EP0990120A1 - Capteur angulaire et procede de determination d'un angle - Google Patents

Capteur angulaire et procede de determination d'un angle

Info

Publication number
EP0990120A1
EP0990120A1 EP99913116A EP99913116A EP0990120A1 EP 0990120 A1 EP0990120 A1 EP 0990120A1 EP 99913116 A EP99913116 A EP 99913116A EP 99913116 A EP99913116 A EP 99913116A EP 0990120 A1 EP0990120 A1 EP 0990120A1
Authority
EP
European Patent Office
Prior art keywords
angle
hall
determined
hall elements
magnet
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Withdrawn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
EP99913116A
Other languages
German (de)
English (en)
Inventor
Klaus Marx
Franz Jost
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.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
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 Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of EP0990120A1 publication Critical patent/EP0990120A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING 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
    • G01D5/00—Mechanical 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
    • G01D5/12—Mechanical 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
    • G01D5/14—Mechanical 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
    • G01D5/142—Mechanical 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
    • G01D5/145—Mechanical 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
    • G01B7/30—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring angles or tapers; for testing the alignment of axes

Definitions

  • the present invention relates to an angle encoder according to the preamble of claim 1 and a method for determining the angle.
  • Use state changes for example to determine the angle of a rotatably mounted component.
  • it is widespread to use grinding or shift potentiometers.
  • the relationship between the length of a wire or film resistor and its resistance value is used in a grinding potentiometer.
  • a disadvantage here is the wear caused by the sliding contact and the associated maintenance effort.
  • it is therefore desirable to use non-contact angle encoders.
  • magnetic sensors in particular Hall sensors, anisotropic magnetoresistive sensors (AMR) or so-called giant magnetoresistive sensors (GMR) are preferably used due to the stressful environmental conditions. Solutions with AMR sensors for angle measurements up to 180 ° are known.
  • a contactless magnetoresistive sensor which works with two AMR sensor elements rotated by 45 ° relative to one another.
  • the profile of the output signal of the sensor is determined over a predeterminable angular range at at least two different temperatures of the sensor, after which the output signal profiles are related to each other, to determine a reference angle at which the output signals result from a small Temperature dependency differ only slightly from one another and a reference angle found in this way with subsequent ones 4 -
  • Measurements is selected as the zero point. This relatively complex method illustrates the efforts that are usually necessary to adjust tolerances or temperature changes in such sensors.
  • the object of the present invention is to provide an angle transmitter which is insensitive to axis offsets or tolerances and at the same time enables angles up to 360 ° to be measured, and a corresponding method for determining the angle.
  • angle encoder With the angle encoder according to the invention, it is possible to compensate for axis offsets or component tolerances in a simple manner, it being possible to measure angles of up to 360 °. Manufacturing or temperature-related effects, such as tolerances and play, can be easily compensated for.
  • the magnet of the angle transmitter is cylindrical, the flux guide pieces surrounding the magnet being essentially quarter-circular. Since the Flußleitmaschine, and thus the Hall elements arranged between them are rotatable with respect to the magnet, this ensures that the distances between the individual Flußleitmaschine or Hall elements and the magnet do not change during a rotation. This enables a particularly simple evaluation of the measurement signals.
  • the Hall elements are expediently arranged offset from one another by 90 °. In this way, corresponding sine or cosine signals are obtained on opposite Hall elements, which can be evaluated in a simple manner to obtain a tolerance and temperature-independent angle value.
  • the magnet expediently has a diametrical magnetization.
  • the magnetic field induced in opposite Hall elements is essentially the same size.
  • a method for determining the angle of an angle between a sensor arrangement and a magnetic field using an angle sensor according to the invention is proposed.
  • deviations in the signals picked up by the Hall elements and in the pure sine or cosine shape, which result as a result of tolerances or play in the angle encoder can be compensated in a simple manner. Errors that occur can be almost completely corrected by the proposed method.
  • a sum signal is formed from at least two Hall voltages proportional to the sine of the angle to be determined and from at least two Hall voltages proportional to the cosine of the angle to be determined, and the sum signals obtained in this way are a sine-cosine.
  • the angle encoder for at least two pairs of Hall elements, one of which has a Hall voltage proportional to the sine of the angle to be determined and the other has a Hall voltage proportional to the cosine of the angle to be determined, the one to be determined Calculated angle by means of a sine-cosine evaluation circuit.
  • the mean value is expediently formed from the at least two values determined for the angle to be determined. This in turn allows the angle to be determined to be determined very precisely.
  • the arithmetical determination of the angle to be determined is expediently carried out from the signals proportional to the sine or cosine of the angle by determining the associated arc tangent.
  • Such a calculation using the arctangent is suitable both for a computational determination of the angle to be determined from the sum signals mentioned and for a computational determination of a sine and cosine value.
  • FIG. 1 shows a schematic top view of an angle encoder according to the invention
  • FIG. 2 shows a schematic perspective view of the angle transmitter of FIG. 1, the Hall elements not being shown for the sake of clarity,
  • FIG. 3 shows the field distribution in the horizontal magnetization direction of the magnet of the angle encoder according to the invention
  • FIG. 4 shows the field distribution when the magnet rotates 60 ° relative to the horizontal
  • FIG. 5 shows the course of the magnetic field (azimuthal component) at the locations of the Hall elements as a function of a rotation of the magnet relative to the Hall elements
  • FIG. 7 shows the angle errors that occur when the second preferred method according to the invention is used as a function of the angle of rotation, with an axis offset of 0.2 mm.
  • FIGS. 1 and 2 The construction of the angle encoder according to the invention is first described with reference to FIGS. 1 and 2.
  • a cylindrical magnet 2 On a rotatably mounted axis 1, a cylindrical magnet 2 is provided which is firmly connected to this axis and has a diametrical magnetization (see also FIGS. 3, 4).
  • four fixed, quarter-circle flux guide pieces 3 made of ferromagnetic material are arranged around the magnet.
  • the field distribution at the locations of the Hall sensors for different directions of rotation of the magnet 2 with respect to the flux guide pieces 3 is shown in FIGS. 3 and 4.
  • FIG. 3 and 4 The field distribution at the locations of the Hall sensors for different directions of rotation of the magnet 2 with respect to the flux guide pieces 3 is shown in FIGS. 3 and 4.
  • FIG. 3 and 4 The field distribution at the locations of the Hall sensors for different
  • the Hall elements 4, 5, 6, 7 are not shown.
  • the Hall signal voltages induced in the Hall elements 4, 6 are proportional to the sine of the azimuthal field strength generated by the magnet 2, while in this case the Hall signals induced in the Hall elements 5 and 7 Signal voltages are proportional to the cosine of this field strength, and thus to the angle of rotation of axis 1.
  • the azimuthal field components inducing the respective Hall signal voltages in the Hall sensors in the slots between the flux guide pieces 3 are plotted in FIG. 5 against the respective angle of rotation of the axis 1.
  • the Hall voltages induced in opposite Hall elements are first added using an adder (not shown). Because the magnetic field in the places 10
  • the angle error when using this method is shown in FIG. 6 as a function of the angle of rotation.
  • the angular error shown in FIG. 6 increases, for example, when the axis of rotation is offset by 0.2 mm from a maximum of 0.02 ° to 0.1 °. These values represent a major improvement compared to conventional angle encoders.
  • the angle error when using this method is reduced by a factor of 20 compared to an individual evaluation. - 11
  • a mean value could be calculated from four measured angle values.
  • the individual angles measured in the example shown in FIG. 7 can also be used for redundant monitoring, so that a sensor failure can be detected in a reliable manner.
  • the arrangement with four Hall elements is therefore particularly suitable for applications in which redundancy is necessary for safety reasons.
  • Advantageous applications of the present invention are, for example, in the automotive field where precise 360 ° angle measurements are necessary (for example camshaft, crankshaft) or where redundancy is required for safety reasons (for example pedal value transmitter, brake, Egas).

