JP2005315696A - Apparatus for detecting rotation angle of rotating body - Google Patents

Apparatus for detecting rotation angle of rotating body Download PDF

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Publication number
JP2005315696A
JP2005315696A JP2004133254A JP2004133254A JP2005315696A JP 2005315696 A JP2005315696 A JP 2005315696A JP 2004133254 A JP2004133254 A JP 2004133254A JP 2004133254 A JP2004133254 A JP 2004133254A JP 2005315696 A JP2005315696 A JP 2005315696A
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rotation angle
rotating
detection
magnetic
magnetic detection
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Abandoned
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JP2004133254A
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Japanese (ja)
Inventor
Takashi Sato
Akira Serizawa
孝 佐藤
亮 芹澤
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Yazaki Corp
矢崎総業株式会社
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Priority to JP2004133254A priority Critical patent/JP2005315696A/en
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Abandoned legal-status Critical Current

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Abstract

Provided is a rotation angle detection device for a rotating body that can realize a highly reliable, inexpensive, and compact device by providing two sets of magnetic detection element groups in one hole array.
In a rotating angle detection device 1 for a rotating body according to the present invention, Hall elements H1 to H8 are arranged with respect to a magnet 5 at intervals of 90 ° around a rotating shaft around which the magnet 5 rotates, and these Hall elements H1. ~ H8, Hall elements H1 to H4 belong to the first magnetic detection element group, Hall elements H5 to H8 belong to the second magnetic detection element group, and these two sets of magnetic detection element groups are 180 °. Difference data is generated from two Hall elements at intervals, and the rotation angle α of the rotating body is detected from the difference data, and whether or not an abnormality has occurred is determined.
[Selection] Figure 1

Description

  The present invention relates to a rotation angle detection device that detects a rotation angle of a rotating body such as an automobile steering, for example.

  2. Description of the Related Art Conventionally, there has been a rotation angle measuring device that measures the rotation angle of a rotating body such as a steering shaft in order to control the irradiation direction of a headlamp to the left and right in conjunction with a steering handle in a vehicle, for example.

  As a conventional example of such a rotational angle measuring device for a rotating body, for example, Japanese Patent Laid-Open No. 2002-213944 (Patent Document 1) is disclosed.

  Here, FIG. 9 shows the configuration of the conventional rotation angle measuring apparatus described above. As shown in FIG. 9, a conventional rotation angle measuring apparatus 100 includes a drive gear 102 fixed to a steering shaft 101 and rotating integrally, two driven gears 103a and 103b meshed with the drive gear 102, and these Magnets 104a and 104b fixed to the back surfaces of the driven gears 103a and 103b, and MR sensors 105a and 105b that detect the rotation of the driven gears 103a and 103b based on changes in the magnetic field generated by the magnets 104a and 104b. And an electronic control unit 106 that calculates the rotation angle of the steering shaft 101 based on signals from these MR sensors 105a and 105b.

  In the rotation angle measuring apparatus 100 described above, the electronic control unit 106 calculates a difference between the signals from the two MR sensors 105a and 105b, and an abnormality occurs when the difference does not fall within the allowable error range obtained from the components. It is determined that

In the conventional rotation angle measuring apparatus 100, by providing the two MR sensors 105a and 105b, even if an abnormality occurs in one of the MR sensors, the abnormality is accurately detected and high reliability is obtained. To be able to.
JP 2002-213944 A

  However, in the conventional example disclosed in Patent Document 1 described above, since a plurality of MR sensors are installed to accurately detect a failure and obtain high reliability, the apparatus becomes very expensive. There was a problem.

  Further, since a plurality of MR sensors and gears must be installed, there is a problem that the size cannot be reduced.

  The present invention has been made to solve such a conventional problem, and an object of the present invention is to provide a rotating body capable of ensuring high reliability and miniaturizing the apparatus at a very low cost. An object of the present invention is to provide a rotation angle detection device.

