EP1275007A1 - Dispositif pour identifier la position et/ou la vitesse de rotation et/ou le sens de rotation d'une piece rotative - Google Patents

Dispositif pour identifier la position et/ou la vitesse de rotation et/ou le sens de rotation d'une piece rotative

Info

Publication number
EP1275007A1
EP1275007A1 EP01929312A EP01929312A EP1275007A1 EP 1275007 A1 EP1275007 A1 EP 1275007A1 EP 01929312 A EP01929312 A EP 01929312A EP 01929312 A EP01929312 A EP 01929312A EP 1275007 A1 EP1275007 A1 EP 1275007A1
Authority
EP
European Patent Office
Prior art keywords
segment
rotating part
length
type
rotational speed
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Withdrawn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
EP01929312A
Other languages
German (de)
English (en)
Inventor
Joachim Schenk
Mario Peters
Steffen Hofmann
Lambros Dalakuras
Volker Breunig
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 EP1275007A1 publication Critical patent/EP1275007A1/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Withdrawn legal-status Critical Current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
    • G01D5/244—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 characteristics of pulses or pulse trains; generating pulses or pulse trains
    • G01D5/24471—Error correction
    • G01D5/24476—Signal processing
    • 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
    • G01D5/244—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 characteristics of pulses or pulse trains; generating pulses or pulse trains
    • G01D5/249—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 characteristics of pulses or pulse trains; generating pulses or pulse trains using pulse code
    • G01D5/2492—Pulse stream
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P13/00—Indicating or recording presence, absence, or direction, of movement
    • G01P13/02—Indicating direction only, e.g. by weather vane
    • G01P13/04—Indicating positive or negative direction of a linear movement or clockwise or anti-clockwise direction of a rotational movement
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
    • G01P3/42—Devices characterised by the use of electric or magnetic means
    • G01P3/44—Devices characterised by the use of electric or magnetic means for measuring angular speed
    • G01P3/48—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage
    • G01P3/481—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage of pulse signals
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
    • G01P3/42—Devices characterised by the use of electric or magnetic means
    • G01P3/44—Devices characterised by the use of electric or magnetic means for measuring angular speed
    • G01P3/48—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage
    • G01P3/481—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage of pulse signals
    • G01P3/487—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage of pulse signals delivered by rotating magnets
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
    • G01P3/42—Devices characterised by the use of electric or magnetic means
    • G01P3/44—Devices characterised by the use of electric or magnetic means for measuring angular speed
    • G01P3/48—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage
    • G01P3/481—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage of pulse signals
    • G01P3/489—Digital circuits therefor

