\epsilon </figure-callout>}}_2\sim \frac{{\mathrm{B.}}_s}{{\mathrm{B.}}_2}$$

In this case, the optimal compensation factor c can be determined by: $$c=\frac{{\mathrm{B.}}_2}{{\mathrm{B.}}_1-{\mathrm{B.}}_2}$$

Correspondingly, the combination circuit is for determining a first error angle and a second error angle from a first signal which is received from the first sensor 401 is received, or a second signal from the second sensor 402 is received, and configured to determine the combined rotation angle based on the first error angle and the second error angle. The processor can be configured to generate a measurement signal that represents the combined angle of rotation. The processor can use the measurement signal, which represents the combined angle of rotation, for further processing and / or can output the measurement signal to another device.

8A shows a double magnet system 800a who have favourited two ring magnets 301 and 701 includes those for generating a differential magnetic field according to the with reference to 7th principles described are established according to one or more embodiments. In particular, that includes Double magnet system 800a a wave 108 that revolve around an axis of rotation 302 turns around. The ring magnet 301 is at the bottom of the shaft 108 attached and the magnet 301 projects a magnetic field in the x direction.

The magnets 301 and 701 are arranged to have a magnetic quadrupole array for generating the magnetic field (ie, a target field) within the area 704 form.

Also includes the double magnet system 800a a magnetic coupler structure 801 who have favourited the two magnets 301 and 701 couple to each other even though they are spaced a predetermined distance apart. The magnetic coupler structure 801 can be made of a non-magnetic material, such as plastic, that does not interfere with the differential rotating magnetic field. As a result of the coupling, the two magnets rotate 301 and 701 when the wave 108 rotates, creating the magnetic field gradient that rotates when the shaft rotates.

The double magnet system 800a further includes a substrate 802 such as a circuit board that holds the sensors 401 and 402 are electrically coupled. The substrate 802 is through the opening of the ring magnet 701 so introduced that the sensors 401 and 402 within the target field interior 704 are placed. Accordingly, the shape of the two magnets allows 301 and 701 a connectivity of the angle sensors 401 and 402 through at least one of the holes in the ring magnets.

The two angle sensors 401 and 402 are at different distances from two diametrically magnetized magnets 301 and 701 on the axis of rotation 302 placed. The placement of the substrate 802 through the hole of the magnet 701 can be such that the sensors 401 and 402 at a desired distance from the magnets 301 and 701 are placed. Accordingly, the amount of the target field at each sensor position is based on the distance of each sensor from the magnets 301 and 701 known. When the magnets 301 and 701 turn the sensors 401 and 402 held statically (ie fixed with respect to a rotation) and they detect the rotating magnetic field.

8B shows a double magnet system 800b who have favourited two ring magnets 301 and 701 includes those for generating a differential magnetic field according to the with reference to 7th principles described are established according to one or more embodiments. In particular is the double magnet system 800b similar to that in 8A illustrated double magnet system 800a , except that the sensors 401 and 402 are placed in oppositely oriented parts of the differential magnetic field (ie the target field). Oriented in opposite directions here means that the target magnetic field vectors are antiparallel to one another in the two sensor positions. As a result, the sensors are 401 and 402 placed in different magnetic orientations of the target field.

In this case, the oppositely oriented parts of the magnetic field gradient have the same amount but opposite signs. However, it is also possible to use the sensors 401 and 402 to be placed in oppositely oriented parts of the magnetic field gradient that do not have the same amount. It goes without saying that the sensors 401 and 402 in any embodiment described herein that uses a differential magnetic field, may be arranged in this way.

9 shows a double magnet system 900 , which is a planar diametrical magnet 301 in combination with a ring magnet 701 includes those for generating a differential magnetic field according to the with reference to 7th principles described are established according to one or more embodiments. The double magnet system 900 is in 8A shown double magnet system 800 similar, except that the magnet 301 is a diametrically magnetized magnet. Accordingly, it becomes a planar diametrical magnet 301 in combination with a ring magnet 701 used to create the magnetic field gradient. The shape of the ring magnet 701 enables connectivity of the angle sensors 401 and 402 through its hole so that the sensors can be placed in the target field.

