DE102022123183A1 - Gear actuator, rotary actuator, vehicle and inductive position determination method with the gear actuator - Google Patents

Abstract

The invention is based on a gear actuator (54), with an electric motor drive (10), with a control board (12), which comprises at least one motor control circuit (14) for controlling the electromotive drive (10), with an output (16) , with a gear unit (18), which provides at least one gear ratio between the electric motor drive (10) and the output (16), and with a position sensor device (20), in particular a rotational position sensor device, for determining a current positioning position of the output (16) , in particular an output gear (28) of the output (16).It is proposed that the position sensor device (20) has an inductive position sensor (22) with a transmitter element (24) and with a transmitting and receiving coil module (24) which interacts with the transmitter element (24). 26) includes.

Description

State of the art

The invention relates to a transmission actuator according to the preamble of claim 1, a rotary actuator according to claim 13, a vehicle according to claim 14 and a method according to the preamble of claim 15.

There is already a gear actuator with an electric motor drive, with a control board, which comprises at least one motor control circuit for controlling the electric motor drive, with an output, with a gear unit which provides at least one gear ratio between the electric motor drive and the output, and with a Position sensor device has been proposed for determining a current position of the output.

The object of the invention is, in particular, to provide a generic device with advantageous properties with regard to use in purely battery-operated vehicles. The object is achieved according to the invention by the features of patent claims 1 and 13 to 15, while advantageous refinements and developments of the invention can be found in the subclaims.

Advantages of the invention

The invention is based on a gear actuator with an electric motor drive, with a control board which comprises at least one motor control circuit for controlling the electric motor drive, with an output, with a gear unit which provides at least one gear ratio between the electromotive drive and the output, and with a position sensor device, in particular a rotational position sensor device, for determining a current positioning position of the output, in particular an output gear of the output.

It is proposed that the position sensor device comprises an inductive position sensor with a transmitter element and with a transmitting and receiving coil module that interacts with the transmitter element. This makes it possible to achieve a particularly advantageous suitability for electrically driven vehicles, in particular by using an operating principle that does not require static magnetic fields and/or Hall sensors. Good electromagnetic compatibility can advantageously be achieved through the inductive operating principle. A low susceptibility to interference against electromagnetic interference fields, such as those that can be generated, for example, by high-voltage lines, can advantageously be achieved. The inductive operating principle can advantageously keep the risk of being influenced by electromagnetic radiation from high-voltage electrical systems of at least partially or completely electrically powered vehicles low.

The electric motor drive is designed in particular as an electric motor, preferably as a brushless direct current motor/an electronically commutated direct current motor, which is operated in particular via a 3-phase control. “Provided” is intended to mean, in particular, specifically programmed, designed and/or equipped. The fact that an object is intended for a specific function should be understood in particular to mean that the object fulfills and/or executes this specific function in at least one application and/or operating state. In particular, the motor control circuit is at least intended to control the electronic commutation of the electric motor drive. In particular, the engine control circuit is at least intended to control an engine rotation direction, an engine speed, an engine speed, an engine torque, etc. In particular, the electric motor drive with the gear unit is at least partially, preferably completely, arranged in a common actuator housing. In particular, the electric motor drive, in particular a drive shaft of the electric motor, interacts directly with a first gear stage of a gear train of the gear unit. In particular, the output interacts directly with a last gear stage of the gear train of the gear unit. In particular, the output leads the usable actuator movement of the gear actuator out of the actuator housing. In particular, the gear unit comprises a drive wheel, a driven gear and at least one, preferably at least two or more, further gear stages, which are preferably designed as gear wheels (spur gears). In particular, the gear unit forms a spur gear.

In particular, the position sensor device is intended to specifically detect eddy current fields generated in a metallic element, in particular in the transmitter element, and to determine the position of the metallic element, in particular of the transmitter element, based on the received signals. In particular, the current positioning position of the output is designed as a current angular position of the output gear. In particular, a transmitting coil of the transmitting and receiving coil module is intended to generate the eddy current fields in the transmitter element. In particular, several receiving coils of the transmitting and receiving coil module are provided, one through the We to detect the response of the transmitter element generated by belstrom fields, preferably inductively generated.