Definitions

  • the invention is based on a device for position and / or speed detection of a rotating part.
  • a generic device is already known in which two magnetic field sensors are arranged offset by a certain angle depending on the number of magnetic poles.
  • the magnetic rotating part has four equally large magnetic poles in an alternating north-south distribution. Since there is no absolute self-locking with an adjustment drive, the motor shaft can be rotated via its drive. If the respective magnetic poles are of the same length with respect to their circumferential length, use with only one Hall sensor for determining the direction of rotation on the basis of a Hall sensor signal is not possible. The unique position information is lost.
  • the object of the invention is to obtain further information, in particular with regard to the position and direction of rotation of the rotating part, with only one sensor with a simple structure of the arrangement.
  • the task is solved by the features of the independent claim.
  • the device according to the invention for position detection of a rotating part contains at least one rotating part which comprises at least four segments, at least two segments consisting of a first segment type and the at least two further segments consisting of a second segment type, the two segment types being distinguished by a sensor.
  • the segment types can preferably differ in their magnetic or optical properties or in terms of resistance, voltage level, polarity, etc.
  • the rotating part contains at least four magnetic or optical poles, which form at least two pole pairs, and are arranged alternately in the circumferential direction.
  • this rotational position of the turned part is directly recognizable when turning. Due to the different circumferential length of the respective (magnetically or optically coded) segments of the two segment types, the direction of rotation and the rotational position of the turned part can be determined with the aid of a sensor. The speed can be estimated over the segment duration and calculated over the period, which is based on the symmetrically arranged segment types. The direction of rotation results from the change in the duty cycle, which is based on the asymmetrical segments (segments of the same type of segment of different circumferential length or segments of different circumferential length). The rotational position can be determined directly from the duty cycle, which goes back to the asymmetrical segments.
  • This additional information can be obtained by exchanging the conventional rotary part symmetrically coded in accordance with the invention can be achieved in a particularly simple manner without having to change the complete mechanical construction, in particular of the motor.
  • This also saves any second sensor that may be present, which usually provides additional information for detecting the direction of rotation or for position detection.
  • moving to the final adjustment position or additional position detection, for example via a limit switch can be dispensed with.
  • the additional information of the asymmetrical pole lengths can be used to determine the rotational position with minimal inaccuracy when energized again.
  • FIG. 1 shows a first
  • FIG. 2 shows a second structure of the rotating part with the associated sensor arrangement
  • FIG. 3 shows typical signal profiles
  • FIGS. 4 to 9 flow diagrams for signal evaluation.
  • a rotating part 10 is designed as an asymmetrically polarized ring magnet.
  • the rotating part 10 has eight pole pairs, each of which is formed from a magnetic south pole (S1-S8) and an associated magnetic north pole (N1-N8). All subsequent polarity-related information can also be assigned to the other polarity.
  • a first magnetic south pole S1 and a first magnetic north pole N1 form the first pole pair.
  • the first magnet Tische Sudpol Sl has a circumferential length LSI
  • the first magnetic north pole Nl has a circumferential length LNl.
  • the total circumferential length L1 of the first pole pair results from the circumferential length LSI and LNl.
  • a second magnetic south pole S2 has a circumferential length LS2
  • a second magnetic north pole N2 has a circumferential length LN2.
  • the circumferential length L1 of the first pole pair is the same as the circumferential length L2 of the second pole pair.
  • the circumferential length LNx of the associated magnetic north poles Nx increases to the same extent. However, the circumferential length Lx of the pole pairs x is constant.
  • a magnetic field sensor 12 is provided, which detects the magnetic field of the rotating part 10 and emits a corresponding output signal to the signal processor 14.
  • an adjusting drive 16 which moves the rotating part 10 is controlled, the characteristic sizes of which are fed to the signal processing 14.
  • the round, rotating part 10 consists of three pole pairs.
  • the first magnetic south pole S1 is at an angle of 45 °
  • the first magnetic north pole N1 is at an angle of 75 °
  • the second magnetic south pole S2 is at an angle of 50 °
  • the second magnetic north pole N2 is at an angle of 70 °
  • the third magnetic south pole S3 limited by an angle of 55 ° and the third magnetic north pole N3 by an angle of 65 °.
  • the individual south or north poles are also referred to below as segments.
  • Figure 3 is the time course of the output signal of the magnetic field sensor 12 for the arrangement shown in FIG. 2, for left-hand rotation LL above, for right-hand rotation RL below.
  • the circumferential length LNx of the respective north pole Nx corresponds to the segment length of a segment of a first segment type
  • the circumferential length LSx of the respective south pole Sx corresponds to the segment length of a segment of a second segment type.
  • the length LSx, LNx of the magnetic south or north poles Sx, Nx is preferably selected so that the respective magnetic pole can be clearly assigned on the basis of this length.
  • the circumferential length Lx of a pole pair x is for everyone
