EP2936097A1 - Procédé permettant de détecter un couple appliqué sur un arbre - Google Patents

Procédé permettant de détecter un couple appliqué sur un arbre

Info

Publication number
EP2936097A1
EP2936097A1 EP13815441.4A EP13815441A EP2936097A1 EP 2936097 A1 EP2936097 A1 EP 2936097A1 EP 13815441 A EP13815441 A EP 13815441A EP 2936097 A1 EP2936097 A1 EP 2936097A1
Authority
EP
European Patent Office
Prior art keywords
signal
periodic
shaft
torque
signals
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.)
Ceased
Application number
EP13815441.4A
Other languages
German (de)
English (en)
Inventor
Bernhard Schmid
Wolfgang Jöckel
Klaus Rink
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.)
Continental Teves AG and Co OHG
Original Assignee
Continental Teves AG and Co OHG
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 Continental Teves AG and Co OHG filed Critical Continental Teves AG and Co OHG
Publication of EP2936097A1 publication Critical patent/EP2936097A1/fr
Ceased legal-status Critical Current

Links

Classifications

    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/021—Determination of steering angle
    • B62D15/0215—Determination of steering angle by measuring on the steering column
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B62D6/08—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to driver input torque
    • B62D6/10—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to driver input torque characterised by means for sensing or determining torque
    • 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