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Transmission And Conversion Of Sensor Element Output (AREA)
  • Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)

Abstract

Capteur angulaire pour la détermination d'un angle entre un dispositif à détecteur (4, 5, 6, 7) et un champ magnétique, comprenant un aimant (2) produisant un champ magnétique, une pluralité d'éléments Hall (4, 5, 6, 7) agencés dans le champ magnétique, et des pièces de concentration du flux (3) en un matériau ferromagnétique, disposés entre les éléments Hall et connectées solidaires en rotation avec ceux-ci, l'aimant (2) étant réalisé mobile en rotation par rapport aux éléments Hall et aux pièces de concentration du flux, caractérisé en ce qu'il est prévu au moins quatre éléments Hall (4, 5, 6, 7).
EP99913116A 1998-04-18 1999-03-11 Capteur angulaire et procede de determination d'un angle Withdrawn EP0990120A1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE19817356A DE19817356A1 (de) 1998-04-18 1998-04-18 Winkelgeber und Verfahren zur Winkelbestimmung
DE19817356 1998-04-18
PCT/DE1999/000663 WO1999054684A1 (fr) 1998-04-18 1999-03-11 Capteur angulaire et procede de determination d'un angle

Publications (1)

Publication Number Publication Date
EP0990120A1 true EP0990120A1 (fr) 2000-04-05

Family

ID=7865042

Family Applications (1)

Application Number Title Priority Date Filing Date
EP99913116A Withdrawn EP0990120A1 (fr) 1998-04-18 1999-03-11 Capteur angulaire et procede de determination d'un angle

Country Status (6)

Country Link
US (1) US6479987B1 (fr)
EP (1) EP0990120A1 (fr)
JP (1) JP2002506530A (fr)
AU (1) AU751979B2 (fr)
DE (1) DE19817356A1 (fr)
WO (1) WO1999054684A1 (fr)

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Also Published As

Publication number Publication date
WO1999054684A1 (fr) 1999-10-28
US6479987B1 (en) 2002-11-12
DE19817356A1 (de) 1999-10-21
JP2002506530A (ja) 2002-02-26
AU751979B2 (en) 2002-09-05
AU3137599A (en) 1999-11-08

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