  • the rotating part 10 is preferably a magnetic ring which is usually arranged on the motor shaft of the electromotive adjusting drive 16 or is connected to a part moved by the adjusting drive 16, so that the adjusting drive 16 moves the magnetic ring.
  • step 90 the polarity of the current magnetic pole is determined on the basis of the output signal of the magnetic field sensor 12, query 93. In the signal curve shown in FIG. field sensor 12 the value logic one, with a Sudpol the value logic zero.
  • a loss of position can be detected in the event of a deviation. In this case, corresponding information is stored in step 95.
  • step 101 The program sequence “motor status” is then processed, step 101, as detailed in FIG. 5.
  • the status of the adjustment drive 16 is queried, query 103. If the adjustment drive 16 is not activated, this suggests a passive motor adjustment or external adjustment, step 105.
  • the program sequence following step 105 is shown and will be described later in Figure 6.
  • the adjusting drive 16 has been specifically controlled, the direction of rotation is determined in step 107. The direction of rotation of the motor is known based on the targeted control If the adjusting drive 16 rotates to the right, the reciprocal of the time between the rising edges is used as the rotational speed, step 109. If the adjusting drive 16 rotates to the left, the reciprocal of the time between the falling edges is used as the rotational speed, step 111.
  • the criterion for this is a signal change of the magnetic field sensor 12. If an impulse (change) occurred, the activation counter and the edge counter are incremented, step 133.
  • the edge counter detects every further edge for the later position determination.
  • the activation payer recognizes the start of a movement of the adjusting drive 16. If, after a minimum pause to be defined, there is another edge change without a change of edges, the activation payer is incremented.
  • query 135 whether the edge type of the magnetic field sensor pulse occurring (rising, falling) deviates from the previous edge type. If the flank types do not match, the direction of rotation detection follows immediately, step 139. If the currently occurring flank type matches the last flank type (ie in non-regular operation), a loss of position is concluded, step 137. In this case, for example, the adjustment drive could 16 as a precaution at slower speeds.
  • Step 137 follows step 137.
  • step 139 The direction of rotation detection, step 139, is explained in more detail in FIG.
  • the speed as described below in FIG. 8, is determined, step 151.
  • FIG. 8 shows the program sequence with the detection of the exceeding of the minimum speed.
  • the absolute segment cycle time measured namely the time between two edge changes (for example the time period TS1 as shown in FIG. 3), step 155.
  • the measured time is determined by the polarity-correct (LS or LN) average segment length (in this example LS2 or LN2 ) divided by the geometry of the rotating part 10, step 157.
  • the mean segment length of the north poles Nx is that of the second norpol N2, since its length LN2 lies between the first length L1 of the first north pole Nl and the third long LN3 of the third north pole N3.
  • the length LS2 of the second south pole S2 is that of the second norpol N2, since its length LN2 lies between the first length L1 of the first north pole Nl and the third long LN3 of the third north pole N3. The same applies to the length LS2 of the second south pole S2.
  • the error in determining the rotational speed is minimized.
  • the type of the first flank change is used to determine the polarity-correct middle segment length LS2, LN2.
  • a north pole Nx is traversed on a first rising flank, so that that of the second north pole N2 is used as the middle segment length LN2. With a falling first edge, this suggests a Sudpol Sx to be traversed.
  • the associated polarity-correct average segment length is that of the second south pole S2, LS2.
  • the tolerance / error of the calculated rotational speed is a maximum of 12% in the arrangement according to FIG. 2, so that a sufficiently precise rotational speed can be determined.
  • an edge counter must also be used for safety reasons, for later checking / correction.
  • step 161 After the subroutine "rotation speed determination" shown in FIG. 8 has been processed, a jump is made in step 161 in FIG. 7.
  • the segment angle is measured in step 161.
  • the first motor angle position can be Known of the rotating part 10 known segment lengths and the speed, step 163. This is carried out for a second segment, steps 165, 167.
  • the direction of rotation can be determined by changing the angular position, step 169. This is followed by the position determination according to step 171 , which is shown in more detail in Figure 9.
  • the current position of the adjusting drive 16 results from the angular position plus the number of flanks paid, which the flank counter determined in step 133, step 173. Further detection of the direction of rotation is possible via the sequences of the same levels, the same flanks and / or flank-related period duration measurement / comparison.
  • any other coding of the movable part 10 is possible, for example optical coding with the corresponding sensors.
  • the movable part 10 has an asymmetrical arrangement of dark and light-coded sections.
  • the north poles Nx according to FIGS. 1 and 2 corresponded, for example, to dark sections, the south poles Sx to light sections or vice versa.
  • the optical sensor outputs binary information depending on whether a light or a dark segment has just been run through.
  • All sensor arrangements can be operated according to this principle, which can distinguish the sensors from having to go through two different segment types. In particular, the segment change must be reliably recognized.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Signal Processing (AREA)
  • Transmission And Conversion Of Sensor Element Output (AREA)
  • Indicating Or Recording The Presence, Absence, Or Direction Of Movement (AREA)