Definitions

  • the invention relates to a method for detecting a torque applied to a shaft and a control device for carrying out the method and a torque sensor with the control device.
  • a torque sensor is known, which determines a torque applied to this shaft based on a phase angle of two axially spaced and rotating encoder wheels on a shaft. It is an object of the invention to improve the known torque sensor.
  • a method for detecting a phase difference between a first periodic measurement signal and a second periodic measurement signal wherein the two periodic measurement signals for the
  • the specified method is based on the consideration that the periodic measurement signals, in particular in a torque ⁇ sensor of the type mentioned in the stationary shaft are only present when the shaft rotates. In many However, applications such as a handlebar, it would be desirable to detect a torque acting on the shaft even if the shaft does not rotate, so stands still.
  • the specified method with the proposal to simulate the rotation of the shaft and to superimpose at least one of the two periodic measurement signals with a rotation-simulating periodic auxiliary signal. In this way, the phase angle of the shaft over the axial distance of the shaft away even at a standstill, or even detected at very slow rotations of the shaft and can be evaluated to the torque acting on the shaft.
  • the specified method comprises the step of superimposing the second periodic measurement signal with a further known speed for the shaft simu ⁇ lierenden further periodic auxiliary signal to another superposition signal.
  • the rotation is simulated at both points of the shaft over the axial distance.
  • the periodic auxiliary signal and the further periodic auxiliary signal are the same, so that the previously known speed and the further known speed are the same. In this way, the phase difference between the superposition signal corresponds directly to the further superposition signal
  • the first periodic measurement signal is superposed with the periodic beat signal if a real speed of the shaft falls below a predetermined value.
  • the predetermined value can be chosen arbitrarily. For example, it can be chosen so that the specified method is only performed when the shaft is stationary or near standstill.
  • the first and second periodic measurement signals are respectively based on a first and second magnetic rotating field generated, which are respectively non-rotatably delivered to the shaft of this.
  • the auxiliary signal can be generated arbitrarily.
  • the auxiliary signal can be output directly from an auxiliary signal source and superimposed with the first measurement signal.
  • the second measurement signal and the further auxiliary signal can be superposed with a periodic auxiliary magnetic field generating the periodic auxiliary signal.
  • a real speed of the shaft and the previously known speed of the shaft are directed opposite. In this way it is ensured that by increasing the real speed the real movement and the simulated movement of the shaft do not cancel each other out and thus a standstill is simulated at a very high movement of the shaft.
  • an apparatus is arranged to perform one of the specified methods.
  • the specified device has a memory and a processor.
  • a specified method in the form of a computer program is stored in the memory and the processor is provided for carrying out the method when the computer program is loaded from the memory into the processor.
  • a computer program comprises program code means for performing all the steps of one of the specified methods when the computer program is executed on a computer or one of the specified devices.
  • a computer program product comprises program code stored on a compu ⁇ terlesbaren disk and which, when executed on a data processing device, carries out one of the methods specified.
  • a torque sensor for detecting a voltage applied to a shaft torque comprises based on a phase position difference Zvi ⁇ rule a first periodic measurement signal and a second periodic measuring signal is any of the means for generating the two periodic measuring signals, and an evaluation device for determining of the torque based on the phase difference between the two measurement signals.
  • the specified torque sensor can be used in any application, for example in a vehicle for detecting a torque on a torsion shaft, such as a steering shaft.
  • a vehicle includes a specified torque sensor.
  • FIG a schematic view of a steering system for a vehicle
  • FIG. 2 is a schematic view of a torque sensor in the vehicle of FIG. 1;
  • Fig. 3 is a schematic view of an evaluation circuit for the torque sensor of Fig. 2, and 4 shows a time diagram with measurement signals in the evaluation circuit of FIG. 3.
  • Fig. 1 shows a steering system 2 for a not further shown vehicle.
  • the steering system 2 comprises a steering wheel 4, which is mounted on a shaft 6, which in turn is rotatably arranged about a rotation axis 8.
  • the steering wheel 4 is thus set up, based on an angular position 10 about the axis of rotation 8 to specify a steering angle for adjusting a steering gear 12 of the vehicle, not shown.
  • the steering wheel 4 is rotated, for example, by a driver of the vehicle not shown.
  • the angular position 10 of the steering wheel 4 is detected in the present embodiment by a drive device 14 which then drives by means of a not further shown motor in the drive ⁇ device 14, a steering shaft 16 to the Lenkge ⁇ gear 12 to operate so that wheels 18 of the not shown further in accordance with the steering angle represented by the angular position 10 in a manner known to those skilled hammered.
  • the angular position 10 must be detected.
  • the steering angle sensors 20 shown in FIGS. 2 and 3 can be used.
  • Fig. 2 shows a steering angle sensor 20 for the steering system 2 of Fig. 1.
  • the steering angle sensor 20 has a first encoder wheel 22, an axially and concentrically connected to the first encoder 22 Thread in the form of a screw 24 and a second, axially and concentrically with the screw 24 connected to the second encoder wheel 26, the first encoder 22 at the
  • Worm 22 is axially opposite.
  • the worm 24 is formed in the present embodiment of an elastic material and can be elastically rotated by applying two opposite torques to the encoder wheels 22, 26.
  • the shaft 6 is axially interrupted at the location of the steering angle sensor 20 in two parts, wherein the first encoder wheel 22 and the second part of the broken shaft 6, the second encoder wheel 26 is disposed on the first part of the interrupted shaft 6. If the shaft 4 is therefore rotated with the steering wheel 4, the steering angle sensor 20 is transferred on the one hand to the angular position 10. At the same time, the steering ⁇ angle sensor 20 is rotated when transferred to the angular position 10 with a torque 28.
  • the angular position 10 and the torque 28 should be detectable by measurement.
