JP2006208049A - Rotation angle detection apparatus - Google Patents

Rotation angle detection apparatus Download PDF

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JP2006208049A
JP2006208049A JP2005017174A JP2005017174A JP2006208049A JP 2006208049 A JP2006208049 A JP 2006208049A JP 2005017174 A JP2005017174 A JP 2005017174A JP 2005017174 A JP2005017174 A JP 2005017174A JP 2006208049 A JP2006208049 A JP 2006208049A
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rotation angle
differential amplifiers
magnetic field
angle detection
detection device
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Takamasa Kanehara
金原　　孝昌
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Denso Corp
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Denso Corp
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Abstract

<P>PROBLEM TO BE SOLVED: To provide a rotation angle detection apparatus of which detection accuracy of the angle of rotation of a magnetic field hardly degrades even if offset voltages and electrical noise have occurred. <P>SOLUTION: The rotation angle detection apparatus comprises 2n-pieces of magnetoelectric transducers and 3n-pieces of differential amplifiers. Two magnetoelectric transducers 11a and 11b and three differential amplifiers 21a, 21b, and 31 are grouped into one set, and two magnetoelectric transducers 12a and 12b and three differential amplifiers 22a, 22b, and 32 are grouped into another set. On the first stage, output signals from the two magnetoelectric transducers 11a and 11b and the other two magnetoelectric transducers 12a and 12b are each inverted and inputted to input terminals of two differential amplifiers 21a and 21b and two differential amplifiers 22a and 22b. On the second stage, output signals from the two differential amplifiers 21a and 21b and the two differential amplifiers 22a and 22b are each inverted and inputted to input terminals of the one remaining differential amplifier 31 and the other one remaining differential amplifier 32. By computing output signals from each set of the remaining differential amplifiers 31 and 32, the angle of rotation of a magnetic field B is detected. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

本発明は、平面内で回転する磁界を磁電変換素子により検出し、磁電変換素子の出力信号を差動増幅器により増幅して磁界の回転角を検出する回転角検出装置に関する。   The present invention relates to a rotation angle detection device that detects a magnetic field rotating in a plane with a magnetoelectric conversion element and amplifies an output signal of the magnetoelectric conversion element with a differential amplifier to detect a rotation angle of the magnetic field.

平面内で回転する磁界を磁電変換素子により検出し、磁電変換素子の出力信号を演算することによって磁界の回転角を検出する回転角検出装置が、例えば、特開２００４−２７１４９５号公報（特許文献１）に開示されている。   A rotation angle detection device that detects a rotation angle of a magnetic field by detecting a magnetic field rotating in a plane by a magnetoelectric conversion element and calculating an output signal of the magnetoelectric conversion element is disclosed in, for example, Japanese Patent Application Laid-Open No. 2004-271495 (Patent Document). 1).

図３に、特許文献１に開示された従来の回転角検出装置を示す。
図３（ａ）は、回転角センサの側面図、図３（ｂ）は、図３（ａ）のＩ−Ｉ矢視断面図及びこの回転角センサを具備した回転角検出装置である。 FIG. 3 shows a conventional rotation angle detection device disclosed in Patent Document 1.
3A is a side view of the rotation angle sensor, and FIG. 3B is a cross-sectional view taken along the arrow I-I in FIG. 3A and a rotation angle detection device including the rotation angle sensor.

図３（ａ），（ｂ）に示す回転角検出装置１は、回転軸２の外周側に設けられる回転角センサと回転角演算部６とから構成され、回転角センサで検出した信号に基づいて、回転角演算部６が演算することで、回転軸２の回転角を検出している。   A rotation angle detection device 1 shown in FIGS. 3A and 3B includes a rotation angle sensor provided on the outer peripheral side of the rotation shaft 2 and a rotation angle calculation unit 6, and is based on a signal detected by the rotation angle sensor. Thus, the rotation angle of the rotation shaft 2 is detected by the rotation angle calculation unit 6.

回転角センサは、硬磁性体を成す磁石３、軟磁性体を成すヨーク４及び磁束密度検出器を成す磁気センサ（磁電変換素子）５から構成されている。   The rotation angle sensor includes a magnet 3 that is a hard magnetic material, a yoke 4 that is a soft magnetic material, and a magnetic sensor (magnetoelectric conversion element) 5 that is a magnetic flux density detector.

磁石３は、リング状であって、回転軸２の外周に連結され、且つ磁気極性の異なる第１の磁極を成すＮ極３ａと第２の磁極を成すＳ極３ｂとから成っている。このＮ極３ａとＳ極３ｂとは、周方向の略１８０度間隔に連結されている。   The magnet 3 has a ring shape and is connected to the outer periphery of the rotary shaft 2 and includes an N pole 3a forming a first magnetic pole having a different magnetic polarity and an S pole 3b forming a second magnetic pole. The N pole 3a and the S pole 3b are connected at an interval of about 180 degrees in the circumferential direction.

ヨーク４は、磁石３の外周に近接して配置される環状体であって、第１から第４のヨーク４ａ〜４ｄから構成されている。この第１から第４のヨーク４ａ〜４ｄは、それぞれ周方向の略９０度間隔にギャップ４ｇを介して設けられている。   The yoke 4 is an annular body disposed close to the outer periphery of the magnet 3, and is composed of first to fourth yokes 4a to 4d. The first to fourth yokes 4a to 4d are provided at intervals of about 90 degrees in the circumferential direction via gaps 4g.

磁気センサ５は、第１及び第２の磁気センサ５ａ、５ｂとから構成されている。第１の磁気センサ５ａは、第１及び第４のヨーク４ａ、４ｄとの周方向の間のギャップ４ｇ内に、第２の磁気センサ５ｂは、第１及び第２のヨーク４ａ、４ｂとの周方向の間のギャップ４ｇ内に挿入されており、それぞれ挿入されたギャップ４ｇに生じる磁束量を磁束密度として検出する。但し、この第１及び第２の磁気センサ５ａ、５ｂは、ヨーク４と非接触に設けられている。また、磁気センサ５としては、例えばホール素子及び磁気抵抗素子等を使用することができ、検出した磁束密度を電気信号（例えば電圧信号）に変換して回転角演算部６に出力する。   The magnetic sensor 5 includes first and second magnetic sensors 5a and 5b. The first magnetic sensor 5a is in the gap 4g between the first and fourth yokes 4a and 4d in the circumferential direction, and the second magnetic sensor 5b is in contact with the first and second yokes 4a and 4b. It is inserted in the gap 4g between the circumferential directions, and the amount of magnetic flux generated in each inserted gap 4g is detected as the magnetic flux density. However, the first and second magnetic sensors 5 a and 5 b are provided in non-contact with the yoke 4. As the magnetic sensor 5, for example, a Hall element, a magnetoresistive element, or the like can be used, and the detected magnetic flux density is converted into an electric signal (for example, a voltage signal) and output to the rotation angle calculation unit 6.

