DE10210372A1 - Rotational angle sensor, comprises a pole wheel with coarse and fine magnetic traces and Hall sensor magnetic field detectors, with the coarse trace used for quick position determination and the fine trace used for high resolution - Google Patents

Rotational angle sensor, comprises a pole wheel with coarse and fine magnetic traces and Hall sensor magnetic field detectors, with the coarse trace used for quick position determination and the fine trace used for high resolution

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Publication number
DE10210372A1
DE10210372A1 DE2002110372 DE10210372A DE10210372A1 DE 10210372 A1 DE10210372 A1 DE 10210372A1 DE 2002110372 DE2002110372 DE 2002110372 DE 10210372 A DE10210372 A DE 10210372A DE 10210372 A1 DE10210372 A1 DE 10210372A1
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Germany
Prior art keywords
track
magnetic
magnetic field
characterized
field strength
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
DE2002110372
Other languages
German (de)
Inventor
Martin Degen
Alexander Eichhorn
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Siemens AG
Original Assignee
Siemens AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Siemens AG filed Critical Siemens AG
Priority to DE2002110372 priority Critical patent/DE10210372A1/en
Publication of DE10210372A1 publication Critical patent/DE10210372A1/en
Withdrawn legal-status Critical Current

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Classifications

    • GPHYSICS
    • G01MEASURING; TESTING
    • G01DMEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/14Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
    • G01D5/142Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices
    • G01D5/145Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices influenced by the relative movement between the Hall device and magnetic fields
    • HELECTRICITY
    • H03BASIC ELECTRONIC CIRCUITRY
    • H03MCODING; DECODING; CODE CONVERSION IN GENERAL
    • H03M1/00Analogue/digital conversion; Digital/analogue conversion
    • H03M1/12Analogue/digital converters
    • H03M1/14Conversion in steps with each step involving the same or a different conversion means and delivering more than one bit
    • H03M1/143Conversion in steps with each step involving the same or a different conversion means and delivering more than one bit in pattern-reading type converters, e.g. having both absolute and incremental tracks on one disc or strip

Abstract

The invention relates to a rotation angle sensor with high angular resolution, which has a magnetic track on a magnet wheel, in which magnetic north and south poles are arranged alternately and the position of which is detected relative to a rotationally fixed component with a magnetic field sensor. DOLLAR A In order to specify a rotation angle sensor system with the highest possible angular resolution, the magnet wheel (20) in a first magnetic track (22), which is arranged radially to the axis of rotation (24) of the magnet wheel (20), for detecting the magnet wheel position when commissioning north (22a) and south poles (22b) are magnetized with a predetermined arc length, the field strength of which is detected by at least one first magnetic field sensor (25) arranged to the track (22) and in a second track (23) which is approximately concentric to the first track (22 ) is arranged, north (23a) and south poles (23b) magnetized, the arc length of which is a fraction of the arc length of the poles (22a, 22b) of the first track (22) and whose field strength along the track (23) from north ( 23a) and south Poland (23b) is measured by at least one second magnetic field sensor (26) arranged to the track (23), the second magnetic field sensor (26) at a predetermined distance from the pole wheel (20) in which the sinusoidal Ge component of the magnetic field strength dominates, is arranged and outputs a signal proportional to the sinusoidal component of the field strength of the second track (23).