Furthermore, it is proposed that the transmitter element is at least non-rotatably connected to the output, in particular the output gear, and/or that the transmitter element is fixed to the output gear of the output. As a result, a precise and reliable position determination can advantageously be achieved. Preferably, the transmitter element rotates with the output. The transmitter element can be attached to a flat side of the driven gear, for example glued, molded or mounted in a form-fitting manner. Alternatively, the transmitter element can also be connected in a rotationally fixed manner to a rotation shaft of the driven wheel. For example, the transmitter element could be designed as a disk element that is designed separately from the driven wheel but follows the movement of the driven wheel and is fastened to the rotation shaft of the driven wheel in particular at a distance from the driven wheel. Alternatively, it is conceivable that the transmitter element or a further transmitter element is arranged/attached to a gear stage of the gear train of the gear unit that is different from the driven gear.

If the transmitter element is fixed to a region of the driven gear that is axially spaced from a (spur) toothing of the output gear of the output, a particularly close positioning of the transmitter element to the transmitting and receiving coil module can advantageously be made possible, in particular independently of an axial position of the driven gear. This can advantageously ensure a particularly low susceptibility to faults and/or particularly energy-saving operation.

If the transmitter element is also made of a metallic, at least essentially non-magnetic and at least essentially electrically conductive material, a reliable position determination can advantageously be ensured. A “substantially non-magnetic material” should be understood to mean, in particular, a material with a magnetic permeability number greater than 4, preferably greater than 40 and preferably greater than 400. The essentially non-magnetic material should preferably be understood to mean a non-permanent magnetic and/or non-ferromagnetic material. For example, the essentially non-magnetic material can be formed as a paramagnetic material, for example aluminum, or from a diamagnetic material, for example copper. A “substantially electrically conductive material” is intended to mean, in particular, a material which has an electrical conductivity of more than 10 ³ S/m, preferably more than 10 ⁴ S/m, preferably more than 10 ⁵ S/m and particularly preferably more than 10 ⁶ S/m. The “essentially electrically conductive material” should preferably be understood to mean an electrical conductor, such as copper or aluminum. A “significantly greater” density should be understood to mean, in particular, a density that is at least 25% greater. It is conceivable that the transmitter element is made of copper or aluminum.

If the transmitter element is designed as a circular ring segment, which in particular forms at most a semicircle, preferably at most a third of a circle, advantageously at most a quarter of a circle, particularly advantageously at most an eighth of a circle and particularly preferably at least a fifteenth of a circle, a particularly lightweight inductive position sensor device can advantageously be made possible. In particular, it is conceivable that the transmitter element is formed from several parts, in particular circular ring segments, preferably distributed in or on or axially next to the driven wheel. In this case, the individual parts, in particular circular ring segments, of the transmitter element are preferably arranged in or on the drive component at uniform distances from one another, for example in a ring shape around a rotation axis of an output gear designed as a spur gear.

It is also proposed that the transmitter element and at least one gear element of the gear unit, in particular at least one gear of the gear unit, are arranged on sides of the control board facing away from one another. As a result, a particularly compact gear actuator can advantageously be obtained. A gear actuator with a particularly low height can advantageously be obtained, which is limited in particular mainly by a height of the electric motor drive. In particular, at least one gear stage arranged between the drive wheel and the driven wheel in the gear train is arranged on a side of the control board facing away from the electric motor drive. In particular, at least two gear stages arranged between the drive wheel and the driven wheel in the gear train are arranged on the side of the control board facing away from the electric motor drive. In particular, at least one gear stage arranged between the drive wheel and the driven wheel in the gear train is arranged on a side of the control board facing away from the drive wheel and/or the driven wheel.