回転角演算部６は、第１及び第２の磁気センサ５ａ、５ｂで変換された電気信号に基づいて、回転軸２の回転角（絶対角）を演算する。具体的には、第１及び第２の磁気センサ５ａ、５ｂで変換された２つの電気信号をそれぞれつなぎ合わせることで、９０ｄｅｇ以上の連続した回転軸２の回転角を演算する。   The rotation angle calculation unit 6 calculates the rotation angle (absolute angle) of the rotating shaft 2 based on the electric signals converted by the first and second magnetic sensors 5a and 5b. Specifically, the two electrical signals converted by the first and second magnetic sensors 5a and 5b are connected to calculate the rotation angle of the continuous rotating shaft 2 of 90 degrees or more.

図４は、回転軸２が周方向に回転した場合の磁気センサ５が検出する磁束密度の変化について説明する図である。図４（ａ）は、磁石が周方向に回転した状態を示した図、図４（ｂ）は、磁気センサが変換した電気信号の周期波形を示したグラフである。   FIG. 4 is a diagram for explaining a change in magnetic flux density detected by the magnetic sensor 5 when the rotating shaft 2 rotates in the circumferential direction. FIG. 4A is a diagram showing a state in which the magnet is rotated in the circumferential direction, and FIG. 4B is a graph showing a periodic waveform of an electrical signal converted by the magnetic sensor.

図４（ａ）に示す（Ｉ）の状態（０ｄｅｇ）の場合、第１のヨーク４ａと第４のヨーク４ｄとの間のギャップ４ｇには、磁束が流れず磁束密度としては０となる。また、第１のヨーク４ａと第２のヨーク４ｂとの間のギャップ４ｇには、負の極性の磁束密度の最大値が生じる。このことから、第１及び第２の磁気センサ５ａ、５ｂは、図４（ｂ）の点線（Ｉ）に示す電圧信号に変換する。   In the state (I) (0 deg) shown in FIG. 4A, no magnetic flux flows through the gap 4g between the first yoke 4a and the fourth yoke 4d, and the magnetic flux density is zero. Further, the maximum value of the negative polarity magnetic flux density is generated in the gap 4g between the first yoke 4a and the second yoke 4b. Therefore, the first and second magnetic sensors 5a and 5b convert the voltage signal shown by the dotted line (I) in FIG. 4B.

そして、図４（ａ）に示す（Ｉ）の状態から回転軸２が周方向に９０度右回転し、（ＩＩ）の状態（９０ｄｅｇ）になった場合、第１のヨーク４ａと第４のヨーク４ｄとの間のギャップ４ｇには、正の極性の磁束密度の最大値が生じる。また、第１のヨーク４ａと第２のヨーク４ｂとの間のギャップ４ｇには、磁束が流れず磁束密度としては０となる。このことから、第１及び第２の磁気センサ５ａ、５ｂは、図４（ｂ）の点線（ＩＩ）に示す電圧信号に変換する。   When the rotary shaft 2 is rotated 90 degrees clockwise in the circumferential direction from the state (I) shown in FIG. 4A, the first yoke 4 a and the fourth yoke 4 In the gap 4g between the yoke 4d, the maximum value of the positive polarity magnetic flux density is generated. Further, no magnetic flux flows through the gap 4g between the first yoke 4a and the second yoke 4b, and the magnetic flux density is zero. From this, the first and second magnetic sensors 5a and 5b convert the voltage signals to the dotted line (II) in FIG. 4B.

さらに、図４（ａ）に示す（ＩＩ）の状態から回転軸２が周方向に９０度右回転し、（ＩＩＩ）の状態（１８０ｄｅｇ）になった場合、第１のヨーク４ａと第４のヨーク４ｄとの間のギャップ４ｇには、磁束が流れず磁束密度としては０となる。また、第１のヨーク４ａと第２のヨーク４ｂとの間のギャップ４ｇには、正の極性の磁束密度の最大値が生じる。このことから、第１及び第２の磁気センサ５ａ、５ｂは、図４（ｂ）の点線（ＩＩ）に示す電圧信号に変換する。   Further, when the rotary shaft 2 is rotated 90 degrees clockwise in the circumferential direction from the state (II) shown in FIG. 4A, the state becomes the state (180 deg) of the first yoke 4a and the fourth yoke. A magnetic flux does not flow in the gap 4g between the yoke 4d and the magnetic flux density is zero. Further, the maximum value of the positive polarity magnetic flux density is generated in the gap 4g between the first yoke 4a and the second yoke 4b. From this, the first and second magnetic sensors 5a and 5b convert the voltage signals to the dotted line (II) in FIG. 4B.

また、磁石３のＮ極３ａ及びＳ極３ｂの周方向中央付近のいずれの部分から発生する磁束量がほぼ一定であることから、回転軸２が周方向に回転している際の第１及び第４のギャップ４ｇと第１及び第２のギャップ４ｇとに生じる磁束の磁束密度は、一定の割合で変化する。このことから、第１及び第２の磁気センサ５ａ、５ｂは、図４（ｂ）の太線のように、一定の割合で変化する電圧信号に変換する。   Further, since the amount of magnetic flux generated from any part of the magnet 3 near the center in the circumferential direction of the N pole 3a and the S pole 3b is substantially constant, the first and second rotations when the rotating shaft 2 rotates in the circumferential direction are performed. The magnetic flux density of the magnetic flux generated in the fourth gap 4g and the first and second gaps 4g changes at a constant rate. From this, the first and second magnetic sensors 5a and 5b convert into voltage signals that change at a constant rate as indicated by the thick lines in FIG. 4B.

図５は、回転角演算部で演算された電気信号の周期波形を示したグラフである。   FIG. 5 is a graph showing a periodic waveform of the electric signal calculated by the rotation angle calculation unit.