10 Figure 3 shows a quadrupole magnetic sensor arrangement 1000 which are used to generate a differential magnetic field according to the methods with reference to FIG 7th described principles is configured according to one or more embodiments. In particular is a magnet arrangement 1001 provided with magnetization to form a quadrupole and can be referred to as a diametrical quadrupole magnet. The magnet arrangement 1001 may be a cylindrical magnet of a single integral construction (ie, it is a one-piece element). The magnet arrangement 1001 is with the wave 108 coupled and can be cylindrical in shape with an end face 1002 closed and the opposite end face 1003 open to have a cavity 704 in an interior area of the magnet arrangement 1001 to build. Accordingly, the magnet arrangement 1001 can be a hollow cylinder and the cavity 704 a hole be extending from an open end face 1003 of the magnet 1001 partially through the magnet to the closed end face 1002 extends.

Alternatively, the magnet arrangement 1001 consist of two magnets: a diametrical disc magnet 1001a at the closed end of the magnet assembly, that at the shaft end of the shaft 108 is placed, and a diametrical ring magnet 1001b to form the open end and the cavity of the magnet assembly. The disc magnet and the ring magnet are coupled together to form a cylindrical magnet with a hollow cavity 704 to build.

The open end face 1003 and the cavity 704 enable connectivity of the angle sensors 401 and 402 through the opening so that the sensors can be placed in the target field.

11 Figure 3 shows a quadrupole magnetic sensor arrangement 1100 which are used to generate a differential magnetic field according to the methods with reference to FIG 7th described principles is configured according to one or more embodiments. In particular, the quadrupole magnetic sensor arrangement 1100 the in 10 shown quadrupole magnetic sensor arrangement 1000 similar, except that the substrate 802 is arranged horizontally so that it is the open end face 1003 the magnet arrangement 1001 overstretched. The magnet arrangement 1001 and the substrate 802 are separated from each other by a gap so that the sensors 401 and 402 when the magnet assembly 1001 rotates, can be held statically (ie fixed with respect to a rotation) so that the sensors 401 and 402 detect the rotating magnetic field.

The sensors 401 and 402 are on the substrate 802 stacked and on the axis of rotation 302 aligned. The sensors 401 and 402 can by using non-magnetic spacers (i.e. spacers) 1101 and 1102 and / or a potting body using in 1 similar principles described are stacked. Accordingly, the sensors 401 and 402 be placed at different field size gradients and / or different magnetic orientations of the magnetic field. In this case the sensors 401 and 402 placed in different magnetic orientations of the target field with the same amount but with the opposite sign. It is understood, however, that the sensors 401 and 402 can be placed in different field size gradients of the same magnetic orientation or different field size gradients of different magnetic orientations.

12 Figure 3 shows a quadrupole magnetic sensor arrangement 1200 which are used to generate a differential magnetic field according to the methods with reference to FIG 7th described principles is configured according to one or more embodiments. In particular, the quadrupole magnetic sensor arrangement 1200 the in 11 shown quadrupole magnetic sensor arrangement 1100 similar except that the sensors 401 and 402 are placed in the same magnetic orientation of the magnetic field gradient.

In particular, the sensor is 402 placed so that it is in the plane with the open end face of the magnet assembly 1001 is aligned (ie, aligned with an outer periphery of the magnet assembly). In other words is the sensor 402 at the outer edge of the cavity 704 placed to match the outside edge of the target field 703a to be aligned. The magnet arrangement 1001 and the substrate 802 are separated from each other by a gap, so that the sensor housing when the magnet assembly 1001 rotates, is held statically (ie fixed with respect to a rotation) so that the sensors 401 and 402 detect the rotating magnetic field.