In addition, it is proposed that the gear train comprising the electric motor drive, the gear unit and the output crosses the control board at least twice. This allows a particularly compact gear actuator to be advantageous be received. A gear actuator with a particularly low height can advantageously be obtained, which is limited in particular mainly by a height of the electric motor drive. In particular, the gear train extends at least twice through the control board. In particular, the electric motor drive and the driven gear are arranged on the same side of the control board.

If the control board includes the transmitting and receiving coil module, a particularly compact and/or cost-effective design can advantageously be achieved. In particular, the transmitter element is intended to interact inductively with the transmitting and receiving coil module, in particular the transmitting and receiving coils of the transmitting and receiving coil module. The entire electronics of the transmission actuator can advantageously be combined in a single control board.

Furthermore, it is proposed that the transmitting and receiving coil module comprises at least one transmitting coil for generating an excitation signal and at least two receiving coils for receiving a response signal inductively generated by the transmitter element in response to the excitation signal, which are in particular integrated into the control board or on the control board are upset. As a result, a particularly compact and/or cost-effective design can advantageously be achieved. In particular, the transmitter coil is intended to generate a magnetic field, in particular an alternating magnetic field, wherein the magnetic field, in particular the alternating magnetic field, is preferably intended to generate an eddy current field in the transmitter element. In particular, the transmission actuator has a control and/or regulating unit. A “control and/or regulating unit” is intended to mean, in particular, a unit with at least one control electronics. “Control electronics” should in particular be understood to mean a unit with a processor unit, in particular a processor, and with a memory unit, in particular a memory chip, as well as with an operating program stored in the memory unit. In particular, the control electronics are arranged entirely on the control board. In particular, the control and/or regulating unit is intended to output an excitation signal to the transmitter coil. The excitation signal is preferably designed as a sine signal. Alternatively, however, the excitation signal could also be designed as a cosine signal, as a square-wave signal or as a signal with a further signal form. In addition, the at least two receiving coils of the transmitting and receiving coil module are arranged offset from one another. In particular, the receiving coils are provided for receiving a response signal inductively generated by the transmitter element in response to the excitation signal. As a result, a reliable position determination can advantageously be achieved with a low susceptibility to interference from electromagnetic radiation. An absolute position determination can advantageously be made possible by using two receiving coils. In particular, the receiving coils forward the response signal to the control and/or regulating unit for evaluation. In particular, the response signal is generated by a counter-induction in response to the excitation signal in the transmitter element. The control and/or regulating unit is intended to evaluate the response signal registered by the receiving coils. The control and/or regulating unit is intended to determine a position, in particular a rotational position, of the drive component from the response signal registered by the receiving coils.

If the position sensor device comprises an evaluation circuit integrated into the control board or applied to the control board for evaluating the signals of the inductive position sensor, a compact, cost-effective and independently functioning position sensor device can advantageously be made possible. In particular, the control and/or regulating unit forms the evaluation circuit at least partially or preferably completely.

If, in addition, the motor control circuit and the evaluation circuit are at least partially formed in one piece with one another, a compact and cost-effective and less complex design of the position sensor device, in particular of the transmission actuator with position sensor device, can advantageously be achieved. In particular, the motor control of the electric motor drive and the evaluation of the sensor signal of the position sensor device take place via a common circuit. It is also conceivable to form two circuits on a control board, which can mutually exchange information or signals. The fact that two circuits are formed “partially in one piece” should be understood in particular to mean that the circuits have at least one, in particular at least two, advantageously at least three common elements that are part, in particular functionally important part, of both circuits.

In addition, it is proposed that the gear actuator has the actuator housing, which houses at least the components of the position sensor device and which is at least essentially free of shielding devices for shielding external electromagnetic fields. This can advantageously be a particularly simple one che and / or cost-effective design of the gear actuator can be achieved, which can also be advantageously made compact. In particular, in comparison to Hall sensors, less shielding against electromagnetic fields can be provided due to the lower susceptibility to interference. Nevertheless, it is conceivable that the actuator housing of the gear actuator has a device for shielding against (static) electrical fields.