回転角演算部６が演算することで、Ｖｏｕｔは、図５に示すように、回転軸２の回転角３６０度（−１８０ｄｅｇ〜１８０ｄｅｇ）の範囲で一定の割合で変化させることができるため、回転軸２の３６０度の絶対角を検出することができる。
特開２００４−２７１４９５号公報 Since the rotation angle calculation unit 6 calculates Vout as shown in FIG. 5, the rotation angle can be changed at a constant rate within the range of the rotation angle 360 degrees (−180 deg to 180 deg) of the rotation shaft 2. An absolute angle of 360 degrees on axis 2 can be detected.
JP 2004-271495 A

図６に、図３の回転角検出装置を一般化した、従来の別の回転角検出装置を示す。   FIG. 6 shows another conventional rotation angle detection device in which the rotation angle detection device of FIG. 3 is generalized.

図６に示す回転角検出装置９０は、平面Ｈ内で回転する磁界Ｂを磁電変換素子９１，９２により検出し、磁電変換素子９１，９２の出力信号を演算して磁界Ｂの回転角を検出する回転角検出装置である。   The rotation angle detection device 90 shown in FIG. 6 detects the magnetic field B rotating in the plane H by the magnetoelectric conversion elements 91 and 92, calculates the output signal of the magnetoelectric conversion elements 91 and 92, and detects the rotation angle of the magnetic field B. The rotation angle detecting device.

図６の回転角検出装置９０は、図３の回転角検出装置１と同様に、２個の磁電変換素子９１，９２を有している。また、２個の磁電変換素子９１，９２は、磁界Ｂの回転中心Ｐに近接して、互いに９０度位相の異なる信号を出力するように配置されている。従って、２個の磁電変換素子９１，９２の出力端子Ａ−ＢおよびＣ−Ｄには、それぞれ、磁界Ｂの回転に伴ってｓｉｎ波およびｃｏｓ波の電圧信号が出力され、これをａｒｃｔａｎ演算することにより、図５と同様のリニア出力が得られる。   The rotation angle detection device 90 of FIG. 6 includes two magnetoelectric conversion elements 91 and 92 as in the rotation angle detection device 1 of FIG. Further, the two magnetoelectric transducers 91 and 92 are arranged close to the rotation center P of the magnetic field B so as to output signals having a phase difference of 90 degrees from each other. Accordingly, sin wave and cos wave voltage signals are output to the output terminals AB and CD of the two magnetoelectric transducers 91 and 92, respectively, along with the rotation of the magnetic field B, and this is subjected to arctan calculation. As a result, a linear output similar to that shown in FIG. 5 is obtained.

図６に示す回転角検出装置９０では、２個の磁電変換素子９１，９２が互いに近接して配置されているため、磁気ノイズがある場合にも、磁気ノイズは２個の磁電変換素子９１，９２に等しく作用して、磁界Ｂの回転角の検出精度は劣化し難い。このため、図６の回転角検出装置９０は、磁気ノイズに対して強い構造となっている。一方、図６の回転角検出装置９０は、磁電変換素子からの信号を増幅する増幅器のオフセット電圧や電気ノイズの影響を低減する有効な手段を有していない。   In the rotation angle detection device 90 shown in FIG. 6, since the two magnetoelectric conversion elements 91 and 92 are arranged close to each other, even when there is magnetic noise, the magnetic noise is detected by the two magnetoelectric conversion elements 91, 92. 92, the detection accuracy of the rotation angle of the magnetic field B is unlikely to deteriorate. For this reason, the rotation angle detection device 90 of FIG. 6 has a structure strong against magnetic noise. On the other hand, the rotation angle detection device 90 of FIG. 6 does not have an effective means for reducing the influence of the offset voltage of the amplifier that amplifies the signal from the magnetoelectric transducer and the electrical noise.

そこで本発明は、平面内で回転する磁界を磁電変換素子により検出し、磁界の回転角を検出する回転角検出装置であって、増幅器のオフセット電圧や電気ノイズが発生しても磁界の回転角の検出精度が劣化し難い回転角検出装置を提供することを目的としている。   Therefore, the present invention is a rotation angle detection device that detects a magnetic field rotating in a plane by a magnetoelectric transducer and detects a rotation angle of the magnetic field, and the rotation angle of the magnetic field even if an offset voltage of the amplifier or electrical noise occurs. It is an object of the present invention to provide a rotation angle detection device in which the detection accuracy of the is difficult to deteriorate.

請求項１に記載の発明は、平面内で回転する磁界を磁電変換素子により検出し、前記磁電変換素子の出力信号を差動増幅器により増幅して前記磁界の回転角を検出する回転角検出装置であって、２ｎ個（ｎは１以上の整数）の前記磁電変換素子と、３ｎ個の前記差動増幅器を有してなり、２個の前記磁電変換素子と３個の前記差動増幅器を一組とし、各組において、前記２個の磁電変換素子が同じ変換特性を有すると共に、前記２個の磁電変換素子が前記磁界に対して同じ信号を出力するように前記平面内で同じ向きに配置され、前記３個の差動増幅器のうち少なくとも２個の差動増幅器が同じ増幅特性を有すると共に、第１段で、前記２個の磁電変換素子からの出力信号を、それぞれ、前記同じ増幅特性を有する２個の差動増幅器の入力端子に、互いに反転して入力し、第２段で、２個の前記差動増幅器からの出力信号を、それぞれ、残る１個の前記差動増幅器の入力端子に、互いに反転して入力し、各組の前記第２段の差動増幅器からの出力信号を演算することによって、前記磁界の回転角を検出することを特徴としている。   The invention according to claim 1 detects a magnetic field rotating in a plane by a magnetoelectric conversion element, and amplifies an output signal of the magnetoelectric conversion element by a differential amplifier to detect a rotation angle of the magnetic field. 2n (n is an integer of 1 or more) the magnetoelectric conversion elements and 3n differential amplifiers, and the two magnetoelectric conversion elements and the three differential amplifiers are In each set, the two magnetoelectric conversion elements have the same conversion characteristics, and the two magnetoelectric conversion elements output the same signal to the magnetic field in the same direction in the plane. And at least two differential amplifiers of the three differential amplifiers have the same amplification characteristics, and output signals from the two magnetoelectric transducers are respectively the same amplification in the first stage. Input terminals of two differential amplifiers with characteristics In the second stage, the output signals from the two differential amplifiers are inverted and input to the input terminals of the remaining one differential amplifier, respectively. The rotation angle of the magnetic field is detected by calculating an output signal from the pair of second stage differential amplifiers.

