EP0432101B1 - Dispositif de mesure à plusieurs capteurs en multiplex - Google Patents

Dispositif de mesure à plusieurs capteurs en multiplex Download PDF

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Publication number
EP0432101B1
EP0432101B1 EP90810943A EP90810943A EP0432101B1 EP 0432101 B1 EP0432101 B1 EP 0432101B1 EP 90810943 A EP90810943 A EP 90810943A EP 90810943 A EP90810943 A EP 90810943A EP 0432101 B1 EP0432101 B1 EP 0432101B1
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EP
European Patent Office
Prior art keywords
sensors
sensor
disposed
voltage
supply
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.)
Expired - Lifetime
Application number
EP90810943A
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German (de)
English (en)
French (fr)
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EP0432101A1 (fr
Inventor
Daniel Hobmaier
José Barros
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Baumer Electric AG
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Baumer Electric AG
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Publication of EP0432101A1 publication Critical patent/EP0432101A1/fr
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C15/00—Arrangements characterised by the use of multiplexing for the transmission of a plurality of signals over a common path
    • G08C15/06—Arrangements characterised by the use of multiplexing for the transmission of a plurality of signals over a common path successively, i.e. using time division
    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C19/00—Electric signal transmission systems
    • G08C19/38—Electric signal transmission systems using dynamo-electric devices

