JPH0772162A - Method and device for detecting rotating speed, rotating direction and rotary-angle position of rotary driving apparatus - Google Patents

Abstract

PURPOSE: To precisely measure the rotating speed and direction of a rotation driving device at a low manufacturing cost by using a signal transmitting element and a signal changing element and providing a sensor and an electronic evaluator. CONSTITUTION: A permanent magnet ring 100 eccentrically mounted on a rotation driving device shaft 2 has two different sector portions 4, 5 with the same size. Its N-S poles are magnetized. For a rotating-direction symbolized magnetic field to be generated in an echo sensor 3 when a signal transmitting element is being rotated, the signal transmitting element has at least one permanent magnet, meaning that the permanent magnet ring 100 is used as the permanent magnet. As the result of rotating-direction symbolization, a current or voltage arising in the sensor 3 is evaluated by an electronic evaluator. Analog voltage arising in the sensor 3 is converted into binary continuous impulse by an impulse circuit. The impulse in a preset time is counted and the rotating-direction information is symbolized to precisely detect the rotating speed and direction of the rotation driving device.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for detecting a rotational speed, a rotational direction and / or a rotational angular position of a rotary drive device according to the preamble of claim 1 and an apparatus for carrying out the method.

[0002]

2. Description of the Related Art The rotational speed of a rotary drive device and its direction are 9
Detecting with two echo sensors offset by 0 degrees is well known. For this purpose, an annular magnet magnetized to N-S poles is attached around a rotation drive shaft, and is rotatably held and connected to the shaft. During rotation of the ring magnet, the two ring magnets mounted laterally of the ring magnet are each subjected to a varying magnetic field. This causes the change in the magnetic field generated in the two sensors to be converted by the Schmitt trigger into two binary continuous impulses which are mutually offset by 90 degrees. By counting the number of impulses per unit time, the speed can be measured by comparing two consecutive impulses, and the rotation direction of the rotary drive device can be measured.

A disadvantage of this method is the expensive containment structure that results from the use of two echo sensors and their 90 degree offset configuration. Associated with this is the costly contact and connection of two echo sensors.

From DE 4038284 Al, a method is known for detecting the position and direction of movement of a translational or rotary moving part of an assembly, which comprises a numerical impulse of the assembly of continuous impulses in which the direction of rotation is coded, The rotational movement is obtained from the coded form of the numerical impulse. For this purpose, in particular, a disc is provided in connection with the rotary drive, which has a ring with a certain number of marks arranged in succession. Adjacent to the disc in this ring region are echo elements corresponding to these marks.

[0005]

SUMMARY OF THE INVENTION The present invention has been made in view of the above points and is operated by one sensing device for advanced analysis of speed and direction of rotation, which results in low manufacturing cost. It is an object of the present invention to provide a method and device for detecting the speed and the rotation direction of a rotary drive device of the above type.

[0006]

This is achieved according to the invention in the characterizing aspects of claim 1.

According to the invention, the rotational speed and its direction are made possible by means of only one sensor, by using a coded signal of the rotational direction. The cyclic rotation direction encoded signal generated in the sensor is sent to an electronic evaluation device, which detects the rotation of the signal transmission or signal changing element and performs the decoding of the rotation direction information. In this way, the speed and direction of rotation of the rotary drive can be measured with high accuracy.

Using the signal transmitting element, a signal is generated in the sensor during rotation of the signal transmitting element, and using the signal changing element causes an existing starting signal to change in the sensor during rotation of the signal changing element.

The evaluated coded signal in the direction of cyclic rotation has at least one extreme value, in which case
As it rises or falls differently and approaches the extremes from different sides, the amplitude of the signal is present and / or the extremes are evenly distributed over a period of 360 degrees. In the latter case,
The limit value has at least one section that differs from the ratio of 360 degrees to the number of limit values. Rotational encoding of the signal detected in the sensor is done from the form of the amplitude of the signal and / or the distribution of the extreme values of the signal within one period, by two aforementioned variants.

In a preferred embodiment of the invention, the signal transmitting element comprises at least one permanent magnet, such that a rotationally encoded magnetic field is generated in the sensor during rotation of the signal transmitting element. Specifically, a closed permanent magnet ring is used as a permanent magnet.

The encoding of the direction of rotation of the magnetic field detected by the sensor is preferably carried out by eccentric rotation of the permanent magnet ring about the axis of the rotary drive. As a result, the permanent magnet ring is magnetized to the N-S pole. The magnetic field changes periodically in the sensor regardless of the distance of the ring from the sensor. Depending on the direction of rotation of the rotary drive, two different signals are generated, these signals containing the direction of rotation information.

Alternatively, the encoding of the direction of rotation of the magnetic field is carried out through a corresponding encoding of the magnetic field of the ring if the permanent magnet ring is centrally located. To this end, the permanent magnet ring is not evenly arranged and / or has several magnetized sensors of different sizes along its circumference.

It is likewise possible to arrange the direction-of-rotation-encoding permanent magnet ring further eccentrically on the rotary drive shaft. This causes the two effects of rotational direction coding to overlap.

In another design of the present invention, the magnetic flux density changes periodically during rotation of the signal modifying element in the magnetic circuit. In this way, changes in the magnetic flux density occur as a result of different strength couplings of elements in the magnetic circuit that are dependent on the rotational position of the rotating elements. The non-rotationally symmetric three-dimensional design of the signal modifying element encodes changes in magnetic density in the direction of rotation.