Furthermore, a rotary actuator, in particular a rotary actuator of a coolant circuit and refrigerant circuit, is proposed with the transmission actuator. As a result, a cost-effective and reliable rotary actuator can advantageously be provided, in particular for coolant circuits and refrigerant circuits. In particular, the rotary actuator is intended for use in the cooling water circuit of a vehicle.

Furthermore, an at least partially electrically powered vehicle, in particular a hybrid vehicle, a plug-in hybrid vehicle, a fuel cell vehicle and/or a purely battery-operated electric vehicle with the transmission actuator or with the rotary actuator is proposed. This makes it possible to achieve advantageous properties with regard to the electromagnetic compatibility of components of the vehicle.

In addition, an inductive position determination method with the transmission actuator is proposed, whereby the current position of the output is determined by means of the inductive position sensor. This makes it possible to achieve a particularly advantageous suitability for electrically driven vehicles, in particular by using an operating principle that does not require static magnetic fields and/or Hall sensors. The inductive operating principle can advantageously keep the risk of being influenced by electromagnetic radiation from high-voltage electrical systems of at least partially or completely electrically powered vehicles low.

The transmission actuator according to the invention, the rotary actuator according to the invention, the vehicle according to the invention and the method according to the invention should not be limited to the application and embodiment described above. In particular, the transmission actuator according to the invention, the rotary actuator according to the invention, the vehicle according to the invention and the method according to the invention can have a number of individual elements, components and units that deviate from the number of individual elements, components and units mentioned here in order to fulfill a function of operation described herein.

drawings

Further advantages result from the following drawing description. An exemplary embodiment of the invention is shown in the drawings. The drawings, description and claims contain numerous features in combination. The person skilled in the art will also expediently consider the features individually and combine them into further sensible combinations.

• 1 schematisch ein Fahrzeug mit einem Getriebeaktor,
• 2 eine schematische Schnittansicht durch den Getriebeaktor,
• 3 schematisch und perspektivisch einen Abtrieb, eine Steuerplatine und eine Positionssensorvorrichtung des Getriebeaktors,
• 4 eine Schemadarstellung einer Positionssensorvorrichtung des Getriebeaktors mit einem Geberelement und einem Sende- und Empfangsspulenmodul und
• 5 ein schematisches Ablaufdiagramm eines induktiven Positionsbestimmungsverfahrens mit dem Getriebeaktor.

Show it:

• 1 schematically a vehicle with a transmission actuator,
• 2 a schematic sectional view through the gear actuator,
• 3 schematically and perspectively an output, a control board and a position sensor device of the transmission actuator,
• 4 a schematic representation of a position sensor device of the transmission actuator with a transmitter element and a transmitting and receiving coil module and
• 5 a schematic flowchart of an inductive position determination method with the gear actuator.

Description of the exemplary embodiment

The 1 schematically shows a vehicle 56. The vehicle 56 is at least partially electrically powered, for example a hybrid vehicle, a plug-in hybrid vehicle, a fuel cell vehicle or a purely battery-operated electric vehicle. The vehicle 56 has a coolant and/or refrigerant circuit 52. The coolant and/or refrigerant circuit 52 comprises at least one rotary actuator 50. The rotary actuator 50 is intended for manipulation of the coolant and/or refrigerant circuit 52. The rotary actuator 50 includes a gear actuator 54.

The 2 shows a schematic sectional view of the gear actuator 54. The gear actuator 54 has an electric motor drive 10. The electric motor drive 10 is designed as a brushless direct current motor (BLDC motor). The electric motor drive 10 includes a stator 68. The electric motor drive 10 includes a rotor 70. This can advantageously achieve particularly high compactness and wear resistance. However, alternative electric motor drives are also conceivable. The gear actuator 54 includes an actuator housing 48. The gear actuator 54 has a control board 12. The control board 12 is arranged within the actuator housing 48. The gear actuator 54 is free of any other control boards. The control board 12 includes one Control and/or regulating unit 58. The control board 12 comprises a motor control circuit 14. The motor control circuit 14 is intended to control the electric motor drive 10. The motor control circuit 14 forms an integral part of the control and/or regulating unit 58. The transmission actuator 54 has an output 16. The output 16 is intended to transfer an actuator movement to the outside, in particular to the outside of the actuator housing 48.