Description

  • The invention relates to a rotation angle sensor with high angular resolution, which has a magnetic track on a magnet wheel, in the magnetic north and South Poles are arranged alternately and their location relative to one non-rotatable component is detected with a magnetic field sensor.
  • From European patent application EP 0 213 732 A1 is a Generic sensor system for detecting the rotation of an object known. This sensor system consists of a magnetic ring that consists of a synthetic resin with mixed ferromagnetic materials is built up. The ring has alternating magnetic north and south poles. The movement of the north and south poles relative to a non-rotatable Component is connected to a sensor connected to the non-rotatable component magnetic fields measured.
  • The magnet wheel disclosed in EP 0 213 732 A1 has magnetic poles built up, each occupying a large arc length and thus a large Cover angle segment. Because with this system by everyone Magnetic field sensor moving north or south pole an electronically countable Signal is generated corresponds to the maximum angular resolution of this system the angular segment occupied by a pole. If the magnetic field strength the pole can be reliably detected by a sensor over a certain air gap the arc length of a magnetic pole on the magnet wheel cannot be sufficient can be made small in order to achieve a high-resolution angle measurement with a to enable such a system.
  • The invention is therefore based on the object of having a rotation angle sensor system specify the highest possible angular resolution.
  • According to the invention the object is achieved in that the magnet wheel in one first magnetic track, which is arranged radially to the axis of rotation of the magnet wheel is used to record the pole wheel position when commissioning the north and south poles are magnetized a predetermined arc length, the field strength of at least one first magnetic field sensor arranged to the track is detected and in a second track, which is arranged approximately concentrically to the first track is, north and south poles are magnetized, whose arc length is a fraction of that Arc length of the poles of the first track and their field strength along the Track from the north and south of Poland, from at least a second to the track arranged magnetic field sensor is measured, the second Magnetic field sensor at a predetermined distance from the magnet wheel, in which the sinusoidal portion of the magnetic field strength dominates, is arranged and a proportional to the sinusoidal portion of the field strength of the second track Outputs signal.
  • The invention has the advantage that using the first coarse magnetic Lane, hereinafter also referred to as coarse lane, after the start of the Rotation angle sensor system for quick and rough detection of the pole wheel position is achieved, after which with the help of the second fine magnetic track, hereinafter also known as a fine track, a high-resolution detection of the angle of rotation takes place. The field strength above the fine track follows in a predetermined distance from the track first approximation of a sine function with zero crossings at the transitions from one pole to the other. The fine track is from at least one Measure the magnetic field sensor, which is proportional to the magnetic field strength Output signal generated. This approximately sinusoidal output signal is between two neighboring poles of the same name using an angle function linearized, which has the advantage that a high-resolution, linear signal for Is available that the angle of rotation within the angle segment of a Pole pair of the fine track is proportional.
  • In one embodiment of the invention, the is exclusively sinusoidal Field strength curve in the second track by a series of magnetic north and south poles of different field strength generated. this has the advantage that the linear magnetic field sensors used above the fine track can be placed in close proximity to the magnetic track in order to to measure sinusoidal magnetic field with a high field strength. This Arrangement leads to signals from the sensors which have a high amplitude and only influenced to a very small extent by electronic interference signals become.
  • In another advantageous embodiment of the invention, the second track measured by at least two magnetic field sensors so offset from one another, that the second sensor is the sine signal proportional to the magnetic field strength and a third sensor generates a cosine signal proportional to the magnetic field strength. This has the advantage that any errors present in the sinusoidal Field strength curve of the fine track or errors caused by interspersed magnetic fields arise from the combination of the signals from the two independent sensors largely eliminated over the fine track. The sine and Cosine signals are immediately subjected to the linearization process.
  • In another embodiment, the second track is from the second Measure the magnetic field sensor, which is proportional to the magnetic field strength Generated sine signal, to which a cosine signal is generated using an evaluation circuit is generated. As a result, there is only a linear magnetic field sensor above the fine track necessary, which saves costs, weight and installation space. With sufficient Accuracy of sinusoidal magnetization, this becomes the linearization of the Rotation angle necessary cosine signal from the sine signal in the Evaluation circuit calculated.
  • In a further embodiment, the one arranged above the second track generates second magnetic field sensor when a predetermined field strength is reached electronically countable signal, which in addition to the rough rotation angle determination with the coarse track also the fine track for incremental rotation angle determination can be used. The linear magnetic field sensors are for generation of the electronically countable signal can be used by reaching a predetermines a predetermined signal level electronically.