  In order to achieve the above object, the invention described in claim 1 is a rotation angle detection device for detecting a rotation angle of a rotating body, wherein the rotation angle detection device generates a magnetic field, and is generated by the magnetic field generation unit. Magnetic detection means for detecting the magnetic field strength of the magnetic field, and either one of the magnetic detection means or the magnetic field generation means rotates as the rotating body rotates, and the magnetic detection means A plurality of magnetic detection element groups including a plurality of magnetic detection element groups, and a plurality of magnetic detection element groups are provided, and at least two of the plurality of magnetic detection element groups are used. An arithmetic processing unit that detects a rotation angle of the rotating body, wherein the arithmetic processing unit determines whether an abnormality has occurred based on a detection result of the rotation angle of the rotating body. .

  According to a second aspect of the present invention, in the first aspect of the invention, the magnetic detection element group and the arithmetic processing unit are arranged in the same IC.

  According to a third aspect of the present invention, in the first aspect of the present invention, the magnetic detection element group and the arithmetic processing unit are arranged in different ICs.

  According to a fourth aspect of the present invention, in the rotation angle detection device for a rotating body according to any one of the first to third aspects, an average value is obtained from the rotation angles detected by each of the at least two sets of magnetic detection element groups. The average value is output as the rotation angle of the rotating body.

  According to a fifth aspect of the present invention, in the rotation angle detection device for a rotating body according to any one of the first to fourth aspects, the magnetic field generating means rotates as the rotating body rotates.

  According to a sixth aspect of the present invention, in the rotation angle detection device for a rotating body according to the fifth aspect, the magnetic detection element groups include two sets, and each magnetic detection element group includes four magnetic detection elements. The four magnetic detection elements are arranged at intervals of 90 ° around the rotation axis around which the magnetic field generating means rotates, and each of the two sets of magnetic detection element groups includes two magnetisms at intervals of 180 °. Difference data is generated from the detection element, and a rotation angle of the rotating body is detected based on the difference data.

  According to a seventh aspect of the present invention, in the rotational angle detection device for a rotating body according to any one of the first to sixth aspects, the rotating body is a steering shaft.

  According to the first aspect of the present invention, since at least two sets of magnetic detection element groups are provided and each magnetic detection element group detects the rotation angle, the detection accuracy can be increased. Further, since at least two sets of magnetic detection element groups are provided in one magnetic detection means to detect the rotation angle and determine whether or not an abnormality has occurred, a plurality of cases can be obtained even when high reliability is required for the rotating body to be measured. The reliability can be increased with a single magnetic detection means without the need for the angle detection sensor, thereby realizing a very inexpensive and small-sized sensor.

  According to the invention of claim 2, since the arithmetic processing means and the magnetic detection element are provided in the same IC, the configuration can be simplified and redundancy can be achieved.

  According to the invention of claim 3, since the arithmetic processing means and the magnetic detection element are provided in different ICs, versatility can be improved.

  According to the invention of claim 4, since the average value of the rotation angles detected by each of the at least two sets of magnetic detection element groups is output as the rotation angle of the rotating body, a more accurate detection result can be obtained. .

  According to the fifth aspect of the present invention, since the magnetic field generating means rotates with the rotation of the rotating body, the magnetic detecting means can be fixed, thereby easily connecting the magnetic detecting means to the outside. can do.

  According to the invention of claim 6, there are two sets of magnetic detection element groups, and each magnetic detection element group is provided with four magnetic detection elements. Thus, the most inexpensive and small rotation angle detection device can be provided. Further, since the difference data is generated, the deviation between the center of the magnetic field generation means and the center of the magnetic detection means can be canceled.

  According to the seventh aspect of the present invention, since the rotating body is a steering shaft, the rotation angle detecting device of the present invention can be applied to a vehicle or the like.

  Hereinafter, an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a plan view of a rotation angle detection device for a rotating body according to the present invention, FIG. 2 is an explanatory view showing the positional relationship between a magnet 5 and a hole array IC 6, (a) is a perspective view, and (b) is a perspective view. FIG. Here, steering will be described as an example of a rotating body.