The gear actuator 54 has a gear unit 18. The gear unit 18 forms a gear train 38. The gear unit 18, in particular the gear train 38, provides a translation between the electric motor drive 10 and the output 16. The output 16 includes an output gear 28. The gear unit 18 includes the output gear 28. The output gear 28 is designed as a gear, in particular a spur gear. The driven gear 28 forms a final gear stage of the gear train 38. The electric motor drive 10 includes a drive wheel 60. The drive wheel 60 is designed as a gear, in particular a spur gear. The gear unit 18 includes the drive wheel 60. The drive wheel 60 forms a first gear stage of the gear train 38. The gear train 38 in the 2 Gear unit 18 shown as an example also has a first further gear element 32. The first further gear element 32 is designed as a gear, in particular a spur gear. The first further gear element 32 forms a second gear stage of the gear train 38. The first further gear element 32 meshes with the drive wheel 60. The gear train 38 in the 2 The gear unit 18 shown as an example also has a second further gear element 62. The second further gear element 62 is designed as a gear, in particular a spur gear. The second further gear element 62 forms a third gear stage of the gear train 38. The second further gear element 62 meshes with the driven gear 28. The first further gear element 32 meshes with the second further gear element 62. The gear train 38 crosses the control board 12 at least twice. The drive wheel 60, in particular a drive shaft 64 of the drive wheel 60, passes through the control board 12. The drive shaft 64 of the drive wheel 60 is rotationally connected to the rotor 70 of the electric motor drive 10. The driven gear 28, in particular a driven shaft 66 of the driven gear 28, passes through the control board 12. The gear actuator 54 has a sealing element 72. The sealing element 72 is intended to seal the output 16, in particular the output shaft 66, from the outside. The sealing element 72 can be designed as an O-ring.

The transmission actuator 54 has a position sensor device 20. The position sensor device 20 forms a rotational position sensor device. The position sensor device 20 is intended to determine a current positioning position of the output 16. The position sensor device 20 is intended to determine a current position of the driven wheel 28 of the driven 16. The position sensor device 20 is intended to determine a current angular position of the output gear 28 of the output 16. The position sensor device 20 has an inductive position sensor 22. The position sensor device 20 includes an evaluation circuit 46 for evaluating the signals from the inductive position sensor 22. The evaluation circuit 46 is integrated into the control board 12. Alternatively or additionally, the evaluation circuit 46 is applied to the control board 12. The motor control circuit 14 and the evaluation circuit 46 are at least partially formed in one piece with one another. The evaluation circuit 46 forms an integral part of the control and/or regulating unit 58.

The position sensor device 20 has a transmitter element 24. The position sensor device 20 has a transmitting and receiving coil module 26. The control board 12 includes the transmitting and receiving coil module 26. The transmitter element 24 interacts with the transmitting and receiving coil module 26 to determine a current positioning position of the output 16. The transmitting and receiving coil module 26 has a transmitting coil 40 (see also 4 ). The transmitter coil 40 is intended to generate an excitation signal. The transmitter coil 40 is applied to the control board 12. The excitation signal corresponds to an at least magnetic, preferably electromagnetic, alternating field. The transmitting and receiving coil module 26 has two receiving coils 42, 44 (see also 4 ). The receiving coils 42, 44 are intended to receive a response signal inductively generated by the transmitter element 24 in response to the excitation signal. The receiving coils 42, 44 are applied to the control board 12.