The sensors 401 and 402 are in a double sensor housing, as in 6th is similarly described, arranged so that the sensor 401 on one side of the lead frame 600 is arranged and the sensor 402 on an opposite side of the lead frame 600 is arranged. The sensors 401 and 402 and part of the lead frame 600 are through the potting body 111 encapsulated.

This structure has the advantage that PCB-based solutions can be used at the end of the shaft and the field gradient on the outside of this structure can be used for external field compensation. The orientation of the substrate with a stacked sensor arrangement can also be used with the in 8A , 8B and 9 embodiments shown may be used.

13 Figure 3 shows a quadrupole magnetic sensor arrangement 1300 which are used to generate a differential magnetic field according to the methods with reference to FIG 7th described principles is configured according to one or more embodiments. In particular, the quadrupole magnetic sensor arrangement 1300 the in 12 shown quadrupole magnetic sensor arrangement 1200 similar, except that one non-magnetic spacer 1301 with the wave 108 and the diametrical ring magnet 1001b is coupled and lies between them. The diametrical part of the disc 1001a is not used. The diametrical ring magnet 1001b is a diametrical magnetic quadrupole ring that controls the magnetic field gradient within the cavity 704 produced.

This structure has the advantage that PCB-based solutions can be used at the end of the shaft and the field gradient on the outside of this structure can be used for external field compensation. Likewise, the non-magnetic spacer 1301 in 10 and 11 instead of the part 1001a the magnet arrangement 1001 be used.

In view of this, a differential magnetic angle measuring structure and magnet are used to enable suppression of external field disturbance along with high accuracy in the case of no external field disturbance.

According to one or more embodiments, the first magnetic angle sensor determines / generates the first signal that represents the first angle between the first diametrical magnetic field applied to the first magnetic angle sensor and a first reference direction, and the second magnetic angle sensor determines / generates that second signal representing the second angle between the second diametrical magnetic field applied to the second magnetic angle sensor and a second reference direction.

In one embodiment, the first reference direction and the second reference direction are the same.

In one embodiment, the magnetic angle sensor device includes a third magnetic angle sensor, wherein the third magnetic angle sensor determines / generates a third signal representing a third angle based on a third diametrical magnetic field applied to the third magnetic angle sensor, and wherein the combined angle of rotation is determined based on the first signal, the second signal and the third signal.

There is a possibility that more than three magnetic angle sensors are provided to determine the combined rotation angle.

In one embodiment, the third magnetic angle sensor determines the third signal that represents the third angle between the third diametrical magnetic field applied to the third magnetic angle sensor and a third reference direction.

In one embodiment, at least two of the following are the same: the first reference direction; the second reference direction; and the third reference direction.

In one embodiment, the magnetic field source includes at least one permanent magnet.

In one embodiment, the magnetic angle sensors are located in different z-positions (e.g. distances) from the magnetic field source, each z-position being defined as a perpendicular that falls from the position of the magnetic angle sensor to the axis of rotation.

The magnetic field source has a minimum distance d _min to the next magnetic angle sensor. A distance between this magnetic angle sensor and any other magnetic angle sensor can in particular be equal to or greater than 1/5 d _min .

In one embodiment, each of the magnetic angle sensors contains at least one magnetic sensor element which is arranged essentially on the axis of rotation or, in particular, is spaced apart from the axis of rotation by less than 1 mm.

There may be a possibility that the magnetic angle sensor contains several magnetic sensor elements. Since not all magnetic sensor elements can be arranged at exactly the same point, the magnetic sensor elements can be arranged adjacent to the axis of rotation, in particular in a symmetrical pattern around the axis of rotation. There is also a possibility of choosing a partially asymmetrical pattern in which at least two magnetic sensor elements are arranged around the axis of rotation. In such a scenario, the magnetic angle sensor can be an angle slightly away from the axis of rotation, e.g. E.g. by 0.1 mm to 0.2 mm (e.g. up to 0.2 mm), determine. However, such positioning is also covered by the expression “essentially on the axis of rotation”.

In one embodiment, each of the magnetic angle sensors includes at least two magnetic sensor elements which are arranged such that the angle of the diametrical field vector is measured on the axis of rotation.