  As shown in FIG. 1, the rotation angle detection device 1 includes a steering shaft 2 that rotates integrally with a steering (not shown) that is a rotating body, and a first gear that is fixed to the steering shaft 2 and rotates integrally. 3 and a second gear 4 that meshes with the first gear 3, and the number of teeth of the first gear 3 is four times the number of teeth of the second gear 4. Therefore, when the steering shaft 2 rotates once, the second gear 4 rotates four times.

  And the magnet 5 which is a magnetic field generation means is fixed to the lower surface of the 2nd gearwheel 4, and rotates with a 2nd gearwheel. As shown in FIG. 2, a hole array IC 6 that is a magnetic detection means is disposed below the magnet 5, and Hall elements H <b> 1 to H <b> 8 that are magnetic detection elements are fixed to eight locations on the hole array IC 6. Yes.

  The detected outputs of the Hall elements H1 to H8 are subjected to angle calculation in an arithmetic processing device (arithmetic processing means) 7 (see FIG. 5 described later) built in the Hall array IC 6 and further processed into a steering angle. In the present embodiment, the case where the arithmetic processing device 7 is built in the hall array IC 6 is taken as an example, but a configuration in which the arithmetic processing device 7 is provided outside the hole array IC 6 is also possible.

  Further, in the present embodiment, the magnet 5 rotates with the rotation of the rotating body. However, the Hall array IC 6 or the Hall elements H1 to H8 may be rotated on the contrary. However, since the Hall array IC 6 and the Hall element 5 need to be connected to the outside in order to output the detection result to the outside, it is possible to make the configuration simpler by rotating the magnet 5. .

  Next, the arrangement of the Hall elements H1 to H8 with respect to the magnet 5 will be described based on FIG.

  As shown in FIG. 2 (a), the magnet 5 is formed in a cylindrical shape and is magnetized in parallel with two poles of an N pole and an S pole. That is, each of the N pole and the S pole is formed over a rotation angle range of 180 degrees, and a magnetization boundary is provided at a position facing the 180 degrees. Hall elements H <b> 1 to H <b> 8 are arranged at equal intervals (45 ° intervals) in the magnetic field created by magnet 5, and output a voltage corresponding to the magnetic field intensity generated from magnet 5.

  In addition, the first magnetic detection element group is configured by four Hall elements H1 to H4, and the second magnetic detection element group is configured by four Hall elements H5 to H8.

  Here, FIG. 3 shows detection outputs of the Hall elements H1 to H4 of the first magnetic detection element group. As shown in the figure, the detection output by each of the Hall elements H1 to H4 changes according to the rotation angle α and becomes a sine waveform having a phase difference of 90 degrees. Similarly, the detection outputs of the hall elements H5 to H8 of the second magnetic detection element group are shown in FIG. As shown in the figure, the detection outputs from the Hall elements H5 to H8 are sine waveforms each having a phase difference of 90 degrees.

  3 and 4, the detection output of the sine waveform is normalized to −1 to +1, and the point of output 0 in FIGS. 3 and 4 is a hole at the boundary position between the S pole and the N pole of the magnet 5. This is the detection output when an element arrives.

  The Hall elements H1 to H8 are connected to the arithmetic processing device 7. The arithmetic processing device 7 calculates the rotation angle of the magnet 5 based on the detection outputs of the Hall elements H1 to H8, and whether or not an abnormality has occurred. Judgment is made.

  Here, the configuration of the arithmetic processing unit 7 will be described with reference to FIG. The arithmetic processing unit 7 is provided inside the hall array IC 6 and, as shown in the figure, a first ADC (A / D converter) 51 for processing the detection output from the first magnetic detection element group, A second ADC 52 that processes detection output from the second magnetic detection element group, an arithmetic processing unit 53 that performs processing for detecting rotation angle and determining whether or not an abnormality has occurred, and data used in the arithmetic processing. A data storage unit 54 to be stored and an interface unit 55 for exchanging information with the outside are configured.

