EP1314004A1 - Procede de correction de mesures d'angles a l'aide d'au moins deux pistes de code - Google Patents

Procede de correction de mesures d'angles a l'aide d'au moins deux pistes de code

Info

Publication number
EP1314004A1
EP1314004A1 EP01971624A EP01971624A EP1314004A1 EP 1314004 A1 EP1314004 A1 EP 1314004A1 EP 01971624 A EP01971624 A EP 01971624A EP 01971624 A EP01971624 A EP 01971624A EP 1314004 A1 EP1314004 A1 EP 1314004A1
Authority
EP
European Patent Office
Prior art keywords
angle
rotation
errors
error
code
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Withdrawn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
EP01971624A
Other languages
German (de)
English (en)
Inventor
Gunther Haas
Henrik Siegle
David Heisenberg
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 EP1314004A1 publication Critical patent/EP1314004A1/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Withdrawn legal-status Critical Current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
    • 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
    • G01D18/00—Testing or calibrating apparatus or arrangements provided for in groups G01D1/00 - G01D15/00
    • G01D18/008—Testing or calibrating apparatus or arrangements provided for in groups G01D1/00 - G01D15/00 with calibration coefficients stored in memory
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L3/00—Measuring torque, work, mechanical power, or mechanical efficiency, in general
    • G01L3/02—Rotary-transmission dynamometers
    • G01L3/04—Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft
    • G01L3/10—Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft involving electric or magnetic means for indicating
    • G01L3/101—Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft involving electric or magnetic means for indicating involving magnetic or electromagnetic means
    • G01L3/104—Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft involving electric or magnetic means for indicating involving magnetic or electromagnetic means involving permanent magnets
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L3/00—Measuring torque, work, mechanical power, or mechanical efficiency, in general
    • G01L3/02—Rotary-transmission dynamometers
    • G01L3/04—Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft
    • G01L3/10—Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft involving electric or magnetic means for indicating
    • G01L3/109—Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft involving electric or magnetic means for indicating involving measuring phase difference of two signals or pulse trains
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L3/00—Measuring torque, work, mechanical power, or mechanical efficiency, in general
    • G01L3/02—Rotary-transmission dynamometers
    • G01L3/04—Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft
    • G01L3/10—Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft involving electric or magnetic means for indicating
    • G01L3/12—Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft involving electric or magnetic means for indicating involving photoelectric means
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/22—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers
    • G01L5/221—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers to steering wheels, e.g. for power assisted steering