In one embodiment, each of the two magnetic angle sensors contains a magnetic sensor element, at least one magnetic sensor element per magnetic angle sensor being arranged at a different distance from the magnetic field source.

Therefore, the magnetic field provided by the magnetic field source may have a different effect on each of the magnetic angle sensors, i.e. h., on at least one of the magnetic sensor elements of the magnetic angle sensors.

In one embodiment, any one of the signals contains two signal components, in particular a sine signal component and a cosine signal component.

For example, each of the magnetic angle sensors can provide a signal that includes a sine signal component and a cosine signal component.

In one embodiment, the magnetic angle sensors are arranged such that the diametrical magnetic field strengths that act on the magnetic angle sensors and are caused by the magnetic field source are different from one another.

It is noted that the magnetic angle sensors can be arranged such that the diametrical magnetic field strengths which act on the magnetic angle sensors and are caused by the magnetic field source differ from one another by at least 10%.

In one embodiment, the diametrical magnetic fields that act on the magnetic angle sensors are parallel to one another or antiparallel to one another.

In one embodiment, the apparatus further includes a combination circuit that combines the signals provided by the magnetic angle sensors to determine the combined angle of rotation.

The combination circuit can be arranged with one of the magnetic angle sensors or it can be arranged externally. The combining can in particular be carried out by a processor or a microcontroller.

The combining circuit may combine the first signal and the second signal or the first, the second and the third signals to derive the combined angle of rotation.

The combined angle of rotation is an output signal that indicates the rotational position of the shaft.

In one embodiment, the combined angle of rotation is determined as a linear combination that includes the first signal and the second signal.

In one embodiment, the linear combination contains coefficients which depend on a ratio of the diametrical magnetic fields of the magnetic field source at the magnetic angle sensors.

In one embodiment, the linear combination contains coefficients that only depend on a ratio of the diametrical magnetic fields of the magnetic field source at the magnetic angle sensors.

In one embodiment, the combined angle of rotation is determined based on a distance between the magnetic angle sensors and the magnetic field source.

For example, the combined angle of rotation is determined based on the ratio of the diametrical magnetic fields at the second compared to the first magnetic angle sensor and at the third compared to the first magnetic angle sensor (in the case of three magnetic angle sensors).

The combined angle of rotation can in particular be determined indirectly based on the distance between the magnetic angle sensors and the magnetic field source.

According to one or more embodiments, at least two of the magnetic angle sensors are located on two different substrates, a main surface of at least one substrate being perpendicular or substantially perpendicular to the axis of rotation.

In one embodiment, the at least two substrates are on the axis of rotation of the shaft.

In one embodiment, the at least two substrates are attached to a single lead frame.

According to one or more embodiments, at least two of the magnetic angle sensors are located on the same substrate and the main surface of this substrate is orthogonal or substantially orthogonal to the axis of rotation of the shaft.

According to one or more embodiments, each of the magnetic angle sensors contains at least one from the following group of sensor elements: an anisotropic magnetoresistance (AMR: Anisotropic Magneto-Resistor); a Giant Magneto-Resistor (GMR); a tunneling magnetoresistance (TMR: Tunneling Magneto-Resistor); a vertical Hall effect device; a hall plate; and / or a MAG-FET.

The magnetic angle sensors can have different technologies (i.e. different types of sensors) in order to increase the robustness and diversity of the system. For example, one of the angle sensors can be a TMR and another angle sensor can be an AMR or a vertical Hall sensor. Using different technologies can reduce the risk that both angle sensors will fail under difficult conditions.

According to one or more embodiments, a method for determining a combined angle of rotation of a shaft is provided, wherein the shaft is arranged rotatably about an axis of rotation and wherein a magnetic field source is connected to the shaft. The method includes: determining, by a first magnetic angle sensor, a first signal representing a first angle based on a first diametrical magnetic field from the magnetic field source applied to the first magnetic angle sensor; Determining, by a second magnetic angle sensor, a second signal representing a second angle based on a second diametrical magnetic field from the magnetic field source applied to the second magnetic angle sensor; and determining the combined angle of rotation based on the first signal and on the second signal.