  • the worm 24 For detecting the angular position, the worm 24 turns 30, in which a plate 32 of a donor element 34 engages a, on the viewed from the axis of rotation 8 of the shaft 6 radially from a donor magnet 36 is placed. If the shaft 6 is transferred in the manner shown in Fig. 1 by turning the steering wheel 4 in the angular position 10, the Ge ⁇ berelement 34 is moved by the rotating shaft 6 with the screw 24 axially to the shaft 6 and in one of the angular position 10 dependent axial position 38 set. The transmitter element 34 may be guided axially to the shaft 6 in a manner not shown.
  • the first magnetoresistive sensor 42 outputs in a manner known to those skilled in the axial position 38 of the transmitter magnet 36 of the transmitter element 34 linearly dependent absolute signal.
  • the evaluation circuit 40 with the first magnetoresistive sensor 42 with respect to the rotation of the shaft 6 and the axial movement of the encoder element 30 is arranged ⁇ assigns. Details for generating a linearly dependent on the position of a transmitter magnet signal with a
  • Magnetoresistive sensors can be removed, for example, from DE 10 2006 030 746 A1 and will therefore not be explained further for the sake of brevity.
  • the first encoder wheel 22 At the first encoder wheel 22 are circumferentially arranged magnets 48 whose poles extend in the circumferential direction of the first encoder wheel 22.
  • a radially extending magnetic field from ⁇ given which is function of location in the circumferential direction of the first encoder wheel 22 is from the first encoder wheel 22 by the magnets 48th Radially above the first encoder wheel 22, the second magnetoresistive sensor 46 is arranged, which detects the radially extending magnetic field from the first encoder wheel 22 and so outputs a shown in Fig. 3 first angle signal 50 indicating the angular position of the first encoder wheel 22.
  • the generation of the angle signal 50 is analogous to
  • Absolute signal 44 and can be looked up, if necessary, in the document DE 10 2006 030 746 AI.
  • Magnets 48 whose poles extend in the circumferential direction of the second encoder wheel 26, are arranged peripherally on the second encoder wheel 26 as on the first encoder wheel 22. In this way, a radially extending magnetic field is emitted from the second encoder wheel 26 via the magnets 48, which is location-dependent in the circumferential direction of the second encoder wheel 26.
  • a third magnetoresistive sensor 52 is arranged, which is the detects radially extending magnetic field from the second encoder wheel 26 and so outputs a second angle signal 54, which indicates the angular position of the second encoder wheel 26.
  • the generation of the second angle signal 54 is carried out analogously to the first angle signal 50 and the absolute signal 44 and may also be ⁇ may, in the publication DE 10 2006 030 746 Al are nachge ⁇ beat.
  • Fig. 3 shows a circuit diagram for a part 56 of the evaluation circuit 40 of Fig. 2, the determination of the torque 28 will be explained in more detail below.
  • the worm 24 is designed to be capable of torsion in the present embodiment. That is, by applying the torque 28, the worm 24 can be rotated in the direction of the torque 28, whereby between the first encoder 22 and the second encoder 26 a phase difference occurs, which means that the first encoder 22 a Win ⁇ kel ein 10, which is different from the angular position 10 of the second encoder wheel 26.
  • this is utilized because the torque 28 is dependent in a predetermined manner on this phase difference and thus the difference between the angular positions 10.
  • the angle signals 50, 54 are evaluated with the part 56 of the evaluation circuit 40 shown in FIG. 3, and the angular positions 10 of the encoder wheels 22, 26 are determined.
  • the angle signals 50, 54 are, as already explained, generated by means of the magnetoresistive sensor 46, 52, 26 change their electrical resistance by the movement of the encoder wheels 22, 26 in a conventional manner.
  • This electrical resistance change is evaluated in the present embodiment with measuring bridges 58, which are constructed in a conventional manner from electrical resistors 60.
  • Encoder wheels 22, 26 periodically, so that the angle signals generated by the resistance change 50, 54 are periodic measurement signals. A phase difference between these periodic angle signals 50, 54 is directly the sought, dependent on the torque 28 phase difference.
  • the phase difference can only be measured if the periodic angle signals 50, 54 are sufficiently large in amplitude. These periodic angle signals 50, 54 are in turn sufficiently large in amplitude only when the encoder wheels 22, 26 rotate. In other words, are the encoder wheels 22, 26 due to an applied torque 28 with a certain difference in their angular position 10 static to each other, the torque 28 can not detect solely based on the angle signals 50, 54, since these are not sufficiently large in amplitude to evaluate the Phasenla ⁇ gen difference.
  • the angle signals 50, 54 are superimposed in accordance with a first periodic auxiliary signal 62 and a second periodic auxiliary signal 64 in the present embodiment.
  • the two periodic auxiliary signals 62, 64 are output in the present embodiment from a common auxiliary signal source 66 and can be controlled, for example via a switch 68 such that the output, for example, takes place only below a certain rotational speed of the shaft 6.
  • the superposition of the angle signals 50, 54 and the Hilfssig ⁇ dimensional 62, 64 correspondingly leads to a first periodic beat signal 70 and a second Matterlagerungssig ⁇ nal 72, which are then respectively applied to comparators 74th
  • the auxiliary signals 62, 64 have in the present embodiment, a frequency that simulates a speed at which the shaft 6 is virtually rotated.
  • By the union difference below ⁇ angular positions 10 of the encoder wheels 22, 26 are the Auxiliary signals 62, 64 phase modulated based on the angle signals 50, 54 such that in the overlay signals 70, 72 a phase difference 74 is contained, from which the torque applied to the shaft 28 can be removed.
  • phase difference 74 needs to be determined and from this the desired torque 28 can be determined, for example based on a previously determined characteristic curve 75.
  • the phase difference 74 could be determined directly from the two beat signals 70, 72, in the present embodiment, the beat signals 70, 72 are converted into comparators 76 in periodic rectangular signals 78, the determination of the phase position difference 74 in a corresponding detection means 80 significantly simplify.
  • FIG. 4 shows a temporal diagram 82 with the superposition signals 70, 72 and the associated square-wave signals 78 in the part 56 of the evaluation circuit 40 of FIG.
  • the signal values clamping ⁇ voltage values 84 are plotted against time 86th
  • the square-wave signals are generated 78 based on switching points 88 at which the overlay ⁇ signals 70, 72 change sign.
  • switching points ⁇ 88 does not generate faulty and lead to incorrect phasing differential 74, the amplitudes 90 of the beat signals 70 must be sufficiently high 72.
  • auxiliary signals 62, 64 are present, which enter a signal offset 92 in the heterodyne signals 70, 72 in order to stimulate the comparators 76 in such a way that the abovementioned switching points 88 are generated in accordance with the angular position of the two encoder wheels 22, 26.