Definitions

  • the invention is based on a method for correcting angle measurements by means of at least two code tracks with periodic markings, which are fixedly arranged on a common shaft, according to the preamble of the main claim.
  • Methods and devices for measuring angles with code tracks for example with a magnetic scale, are widely known.
  • DE 198 18 799 C2 proposes a method and a device for measuring angles, in which two magnetic multipole wheels are arranged on a shaft. A fixed sensor is assigned to each multipole wheel, which decodes the magnetic poles of the two multipole wheels and supplies corresponding signals to an evaluation device.
  • the two multipole wheels differ in the number of their magnetic poles.
  • the number of magnetic poles was chosen so that they are prime to half the circumference of one ring compared to the number of magnetic poles on the half circumference of the other ring.
  • the sensor unit has two magnetoresistive sensors which are operated in the saturated state.
  • a Hall sensor is provided which is assigned to a coded ring which is an odd one Has number of poles on half the circumference of the ring. This arrangement is relatively complex and does not take into account errors that can occur due to misalignment or an eccentricity of the arrangement of the sensors. Furthermore, no correction of pole pitch errors, amplitude errors and errors of the sensor elements themselves is provided.
  • the method according to the invention for correcting angular measurements with the characterizing features of the main claim has the advantage over the fact that static tolerance and misalignment errors occurring both in production and in the Motage can be subsequently corrected. This is particularly advantageous since the desired accuracy specifications can be set with certainty by the subsequent angle correction. For example, when determining the torque or pitch angle for a motor vehicle steering system, angle determinations with the greatest precision are required, although the torsion angles that occur are relatively small and difficult to measure.
  • the at least two code tracks are designed as periodically recurring magnetic or optical codes.
  • the codings can be easily detected and transmitted to an evaluation unit as input signals for further processing.
  • Such units are simple and inexpensive to manufacture and work particularly reliably.
  • correction values of the input variables are first calculated in a calibration mode with the aid of a precise reference angle encoder, wherein the classic vernier method can be used. These are analyzed and stored accordingly, so that the input variables can be corrected depending on the angle of rotation when the device is used later.
  • a particularly favorable solution is also seen in correcting the errors of the input variables dependent on the angle of rotation with the aid of the Fourier transformation.
  • the Fourier components which were selected according to their amplitude and frequency, are advantageously stored together with the phase in one or two tables. With the help of the tables, the error function that is required for the angle correction can then be calculated.
  • the iterative repetition can also minimize the error in this case.
  • a particularly favorable application can be provided for determining the steering angle of a motor vehicle.
  • the handlebar can be equipped with the multipole wheels and the sensors.
  • an angle of rotation of the two multipole wheels can additionally be determined, so that a torque acting on the handlebar can also be calculated precisely.
  • Figure 1 shows a first embodiment of the invention with two multipole wheels
  • Figure 2 shows a second embodiment of the invention with a multipole wheel and two code tracks
  • Figure 3 shows a first diagram with two
  • FIG. 4 shows a first flow diagram
  • FIG. 5 shows a second flow diagram
  • FIG. 6 shows a further error diagram
  • FIG. 7 shows two diagrams for Fourier analysis.
  • Figure 1 shows a first embodiment with two code wheels la, lb, which are fixedly arranged on a common shaft 3.
  • each code wheel carries at least two code tracks 6a, 6b with uniformly distributed codes 2.
  • the code tracks 6a, 6b are preferably arranged on an end face of the code wheel 1a, 1b.
  • 48, 50 or other numbers of code pairs 2 can be selected.
  • the code track la, lb can also be arranged on the circumference with a corresponding design of the code wheel la, lb.
  • a sensor 5 is assigned to each code wheel 1 a, 1 b in such a way that it detects the alternating codes 2 of the rotating shaft 3 and supplies a corresponding input signal for a schematically illustrated control 10.
  • the codes 2 are magnetized alternately with north and south poles and the sensors 5 are magnetoresistive, so that when rotating the shaft 3 each sensor 5 emits a sine and cosine function as input signals for the evaluation unit at its two outputs.
  • the sensors 5 are preferably arranged on a printed circuit board 4, which also receives the evaluation unit 10.
  • recesses 8 are provided, into which the code wheels la, lb can plunge more or less deeply. To protect against contamination and damage, the entire unit is surrounded by an appropriately stable and tight casing. A preferred application is seen for steering angle measurement in a motor vehicle in which this arrangement is attached to the steering column.
  • a torsion element with known stiffness is arranged between the two pole wheels la, lb, in addition to measuring the angle of rotation ⁇ , a torque acting on the shaft 3, for example a steering shaft of a vehicle, can also be generated due to the angular displacement between the two multipole wheels la, lb be determined.
  • optical codings 2 in the known embodiments, for example bar codes, color markings, impressions, which are scanned by corresponding optical sensors 5.
  • the optical code tracks 6a, 6b can, for example, also be applied directly to the shaft 3. They scan the optical codes 2 and deliver corresponding input signals to the evaluation unit 10, which carries out the correction of the angle of rotation analogously according to the inventive method.
  • FIG. 2 shows a second exemplary embodiment of a multipole wheel 1c with a simplified embodiment, in which two code tracks with the on the two end faces Pole pairs ⁇ a, 6b are arranged. Accordingly, the two sensors 5 are arranged on the top and bottom of the multipole wheel 1c and fixed by the circuit board 4. With this device, only an angle of rotation, but not a torque, can be measured.
  • the evaluation method according to the invention for the angle signals supplied by the sensors 5 is explained with reference to FIGS. 3 to 7.