In one embodiment, the method further includes: determining, by a third magnetic angle sensor, a third signal representing a third angle based on a third diametrical magnetic field from the magnetic field source applied to the third magnetic angle sensor; and determining the combined angle of rotation based on the first signal, the second signal, and the third signal.

In addition, a computer program product is provided that can be loaded directly into a memory of a digital processing device, including software code portions that enable the digital processing device to carry out one or more methods described herein.

Furthermore, a computer-readable medium is provided with computer-executable instructions which are configured to cause a computer system to carry out one or more methods described herein.

In one or more examples, the functions described herein can be implemented at least in part in hardware, such as special hardware components or as a processor. More generally, the techniques can be implemented in hardware, processors, software, firmware, or any combination thereof. If implemented in software, the functions can be stored as one or more instructions or code on or transmitted via a computer-readable medium and can be carried out by a hardware-based processing unit. Computer readable media can include computer readable storage media that is tangible, such as data storage media, or communication media, including any medium correspond to a transfer of a computer program from one place to another, e.g. B. according to a communication protocol, allows. In this manner, computer readable media can generally correspond to (1) tangible computer readable storage media that is non-transitory, or (2) a communication medium such as a signal or carrier wave. Data storage media can be any available media that can be accessed by one or more computers or by one or more processors to retrieve instructions, code, and / or data structures for implementing the techniques described in this disclosure. A computer program product can include a computer readable medium.

By way of example and not limitation, such computer readable storage media may include RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage device, flash memory, or any other medium capable of storing a desired program code in the form of instructions or data structures that can be used and accessed by a computer. Any connection is also properly identified as a computer readable medium, i.e. H. referred to as a computer readable transmission medium. For example, if receiving instructions from a website, server, or other remote source using coaxial cable, fiber optic cable, twisted pair, digital subscriber line (DSL), or wireless technologies such as infrared, radio and microwaves, then coaxial cable, fiber optic cable, twisted pair cable, DSL or wireless technologies such as infrared, radio and microwaves are included in the definition of medium. It should be understood, however, that computer readable storage media and data storage media do not include connections, carrier waves, signals, or other transient media, but instead target non-transient, tangible storage media. As used herein, a disc and a disc include a compact disc (CD), a laser disc, an optical disc, a digital versatile disc (DVD), a floppy disc, and a Blu-ray disc, with discs usually being data reproduce magnetically, whereas discs reproduce data optically with lasers. Combinations of the above should also be included within the scope of computer readable media.

Instructions can be executed by one or more processors, such as one or more central processing units (CPU), digital signal processors (DSPs), general purpose microprocessors, application specific integrated circuits (ASICs), field programmable Field Programmable Logic Arrays (FPGAs), or other equivalent integrated or discrete logic circuitry. Accordingly, as used herein, the term "processor" may refer to any of the preceding structures or any other structure suitable for implementing the techniques described herein. In addition, in some aspects, the functionality described herein may be provided within dedicated hardware and / or software modules configured for encoding and decoding, or incorporated into a combined codec. The techniques could also be implemented entirely in one or more circuits or logic elements.

The techniques of this disclosure can be implemented in a wide variety of devices or devices, including a wireless handset, an integrated circuit (IC), or a set of ICs (e.g., a chipset). Various components, modules, or units are described in this disclosure in order to emphasize functional aspects of devices that are configured to perform the disclosed techniques, but that do not necessarily require implementation by different hardware units. Instead, as described above, various units may be combined into a single hardware unit or provided by a collection of interoperative hardware units including, as described above, one or more processors along with suitable software and / or firmware.