Definitions

  • the present invention relates to a device for measuring the angular position of a shaft, comprising two or more position sensors with a rotary member, these sensors being arranged to be supplied by a symmetrical or pulse periodic voltage and for supplying, on conductors of output, signals depending on the angular position of their respective rotary members, the device further comprising a multiplexing assembly connected to said sensors and connected by output conductors to a signal processing device.
  • the present invention aims to reduce the number of connecting conductors required between the assembly comprising the various sensors and the multiplexing device, and the power supply, control and signal processing circuits which are generally located at a certain distance. sensors.
  • This problem is indeed crucial in applications in which two or more sensors are used per shaft and, consequently, cumbersome, annoying and costly cabling is necessary according to the usual technique.
  • this involves measuring the rotation of several shafts of the same device and the wiring is thus multiplied accordingly.
  • the solution of connecting different sensors by means of gears with a high reduction ratio so as to reduce the number of sensors necessary to cover a given working range, requires very precise sensors and gears and therefore leads to relatively high cost prices .
  • the invention also aims to make it possible to reduce the cost price of the entire device, while making it possible to cover a wide field of work of the device, that is to say to allow the measurement of a large number of revolutions of a tree.
  • the measuring device is characterized in that it comprises a device for supplying and controlling the multiplexing arranged to superimpose on the supply voltage to supply the sensors a DC offset voltage selected from at least as many offset voltages, values and / or different polarities as the device includes sensors beyond the first, each of these offset voltages corresponding to a certain sensor or part of a certain sensor, and that the multiplexing assembly includes discrimination means for determining the value and / or polarity of the applied offset voltage, as well as means for addressing the corresponding sensor or sensor part, so that the output signals of this sensor or this part of sensor are transmitted to the signal processing device.
  • the invention thus makes it possible to produce installations having a minimum of connection cables, the same number of wires as for a single sensor being sufficient for the connection with the power supply, control and signal processing parts of the measuring device. .
  • a first sensor of the device is a sensor of a precision substantially greater than that of the other sensors of the device, and is arranged to be coupled directly with the shaft whose rotation is to be measured, the other sensor (s) being successively coupled with the rotary member of the first sensor by means of mechanical coupling devices having a determined transmission ratio.
  • the first sensor can in particular be constituted by a resolver, the other sensors being able to be of the inductive type with passive rotary member arranged to provide output signals of the same format as the resolver.
  • the mechanical coupling devices between the various sensors are preferably constituted by gears.
  • the number of connecting conductors becomes independent of the number of sensors, it is possible, for example, to increase this number so as to allow the use of lower reduction ratios or, more generally, of lower numbers of teeth and therefore much less expensive gears.
  • the first sensor directly coupled to the input shaft whose angular position is to be measured generally requires the precision desired for the indication of the angular position on a revolution of the shaft, the other sensors used to indicate the number of complete revolutions of the tree between a starting position and a final position and therefore only needs sufficient precision to determine this number of revolutions. This requirement for precision decreases with the reduction ratio used.
  • sensors of very economical structure can be constructed, for example according to the principle of varying the coupling between a primary winding and secondary windings in phase quadrature, using a passive mobile member, these sensors being capable of provide output signals of the same format as that of inductive sensors of the resolver type which are significantly more expensive.
  • the present device allows, by the use of this type of sensors as sensors according to the first, to significantly reduce the cost price of the entire device.
  • the multiplexing assembly preferably comprises discrimination means arranged to determine the value and / or the polarity of the offset voltage at an instant in the supply cycle lying in the interval between two successive pulses.
  • an input shaft 1 the absolute angular position of which is to be measured, that is to say the position from a starting position, including the number of complete revolutions made between this starting position and the position to be measured is mechanically coupled with a first position sensor C1 which in this case consists of a resolver.
  • This sensor C1 is supplied by two conductors designated as a whole by MC1 and provides output signals on four conductors designated as a whole by SC1.
  • Fig. 1 shows, moreover, by way of nonlimiting example, three other sensors C2, C3 and C4 which could also be resolvers, but which are preferably constituted by inductive sensors with a passive mobile member supplying signals output in the same format as a resolver and can therefore be processed by the same converter device.
  • the rotary members of the sensors C1 to C4 are mounted on respective axes 2, 3, 4, 5 and are coupled, by means of gears, for example reduction gears such as 6, 7 between C1 and C2, 8, 9 between C2 and C3, and 10, 11 between C3 and C4.
  • the reduction ratio can be 16: 1, for example, which allows these gears to be produced very economically compared to gears having, for example, ratios of 100: 1 as usually used in a such a measuring device.
  • the supply conductors of the sensors C2 to C4 and the conductors connecting the output terminals of these sensors to a multiplexing assembly 12, are designated, respectively, by MC2, MC3, MC4 and SC2, SC3, SC4, similarly to those of sensor C1.
  • the multiplexing assembly 12 is installed near the sensors, for example on a machine such as an industrial robot, and it is connected to a signal processing device represented schematically by the blocks 13, 14, as well as to a multiplexing supply and control device represented by blocks 15, 16, 17. As shown in FIG. 1, this connection is made, on the one hand, by four conductors S1, S2, S3, S4 and, on the other hand, by two conductors M1, M2, therefore by six conductors in total.
  • the signals appearing on the conductors S1 to S4 are first processed in the block 13, essentially constituted, in the illustrated case, by an analog-digital R / D converters, to transform the analog signals of resolver format into digital signals, these signals then being processed in an operating device 14 in order to determine the angular position of the input shaft and / or the speed of rotation of this shaft.
  • a supply current source for the sensors and the assembly 12 is indicated by block 15. It supplies, via two conductors R1, R2, a sinusoidal and pulse voltage to a coding circuit 16 connected by the conductors M1, M2 to assembly 12.
  • the selection of the sensors C1 to C4 for the transmission of the corresponding output signals, in multiplex, to the device 13, is carried out under the control of addressing signals supplied on conductors A1, A2, A4, A4, as indicated schematically FIG. 1, by a control device 17 also connected to the operating device 14.
  • Fig. 2 shows the diagram of the circuit 16 according to an exemplary embodiment making it possible to superimpose on the supply voltage applied between R1 and R2, different offset voltages defined, respectively, by the level of DC voltages selectively applied to the conductors A1 to A4.
  • the superimposed DC voltages determined, for example, by the choice of resistors r1 to r6 in FIG. 2 preferably have a value substantially smaller than the supply voltage, but must, of course, be sufficient to allow easy discrimination. It should also be noted that the potentials of M1 and M2 are floating.
  • Fig. 3 is a simplified diagram of a multiplexing assembly 12 used in the device of FIG. 1.
  • the voltage applied via conductors M1 and M2 is, on the one hand, rectified and filtered by circuits 18 to 21, in order to obtain a DC supply voltage Vcc, in particular for supplying analog multiplexers represented by a block 22.
  • the voltage on M1, M2 is, moreover, supplied to the various sensors via the conductors MC1 to MC4, a filtering being provided for eliminating the DC component by means of a high-pass filter 23 which, in the present example , can be mounted downstream of the power supply of the first sensor C1.
  • the voltage on M1, M2 is filtered by a low-pass filter 24 to apply the continuous offset voltage to a level discriminator 25 shown diagrammatically in FIG. 3.
  • This discriminator supplies to addressing inputs A1 ′, A2 ′, A3 ′, A4 ′ a corresponding addressing signal which causes the output signals of the respective sensor to appear on the transmission conductors S1 to S4.
  • the detection of the DC offset voltage is preferably carried out in the interval between two consecutive pulses.
  • the multiplexing according to the invention practically does not complicate the overall structure of the measurement device, since it allows the use of a single analog-digital converter or other device signal processing.
  • the use of a minimum of connection conductors and, in particular in the case described by way of example, the possibility of using simple and more economical sensors and gears with relatively low number of teeth, provides decisive technical and economic advantages.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
  • Transmission And Conversion Of Sensor Element Output (AREA)
  • Arrangements For Transmission Of Measured Signals (AREA)
  • Testing Or Calibration Of Command Recording Devices (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)
EP90810943A 1989-12-06 1990-12-04 Dispositif de mesure à plusieurs capteurs en multiplex Expired - Lifetime EP0432101B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CH4381/89 1989-12-06
CH4381/89A CH681655A5 (enrdf_load_stackoverflow) 1989-12-06 1989-12-06