  • the angle-dependent sine or cosine voltages arise at the output of the two sensors 5 and are supplied as input variables to the evaluation unit 10.
  • the evaluation unit 10 forms the periodic angles, the so-called saw teeth ⁇ ( ⁇ ), ⁇ ( ⁇ ), which are error-prone for a variety of reasons and are corrected using the method according to the invention. For example, pole pitch errors, amplitude errors, errors in the sensor elements themselves, or errors which arise from eccentricities of the pole wheels are corrected.
  • the actual angle of rotation ⁇ is then determined.
  • a calibration device with a high-precision angle encoder is required, with which the shaft 3 is rotated up to 360 ° in a sufficient number of steps and the input data (actual angle, measured angle of rotation ⁇ ) are recorded step by step and the error angle ⁇ or ⁇ ß of the step two code wheels la, lb is determined.
  • Relating to one Rotation with an angle of up to 360 ° for the shaft 3 results in a sinusoidal error curve (error function) for the angle measurement, as shown in FIG. 3.
  • the error curves for an eccentricity of the magnetic tracks and the code wheel itself were shown here as examples.
  • the upper error curve shows the error distribution on a code wheel with 48 pole pairs and the lower curve on a pole wheel with 50 pole pairs.
  • the dashed curve is obtained by arithmetic adjustment with a sine function. As shown by way of example in FIG. 3, the maximum error is approximately + 0.25 °.
  • the input variables ⁇ , ß can now be corrected for every angle of rotation ⁇ . This makes it easy to correct eccentricity errors.
  • the period corresponds precisely to the circumference of the code wheels la, lb.
  • FIG. 4 first shows a flow chart for the calibration of the sensors 5 before the start-up.
  • the sensor 5 is calibrated in position 20.
  • the reference angle transmitter 19, which works very precisely, is used for this purpose.
  • the reference angle ⁇ re f ( ⁇ ) is subtracted from the measured angle ⁇ ( ⁇ ), ß ( ⁇ ) of the two tracks of a code wheel in order to obtain the error angle ⁇ ( ⁇ ) and ⁇ ß ( ⁇ ), ⁇ and ß are the angles of the respective code track.
  • the error curves ⁇ ( ⁇ ), ⁇ ß ( ⁇ ) (position 21) are analyzed with a Fourier transformation (item 18) and the relevant components (amplitude, frequency and phase) are stored in one or two tables (item 17) so that they are available for later operation.
  • the modified vernier method is not able to do this if the errors of the input variables ⁇ l, ßl exceed a certain error value.
  • the errors ⁇ ( ⁇ l) and ⁇ ß ( ⁇ l) are calculated according to the table (item 179) and subtracted from the input variables ⁇ l, ßl (position 27)
  • the corrected angles are then called ⁇ 2 or ⁇ 2
  • This step is repeated in accordance with the jump back to position 24 until the input variables have the accuracy required for the modified vernier method, so a certain number of repetitions is specified in position 31.
  • the error correction according to position 26 is repeated in accordance with the specification in position 33, so that the errors of the input variables ⁇ 1, ⁇ l are minimized almost arbitrarily can be. This eliminates systematic errors.
  • FIGS. 5 to 7 propose an alternative embodiment of the invention for optimal correction of the errors ⁇ ( ⁇ ), ⁇ ß ( ⁇ ) for the input variables ⁇ ( ⁇ ) and ß ( ⁇ ).
  • This correction method described below is particularly suitable for correcting long-wave disturbances due to the eccentricity of the sensors 5, the harmonics in the sensor signal and pole pitch errors of the multipole wheels la, lb.
  • This correction method essentially exploits the properties of a Fourier transformation.
  • the error signal ⁇ ( ⁇ ) or ⁇ ß ( ⁇ ) depending on the angle of rotation is determined.
  • the multipole wheels la, lb are rotated with the shaft 3 in steps of 0.1 ° -2 ° over an entire rotation angle of 360 ° and the signals ⁇ ( ⁇ ) and ⁇ ( ⁇ ) from the sensors 5 (magnetic field sensors) are recorded.
  • An absolute angle of rotation ⁇ l is then determined using the classic vernier method.
  • the Fourier spectrum of the error is then calculated for the quantities ⁇ ( ⁇ ) and ß ( ⁇ ). These periodic quantities ⁇ ( ⁇ ) and ß ( ⁇ ) are also called saw teeth.
  • Absolute angle ⁇ is dependent. The higher the required accuracy, the higher the frequency in 1 / ° of those Fourier components that have to be subtracted from the sawtooth.
  • the maximum frequency of the spectrum is the inverse step size.
  • the last band in the Fourier spectrum with a relevant amplitude was around 0.6 / °, which would correspond to a step size of 1.66 ° (cf. FIG. 7).
  • the subtraction of the long-wave Fourier components from the value of the sawtooth is carried out in position 45 and then the modified vernier method is then used in position 46, so that the absolute angle of rotation ⁇ 2 is obtained in position 47.
  • the table (item 17) is divided into two tables, one for the low-frequency Fourier components up to approx. 0.06 1 / ° and one for the higher-frequency Fourier components 0.06 1 / ° to 0.6 1 / °.
  • the tables show the amplitudes, frequencies and phases of the Fourier components, the amplitude of which exceeds a certain limit. Basically, the limit depends on the
  • the mode of operation of the correction method is illustrated on the basis of a third error diagram according to the figure.
  • the angle error ⁇ ( ⁇ ) or ⁇ ß ( ⁇ ) is plotted over the angle of rotation ⁇ .
  • Curve 1 shows the angular error of a single sawtooth ⁇ ( ⁇ ) or ß ( ⁇ ).
  • Curve 2 shows the error angle after correction using the classic vernier method in accordance with position 43 (FIG. 6).
  • Curve 3 shows the correction function with the modified vernier method and curve 4 shows the angular error for the saw teeth after deduction of the correction function.
  • curve 5 shows the angular error for the sawtooth after deduction of the correction function.
  • FIG. 7 shows two diagrams, the phase of the Fourier transformation of the error signal being plotted in the upper diagram and the corresponding amplitudes being plotted in the lower diagram.
  • the lower diagram in particular shows which errors can be identified at which frequency.
  • the amplitude is particularly high in the frequency spectrum at a low frequency in the range of 0 1 / °. This is an indication of an eccentricity error.
  • the high amplitude indicates a pole length error, etc.
  • the type of error can also be identified in a simple manner and targeted remedial measures can be initiated.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Transmission And Conversion Of Sensor Element Output (AREA)