  • It is advantageous if the electronically countable signals from the second and third Magnetic field sensor can be electronically linked with an exclusive OR gate. Through the exclusive OR linkage of the electronically countable signals of the two linear magnetic field sensors above the fine track result Output signal at twice the frequency compared to the frequency of one linear sensor. That means the incremental resolution of the system from fine track and two magnetic field sensors compared to the resolution of the Fine track is doubled by the signal linkage.
  • In a further advantageous embodiment, the magnet wheel is made of a metal a high magnetic saturation flux density. This is for guidance of the magnetic field lines on the magnet wheel side and thus contributes to the fact that the at least two magnetic tracks on the magnet wheel as little as possible influence each other. Metal magnet wheels are sufficient for the mechanical ones Strength and manufacturing tolerance requirements. Alternatively, it is the magnet wheel made of plastic or synthetic resin with limited ferromagnetic Ingredients formed with a high magnetic saturation flux density. This has the advantage that plastics and resins are cheap and lightweight materials are, whereby the magnet wheel is inexpensive to manufacture.
  • In one development, the first and / or the second magnetic track is on the face or on the side opposite the face or on the inner lateral surface or on the outer lateral surface of the magnet wheel arranged. As a result, the sensor system is under the structural conditions which the angle of rotation of a rotor is to be recorded, easily adaptable. Alternatively, the first and / or the second magnetic track is in the area arranged up to the pole wheel base. This also allows installation space in the measuring component can be used advantageously.
  • In an advantageous embodiment, the first and / or the second is magnetic Track formed from magnetized ferrite foil. Such films are light and inexpensive to manufacture. Alternatively, the first and / or the second magnetic track made of rubber, synthetic resin or rubber magnetized ferrites formed. Such traces are very long-lasting and ensure a mechanically stable connection to the magnet wheel.
  • The invention permits numerous embodiments. One of them should be based on the figures illustrated in the drawings are explained in more detail.
  • Show it:
  • Fig. 1 shows a motor vehicle steering system using a rotation angle sensor according to the invention,
  • Fig. 2 is a sectional view of the rotation angle sensor according to the invention, consisting of a magnet wheel with the associated sensor head,
  • Fig. 3 is a view of a rotation angle sensor of the invention with one segment of the magnet wheel and the sensor head,
  • Fig. 4 is a perspective view of the magnet wheel,
  • Fig. 5 shows the principle of linearization.
  • Fig. 1 shows a motor vehicle steering system using a rotation angle sensor 1 according to the invention. A steering column 3 carrying the steering wheel 2 engages in a steering gear 4 which moves the two front wheels 6 , 7 of a motor vehicle via a steering linkage 5 . A steering torque sensor 8 is arranged in the steering column 3 and is connected to a control unit 10 via the line 9 . A linear displacement sensor 16 is arranged on the steering gear 4 and outputs sensor signals, which correspond to the angle of rotation of the steering column 3 , to the control unit 10 via the line 11 . An electric motor 12 is connected to the rack 17 of the steering gear 4 via a ball screw gear 13 . For the high-resolution determination of the rotational position of the rotor of the electric motor 12 , the latter is equipped with a rotation angle sensor 1 according to the invention. A commutated DC motor is used as the electric motor 12 . The angle of rotation sensor 1 is connected to the control unit 10 via an electrical line 14 . The power output stage 10 a of the control unit 10 is connected to the electric motor 12 via a further electrical line 15 .
  • With the aid of high-resolution rotation angle sensor 1 according to a the rotational position of the rotor of the electric motor 12 is generated proportional signal and passed via line 14 to the control unit 10, which generates by means of a power amplifier 10 a a commutated current, the current strength of the rotational position of the rotor of the electric motor 12 is adjusted. The current adapted with the aid of the rotation angle sensor 1 according to the invention is passed on to the DC motor 12 via an electrical line 15 . In conventionally energized electric motors 12 with block commutation, strong torque fluctuations occur since the excitation windings are only supplied with the full available current strength in the conventional method or are not energized at all. The torque fluctuations of the electric motor 12 commutated with the help of the rotation angle sensor 1 according to the invention, which supports the steering movement carried out by means of the steering wheel 2 , are minimized because the current intensity in the excitation windings of the electric motor 12 is adapted to the rotational position, which results in a uniform torque of the steering assistance.