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Power Steering Mechanism (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)
  • Transmission And Conversion Of Sensor Element Output (AREA)

Abstract

L'invention concerne un procédé permettant de détecter une différence de position de phase (74) entre un premier signal de mesure périodique (50) et un deuxième signal de mesure périodique (54), les deux signaux de mesure périodiques (70, 72) décrivant à une certaine distance axiale l'un de l'autre, pour la détermination d'un couple (28) appliqué sur un arbre (6), une rotation de l'arbre (6). Ce procédé comprend les étapes consistant à : superposer le premier signal de mesure périodique (50) à un signal secondaire périodique (62) simulant une vitesse de rotation déjà connue pour l'arbre (6) pour obtenir un signal de superposition (70), et déterminer la différence de position de phase (74) en fonction du signal de superposition (70) et du deuxième signal de mesure (54).
EP13815441.4A 2012-12-21 2013-12-13 Procédé permettant de détecter un couple appliqué sur un arbre Ceased EP2936097A1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102012224187 2012-12-21
DE102012224180 2012-12-21
PCT/EP2013/076587 WO2014095652A1 (fr) 2012-12-21 2013-12-13 Procédé permettant de détecter un couple appliqué sur un arbre

Publications (1)

Publication Number Publication Date
EP2936097A1 true EP2936097A1 (fr) 2015-10-28

Family

ID=49911489

Family Applications (1)

Application Number Title Priority Date Filing Date
EP13815441.4A Ceased EP2936097A1 (fr) 2012-12-21 2013-12-13 Procédé permettant de détecter un couple appliqué sur un arbre

Country Status (6)

Country Link
US (1) US9897498B2 (fr)
EP (1) EP2936097A1 (fr)
KR (1) KR102100530B1 (fr)
CN (1) CN105074406B (fr)
DE (1) DE102013225930A1 (fr)
WO (1) WO2014095652A1 (fr)

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JP6330178B2 (ja) * 2014-11-19 2018-05-30 日立金属株式会社 トルク操舵角センサ
JP2017075836A (ja) * 2015-10-14 2017-04-20 日立金属株式会社 トルク操舵角センサ及びトルク操舵角センサの補正方法
DE112017005065T5 (de) * 2016-12-27 2019-06-19 Aisin Aw Co., Ltd. Drehmomenterfassungsvorrichtung
DE102017112913A1 (de) * 2017-06-12 2018-12-13 Trafag Ag Belastungsmessverfahren, Belastungsmessvorrichtung und Belastungsmessanordnung
DE102018113476B4 (de) * 2018-06-06 2020-07-09 Infineon Technologies Ag Vorrichtung und verfahren zur drehmomentmessung
JP2020071063A (ja) * 2018-10-29 2020-05-07 大銀微系統股▲分▼有限公司Ｈｉｗｉｎ Ｍｉｋｒｏｓｙｓｔｅｍ Ｃｏｒｐ． 回転軸部材のねじれ検出機構

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Also Published As

Publication number Publication date
DE102013225930A1 (de) 2014-06-26
WO2014095652A1 (fr) 2014-06-26
US20150362388A1 (en) 2015-12-17
KR102100530B1 (ko) 2020-04-13
CN105074406B (zh) 2017-04-12
CN105074406A (zh) 2015-11-18
KR20150097678A (ko) 2015-08-26
US9897498B2 (en) 2018-02-20

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