  In the arithmetic processing unit 7 configured as described above, the detection output from the first magnetic detection element group is input to the first ADC 51, and between the Hall element H1 and the Hall element H2 having a phase difference of 180 degrees. Difference data H1-H2 is generated, and similarly, difference data H3-H4 between Hall element H3 and Hall element H4 having a phase difference of 180 degrees is generated.

  The difference data H1-H2 and H3-H4 are shown in FIG. As shown in the figure, the difference data H1-H2 has a cos α waveform when the rotation angle is α, and the difference data H3-H4 has a sin α waveform.

  In this way, by generating difference data between the Hall elements having a phase difference of 180 degrees, the deviation between the center of the rotating magnet 5 and the center of the Hall array in which the Hall elements H1 to H8 are arranged can be reduced. Can be canceled.

  Similarly, the detection output from the second magnetic detection element group is input to the second ADC 52, and difference data H6-H5 between the Hall element H6 and the Hall element H5 having a phase difference of 180 degrees is generated. At the same time, difference data H8-H7 between the Hall element H8 and the Hall element H7 is generated. The difference data H6-H5 and H8-H7 are shown in FIG. As shown in the figure, the difference data H8-H7 has a waveform of cos α when the rotation angle is α, and the difference data H6-H5 has a waveform of sin α.

  The difference data generated in this way is input to the arithmetic processing unit 53, and the following equation (1) is calculated from the difference data H1-H2 and the difference data H4-H3.

θ1 = tan −1 {(H4−H3) / (H1−H2)}
= Tan −1 {sin α / cos α} (1)
As a result, the rotation angle θ1 of the rotating body is calculated. Similarly, the following equation (2) is calculated from the difference data H6-H5 and the difference data H8-H7.

θ2 = tan −1 {(H6−H5) / (H8−H7)}
= Tan −1 {sin α / cos α} (2)
As a result, the rotation angle θ2 of the rotating body is calculated.

  FIG. 8 shows the rotation angle θ1 and the rotation angle θ2 calculated in this way. As shown in the figure, since there is a phase difference of 45 degrees between the rotation angle θ1 and the rotation angle θ2, when the rotation angle θ2 ′ is obtained by adding 45 degrees to the rotation angle θ2, the rotation angles θ1 and θ2 'Is theoretically equal. When the rotation angle θ2 ′ exceeds 360 degrees, a calculation process of subtracting 360 degrees from the value is performed.

  The rotation angles θ1 and θ2 ′ thus calculated are output to the outside as DATA through the interface unit 55, respectively.

Further, an average value of the rotation angles θ1 and θ2 ′ may be calculated and output to the outside. Thereby, the accuracy of the calculated rotation angle can be further improved.

  Then, when these rotation angles θ1 and θ2 ′ are compared, and this difference exceeds an angle allowable value set in consideration of an error caused by the assembly accuracy of the magnet 5 and an error of the electronic circuit unit, It is determined that any one of the Hall elements H1 to H8 has failed. For example, when the allowable angle value is 5 degrees, it is determined whether an abnormality has occurred according to the following expression (3).

5 degrees <the absolute value of the difference between θ1 and θ2 ′ <355 degrees (3)
When the expression (3) is satisfied, it is determined that an abnormality has occurred, and a failure signal is output to the outside via the interface unit 55. Here, the reason why the angle is set to 355 degrees or less is that when the error is 5 degrees or more in terms of switching from 0 degree to 360 degrees, the difference between θ1 and θ2 ′ is 355 degrees or less.

  The allowable angle value may be set in the data storage unit 54 in advance, but may be input from the outside via the interface unit 55 according to the required accuracy.

  Further, in FIG. 8, the rotation angle is displayed in the range of 0 to 360 degrees, but if only for obtaining the difference between θ1 and θ2 ′, the rotation angle is displayed in the range of −180 degrees to +180 degrees. The rotation angle may not be displayed in the range indicated by.