  • Fig. 2 is a sectional view showing the rotation angle sensor 1 according to the invention. The rotation angle sensor 1 consists of the sensor head 21 and the magnet wheel 20 . The sensor head 21 , each with a switching Hall sensor 25 shown and a linear Hall element 26 shown , is arranged frontally opposite the magnetic tracks 22 and 23 of the magnet wheel 20 . The upper track here is the coarse track 22 , which is detected by at least one switching Hall sensor 25 , and the lower track is the fine track 23 , which is measured by at least one linear Hall element 26 in this exemplary embodiment. Only an upper segment of the magnet wheel 20 is shown, since this is a rotationally symmetrical component. The axis of rotation 24 is perpendicular to the end face 41 of the magnet wheel 20 and is defined in the drawing. The pole wheel 20 is connected in a rotationally fixed manner to a shaft 31 , which in this example is the motor shaft of a brushless, commutated, DC motor, not shown here. The pole wheel 20 is made of a metal or another material that meets the mechanical and electromagnetic requirements. The material for the magnet wheel 20 must have a high magnetic saturation flux density and meet certain mechanical requirements with regard to strength and manufacturing tolerances. In this example, the magnet wheel is made of a ferromagnetic metal. The magnet wheel 20 is the carrier of two juxtaposed, concentric, magnetic tracks 22 and 23 , which in this exemplary embodiment are applied to the end face 41 of the magnet wheel 20 so as to be non-detachable via temperature, service life and mechanical stress. The two magnetic tracks 22 and 23 must be sufficiently far apart so that their magnetic fields do not influence one another in a measurable manner.
  • A rotation angle sensor 1 according to the invention is shown in FIG. 3. A frontal view of a segment of the magnet wheel 20 with the coarse track 22 and the fine track 23 applied and the sensor head 21 lying above it is shown. The coarse track 22 consists of a sequence of adjacent north 22 a and south poles 22 b, each of which occupies a relatively large arc length of approximately 20 mm and which form a circle which is not completely shown in the drawing, in the center of which the axis of rotation 24 of the pole wheel 20 lies.
  • The coarse track 22 is magnetized with a very high flux density, so that an approximately rectangular field strength profile with a high slope is detected by the bipolar switching hall sensors 25 a, 25 b, 25 c at a short distance from the coarse track 22 . The electronic pulse train generated in this way is characterized by a very small switching hysteresis.
  • The fine track 23 is arranged concentrically to the coarse track 22 and in turn consists of a sequence of north 23 a, 23 c, 23 e and south poles 23 b, 23 d, 23 f, which also merge to form a circle, which is not shown completely in the drawing , The fine track 23 can lie within the coarse track 22 , but an embodiment of the invention is also possible in which the coarse track 22 is arranged within the fine track 23 . The arc length of the individual north 23 a, 23 c, 23 e and south poles 23 b, 23 d is significantly less in the fine track 23 with approximately 3 mm per pole than in the coarse track 22 . In this exemplary embodiment, six fine-track poles 23 a to 23 f with alternating polarity are arranged in the circular segment of a pole 22 b of the coarse track 22 . The transition of the field strength between two poles 23 a and 23 b of the fine track takes place less suddenly, but rather largely follows a sine function with zero crossings at the transitions from one pole to the magnetic track 23 at a predetermined distance of approximately 0.5 to 2 mm others.
  • In this exemplary embodiment, three switching hall sensors 25 a to c are located above the coarse track 22 , which detect a transition from a north 22 a to a south pole 22 b or from a south 22 b to a north pole 22 a and a when a certain field strength is reached Generate a predetermined output signal. With these three switching hall sensors 25 a to c over the coarse track 22 , a coarse rotation angle detection of the magnet wheel 20 is possible directly after the system is started up. For example, if the rotational position of an electric motor with 5 pole pairs is to be recognized, the coarse track 22 is also divided into 5 pole pairs, each of which occupies a segment of 72 °. These 5 pole pairs then occupy the entire full circle. With the three switching hall sensors 25 a to c over a pair of poles 22 a, 22 b of the coarse track 22 , a rotational position detection can then be carried out with a resolution of 12 °.
  • The fine track 23 is used in a two-stage process for high-resolution detection of the angle of rotation. In a first stage, with the help of the north 23 a and south poles 23 b, which cover a much smaller arc length in the fine track 23 than in the coarse track 22 , a more precise incremental angle detection than with the coarse track 22 is possible, since the Hall elements 26 a and 26 b, an electronically countable signal is derived above the fine track 23 when a predetermined field strength is reached, which signal is assigned to an incremental change in the angle of rotation. The Hall elements 26 a and 26 b arranged above the fine track 23 are, in contrast to the switching hall sensors 25 a to 25 c above the coarse track 22 , designed as linear Hall elements 26 a and 26 b. Linear Hall elements 26 a and 26 b deliver an output signal proportional to the magnetic field strength. The linear Hall elements 26 a and 26 b detect the approximately sinusoidal portion of the magnetic field strength curve over the fine track 23 and generate an output signal corresponding to the field strength. The sinusoidal field strength curve in the fine track 23 is generated by each north pole 23 a, 23 c, 23 e and south pole 23 b, 23 d, 23 f being built up as a result of smaller magnets of the corresponding polarity, the field strength of the individual smaller ones Magnets is adjusted so that the field strength curve over each pole 23 a to 23 f follows the fine track 23 of the sinusoidal shape. However, since a rectangular field strength curve can also be broken down into a series of sine functions with increasing exponent and decreasing amplitude, it is possible to detect the largely sinusoidal portion of a rectangular magnetization at a certain distance from the fine track 23 . In this exemplary embodiment of the invention, two linear Hall elements 26 a and 26 b are arranged in phase displacement by 90 ° above the fine track 23 . The two linear Hall elements are