Abstract

L'invention concerne un dispositif permettant d'identifier la position et/ou la vitesse de rotation et/ou le sens de rotation d'une pièce rotative. Ce dispositif comprend au moins une partie rotative (10) comportant au moins quatre segments (Nx,Sx), dont au moins deux segments (Nx) sont d'un premier type de segment (N) et les au moins deux autres segments (Sx) sont d'un second type de segment (S). Les deux types de segments (N,S) peuvent être différenciés par un détecteur (12). Ce dispositif se caractérise en ce que la longueur (LN1,LS1) d'un premier segment (N1,S1) du premier type de segment (N,S) diffère sensiblement de la longueur (LN2,LS2) d'un second segment (N2,S2) du premier et/ou du second type de segment (N,S). L'asymétrie des segments permet de détecter un sens de rotation.
EP01929312A 2000-04-08 2001-04-05 Dispositif pour identifier la position et/ou la vitesse de rotation et/ou le sens de rotation d'une piece rotative Withdrawn EP1275007A1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE10017542 2000-04-08
DE2000117542 DE10017542A1 (de) 2000-04-08 2000-04-08 Vorrichtung zur Positions- und/oder Drehzahlerkennung eines rotierenden Teils
PCT/DE2001/001315 WO2001077693A1 (fr) 2000-04-08 2001-04-05 Dispositif pour identifier la position et/ou la vitesse de rotation et/ou le sens de rotation d'une piece rotative

Publications (1)

Publication Number Publication Date
EP1275007A1 true EP1275007A1 (fr) 2003-01-15

Family

ID=7638065

Family Applications (1)

Application Number Title Priority Date Filing Date
EP01929312A Withdrawn EP1275007A1 (fr) 2000-04-08 2001-04-05 Dispositif pour identifier la position et/ou la vitesse de rotation et/ou le sens de rotation d'une piece rotative

Country Status (3)

Country Link
EP (1) EP1275007A1 (fr)
DE (1) DE10017542A1 (fr)
WO (1) WO2001077693A1 (fr)

Cited By (1)

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Publication number Priority date Publication date Assignee Title
WO2019094334A1 (fr) 2017-11-07 2019-05-16 Cts Corporation Capteur de position rotatif comprenant un commutateur et un aimant modelé

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US7285949B2 (en) * 2003-07-25 2007-10-23 Timken Us Corporation Transmission input shaft speed measuring assembly
FR2859784B1 (fr) * 2003-09-17 2006-01-20 Siemens Vdo Automotive Procede pour determiner la position d'une piece tournante en vue notamment de son auto-synchronisation
DE10343974A1 (de) * 2003-09-23 2005-04-14 Valeo Motoren Und Aktuatoren Gmbh Vorrichtung zur Ermittlung der Drehrichtung einer Welle sowie elektromotorischer Hilfsantrieb
EP1674831A1 (fr) * 2004-12-23 2006-06-28 Carl Freudenberg KG Procédé de transmission d'informations angulaires et dispositif pour la mise en oeuvre de ce procédé
FR2882140B1 (fr) 2005-02-11 2007-05-11 Electricfil Automotive Soc Par Capteur de position a poles magnetiques compenses
DE102005047366A1 (de) 2005-10-04 2007-04-05 Siemens Ag Vorrichtung zur Bestimmung der tatsächlichen Drehrichtungsumkehr eines reversierenden Drehantriebs
FR2901019B1 (fr) * 2006-05-15 2010-04-23 Electricfil Automotive Codeur pour capteur de position, a effet stabilisateur pour le passage a zero du champ magnetique
DE102008058650B4 (de) * 2008-11-22 2021-06-10 Kostal Automobil Elektrik Gmbh & Co. Kg Drehstellungssensorsystem
CN104597278A (zh) * 2015-02-15 2015-05-06 昆山德拉特兰传动科技有限公司 带方向性的检测轮及车辆运行速度与方向同时检测的方法
DE102016119571A1 (de) * 2016-10-13 2018-04-19 Ebm-Papst St. Georgen Gmbh & Co. Kg Elektromotor
WO2019113763A1 (fr) 2017-12-12 2019-06-20 深圳市大疆创新科技有限公司 Procédé de détection de paramètre de rotation, codeur, radar laser et véhicule aérien sans pilote
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Also Published As

Publication number Publication date
WO2001077693A1 (fr) 2001-10-18
DE10017542A1 (de) 2001-10-11

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