これによれば、第１段の同じ増幅特性を有する２個の差動増幅器からの出力信号が、それぞれ、第２段の残る１個の前記差動増幅器の入力端子に互いに反転して入力されるために、第１段の同じ増幅特性を有する２個の差動増幅器にオフセット電圧が発生していも、それらは第２段の差動増幅器で打ち消される。また、第１段の２個の差動増幅器からの出力信号にコモンモードの電気ノイズが重畳した場合も同様に、それら電気ノイズが第２段の差動増幅器で打ち消される。   According to this, the output signals from the two differential amplifiers having the same amplification characteristic in the first stage are respectively input to the input terminals of the remaining one differential amplifier in the second stage in an inverted manner. Therefore, even if an offset voltage is generated in two differential amplifiers having the same amplification characteristics in the first stage, they are canceled out by the second stage differential amplifier. Similarly, when common-mode electrical noise is superimposed on the output signals from the two differential amplifiers in the first stage, the electrical noise is canceled out by the second-stage differential amplifier.

以上のようにして、上記回転角検出装置は、平面内で回転する磁界を磁電変換素子により検出し、磁界の回転角を検出する回転角検出装置であって、増幅器のオフセット電圧や電気ノイズが発生しても磁界の回転角の検出精度が劣化し難い回転角検出装置となっている。   As described above, the rotation angle detection apparatus is a rotation angle detection apparatus that detects a rotation angle of a magnetic field by detecting a magnetic field rotating in a plane with a magnetoelectric conversion element, and an offset voltage or electric noise of an amplifier is detected. Even if it occurs, the rotation angle detection device is unlikely to deteriorate the detection accuracy of the rotation angle of the magnetic field.

請求項２に記載のように、上記回転角検出装置においては、前記２ｎ個の磁電変換素子が、前記磁界の回転中心に隣接して配置されてなることが好ましい。これにより、各磁電変換素子に印加される磁界が均等になって、磁界の回転角の高い検出精度を得ることができる。   According to a second aspect of the present invention, in the rotation angle detection device, it is preferable that the 2n magnetoelectric conversion elements are arranged adjacent to the rotation center of the magnetic field. Thereby, the magnetic field applied to each magnetoelectric transducer becomes uniform, and the detection accuracy with a high rotation angle of the magnetic field can be obtained.

請求項３に記載のように、前記２ｎ個の磁電変換素子は、前記平面内にリング状に配置されてなることが好ましく、特に請求項４に記載のように、前記磁界の回転中心の周りにリング状に配置されてなることが好ましい。   According to a third aspect of the present invention, the 2n magnetoelectric transducers are preferably arranged in a ring shape in the plane, and particularly as recited in the fourth aspect, around the rotation center of the magnetic field. It is preferable that they are arranged in a ring shape.

これによっても、各磁電変換素子に印加される磁界が均等になって、磁界の回転角の高い検出精度を得ることができる。   Also by this, the magnetic field applied to each magnetoelectric transducer becomes uniform, and the detection accuracy with a high rotation angle of the magnetic field can be obtained.

請求項５に記載のように、上記回転角検出装置は、４個の前記磁電変換素子と、６個の差動増幅器を有してなり、２組の前記磁電変換素子が同じ変換特性を有すると共に、前記２組の磁電変換素子が前記磁界に対して９０度位相の異なる信号を出力するように前記平面内で互いに９０度回転した向きに配置され、２組の前記第２段の差動増幅器が同じ増幅特性を有すると共に、各組の前記第２段の差動増幅器からの出力信号をａｒｃｔａｎ演算することによって、前記磁界の回転角を検出するように構成することができる。   According to a fifth aspect of the present invention, the rotation angle detection device includes four magnetoelectric conversion elements and six differential amplifiers, and two sets of the magnetoelectric conversion elements have the same conversion characteristics. In addition, the two sets of magnetoelectric transducers are arranged in directions rotated by 90 degrees with respect to each other in the plane so as to output signals having a phase difference of 90 degrees with respect to the magnetic field. The amplifiers have the same amplification characteristics, and can be configured to detect the rotation angle of the magnetic field by performing an arctan operation on the output signals from each pair of the second stage differential amplifiers.

上記磁電変換素子と差動増幅器の最小限の組み合わせにより、磁界の回転角に対して線形な出力電圧を、簡単なａｒｃｔａｎ演算により得ることができる。従って、上記回転角検出装置は、オフセット電圧や電気ノイズが発生しても磁界の回転角の検出精度が劣化し難い回転角検出装置であって、安価な回転角検出装置とすることができる。   With a minimum combination of the magnetoelectric conversion element and the differential amplifier, an output voltage linear with respect to the rotation angle of the magnetic field can be obtained by a simple arctan calculation. Therefore, the rotation angle detection device is a rotation angle detection device in which the detection accuracy of the rotation angle of the magnetic field is hardly deteriorated even if an offset voltage or electrical noise occurs, and can be an inexpensive rotation angle detection device.

請求項６に記載のように、上記回転角検出装置は、前記磁電変換素子が、ホール素子であり、前記２ｎ個のホール素子と３ｎ個の差動増幅器が、同じ半導体基板に形成されてなり、前記平面が、前記半導体基板面であるように構成することができる。   According to a sixth aspect of the present invention, in the rotation angle detection device, the magnetoelectric conversion element is a Hall element, and the 2n Hall elements and 3n differential amplifiers are formed on the same semiconductor substrate. The plane can be configured to be the semiconductor substrate surface.

これにより、小型で安価な回転角検出装置とすることができる。   Thereby, it can be set as a small and cheap rotation angle detection apparatus.

以下、本発明を実施するための最良の形態を、図に基づいて説明する。   The best mode for carrying out the present invention will be described below with reference to the drawings.

図１は、本発明の回転角検出装置１００における磁電変換素子の配置を模式的に示す図である。図２は、本発明の回転角検出装置１００における差動増幅器の接続配置と各差動増幅器の入出力信号を示す図である。   FIG. 1 is a diagram schematically showing the arrangement of magnetoelectric conversion elements in the rotation angle detection device 100 of the present invention. FIG. 2 is a diagram showing the connection arrangement of differential amplifiers and the input / output signals of each differential amplifier in the rotation angle detection device 100 of the present invention.