advantageously formed as a coherent double die on a wafer, which enables extremely precise positioning of the linear Hall elements relative to one another and simplifies their arrangement in a housing. The linear double Hall sensor provides two approximately 90 ° phase-shifted, approximately sinusoidal, electrical output signals that are processed with the help of the arctangent function to form a linear signal between two adjacent magnetic poles 23 a and 23 c of the same name. This linear signal is used to determine the angle of rotation between two adjacent poles 23 a and 23 c of the fine track 23 in an extremely precise manner. If the area between two adjacent poles of the same name 23 a and 23 c of the fine track 23 is exceeded by the rotation of the pole wheel 20 , the angle of rotation between the following poles of the same name 23 c and 23 e of the fine track 23 is linearized with the aid of the sinusoidal signals and with high resolution determined. In this way, a high-resolution determination of the angle of rotation is possible over the entire range of rotation of the pole wheel 20 , since a high-resolution linear signal is available between all magnetic poles 23 a and 23 c, 23 c and 23 e and so on. After the system has started up, the entire rotational position detection is carried out using the fine track 23 . However, the signals of the coarse track 22 can still be used to check the plausibility of the rotational position recognized with the help of the fine track 23 .
  • Fig. 4 shows perspective views of the magnet wheel 20th The pole wheel 20 consists of a ring which is a carrier for the magnetic tracks 22 and 23 shown in FIG. 3 and which leads on the ring side the field lines between the magnetic poles 22 a and 22 b and 23 a to 23 f. Another task of the ring is to shield the sensor system against interfering magnetic fields. The ring is made of a material with a high magnetic saturation flux density. For example, steels and types of iron, but also polymers and resins with mixed materials with a high magnetic saturation flux density can be used. In this exemplary embodiment, the magnetic tracks 22 and 23 are applied to the end face 41 of the magnet wheel 20 . The end face 41 is perpendicular to the axis of rotation 24 of the magnet wheel 20 and, in this exemplary embodiment, faces the sensor head 21 . The magnetic tracks 22 and 23 can, however, also advantageously be applied on the side 44 opposite the end face 41 or the inner 43 or outer lateral surface 42 and cover the area up to the pole wheel base 45 . Every possible lane position combination can also be introduced taking advantage of advantages. For example, it is possible to place the coarse track 22 on the inner lateral surface 43 and the fine track 23 on the outer lateral surface 42 . The magnetic tracks 22 and 23 , which consist of a sequence of alternating magnetic north 22 a and 23 a, 23 c, 23 e and south poles 22 b and 23 b, 23 d, 23 f, can be made of rubber, synthetic resin or plastic-bonded, magnetized ferrites or be applied as a magnetized ferrite foil. The pole wheel 20 can be screwed, riveted, pressed, glued or welded onto a shaft 31 , the angle of rotation of which is to be recorded, or connected to it in another known manner.
  • The principle of linearization is shown in FIG . Diagram A shows the signal that the first linear Hall element supplies. At a distance of approximately 0.5-2 mm from the fine track 23 (in FIG. 3), the first linear Hall element 26 a (in FIG. 3) detects a well-sinusoidal field strength curve and generates a corresponding output signal.
  • Diagram B shows the signal corresponding to signal A of the second linear Hall element 26 b (90 ° out of phase) (in FIG. 3). The second linear Hall element 26 b detects the cosine-shaped field strength curve at a distance of approximately 0.5-2 mm from the fine track and generates a corresponding output signal.
  • With the help of an angle function, the signals shown in diagrams A and B are linearized, whereby the signal shown in diagram C is generated. This linear function enables a clear, high-resolution assignment of the angle of rotation in the area of a pole pair to the functional value of the signal. The angular resolution of the system depends on the measurement accuracy of the linear Hall elements 26 a, 26 b, the quality of the sinusoidal field strength curve and the performance of the subsequent signal processing electronics.
  • Fluctuations in the signal amplitude, which can result from changes in the distance of the detectors from the fine track 23 , from interfering interference fields or from inhomogeneous magnetic materials, are largely eliminated by forming a quotient from the two measured values during the linearization. Such measurement error elimination can also be achieved by subtracting the two independent measurement values. The error is eliminated the better, the smaller the distance between the two linear Hall elements 26 a, 26 b is kept. LIST OF REFERENCES 1 inventive rotation angle sensor
    2 steering wheel
    3 steering column
    4 steering gears
    5 steering linkages
    6 right front wheel
    7 left front wheel
    8 steering torque sensor
    9 electrical line
    10 control unit
    10 a power stage of the control unit
    11 electrical wire
    12 electric motor
    13 ball screw
    14 electrical wire
    15 electrical wire
    16 linear displacement sensor
    17 rack
    20 pole wheel
    21 sensor head
    22 coarse track consisting of magnetic north and south poles 22 a and 22 b
    23 fine track consisting of magnetic north and south poles 23 a to 23 f
    24 axis of rotation
    25 at least one switching hall sensor
    25 a to 25 c switching hall sensors
    26 at least one linear Hall element
    26 a and 26 b linear Hall elements
    31 wave
    41 face of the magnet wheel
    42 outer surface of the pole wheel
    43 inner surface of the pole wheel
    44 the opposite side of the magnet wheel
    45 flywheel base