The transmitter element 24 is made of a metallic material. The transmitter element 24 is made of an at least substantially non-magnetic material. The transmitter element 24 is made of an at least substantially electrically conductive material. For example, the transmitter element 24 is made of aluminum. The transmitter element 24 and the first further gear element 32 of the gear unit 18 are arranged on sides 34, 36 of the control board 12 facing away from one another. The transmitter element 24 and the second further gear element 32 of the gear unit 18 are arranged on sides 34, 36 of the control board 12 facing away from one another. The donor element 24 is at least non-rotatably connected to the output 16. The transmitter element 24 could be fixed to the output gear 28 of the output 16, in which in the 2 In the case shown as an example, the transmitter element 24 is fixed to a region of the driven gear 28 which is axially spaced from a toothing 30 of the driven gear 28 of the driven gear 16. The transmitter element 24 is thereby arranged separately from a spur gear part of the driven gear 28. The transmitter element 24 is rotationally connected to the output shaft 66 of the output wheel 28. The transmitter element 24 is designed as a circular ring segment. The transmitter element 24 is designed as a disc designed approximately as a semicircular ring (see also 4 ).

The actuator housing 48 houses at least the components of the position sensor device 20. The actuator housing 48 houses the gear unit 18. The actuator housing 48 is free of shielding devices for shielding external electromagnetic fields. However, the actuator housing 48 may include shielding devices for shielding electric fields (not shown).

The 3 shows schematically and perspectively the output 16, the control board 12 and the position sensor device 20 of the transmission actuator 54. All circuits of the transmission actuator 54 are combined in the control board 12.

The 4 shows a schematic representation of the position sensor device 20 with the transmitter element 24 and the transmitting and receiving coil module 26. The receiving coils 42, 44 of the transmitting and receiving coil module 26 are arranged offset from one another. The receiving coils 42, 44 only overlap at individual intersection points when viewed in the direction of a rotation axis 74 of the driven wheel 28. The receiving coils 42, 44 are each integrated into the control board 12 or arranged on the control board 12. The transmitting coil 40 is arranged spatially separated from the receiving coils 42, 44. The receiving coils 42, 44 and the transmitting coil 40 lie in a common plane, which preferably runs parallel to an end face 76 of the driven wheel 28 designed as a gear and/or perpendicular to the rotation axis 74 of the driven wheel 28. The control and/or regulating unit 58 outputs the excitation signal, which is designed as a sine wave signal, to the transmitting coil 40. The receiving coils 42, 44 each register different position angle-dependent response signals that were generated by mutual induction in the transmitter element 24. The receiving coils 42, 44 convert the response signal into an electrical signal and transmit this back to the control and / or regulating unit 58. From the synopsis of the response signals of both receiving coils 42, 44, the control and / or regulating unit 58 determines the current position angle of the Transmitter element 24 and thus also the driven wheel 28. The determined value can then be read out from the control and / or regulating unit 58, for example by an on-board control of the vehicle 56.

The 5 shows a schematic flowchart of an inductive position determination method with the gear actuator 54. In the position determination method, the current positioning position of the output 16 is determined by means of the inductive position sensor 22. In at least one method step 78, the excitation signal is emitted by the transmitter coil 40. In at least one further method step 80, the excitation signal is absorbed by the transmitter element 24, which moves with the driven wheel 28, and eddy currents are generated in the transmitter element 24, whereby a response signal in the form of a counter-induction signal is emitted by the transmitter element 24. In at least one further method step 82, the response signal is registered by the receiving coils 42, 44. Due to the offset arrangement of the receiving coils 42, 44, the response signal of each receiving coil 42, 44 looks different. In at least one further method step 84, the different response signals of the two receiving coils 42, 44 are received by the control and/or regulating unit 58 and evaluated to determine the current position of the transmitter element 24 and thus also of the driven wheel 28. In at least one further method step 86, the current position of the vehicle 56 is read out.