While various embodiments of the invention have been disclosed, it will be apparent to those skilled in the art that various changes and modifications can be made that will achieve some of the advantages of the invention without departing from the spirit and scope of the invention. It will be apparent to one of ordinary skill in the art that other components performing the same functions can be replaced as appropriate. It should be mentioned that features which have been explained with reference to a specific figure can be combined with features of other figures, even in those cases in which this was not expressly mentioned. Furthermore, the methods of the invention can either be implemented in software-only implementations using the appropriate processor instructions or in hybrid implementations using a combination of hardware logic and software logic use to achieve the same results. Such modifications of the inventive concept are intended to be covered by the appended claims.

QUOTES INCLUDED IN THE DESCRIPTION

This list of the documents listed by the applicant was 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.

Patent literature cited

• US 15/713877 [0001]
• DE 102016118384 [0001]

Claims (20)

A magnetic angle sensor device comprising: - a shaft that can be rotated about an axis of rotation, a magnetic assembly coupled to the shaft, the magnetic assembly providing a magnetic field comprising a plurality of diametrical magnetic fields arranged along the axis of rotation, each of the plurality of diametrical magnetic fields having a different magnetic field gradient, and wherein the plurality of diametrical magnetic fields include such a field direction change that at least a first of the plurality of diametrical magnetic fields has a first field direction and at least a second of the plurality of diametrical magnetic fields has a second field direction which is opposite to the first field direction, a first magnetic angle sensor which is provided in the magnetic field at a first position along the axis of rotation and is configured to generate a first signal which represents a first angle based on a first diametrical magnetic field of the magnetic field; a second magnetic angle sensor which is provided in the magnetic field at a second position along the axis of rotation and is set up to generate a second signal which represents a second angle based on a second diametrical magnetic field of the magnetic field; a combination circuit which is set up to determine a combined angle of rotation based on the first signal and on the second signal. Magnetic angle sensor device according to Claim 1 wherein the magnetic arrangement is a quadrupole magnet arrangement which defines a cavity in which the magnetic field is generated, the first magnetic angle sensor and the second magnetic angle sensor being arranged within the cavity. A magnetic angle sensor device according to any preceding claim, wherein the first magnetic angle sensor and the second magnetic angle sensor are arranged on one extension of the rotation axis and are separated by a distance in a direction that extends along the rotation axis. Magnetic angle sensor device according to any one of the preceding claims, wherein each magnetic sensor element of the first magnetic angle sensor is laterally spaced from the axis of rotation by less than 1 mm, and each magnetic sensor element of the second magnetic angle sensor is laterally spaced from the axis of rotation by less than 1 mm. Magnetic angle sensor device according to Claim 2 wherein the magnetic assembly comprises a ring magnet that defines the cavity. Magnetic angle sensor device according to Claim 5 wherein the magnetic assembly includes a disc magnet located between and coupled to the ring magnet and the shaft. Magnetic angle sensor device according to one of the Claims 5 or 6th , in which the magnetic arrangement comprises a further ring magnet which lies between the ring magnet and the shaft and is coupled to them. Magnetic angle sensor device according to Claim 2 wherein the magnetic assembly includes a cylinder magnet with a bore defining the cavity extending from a first end of the cylinder magnet partially along the axis of rotation to a second end of the cylinder magnet. A magnetic angle sensor device according to any preceding claim, wherein the plurality of diametrical magnetic fields include a first part having the first magnetic direction and a second part having the second magnetic direction opposite to the first magnetic direction. Magnetic angle sensor device according to Claim 9 wherein the first magnetic angle sensor and the second magnetic angle sensor are arranged in the first part of the plurality of diametrical magnetic fields, and the first diametrical magnetic field and the second diametrical magnetic field are different field size gradients of the first part. Magnetic angle sensor device according to Claim 9 , in which the first magnetic angle sensor is arranged in the first part of the plurality of diametrical magnetic fields and the second magnetic angle sensor is arranged in the second part of the plurality of diametrical magnetic fields, the first diametrical magnetic field and the second diametrical magnetic field having the same field size gradients, but with the opposite sign are. Magnetic angle sensor device according