図１，２に示す回転角検出装置１００は、図１に示す４個の磁電変換素子１１ａ，１１ｂ，１２ａ，１２ｂと、図２に示す６個の差動増幅器２１ａ，２１ｂ，２２ａ，２２ｂ，３１，３２とを有している。回転角検出装置１００では、図１に示すように平面Ｈ内で回転する磁界Ｂを磁電変換素子１１ａ，１１ｂ，１２ａ，１２ｂにより検出し、図２に示すように磁電変換素子１１ａ，１１ｂ，１２ａ，１２ｂの出力信号を差動増幅器２１ａ，２１ｂ，２２ａ，２２ｂ，３１，３２により増幅する。これによって、図１に示す磁界Ｂの平面Ｈ内における回転角を検出する。   1 and 4 includes four magnetoelectric transducers 11a, 11b, 12a, and 12b shown in FIG. 1, and six differential amplifiers 21a, 21b, 22a, 22b, and FIG. 31 and 32. In the rotation angle detection device 100, a magnetic field B rotating in the plane H as shown in FIG. 1 is detected by the magnetoelectric conversion elements 11a, 11b, 12a and 12b, and the magnetoelectric conversion elements 11a, 11b and 12a are detected as shown in FIG. , 12b are amplified by differential amplifiers 21a, 21b, 22a, 22b, 31, 32. Thereby, the rotation angle in the plane H of the magnetic field B shown in FIG. 1 is detected.

図１，２に示す回転角検出装置１００では、磁電変換素子１１ａ，１１ｂ，１２ａ，１２ｂとして、例えばホール素子を用いることができ、４個のホール素子１１ａ，１１ｂ，１２ａ，１２ｂと６個の差動増幅器２１ａ，２１ｂ，２２ａ，２２ｂ，３１，３２が、同じ半導体基板に形成され、図１に示す平面Ｈが半導体基板面であるように構成することができる。これにより、小型で安価な回転角検出装置とすることができる。尚、図１は配置関係を模式的に示す図であり、磁電変換素子１１ａ，１１ｂ，１２ａ，１２ｂとしてホール素子を用いる場合には、ホール素子１１ａ，１１ｂ，１２ａ，１２ｂは、半導体基板面Ｈ内で回転する磁界Ｂに対して出力電圧を得るため、例えば半導体基板面Ｈに対して９０度傾いた面に形成されて用いられる。   In the rotation angle detection device 100 shown in FIGS. 1 and 2, for example, a Hall element can be used as the magnetoelectric conversion elements 11a, 11b, 12a, and 12b, and four Hall elements 11a, 11b, 12a, and 12b are used. The differential amplifiers 21a, 21b, 22a, 22b, 31, 32 may be formed on the same semiconductor substrate, and the plane H shown in FIG. 1 may be configured to be the semiconductor substrate surface. Thereby, it can be set as a small and cheap rotation angle detection apparatus. FIG. 1 is a diagram schematically showing the arrangement relationship. When Hall elements are used as the magnetoelectric conversion elements 11a, 11b, 12a, and 12b, the Hall elements 11a, 11b, 12a, and 12b are formed on the semiconductor substrate surface H. In order to obtain an output voltage with respect to the magnetic field B rotating inside, for example, it is formed on a surface inclined by 90 degrees with respect to the semiconductor substrate surface H.

回転角検出装置１００における４個の磁電変換素子１１ａ，１１ｂ，１２ａ，１２ｂは、図１に示すように、磁界Ｂの回転中心Ｐに隣接して配置されている。これにより、各磁電変換素子１１ａ，１１ｂ，１２ａ，１２ｂに印加される磁界Ｂが均等になって、磁界Ｂの回転角の高い検出精度を得ることができる。また、回転角検出装置１００における４個の磁電変換素子１１ａ，１１ｂ，１２ａ，１２ｂは、平面Ｈ内に磁界Ｂの回転中心Ｐの周りにリング状に配置されている。これによっても、各磁電変換素子１１ａ，１１ｂ，１２ａ，１２ｂに印加される磁界Ｂが均等になって、磁界Ｂの回転角の高い検出精度を得ることができる。   The four magnetoelectric conversion elements 11a, 11b, 12a, and 12b in the rotation angle detection device 100 are arranged adjacent to the rotation center P of the magnetic field B as shown in FIG. Thereby, the magnetic field B applied to each magnetoelectric conversion element 11a, 11b, 12a, 12b becomes uniform, and the detection accuracy with a high rotation angle of the magnetic field B can be obtained. In addition, the four magnetoelectric conversion elements 11 a, 11 b, 12 a, and 12 b in the rotation angle detection device 100 are arranged in a ring shape around the rotation center P of the magnetic field B in the plane H. Also by this, the magnetic field B applied to each magnetoelectric conversion element 11a, 11b, 12a, 12b becomes uniform, and the detection accuracy with a high rotation angle of the magnetic field B can be obtained.

図１，２に示す回転角検出装置１００では、２個の磁電変換素子１１ａ，１１ｂと３個の差動増幅器２１ａ，２１ｂ，３１を第１組がとして構成されており、２個の磁電変換素子１２ａ，１２ｂと３個の差動増幅器２２ａ，２２ｂ，３２が第２組として構成されている。   In the rotation angle detection device 100 shown in FIGS. 1 and 2, two magnetoelectric conversion elements 11a and 11b and three differential amplifiers 21a, 21b, and 31 are configured as a first set, and two magnetoelectric conversions are made. Elements 12a and 12b and three differential amplifiers 22a, 22b and 32 are configured as a second set.

図１，２に示す回転角検出装置１００では、４個の磁電変換素子１１ａ，１１ｂおよび１２ａ，１２ｂが同じ変換特性を有すると共に、各組では、２個の磁電変換素子１１ａ，１１ｂおよび１２ａ，１２ｂが、磁界Ｂに対して同じ信号を出力するように、平面Ｈ内で同じ向きに配置されている。２組の磁電変換素子１１ａ，１１ｂおよび１２ａ，１２ｂは、磁界Ｂに対して９０度位相の異なる信号を出力するように、平面Ｈ内で互いに９０度回転した向きに配置されている。   In the rotation angle detection device 100 shown in FIGS. 1 and 2, the four magnetoelectric conversion elements 11a, 11b and 12a, 12b have the same conversion characteristics, and in each set, the two magnetoelectric conversion elements 11a, 11b and 12a, 12b are arranged in the same direction in the plane H so as to output the same signal to the magnetic field B. The two sets of magnetoelectric transducers 11a, 11b and 12a, 12b are arranged in a direction rotated 90 degrees relative to each other in the plane H so as to output signals having a phase difference of 90 degrees with respect to the magnetic field B.