  As described above, in the rotation angle detection device 1 according to the present embodiment, since at least two sets of magnetic detection element groups are provided in one hole array IC 6 to detect the rotation angle, the detection accuracy can be increased. . Furthermore, even when high reliability is required for the rotating body to be measured, reliability is increased by providing two sets of magnetic detection element groups in one Hall array IC 6 without requiring a plurality of angle detection sensors. This makes it possible to realize a very inexpensive, small and highly reliable sensor.

  The rotation angle detection device of the present invention has been described based on the illustrated embodiment. However, the present invention is not limited to this, and the configuration of each part is replaced with an arbitrary configuration having the same function. be able to.

  For example, in the above-described embodiment, the steering shaft has been described as an example, but the present invention can also be applied to other rotating bodies.

  In the above-described embodiment, two sets of magnetic detection element groups are provided, but three or more sets of magnetic detection element groups may be provided to detect the rotation angle.

  A rotation angle detection device that detects the rotation angle of a rotating body such as a steering is extremely useful as a technique for realizing high reliability and reducing the size of the device at low cost.

It is a block diagram which shows the structure of the rotation angle detection apparatus of the rotary body which concerns on one Embodiment of this invention. It is a figure for demonstrating arrangement | positioning of the Hall element with respect to the magnet in the rotation angle detection apparatus of the rotary body of this invention. It is a figure which shows the output waveform of the 1st magnetic detection element group in the rotation angle detection apparatus of the rotary body of this invention. It is a figure which shows the output waveform of the 2nd magnetic detection element group in the rotation angle detection apparatus of the rotary body of this invention. It is a block diagram which shows the structure of the arithmetic processing unit in the rotation angle detection apparatus of the rotary body of this invention. It is a figure which shows the waveform of the difference data of the 1st magnetic detection element group in the rotation angle detection apparatus of the rotary body of this invention. It is a figure which shows the waveform of the difference data of the 2nd magnetic detection element group in the rotation angle detection apparatus of the rotary body of this invention. It is a figure which shows the detection result detected by the rotation angle detection apparatus of the rotary body of this invention. It is a block diagram which shows the structure of the conventional rotation angle measuring apparatus.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Rotation angle detector 2 Steering shaft 3 1st gear 4 2nd gear 5 Magnet (magnetic field generation means)
6 Hall array IC (magnetic detection means)
7. Arithmetic processing device (arithmetic processing means)
H1-H8 Hall element (Magnetic detection element)
51 First ADC
52 Second ADC
53 arithmetic processing unit 54 data storage unit 55 interface unit 100 rotation angle measuring device 101 steering shaft 102 driving gears 103a and 103b driven gears 104a and 104b magnets 105a and 105b MR sensor 106 electronic control unit

Claims (7)

  1. A rotation angle detection device for detecting a rotation angle of a rotating body,
    Magnetic field generating means for generating a magnetic field;
    Magnetic detection means for detecting the magnetic field intensity of the magnetic field generated by the magnetic field generation means,
    Either one of the magnetic detection means or the magnetic field generation means rotates as the rotating body rotates,
    The magnetic detection means is configured by a magnetic detection element group including a plurality of magnetic detection elements for detecting the magnetic field intensity, and a plurality of sets of the magnetic detection element groups are provided,
    And an arithmetic processing unit that detects a rotation angle of the rotating body using at least two magnetic detection element groups of the plurality of sets.
    The arithmetic processing unit determines whether or not an abnormality has occurred based on a detection result of the rotation angle of the rotating body.
  2.   The rotation angle detection device for a rotating body according to claim 1, wherein the magnetic detection element group and the arithmetic processing unit are arranged in the same IC.
  3.   The rotation angle detection device for a rotating body according to claim 1, wherein the magnetic detection element group and the arithmetic processing unit are arranged in different ICs.
  4.   The arithmetic processing unit obtains an average value from rotation angles detected by each of the at least two sets of magnetic detection element groups, and outputs the average value as a rotation angle of the rotating body. The rotation angle detection device for a rotating body according to any one of claims 3 to 4.
  5.   The rotation angle detection device for a rotating body according to any one of claims 1 to 4, wherein the magnetic field generating means rotates as the rotating body rotates.
  6. There are two sets of the magnetic detection element groups, and each magnetic detection element group includes four magnetic detection elements, and the four magnetic detection elements are spaced by 90 ° around the rotation axis around which the magnetic field generating means rotates. Arranged in the
    Each of the two sets of magnetic detection element groups generates difference data from two magnetic detection elements at intervals of 180 °, and detects a rotation angle of the rotating body based on the difference data. The rotation angle detection apparatus of the rotary body of any one of Claims 1-5.
  7. The rotation angle detecting device for a rotating body according to any one of claims 1 to 6, wherein the rotating body is a steering shaft.
JP2004133254A 2004-04-28 2004-04-28 Apparatus for detecting rotation angle of rotating body Abandoned JP2005315696A (en)