Claims (16)

1. Rotation angle sensor with high angular resolution, which has a magnetic track on a magnet wheel, in which magnetic north and south poles are arranged alternately and their position is detected relative to a non-rotatable component with a magnetic field sensor, characterized in that the magnet wheel ( 20 ) in one first magnetic track ( 22 ), which is arranged radially to the axis of rotation ( 24 ) of the magnet wheel ( 20 ), are magnetized to detect the magnet wheel position during start-up north ( 22 a) and south poles ( 22 b) with a predetermined arc length, the field strength of at least one first magnetic field sensor ( 25 ) arranged to the track ( 22 ) is detected and magnetizes north ( 23 a) and south poles ( 23 b) in a second track ( 23 ), which is arranged approximately concentrically to the first track ( 22 ) are whose arc length is a fraction of the arc length of the poles ( 22 a, 22 b) of the first track ( 22 ) and whose field strength, along the track ( 23 ) from north ( 23 a ) and South Poland ( 23 b) is measured by at least one second magnetic field sensor ( 26 ) arranged to the track ( 23 ), the second magnetic field sensor ( 26 ) at a predetermined distance from the pole wheel ( 20 ), in which the sinusoidal portion of the magnetic Field strength dominates, is arranged and outputs a signal proportional to the sinusoidal portion of the field strength of the second track ( 23 ).
2. Angle of rotation sensor according to claim 1, characterized in that the exclusively sinusoidal field strength profile in the second track ( 23 ) is generated by a series of magnetic north ( 23 a) and south poles ( 23 b) of different field strength.
3. rotation angle sensor according to claim 1, characterized in that the second track ( 23 ) of at least two mutually offset magnetic field sensors ( 26 a, 26 b) is measured, that the second sensor ( 26 a) the sine signal proportional to the magnetic field strength and a third Sensor ( 26 b) generates a cosine signal proportional to the magnetic field strength.
4. Angle of rotation sensor according to claim 1, characterized in that the second track ( 23 ) is measured by the second magnetic field sensor ( 26 ) which generates a sine signal proportional to the magnetic field strength, the magnetic field sensor ( 26 ) being connected to an evaluation circuit ( 10 ), which generates a cosine signal.
5. Rotation angle sensor according to claim 3 or 4, characterized in that the sine signal and the cosine signal is processed electronically using an angle function to a linear signal proportional to the rotational position of the pole wheel ( 20 ).
6. Rotation angle sensor according to claim 1, 3 or 4, characterized in that the second magnetic field sensor ( 26 ) arranged above the second track ( 23 ) generates an electronically countable signal when a predetermined field strength is reached.
7. rotation angle sensor according to claim 6, characterized in that the electronically countable signals from the second ( 26 a) and third magnetic field sensor ( 26 b) are electronically linked with an exclusive OR gate.
8. Rotation angle sensor according to claim 1, characterized in that the magnet wheel ( 20 ) is formed from a metal with a high magnetic saturation flux density.
9. Angle of rotation sensor according to claim 1, characterized in that the magnet wheel ( 20 ) is formed from plastic or synthetic resin with restricted ferromagnetic components with a high magnetic saturation flux density.
10. Angle of rotation sensor according to claim 1, characterized in that the first and / or the second magnetic track ( 22 , 23 ) on the end face ( 41 ) or on the end face ( 41 ) opposite side (44) or on the inner lateral surface ( 43 ) or on the outer circumferential surface ( 42 ) of the magnet wheel ( 20 ).
11. Angle of rotation sensor according to claim 1, characterized in that the first and / or the second magnetic track ( 22 , 23 ) is arranged in the region up to the pole wheel base ( 45 ) of the pole wheel ( 20 ).
12. Rotation angle sensor according to one of claims 1-11, characterized in that the first and / or the second magnetic track ( 22 , 23 ) is formed from a magnetized ferrite foil.
13. Rotation angle sensor according to one of claims 1-11, characterized in that the first and / or the second magnetic track ( 22 , 23 ) is formed from magnetized ferrites bonded in rubber, synthetic resin or rubber.
14. Rotation angle sensor according to one of claims 1-11, characterized in that the first and / or the second magnetic track ( 22 , 23 ) is formed from magnets bonded in plastic.
15. Rotation angle sensor according to claim 3, characterized in that a quotient is formed from the signals of the two magnetic field sensors ( 26 a, 26 b) over the second track ( 23 ).
16. Rotation angle sensor according to claim 3, characterized in that a difference is formed from the signals of the two magnetic field sensors ( 26 a, 26 b) over the second track ( 23 ).
DE2002110372 2002-03-08 2002-03-08 Rotational angle sensor, comprises a pole wheel with coarse and fine magnetic traces and Hall sensor magnetic field detectors, with the coarse trace used for quick position determination and the fine trace used for high resolution Withdrawn DE10210372A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE2002110372 DE10210372A1 (en) 2002-03-08 2002-03-08 Rotational angle sensor, comprises a pole wheel with coarse and fine magnetic traces and Hall sensor magnetic field detectors, with the coarse trace used for quick position determination and the fine trace used for high resolution