また、図１，２に示す回転角検出装置１００では、６個の差動増幅器２１ａ，２１ｂ，３１および２２ａ，２２ｂ，３２のうち、４個の差動増幅器２１ａ，２１ｂおよび２２ａ，２２ｂが同じ増幅特性を有し、２個の差動増幅器３１および３２が同じ増幅特性を有する。図２に示すように、第１段では、２個の磁電変換素子１１ａ，１１ｂおよび１２ａ，１２ｂからの出力信号を、それぞれ、同じ増幅特性を有する２個の差動増幅器２１ａ，２１ｂおよび２２ａ，２２ｂの入力端子に、互いに反転して入力する。第２段では、２個の差動増幅器２１ａ，２１ｂおよび２２ａ，２２ｂからの出力信号を、それぞれ、残る１個の差動増幅器３１および３２の入力端子に、互いに反転して入力している。最後に、各組の第２段の差動増幅器３１および３２からの出力信号を、演算器４０でａｒｃｔａｎ演算することによって、磁界Ｂの平面Ｈ内での回転角を検出する。   Also, in the rotation angle detection device 100 shown in FIGS. 1 and 2, four differential amplifiers 21a, 21b and 22a, 22b among the six differential amplifiers 21a, 21b, 31 and 22a, 22b, 32 are the same. The two differential amplifiers 31 and 32 have the same amplification characteristic. As shown in FIG. 2, in the first stage, the output signals from the two magnetoelectric transducers 11a, 11b and 12a, 12b are respectively converted into two differential amplifiers 21a, 21b and 22a, The signals are inverted and input to the input terminal 22b. In the second stage, output signals from the two differential amplifiers 21a, 21b and 22a, 22b are input to the input terminals of the remaining one differential amplifier 31 and 32 in an inverted manner. Finally, the rotation angle of the magnetic field B in the plane H is detected by performing an arctan operation on the output signals from the differential amplifiers 31 and 32 in the second stage of each set.

図１，２に示す回転角検出装置１００では、第１段の同じ増幅特性を有する２個の差動増幅器２１ａ，２１ｂおよび２２ａ，２２ｂからの出力信号が、それぞれ、第２段の残る１個の差動増幅器３１および３２の入力端子に互いに反転して入力される。このため、第１段の同じ増幅特性を有する２個の差動増幅器２１ａ，２１ｂおよび２２ａ，２２ｂにオフセット電圧が発生していも、それらは第２段の差動増幅器３１および３２で打ち消される。また、第１段の２個の差動増幅器２１ａ，２１ｂおよび２２ａ，２２ｂからの出力信号にコモンモードの電気ノイズが重畳した場合も、同様に、それら電気ノイズが第２段の差動増幅器３１および３２で打ち消される。   1 and 2, the output signals from the two differential amplifiers 21a, 21b and 22a, 22b having the same amplification characteristics in the first stage are respectively output from the remaining one in the second stage. Are input to the input terminals of the differential amplifiers 31 and 32 in an inverted manner. For this reason, even if an offset voltage is generated in the two differential amplifiers 21a, 21b and 22a, 22b having the same amplification characteristic in the first stage, they are canceled by the differential amplifiers 31 and 32 in the second stage. Similarly, when common mode electrical noise is superimposed on the output signals from the two first-stage differential amplifiers 21a, 21b and 22a, 22b, the electrical noise is also converted into the second-stage differential amplifier 31. And 32.

以上のようにして、図１，２に示す回転角検出装置１００は、平面Ｈ内で回転する磁界Ｂを磁電変換素子１１ａ，１１ｂ，１２ａ，１２ｂにより検出し、磁界Ｂの回転角を検出する回転角検出装置であって、差動増幅器２１ａ，２１ｂ，２２ａ，２２ｂ，３１，３２のオフセット電圧や電気ノイズが発生しても磁界Ｂの回転角の検出精度が劣化し難い回転角検出装置となっている。   As described above, the rotation angle detection device 100 shown in FIGS. 1 and 2 detects the magnetic field B rotating in the plane H by the magnetoelectric transducers 11a, 11b, 12a, and 12b, and detects the rotation angle of the magnetic field B. A rotation angle detection device that is unlikely to deteriorate the detection accuracy of the rotation angle of the magnetic field B even if an offset voltage or electrical noise is generated from the differential amplifiers 21a, 21b, 22a, 22b, 31, 32. It has become.

図１，２では、４個の磁電変換素子１１ａ，１１ｂ，１２ａ，１２ｂと６個の差動増幅器２１ａ，２１ｂ，２２ａ，２２ｂ，３１，３２とを有する回転検出装置１００を例にして、本発明による回転検出装置を説明した。図１，２に示す回転検出装置１００では、磁電変換素子１１ａ，１１ｂ，１２ａ，１２ｂと差動増幅器２１ａ，２１ｂ，２２ａ，２２ｂ，３１，３２の最小限の組み合わせにより、磁界Ｂの回転角に対して線形な出力電圧を、簡単なａｒｃｔａｎ演算により得ることができる。従って、図１，２の回転検出装置１００は、オフセット電圧や電気ノイズが発生しても磁界Ｂの回転角の検出精度が劣化し難い回転角検出装置であって、安価な回転角検出装置とすることができる。   1 and 2, the rotation detection device 100 having four magnetoelectric conversion elements 11a, 11b, 12a, 12b and six differential amplifiers 21a, 21b, 22a, 22b, 31, 32 is taken as an example. A rotation detection device according to the invention has been described. In the rotation detection device 100 shown in FIGS. 1 and 2, the rotation angle of the magnetic field B is obtained by the minimum combination of the magnetoelectric conversion elements 11 a, 11 b, 12 a, 12 b and the differential amplifiers 21 a, 21 b, 22 a, 22 b, 31, 32. On the other hand, a linear output voltage can be obtained by a simple arctan operation. Therefore, the rotation detection device 100 of FIGS. 1 and 2 is a rotation angle detection device in which the detection accuracy of the rotation angle of the magnetic field B is hardly deteriorated even if an offset voltage or electrical noise occurs, and is an inexpensive rotation angle detection device. can do.