Reference symbols

10

Electric motor drive

12

control board

14

Motor control circuit

16

downforce

18

Gear unit

20

Position sensor device

22

Inductive position sensor

24

donor element

26

Transmit and receive coil module

28

driven gear

30

gearing

32

Gear element

34

Page

36

Page

38

Gear train

40

transmitter coil

42

Receiving coil

44

Receiving coil

46

Evaluation circuit

48

Actuator housing

50

Turntable

52

Coolant and refrigerant circuit

54

Gear actuator

56

vehicle

58

Control and/or regulating unit

60

drive wheel

62

Gear element

64

drive shaft

66

output shaft

68

stator

70

rotor

72

Sealing element

74

Axis of rotation

76

face

78

Procedural step

80

Procedural step

82

Procedural step

84

Procedural step

86

Procedural step

Claims (15)

Gear actuator (54), with an electric motor drive (10), with a control board (12), which comprises at least one motor control circuit (14) for controlling the electromotive drive (10), with an output (16), with a gear unit (18 ), which provides at least one translation between the electric motor drive (10) and the output (16), and with a position sensor device (20), in particular a rotational position sensor device, for determining a current positioning position of the output (16), in particular of an output wheel (28 ) of the output (16), characterized in that the position sensor device (20) comprises an inductive position sensor (22) with a transmitter element (24) and with a transmitting and receiving coil module (26) that interacts with the transmitter element (24). Gear actuator (54). Claim 1 , characterized in that the transmitter element (24) is at least non-rotatably connected to the output (16) and/or that the transmitter element (24) is fixed to the output gear (28) of the output (16). Gear actuator (54). Claim 2 , characterized in that the transmitter element (24) is fixed to a region of the driven gear (28) which is axially spaced from a toothing (30) of the driven gear (28) of the driven gear (16). Gear actuator (54) according to one of the preceding claims, characterized in that the transmitter element (24) is formed from a metallic, at least substantially non-magnetic and at least substantially electrically conductive material. Gear actuator (54) according to one of the preceding claims, characterized in that the transmitter element (24) is designed as a circular ring segment. Gear actuator (54) according to one of the preceding claims, characterized in that the transmitter element (24) and at least one gear element (32, 62) of the gear unit (18), in particular at least one gear of the gear unit (18), on sides (34) facing away from one another , 36) of the control board (12) are arranged. Gear actuator (54) according to one of the preceding claims, characterized in that a gear train (38) comprising the electric motor drive (10), the gear unit (18) and the output (16) crosses the control board (12) at least twice. Gear actuator (54) according to one of the preceding claims, characterized in that the control board (12) comprises the transmitting and receiving coil module (26). Gear actuator (54) according to one of the preceding claims, characterized in that the transmitting and receiving coil module (26) has at least one transmitting coil (40) for generating an excitation signal and at least two receiving coils (42, 44) for receiving one from the transmitter element ( 24) includes inductively generated response signals in response to the excitation signal, which are in particular integrated into the control board (12) or applied to the control board (12). Gear actuator (54) according to one of the preceding claims, in particular according to Claim 8 or 9 , characterized in that the position sensor device (20) forms an evaluation circuit (46) integrated into the control board (12) or applied to the control board (12). Evaluation of the signals from the inductive position sensor (22). Gear actuator (54) after Claim 10 , characterized in that the motor control circuit (14) and the evaluation circuit (46) are at least partially formed in one piece with one another. Gear actuator (54) according to one of the preceding claims, characterized by an actuator housing (48) which houses at least the components of the position sensor device (20) and which is at least substantially free of shielding devices for shielding external electromagnetic fields. Rotary actuator (50), in particular of a coolant and refrigerant circuit (52), with a gear actuator (54) according to one of the preceding claims. At least partially electrically powered vehicle (56), in particular hybrid vehicle, plug-in hybrid vehicle, fuel cell vehicle and/or purely battery-operated electric vehicle with the transmission actuator (54) according to one of Claims 1 until 12 or with a rotary control (50). Claim 13 . Inductive position determination method with the gear actuator (54) according to one of the Claims 1 until 12 , characterized in that the current position of the output (16) is determined by means of the inductive position sensor (22).

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