to Claim 9 , in which the first magnetic angle sensor is arranged in the first part of the plurality of diametrical magnetic fields and the second magnetic angle sensor is arranged in the second part of the plurality of diametrical magnetic fields, the first diametrical magnetic field and the second diametrical magnetic field being different field size gradients. Magnetic angle sensor device according to Claim 1 which further comprises: a non-magnetic spacer lying between and coupled to the shaft and the magnetic arrangement, the magnetic arrangement being a ring magnet defining a cavity in which the magnetic field is generated, the ring magnet includes a first end coupled to the non-magnetic spacer, and the cavity extending from the non-magnetic spacer along the axis of rotation to a second end of the ring magnet, the second magnetic angle sensor being aligned in a plane with the second end of the ring magnet. Magnetic angle sensor device according to Claim 13 which further comprises: a lead frame on which the first magnetic angle sensor and the second magnetic angle sensor are arranged, wherein the first magnetic angle sensor is arranged on a first side of the lead frame and the second magnetic angle sensor is arranged on a second side of the lead frame is arranged opposite to the first side. Magnetic angle sensor device according to Claim 14 Further comprising: a circuit substrate coupled to the second end of the ring magnet and enclosing the cavity, wherein the lead frame is disposed on the circuit substrate and is located within the cavity. Magnetic angle sensor device according to one of the preceding claims, wherein: the first angle is a first error angle based on the first diametrical magnetic field and a disturbance magnetic field, both of which are applied to the first magnetic angle sensor, the disturbance magnetic field causing a first resulting magnetic field vector to deviate from a first target magnetic field vector by the first error angle, the second angle is a second error angle based on the second diametrical magnetic field and the disturbance magnetic field, both of which are applied to the second magnetic angle sensor, the disturbance magnetic field causing a second resulting magnetic field vector to deviate from a second target magnetic field vector by the second error angle. Magnetic angle sensor device according to Claim 16 wherein the combination circuit is configured to determine the first error angle and the second error angle and to determine the combined rotation angle based on the first error angle and the second error angle. Magnetic angle sensor device according to one of the Claims 16 or 17th , wherein: - the first magnetic angle sensor generates the first signal that represents the first error angle between the first diametrical magnetic field that is applied to the first magnetic angle sensor, and a first reference direction, - the second magnetic angle sensor generates the second signal that the represents a second error angle between the second diametrical magnetic field applied to the second magnetic angle sensor and a second reference direction. A method for determining a combined angle of rotation of a shaft, wherein the shaft is configured to rotate about an axis of rotation, and a magnetic arrangement coupled to the shaft generates a magnetic field comprising a plurality of diametrical magnetic fields arranged along the axis of rotation , wherein each of the plurality of diametrical magnetic fields has a different magnetic field gradient, and wherein the plurality of diametrical magnetic fields include a field direction change such that at least a first of the plurality of diametrical magnetic fields has a first field direction and at least a second of the plurality of diametrical magnetic fields has a second field direction that is opposite to the first field direction, the method comprising: generating, by a first magnetic angle sensor, which is provided in the magnetic field at a first position along the axis of rotation, a first Signal representing a first angle based on a first diametrical magnetic field of the magnetic field; - Generating, by a second magnetic angle sensor, which is provided in the magnetic field at a second position along the axis of rotation, a second signal representing a second angle, based on a second diametrical magnetic field of the magnetic field; and determining the combined angle of rotation based on the first signal and on the second signal. Procedure according to Claim 19 where - the first angle is a first error angle based on the first diametrical magnetic field and a disturbance magnetic field, both of which are applied to the first magnetic angle sensor, the disturbance magnetic field causing a first resulting magnetic field vector by the first error angle from a first Magnetic target field vector deviates, - the second angle is a second error angle based on the second diametrical magnetic field and the disturbance magnetic field both applied to the second magnetic angle sensor, the disturbance magnetic field causing a second resulting magnetic field vector by the second error angle from a second Magnetic target field vector deviates, and the combined angle of rotation is determined based on the first error angle and the second error angle.

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