しかしながら本発明の回転検出装置はこれに限らず、増幅器のオフセット電圧や電気ノイズが発生しても磁界の回転角の検出精度が劣化し難い回転角検出装置として、次のように一般化することができる。すなわち、本発明による回転検出装置は、平面内で回転する磁界を磁電変換素子により検出し、前記磁電変換素子の出力信号を差動増幅器により増幅して前記磁界の回転角を検出する回転角検出装置であって、２ｎ個（ｎは１以上の整数）の前記磁電変換素子と、３ｎ個の前記差動増幅器を有してなり、２個の前記磁電変換素子と３個の前記差動増幅器を一組とし、各組において、前記２個の磁電変換素子が同じ変換特性を有すると共に、前記２個の磁電変換素子が、前記磁界に対して同じ信号を出力するように、前記平面内で同じ向きに配置され、前記３個の差動増幅器のうち少なくとも２個の差動増幅器が同じ増幅特性を有すると共に、第１段で、前記２個の磁電変換素子からの出力信号を、それぞれ、前記同じ増幅特性を有する２個の差動増幅器の入力端子に、互いに反転して入力し、第２段で、２個の前記差動増幅器からの出力信号を、それぞれ、残る１個の前記差動増幅器の入力端子に、互いに反転して入力し、各組の前記第２段の差動増幅器からの出力信号を演算することによって、前記磁界の回転角を検出する回転角検出装置であればよい。   However, the rotation detection device of the present invention is not limited to this, and is generalized as follows as a rotation angle detection device in which the detection accuracy of the rotation angle of the magnetic field is hardly deteriorated even if an offset voltage of the amplifier or electrical noise occurs. Can do. That is, the rotation detection device according to the present invention detects a magnetic field rotating in a plane by a magnetoelectric conversion element and amplifies an output signal of the magnetoelectric conversion element by a differential amplifier to detect a rotation angle of the magnetic field. 2n (n is an integer equal to or greater than 1) of the magnetoelectric conversion elements and 3n of the differential amplifiers, the two magnetoelectric conversion elements and the three differential amplifiers In each set, the two magnetoelectric transducers have the same conversion characteristics, and the two magnetoelectric transducers output the same signal to the magnetic field in the plane. Arranged in the same direction, at least two of the three differential amplifiers have the same amplification characteristics, and at the first stage, output signals from the two magnetoelectric transducers are respectively Two of the same amplification characteristics Inverted and input to the input terminals of the dynamic amplifier, and in the second stage, the output signals from the two differential amplifiers are respectively inverted to the input terminals of the remaining one of the differential amplifiers. Any rotation angle detection device that detects the rotation angle of the magnetic field by calculating the output signals from the differential amplifiers in the second stage of each set.

これによれば、第１段の同じ増幅特性を有する２個の差動増幅器からの出力信号が、それぞれ、第２段の残る１個の前記差動増幅器の入力端子に互いに反転して入力されるために、第１段の同じ増幅特性を有する２個の差動増幅器にオフセット電圧が発生していも、それらは第２段の差動増幅器で打ち消される。また、第１段の２個の差動増幅器からの出力信号にコモンモードの電気ノイズが重畳した場合も同様に、それら電気ノイズが第２段の差動増幅器で打ち消される。   According to this, the output signals from the two differential amplifiers having the same amplification characteristic in the first stage are respectively input to the input terminals of the remaining one differential amplifier in the second stage in an inverted manner. Therefore, even if an offset voltage is generated in two differential amplifiers having the same amplification characteristics in the first stage, they are canceled out by the second stage differential amplifier. Similarly, when common-mode electrical noise is superimposed on the output signals from the two differential amplifiers in the first stage, the electrical noise is canceled out by the second-stage differential amplifier.

また、磁電変換素子は、ホール素子に限らず、磁気抵抗素子等であってもよい。   Further, the magnetoelectric conversion element is not limited to the Hall element, and may be a magnetoresistive element or the like.

以上のようにして、上記本発明の回転角検出装置は、平面内で回転する磁界を磁電変換素子により検出し、磁界の回転角を検出する回転角検出装置であって、増幅器のオフセット電圧や電気ノイズが発生しても磁界の回転角の検出精度が劣化し難い回転角検出装置となっている。   As described above, the rotation angle detection device of the present invention is a rotation angle detection device that detects a rotation angle of a magnetic field by detecting a magnetic field rotating in a plane with a magnetoelectric transducer, and includes an offset voltage of an amplifier and the like. Even if electrical noise occurs, the rotation angle detection device is less likely to deteriorate the detection accuracy of the rotation angle of the magnetic field.

本発明の回転角検出装置における磁電変換素子の配置を模式的に示す図である。It is a figure which shows typically arrangement | positioning of the magnetoelectric conversion element in the rotation angle detection apparatus of this invention. 本発明の回転角検出装置における差動増幅器の接続配置と各差動増幅器の入出力信号を示す図である。It is a figure which shows the connection arrangement | positioning of the differential amplifier in the rotation angle detection apparatus of this invention, and the input-output signal of each differential amplifier. 従来の回転角検出装置を示す図で、（ａ）は回転角センサの側面図、（ｂ）は（ａ）のＩ−Ｉ矢視断面図及びこの回転角センサを具備した回転角検出装置である。It is a figure which shows the conventional rotation angle detection apparatus, (a) is a side view of a rotation angle sensor, (b) is II sectional view taken on the line of (a), and the rotation angle detection apparatus provided with this rotation angle sensor. is there. 図３の回転角検出装置において、回転軸が周方向に回転した場合の磁気センサが検出する磁束密度の変化について説明する図で、（ａ）は磁石が周方向に回転した状態を示した図、（ｂ）は磁気センサが変換した電気信号の周期波形を示したグラフである。FIG. 4 is a diagram for explaining a change in magnetic flux density detected by the magnetic sensor when the rotation shaft rotates in the circumferential direction in the rotation angle detection device of FIG. 3, and (a) shows a state in which the magnet rotates in the circumferential direction. (B) is the graph which showed the periodic waveform of the electric signal which the magnetic sensor converted. 図３の回転角検出装置において、回転角演算部で演算された電気信号の周期波形を示したグラフである。4 is a graph showing a periodic waveform of an electric signal calculated by a rotation angle calculation unit in the rotation angle detection device of FIG. 3. 図３の回転角検出装置を一般化した、従来の別の回転角検出装置を示す図である。It is a figure which shows another conventional rotation angle detection apparatus which generalized the rotation angle detection apparatus of FIG.

