JP4473547B2 - 動き、回転角度および/またはトルクを検出するためのセンサ装置のオフセット補償方法 - Google Patents
動き、回転角度および/またはトルクを検出するためのセンサ装置のオフセット補償方法 Download PDFInfo
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- JP4473547B2 JP4473547B2 JP2003348247A JP2003348247A JP4473547B2 JP 4473547 B2 JP4473547 B2 JP 4473547B2 JP 2003348247 A JP2003348247 A JP 2003348247A JP 2003348247 A JP2003348247 A JP 2003348247A JP 4473547 B2 JP4473547 B2 JP 4473547B2
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- Prior art keywords
- value
- phase
- offset
- torque
- mean
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Classifications
-
- 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
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Transmission And Conversion Of Sensor Element Output (AREA)
- Power Steering Mechanism (AREA)
Description
次に、
t=T−round(T 1) (2)
を有する分数部分tが考察され、そこからそれぞれの次元において平均値が形成される:
rank(M 1)=3 (4)
によって表される。すなわち例えばオフセット値α01,α02,α03は式
1. オフセットα 0を0で初期化する
α 0=0 (6)
2. オフセットを加算する
α′ k=α k+α 0,k=1,…,P (7)
3. T領域へ変換しかつ分数部分を突き止めかつ平均値を形成する
β0=β−βm (11)
は、評価の終了時に加算されるべき角度または位相オフセットである。しかしβ0の特定の際の精度を高めるために、この値が複数の測定にわたって求められると有利である。
2〜9 光学的な信号発生器
10,11 センサモジュール
12,13,14 計算モジュール
20 量子化ユニット
30 整数の格子点
31 測定点
Claims (4)
- 運動する機械的な構成部材の運動、回転角度および/またはトルクを検出するための方法であって、
線形または回転運動する構成部材の少なくとも1つの位相発生器トラックの走査によってそれぞれに配属されているセンサを用いて発生される位相測定値を評価しかつ
該位相測定値を線形の変換を用いて計算により新しい領域に変換する
という形式の方法において、
少なくとも1つの位相発生器トラックの位相オフセットの特定を反復的な近似法によって行い、ここで次のステップが実施される:
前以て決められている値でオフセット値(α 0)を初期化し、
オフセット値(α 0)を位相測定値(α k)に加算し(α′ k=α k+α 0)、
射影を表す変換行列(M 1)を位相測定値(α′ k)に乗算することによりT領域(T k)に変換し(T k=M 1*α′ k)、
変換された値の分数部分(t k)を特定し(t k=T k−round(T k))、
これまでに求められた分数部分(t k)から平均値を形成し(t mean)、
前記射影のために求められないオフセット値に対応する要素を0と仮定して、前記変換行列(M 1)の近似逆行列(−[M ~ 1]−1)と平均値(t mean)とを乗算することによりオフセット値を逆算し(Δα 0)、
該オフセット値を整合し(α 0,neu=α 0,alt+Δα 0)かつ
前以て決められている数の反復または前以て決められている打ち切り基準が実現されるまでオフセット値(α 0)の加算を繰り返す際に近似法を実施する
ことを特徴とする方法。 - 変換された値の分数部分(t k)の分布が零点の周りにくるまで反復を実施する
請求項1記載の方法。 - 第1の反復において求められた平均値(t mean)が前以て決められている値より小さい場合には、平均値(t mean)に固定値を加算する
請求項1または2記載の方法。 - 絶対的なオフセット値を完全に特定するために、既知の角度または位相値を計算するための機械的な構成部材の位置情報を用いる
請求項1から3までのいずれか1項記載の方法。
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE2002147321 DE10247321B3 (de) | 2002-10-10 | 2002-10-10 | Verfahren zum Offsetabgleich einer Sensoranordnung zur Erfassung einer Bewegung oder eines Drehwinkels |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2004132984A JP2004132984A (ja) | 2004-04-30 |
JP4473547B2 true JP4473547B2 (ja) | 2010-06-02 |
Family
ID=30128869
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2003348247A Expired - Fee Related JP4473547B2 (ja) | 2002-10-10 | 2003-10-07 | 動き、回転角度および/またはトルクを検出するためのセンサ装置のオフセット補償方法 |
Country Status (2)
Country | Link |
---|---|
JP (1) | JP4473547B2 (ja) |
DE (1) | DE10247321B3 (ja) |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102005011576A1 (de) * | 2005-03-14 | 2006-09-21 | Robert Bosch Gmbh | Verfahren und Schaltungsanordnung zur Erfassung und Kompensation eines Tiltwinkels bei der Detektion einer Bewegung oder eines Drehwinkels |
DE102005033402A1 (de) * | 2005-07-18 | 2007-01-25 | Robert Bosch Gmbh | Verfahren zur Auswertung von Phasensignalen mit vervielfachter Fehlertoleranz |
DE102007028642A1 (de) * | 2007-06-21 | 2008-12-24 | Siemens Ag | Festkörperaktorischer Antrieb |
EP2621078B1 (de) * | 2012-01-26 | 2014-08-13 | Siemens Aktiengesellschaft | Verfahren und Vorrichtung zum Betreiben eines bürstenlosen Gleichstrommotors bei der Verstellung eines Stellelementes |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE19506938A1 (de) * | 1995-02-28 | 1996-08-29 | Bosch Gmbh Robert | Verfahren und Vorrichtung zur Winkelmessung bei einem drehbaren Körper |
DE19915968A1 (de) * | 1999-04-09 | 2000-10-12 | Philips Corp Intellectual Pty | Anordnung zum Offsetabgleich zweier orthogonaler Sensorsignale |
DE10034733B4 (de) * | 1999-08-02 | 2004-07-08 | Siemens Ag | Ermittlungsverfahren für ein Lagesignal und/oder für Korrekturwerte für Messsignale |
US6761075B2 (en) * | 2000-08-31 | 2004-07-13 | Robert Bosch Gmbh | Method for determining a rotation angle and/or an angle differential from phase signals |
AU2001291620B2 (en) * | 2000-08-31 | 2005-09-29 | Robert Bosch Gmbh | Method for determining a rotational angle or a distance by evaluating phase measured values |
-
2002
- 2002-10-10 DE DE2002147321 patent/DE10247321B3/de not_active Expired - Fee Related
-
2003
- 2003-10-07 JP JP2003348247A patent/JP4473547B2/ja not_active Expired - Fee Related
Also Published As
Publication number | Publication date |
---|---|
DE10247321B3 (de) | 2004-02-12 |
JP2004132984A (ja) | 2004-04-30 |
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