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Application Number Priority Date Filing Date Title
DE2002110372 DE10210372A1 (en) 2002-03-08 2002-03-08 Rotational angle sensor, comprises a pole wheel with coarse and fine magnetic traces and Hall sensor magnetic field detectors, with the coarse trace used for quick position determination and the fine trace used for high resolution

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DE102004011125A1 (en) * 2004-03-08 2005-09-29 Valeo Schalter Und Sensoren Gmbh Steering angle sensor
DE102004010948A1 (en) * 2004-03-03 2005-10-13 Carl Freudenberg Kg Angle measuring device
DE102004049125A1 (en) * 2004-10-07 2006-05-11 Sew-Eurodrive Gmbh & Co. Kg Fan wheel for propelling air flow in electric motor has fan blade and at its outer circumference a guide ring whereby spur of alternate magnetized material is provided at periphery of fan wheel
DE102005025417A1 (en) * 2005-06-02 2006-12-07 Siemens Ag Position transmitter, for detecting positions of rotating machine elements, has magnetic segments rotating with a machine element and fixed Hall sensors
DE102005031806A1 (en) * 2005-07-07 2007-01-11 Zf Lenksysteme Gmbh Rotation angle sensor
DE102005054251A1 (en) * 2005-11-11 2007-05-24 Sew-Eurodrive Gmbh & Co. Kg Electric motor
DE102006045827A1 (en) * 2006-09-22 2008-04-10 Dichtungstechnik G. Bruss Gmbh & Co. Kg Axially displaceable component, in particular in a motor vehicle engine or transmission
DE102007011675A1 (en) * 2006-12-22 2008-06-26 Zf Lenksysteme Gmbh Steering angle and torque sensor in a power steering system of a motor vehicle
WO2008077865A1 (en) * 2006-12-22 2008-07-03 Zf Lenksysteme Gmbh Rotor position sensor of an electrical power steering system for a motor vehicle
US7406884B2 (en) 2004-01-20 2008-08-05 Valeo Schalter Und Sensoren Gmbh Device for determining a steering angle and a torque that is exerted on a steering shaft
DE102008001247A1 (en) 2008-04-18 2009-10-22 Zf Lenksysteme Gmbh Superimposed steering system for vehicle, has overriding drive for connecting steering angle given by driver on drive input element of overriding drive with angle given by servomotor on another drive input element
DE102009023691A1 (en) * 2009-06-03 2010-12-23 Sew-Eurodrive Gmbh & Co. Kg Device for determining angular position of e.g. rotor shaft, connected to fan of electric motor, has magnetizing device alternatively arranged on each track, so that south polar region follows north polar region
DE102010040584A1 (en) 2010-09-10 2012-03-15 Zf Lenksysteme Gmbh Method for perturbation field compensation by using signal processing unit to determine e.g. rotation speed of rotor shaft of electromotor in power steering of motor car, involves impinging sensor raw signals with compensation signals
WO2012038169A1 (en) * 2010-09-21 2012-03-29 Schaeffler Technologies AG & Co. KG Sensor system and method for incrementally measuring speed
DE102011087341A1 (en) 2011-11-29 2013-05-29 Continental Automotive Gmbh Method for monitoring the condition of a bearing guiding an electric motor on a shaft
WO2013152925A1 (en) * 2012-04-11 2013-10-17 Schaeffler Technologies AG & Co. KG Determination of the position of a hydrostatic actuator
WO2014019882A1 (en) 2012-08-02 2014-02-06 Continental Automotive Gmbh Method for detecting a fault in a motor arrangement with an electrical machine and motor control unit
DE102013211797A1 (en) 2013-06-21 2014-12-24 Schaeffler Technologies Gmbh & Co. Kg Pole wheel with improved field angle change
DE102013221943A1 (en) 2013-10-29 2015-04-30 Schaeffler Technologies Gmbh & Co. Kg Sensor system for speed measurement with a pole wheel with linearized magnetic field
DE102014008694A1 (en) * 2014-06-12 2015-12-17 Daimler Ag Camshaft sensor wheel for an internal combustion engine
CN108599635A (en) * 2018-04-16 2018-09-28 东南大学 A kind of brshless DC motor angle measurement speed measuring device and method
DE102018129487A1 (en) * 2018-11-22 2020-05-28 Thyssenkrupp Ag Angle sensor with multi-pole magnet for motor vehicle steering

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Cited By (36)