符号の説明Explanation of symbols

１，９０，１００ 回転角検出装置
５ａ，５ｂ，９１，９２，１１ａ，１１ｂ，１２ａ，１２ｂ 磁電変換素子
２１ａ，２１ｂ，２２ａ，２２ｂ，３１，３２ 差動増幅器
４０ 演算器
Ｈ 平面
Ｂ 磁界
Ｐ 回転中心 DESCRIPTION OF SYMBOLS 1,90,100 Rotation angle detection apparatus 5a, 5b, 91, 92, 11a, 11b, 12a, 12b Magnetoelectric conversion element 21a, 21b, 22a, 22b, 31, 32 Differential amplifier 40 Calculator H plane B Magnetic field P Rotation center

Claims (6)

平面内で回転する磁界を磁電変換素子により検出し、前記磁電変換素子の出力信号を差動増幅器により増幅して前記磁界の回転角を検出する回転角検出装置であって、
２ｎ個（ｎは１以上の整数）の前記磁電変換素子と、３ｎ個の前記差動増幅器を有してなり、
２個の前記磁電変換素子と３個の前記差動増幅器を一組とし、
各組において、
前記２個の磁電変換素子が同じ変換特性を有すると共に、前記２個の磁電変換素子が前記磁界に対して同じ信号を出力するように前記平面内で同じ向きに配置され、
前記３個の差動増幅器のうち少なくとも２個の差動増幅器が同じ増幅特性を有すると共に、
第１段で、前記２個の磁電変換素子からの出力信号を、それぞれ、前記同じ増幅特性を有する２個の差動増幅器の入力端子に、互いに反転して入力し、
第２段で、２個の前記差動増幅器からの出力信号を、それぞれ、残る１個の前記差動増幅器の入力端子に、互いに反転して入力し、
各組の前記第２段の差動増幅器からの出力信号を演算することによって、前記磁界の回転角を検出することを特徴とする回転角検出装置。 A rotation angle detection device that detects a rotation angle of the magnetic field by detecting a magnetic field rotating in a plane by a magnetoelectric conversion element, amplifying an output signal of the magnetoelectric conversion element by a differential amplifier,
2n (n is an integer of 1 or more) the magnetoelectric transducer and 3n differential amplifiers,
A set of two magnetoelectric transducers and three differential amplifiers,
In each group,
The two magnetoelectric transducers have the same conversion characteristics, and the two magnetoelectric transducers are arranged in the same direction in the plane so as to output the same signal to the magnetic field,
At least two of the three differential amplifiers have the same amplification characteristics;
In the first stage, the output signals from the two magnetoelectric transducers are inverted and input to the input terminals of the two differential amplifiers having the same amplification characteristics, respectively.
In the second stage, the output signals from the two differential amplifiers are inverted and input to the input terminals of the remaining one differential amplifier, respectively.
A rotation angle detection apparatus for detecting a rotation angle of the magnetic field by calculating an output signal from each pair of the second stage differential amplifiers. 前記２ｎ個の磁電変換素子が、前記磁界の回転中心に隣接して配置されてなることを特徴とする請求項１に記載の回転角検出装置。   2. The rotation angle detection device according to claim 1, wherein the 2n magnetoelectric conversion elements are arranged adjacent to a rotation center of the magnetic field. 前記２ｎ個の磁電変換素子が、前記平面内にリング状に配置されてなることを特徴とする請求項１または２に記載の回転角検出装置。   The rotation angle detecting device according to claim 1, wherein the 2n magnetoelectric transducers are arranged in a ring shape in the plane. 前記２ｎ個の磁電変換素子が、前記磁界の回転中心の周りに、リング状に配置されてなることを特徴とする請求項３に記載の回転角検出装置。   The rotation angle detection device according to claim 3, wherein the 2n magnetoelectric conversion elements are arranged in a ring shape around the rotation center of the magnetic field. 前記回転角検出装置が、４個の前記磁電変換素子と、６個の差動増幅器を有してなり、
２組の前記磁電変換素子が同じ変換特性を有すると共に、前記２組の磁電変換素子が前記磁界に対して９０度位相の異なる信号を出力するように前記平面内で互いに９０度回転した向きに配置され、
２組の前記第２段の差動増幅器が同じ増幅特性を有すると共に、各組の前記第２段の差動増幅器からの出力信号をａｒｃｔａｎ演算することによって、前記磁界の回転角を検出することを特徴とする請求項１乃至４のいずれか一項に記載の回転角検出装置。 The rotation angle detection device has four magnetoelectric conversion elements and six differential amplifiers,
The two sets of magnetoelectric transducers have the same conversion characteristics, and the two sets of magnetoelectric transducers are rotated 90 degrees relative to each other in the plane so as to output signals having a phase difference of 90 degrees with respect to the magnetic field. Arranged,
Two sets of the second stage differential amplifiers have the same amplification characteristic, and the rotation angle of the magnetic field is detected by performing an arctan operation on the output signals from the second stage differential amplifiers of each group. The rotation angle detection device according to claim 1, wherein the rotation angle detection device is a rotation angle detection device. 前記磁電変換素子が、ホール素子であり、
前記２ｎ個のホール素子と３ｎ個の差動増幅器が、同じ半導体基板に形成されてなり、
前記平面が、前記半導体基板面であることを特徴とする請求項１乃至５のいずれか一項に記載の回転角検出装置。 The magnetoelectric conversion element is a Hall element,
The 2n Hall elements and 3n differential amplifiers are formed on the same semiconductor substrate,
The rotation angle detection device according to claim 1, wherein the plane is a surface of the semiconductor substrate.
JP2005017174A 2005-01-25 2005-01-25 Rotation angle detection apparatus Withdrawn JP2006208049A (en)

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GB2505226A (en) * 2012-08-23 2014-02-26 Melexis Technologies Nv Arrangement, method and sensor for measuring an absolute angular position using a multi-pole magnet
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US8749227B2 (en) 2006-06-21 2014-06-10 Allegro Microsystems, Llc Methods for an analog rotational sensor having signal inversion
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JP2008253044A (en) * 2007-03-30 2008-10-16 Nidec Copal Electronics Corp Motor
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US11592318B2 (en) 2012-08-23 2023-02-28 Melexis Technologies Nv Arrangement, method and sensor for measuring an absolute angular position using a multi-pole magnet
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