Publications (2)

Publication Number Publication Date
EP0432101A1 EP0432101A1 (fr) 1991-06-12
EP0432101B1 true EP0432101B1 (fr) 1995-03-08

Family

ID=4275054

Family Applications (1)

Application Number Title Priority Date Filing Date
EP90810943A Expired - Lifetime EP0432101B1 (fr) 1989-12-06 1990-12-04 Dispositif de mesure à plusieurs capteurs en multiplex

Country Status (7)

Country Link
US (1) US5211063A (enrdf_load_stackoverflow)
EP (1) EP0432101B1 (enrdf_load_stackoverflow)
JP (1) JPH03225217A (enrdf_load_stackoverflow)
CH (1) CH681655A5 (enrdf_load_stackoverflow)
CS (1) CS603790A3 (enrdf_load_stackoverflow)
DE (1) DE69017607T2 (enrdf_load_stackoverflow)
PL (1) PL288080A1 (enrdf_load_stackoverflow)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10035192B2 (en) 2009-01-15 2018-07-31 Clene Nanomedicine, Inc. Continuous, semicontinuous and batch methods for treating liquids and manufacturing certain constituents (e.g.,nanoparticles) in liquids, apparatuses and nanoparticles and nanoparticle/liquid solution(s) and colloids resulting therefrom

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DE59301713D1 (de) * 1992-02-05 1996-04-04 Asm Automation Sensorik Messte Drehwinkelsensor zur absoluten drehwinkelmessung über mehrere umdrehungen
DE4429998C2 (de) * 1994-08-25 2002-07-11 Kostal Leopold Gmbh & Co Kg Anordnung zur Positionssteuerung von Elektromotoren
DE19507180A1 (de) * 1995-03-02 1996-09-05 Bosch Gmbh Robert Weggeber zur Erfassung des Verstellweges eines Stellglieds
ES2125804B1 (es) * 1996-08-21 1999-11-16 Inelcom Ingenieria Electronica Dispositivo telecomandado de conexion de un equipo de medida de señales electricas con diferentes puntos distribuidos.
US6020830A (en) * 1997-10-14 2000-02-01 The United States Of America As Represented By The Secretary Of The Navy Telemetry system using broadband correlation techniques
US6697763B1 (en) 1999-12-07 2004-02-24 Pei Electronics, Inc. Measurement module and system for monitoring the status of armored vehicle electronic components
DE10345059B4 (de) * 2003-09-26 2015-03-19 Dspace Digital Signal Processing And Control Engineering Gmbh Schaltungsanordnung zum Verbinden von Signalanschlüssen
PT2178796T (pt) 2007-07-11 2021-03-29 Clene Nanomedicine Inc Método contínuo para tratamento de líquidos e fabrico de certos constituintes
US9387452B2 (en) 2009-01-14 2016-07-12 Gr Intellectual Reserve, Llc. Continuous methods for treating liquids and manufacturing certain constituents (e.g., nanoparticles) in liquids, apparatuses and nanoparticles and nanoparticle/liquid solution(s) resulting therefrom
US8540942B2 (en) 2009-01-14 2013-09-24 David Kyle Pierce Continuous methods for treating liquids and manufacturing certain constituents (e.g., nanoparticles) in liquids, apparatuses and nanoparticles and nanoparticle/liquid solution(s) therefrom
UA110743C2 (uk) * 2012-01-27 2016-02-10 Оутотек (Фінленд) Ой Спосіб роботи паливного реактора
US9464918B2 (en) * 2014-05-30 2016-10-11 Goodrich Corporation Sensor wire count reduction system

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10035192B2 (en) 2009-01-15 2018-07-31 Clene Nanomedicine, Inc. Continuous, semicontinuous and batch methods for treating liquids and manufacturing certain constituents (e.g.,nanoparticles) in liquids, apparatuses and nanoparticles and nanoparticle/liquid solution(s) and colloids resulting therefrom
US11007573B2 (en) 2009-01-15 2021-05-18 David Kyle Pierce Continuous, semicontinuous and batch methods for treating liquids and manufacturing certain constituents (e.g., nanoparticles) in liquids, apparatuses and nanoparticles and nanoparticle/liquid solution(s) and colloids resulting therefrom

Also Published As

Publication number Publication date
CS603790A3 (en) 1992-08-12
DE69017607D1 (de) 1995-04-13
DE69017607T2 (de) 1995-12-07
EP0432101A1 (fr) 1991-06-12
JPH03225217A (ja) 1991-10-04
US5211063A (en) 1993-05-18
PL288080A1 (en) 1991-12-02
CH681655A5 (enrdf_load_stackoverflow) 1993-04-30

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