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US7406884B2 (en) 2004-01-20 2008-08-05 Valeo Schalter Und Sensoren Gmbh Device for determining a steering angle and a torque that is exerted on a steering shaft
DE102004004024A1 (en) * 2004-01-20 2004-11-18 Valeo Schalter Und Sensoren Gmbh Vehicle steering angle sensor has two independent rotor code sections and two sampling units for independent sampling of each code section
DE102004010948A1 (en) * 2004-03-03 2005-10-13 Carl Freudenberg Kg Angle measuring device
DE102004010948B4 (en) * 2004-03-03 2008-01-10 Carl Freudenberg Kg Angle measuring device
DE102004011125A1 (en) * 2004-03-08 2005-09-29 Valeo Schalter Und Sensoren Gmbh Steering angle sensor
DE102004049125A1 (en) * 2004-10-07 2006-05-11 Sew-Eurodrive Gmbh & Co. Kg Fan wheel for propelling air flow in electric motor has fan blade and at its outer circumference a guide ring whereby spur of alternate magnetized material is provided at periphery of fan wheel
DE102005025417A1 (en) * 2005-06-02 2006-12-07 Siemens Ag Position transmitter, for detecting positions of rotating machine elements, has magnetic segments rotating with a machine element and fixed Hall sensors
DE102005025417B4 (en) * 2005-06-02 2019-06-13 Continental Automotive Gmbh position encoder
DE102005031806A1 (en) * 2005-07-07 2007-01-11 Zf Lenksysteme Gmbh Rotation angle sensor
WO2007006742A1 (en) * 2005-07-07 2007-01-18 Zf Lenksysteme Gmbh Angle of rotation sensor
DE102005054251A1 (en) * 2005-11-11 2007-05-24 Sew-Eurodrive Gmbh & Co. Kg Electric motor
DE102005054251B4 (en) * 2005-11-11 2015-01-15 Sew-Eurodrive Gmbh & Co Kg Electric motor
DE102006045827A1 (en) * 2006-09-22 2008-04-10 Dichtungstechnik G. Bruss Gmbh & Co. Kg Axially displaceable component, in particular in a motor vehicle engine or transmission
WO2008077865A1 (en) * 2006-12-22 2008-07-03 Zf Lenksysteme Gmbh Rotor position sensor of an electrical power steering system for a motor vehicle
DE102007011675A1 (en) * 2006-12-22 2008-06-26 Zf Lenksysteme Gmbh Steering angle and torque sensor in a power steering system of a motor vehicle
WO2008077861A1 (en) * 2006-12-22 2008-07-03 Zf Lenksysteme Gmbh Steering angle and torque sensor in a power steering system of a motor vehicle
DE102008001247A1 (en) 2008-04-18 2009-10-22 Zf Lenksysteme Gmbh Superimposed steering system for vehicle, has overriding drive for connecting steering angle given by driver on drive input element of overriding drive with angle given by servomotor on another drive input element
DE102009023691A1 (en) * 2009-06-03 2010-12-23 Sew-Eurodrive Gmbh & Co. Kg Device for determining angular position of e.g. rotor shaft, connected to fan of electric motor, has magnetizing device alternatively arranged on each track, so that south polar region follows north polar region
DE102010040584A1 (en) 2010-09-10 2012-03-15 Zf Lenksysteme Gmbh Method for perturbation field compensation by using signal processing unit to determine e.g. rotation speed of rotor shaft of electromotor in power steering of motor car, involves impinging sensor raw signals with compensation signals
WO2012038169A1 (en) * 2010-09-21 2012-03-29 Schaeffler Technologies AG & Co. KG Sensor system and method for incrementally measuring speed
WO2013079492A2 (en) 2011-11-29 2013-06-06 Continental Automotive Gmbh Method for monitoring the state of a bearing guiding an electric motor on a shaft
DE102011087341A1 (en) 2011-11-29 2013-05-29 Continental Automotive Gmbh Method for monitoring the condition of a bearing guiding an electric motor on a shaft
WO2013152925A1 (en) * 2012-04-11 2013-10-17 Schaeffler Technologies AG & Co. KG Determination of the position of a hydrostatic actuator
CN104204592A (en) * 2012-04-11 2014-12-10 舍弗勒技术有限两合公司 Determination of the position of a hydrostatic actuator
US10027263B2 (en) 2012-08-02 2018-07-17 Continental Automotive Gmbh Method for detecting a fault in a motor arrangement with an electrical machine and motor control unit
WO2014019882A1 (en) 2012-08-02 2014-02-06 Continental Automotive Gmbh Method for detecting a fault in a motor arrangement with an electrical machine and motor control unit
DE102012213709A1 (en) 2012-08-02 2014-02-06 Continental Automotive Gmbh A method for detecting a fault of a motor assembly with an electric machine and engine control unit
WO2014202065A1 (en) 2013-06-21 2014-12-24 Schaeffler Technologies Gmbh & Co. Kg Magnetic rotor with improved field angle adjustment
DE102013211797A1 (en) 2013-06-21 2014-12-24 Schaeffler Technologies Gmbh & Co. Kg Pole wheel with improved field angle change
DE102013221943A1 (en) 2013-10-29 2015-04-30 Schaeffler Technologies Gmbh & Co. Kg Sensor system for speed measurement with a pole wheel with linearized magnetic field
WO2015062592A1 (en) 2013-10-29 2015-05-07 Schaeffler Technologies AG & Co. KG Sensor system for rotational speed measurement having a pole wheel with a linearized magnetic field
US10078094B2 (en) 2013-10-29 2018-09-18 Schaeffler Technologies AG & Co. KG Sensor system for rotational speed measurement having a pole wheel with a linearized magnetic field
DE102014008694A1 (en) * 2014-06-12 2015-12-17 Daimler Ag Camshaft sensor wheel for an internal combustion engine
CN108599635A (en) * 2018-04-16 2018-09-28 东南大学 A kind of brshless DC motor angle measurement speed measuring device and method
WO2019200659A1 (en) * 2018-04-16 2019-10-24 东南大学 Brushless dc motor angle measurement and speed measurement apparatus and method
DE102018129487A1 (en) * 2018-11-22 2020-05-28 Thyssenkrupp Ag Angle sensor with multi-pole magnet for motor vehicle steering

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