Abstract

L'invention concerne un procédé de correction numérique de mesures d'angles à l'aide de deux roues de code (1a, 1b). Ce procédé permet de corriger ultérieurement notamment des erreurs de montage et de production. Ces erreurs peuvent être rectifiées ultérieurement. Ce procédé consiste essentiellement, pour un calibrage initial, à déterminer et mémoriser les erreurs de grandeurs d'entrée ou des signaux qui en sont dérivés à l'aide d'un capteur d'angle de référence. Les erreurs sont filtrées par une analyse de Fourier. En mode marche, les erreurs filtrées sont déduites des valeurs d'angles mesurées en fonction de l'angle de rotation. Cette correction peut être renouvelée de façon itérative de telle façon que l'angle d'erreur soit réduit au minimum.
EP01971624A 2000-08-22 2001-08-21 Procede de correction de mesures d'angles a l'aide d'au moins deux pistes de code Withdrawn EP1314004A1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE10041096A DE10041096A1 (de) 2000-08-22 2000-08-22 Verfahren zur Korrektur von Winkelmessungen mittels wenigstens zweier Codespuren
DE10041096 2000-08-22
PCT/DE2001/003189 WO2002016881A1 (fr) 2000-08-22 2001-08-21 Procede de correction de mesures d'angles a l'aide d'au moins deux pistes de code

Publications (1)

Publication Number Publication Date
EP1314004A1 true EP1314004A1 (fr) 2003-05-28

Family

ID=7653325

Family Applications (1)

Application Number Title Priority Date Filing Date
EP01971624A Withdrawn EP1314004A1 (fr) 2000-08-22 2001-08-21 Procede de correction de mesures d'angles a l'aide d'au moins deux pistes de code

Country Status (3)

Country Link
EP (1) EP1314004A1 (fr)
DE (1) DE10041096A1 (fr)
WO (1) WO2002016881A1 (fr)

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JP4059003B2 (ja) * 2002-05-27 2008-03-12 株式会社ジェイテクト 電動パワーステアリング装置
DE10340065A1 (de) * 2003-08-28 2005-04-07 Lenord, Bauer & Co. Gmbh Verfahren und Winkelgeber zur Messung der absoluten Winkelposition
WO2005068962A1 (fr) 2004-01-20 2005-07-28 Valeo Schalter Und Sensoren Gmbh Dispositif pour determiner un angle de braquage et un couple de rotation exerce sur un arbre de direction
DE102004004024A1 (de) * 2004-01-20 2004-11-18 Valeo Schalter Und Sensoren Gmbh Lenkwinkelsensor
DE102004010948B4 (de) * 2004-03-03 2008-01-10 Carl Freudenberg Kg Winkelmesseinrichtung
DE102004038621B3 (de) 2004-08-09 2006-02-16 Siemens Ag Ermittlungsverfahren für ein Lagesignal
DE102005022151B4 (de) * 2005-05-13 2007-10-25 Audi Ag Verfahren und Vorrichtung zur Initialisierung eines Sicherheitssystems, insbesondere eines Hall-Sensors, in einem Kraftfahrzeug
DE102006007234C5 (de) * 2005-11-21 2013-09-19 Walter Mehnert Verfahren zum Korrigieren von erfassten Positionswerten, Verwendung desselben und Messanordnung zum Bestimmen von Stützwerten sowie Vorrichtung zum Erfassen von Positionswerten
RU2448328C1 (ru) * 2008-02-01 2012-04-20 Сименс Акциенгезелльшафт Способ определения угла закручивания
DE102011086213A1 (de) * 2011-11-11 2013-05-16 Robert Bosch Gmbh Verfahren und Vorrichtung zur Kalibrierung einer Sensoranordnung
JP5731569B2 (ja) 2013-05-02 2015-06-10 ファナック株式会社 精度補正機能を備えたエンコーダ
GB2520981A (en) * 2013-12-05 2015-06-10 Tt Electronics Technology Ltd Self-calibrating position sensor
JP6193938B2 (ja) * 2015-08-31 2017-09-06 ファナック株式会社 信号の周波数特性から異物浸入を検知する機能を有する回転角度検出器
FR3069319B1 (fr) * 2017-07-18 2020-10-23 Ntn Snr Roulements Systeme de determination de la position d'un organe
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Also Published As

Publication number Publication date
WO2002016881A1 (fr) 2002-02-28
DE10041096A1 (de) 2002-03-07

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