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Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008202966A (en) * 2007-02-16 2008-09-04 Tamagawa Seiki Co Ltd Redundant system angle detecting device
DE102011079019A1 (en) 2010-08-11 2012-02-16 Tdk Corporation Rotating field sensor
JP2012052960A (en) * 2010-09-02 2012-03-15 Denso Corp Rotation angle detecting device, and assembling method thereof
DE102011080679A1 (en) 2010-08-11 2012-04-05 Tdk Corporation Rotating field sensor
JP2014178310A (en) * 2013-02-12 2014-09-25 Asahi Kasei Electronics Co Ltd Rotation angle measuring apparatus
JP2016514833A (en) * 2013-03-26 2016-05-23 ローベルト ボツシユ ゲゼルシヤフト ミツト ベシユレンクテル ハフツングRobert Bosch Gmbh Hall sensor insensitive to external magnetic field
US9523589B2 (en) 2013-02-12 2016-12-20 Asahi Kasei Microdevices Corporation Rotation angle measurement apparatus
WO2018230087A1 (en) * 2017-06-14 2018-12-20 株式会社デンソー Position sensor

Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008202966A (en) * 2007-02-16 2008-09-04 Tamagawa Seiki Co Ltd Redundant system angle detecting device
DE102011079019A1 (en) 2010-08-11 2012-02-16 Tdk Corporation Rotating field sensor
DE102011080679A1 (en) 2010-08-11 2012-04-05 Tdk Corporation Rotating field sensor
US8604780B2 (en) 2010-08-11 2013-12-10 Tdk Corporation Rotating field sensor
US8659289B2 (en) 2010-08-11 2014-02-25 Tdk Corporation Rotating field sensor
JP2012052960A (en) * 2010-09-02 2012-03-15 Denso Corp Rotation angle detecting device, and assembling method thereof
JP2014178309A (en) * 2013-02-12 2014-09-25 Asahi Kasei Electronics Co Ltd Rotation angle measuring apparatus
JP2014178310A (en) * 2013-02-12 2014-09-25 Asahi Kasei Electronics Co Ltd Rotation angle measuring apparatus
JP2016048259A (en) * 2013-02-12 2016-04-07 旭化成エレクトロニクス株式会社 Rotation angle measuring apparatus
US9625278B2 (en) 2013-02-12 2017-04-18 Asahi Kasei Microdevices Corporation Rotation angle measurement apparatus
US9523589B2 (en) 2013-02-12 2016-12-20 Asahi Kasei Microdevices Corporation Rotation angle measurement apparatus
JP2016514833A (en) * 2013-03-26 2016-05-23 ローベルト ボツシユ ゲゼルシヤフト ミツト ベシユレンクテル ハフツングRobert Bosch Gmbh Hall sensor insensitive to external magnetic field
US9851221B2 (en) 2013-03-26 2017-12-26 Robert Bosch Gmbh Hall sensor insensitive to external magnetic fields
WO2018230087A1 (en) * 2017-06-14 2018-12-20 株式会社デンソー Position sensor

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