The current or voltage generated in the sensor as a result of the direction of rotation coding is evaluated by an electronic evaluator. Advantageously, the analog voltage generated in the sensor is converted by the impulse circuit into a continuous impulse of binary digits. By counting the impulses within a predetermined time period and decoding the rotation direction information, the rotation speed and direction of the rotation drive device can be detected with high accuracy.

It is preferable to use a threshold switch, in particular a Schmitt trigger, to convert the analog rotational direction encoded voltage generated in the sensor into binary continuous impulses. The threshold switch is a bistable rocker circuit that cuts overhangs above a set upper switch threshold and above a set lower switch threshold.

As a result of the rotational direction coding, the two binary successive impulses produced by the two rotational directions of the rotary drive have partial or totally different impulse lengths. Therefore, in order to measure the direction of rotation of the rotary drive, when consecutive impulses of a digit are detected, the ratio of the impulse length and the impulse length of two consecutive digit impulses, if available, is formed, and the set numerical value is set. Compared to. Next, the clockwise or counterclockwise rotation
It is presented depending on the impulse length or the ratio of the impulse lengths of two consecutive digit impulses.

Thus, a single digit sequence impulse depends on the encoding detected from the sensor and made from the first signal.

The device for carrying out the method according to the invention is a locally fixed sensor, which is connected to a radially radially spaced signaling or signal modifying element, the output of which is electronically evaluated. Connected to the vessel. During rotation of the signaling or signal modifying element, the sensor detects the periodic direction of rotation encoded signal that occurs during rotation.

The preferred signal transmitting element is a closed permanent magnet ring, which consists of two sectors of different size and different polarity, which are eccentrically connected to the rotary drive shaft. Between the eccentrically mounted permanent magnet ring and the rotary drive shaft, there is preferably a ring-shaped filling element, such as an iron ring. The packing element increases the mechanical strength of the assembly and reduces the reluctance of the permanent magnet ring.

The signal transmitting elements are preferably encoded in the direction of rotation by means of randomly arranged sectors. Thus, if direction-of-rotation coding is required, one or more sectors of the same or different size are set, the sectors being unmagnetized or non-magnetizable,
Alternatively, their magnetizations are oriented such that they do not generate a magnetic field in the sensor.

In another embodiment of the device according to the invention:
The signal transmitting element is part of the magnetic circuit. For this reason, the element has a non-rotationally symmetrical outer shape. The magnetic circuit is preferably formed by a core of intrinsic permeability and a conductive coil, or a permanent magnet core and a non-energy bias coil.
The signal modifying element is contactlessly coupled to the magnetic circuit. Fluctuations in the current or voltage of the conductive coil, or the voltage and current induced in the coil input are used as the bias for signal evaluation. This causes the coil to act as a sensor.

Similarly, evaluating the voltage induced in the coil portion of the armature winding of a commutator motor is within the scope of the invention. Here, the characteristics of the drive device are evaluated to detect the position and direction of movement, and specifically the displacement velocity. The device for carrying out the method according to the invention comprises a brush-mounted commutator motor and an electronic signal evaluator, wherein according to the invention at least one commutator element of the commutator is electrically connected to at least one electrically. It connects to a conducting scanning path, which runs approximately parallel to the commutator and whose length is larger than the section. Moreover, each scanning line is connected to a signal evaluator and to a scanning element which detects the instantaneous value of the voltage on the scanning line.

The solution according to the invention provides a brush-mounted commutator motor with a device for detecting the speed, the direction of rotation and / or the angular position of rotation of the commutator motor. This ensures very accurate and reliable detection of each measurement at a reduced cost. Obviously, the position of the adjustable object, the direction of movement, and the displacement speed are derived from the data concerning the speed, the direction of rotation and the rotational angular position of the commutator motor.

The voltage induced in the series-connected coil portions of the armature winding of a commutator motor is measured intermittently in some coil portions so that the path of the increasing or decreasing voltage is detected, and the associated measurement As long as time is measured, it provides clear information about the speed and direction of rotation of the commutator motor and the angular position of rotation. Accordingly, the commutator motor of the present invention has at least one electrically conducting scanning path extending parallel to the commutator and connected to at least one commutator strip, in which case the scanning path is Is longer than the commutator section, and each scan path has an integral scan element connected to a detector to detect the instantaneous value of the scan path voltage.

In the preferred design of the commutator motor described above,
The scanning circuit is preferably designed as part of a circular ring which is open and terminates in the circumferential direction. Therefore, the length of the open-ended scan circuit must meet the relevant requirements.

By way of example, in order to detect the direction of rotation and the speed as accurately as possible, the length of the electrical path preferably encloses the rotor of the commutator motor by 90 to 110 degrees. With an annulus of this range, the voltage signals are clearly different from each other in the two directions of rotation of the rotor, so that a sufficient separation distance is ensured for a satisfactory evaluation.

However, in order to detect the position as accurately as possible, it is advantageous to use a scanning circuit with a maximum annulus so as to detect the voltage path over the maximum possible outer circumferential range of the rotor. Therefore, the maximum enclosing angle depends on the scan plane of each scan path.

As an alternative to this, however, it is conceivable to use several insulated scanning lines which are provided behind the other lines in the outer circumferential direction, and for a commutator with 12 commutator strips. In this case, each electrical path covers, for example, only two commutator segments, so that six scanning electrical paths are set.

In another advantageous design of the brush-mounted commutator motor, the scanning circuit is designed in a closed manner and is further connected to the other commutator strip of the commutator. This design makes it possible to measure steep voltage paths, and thus singular voltages that result in voltage signals that are clearly different from each other.
The separation distance is improved in the case of signal evaluation.

In this design, it is considered that the ohmic resistance of the scanning circuit is larger than the ohmic resistance of the coil portion of the armature winding so that the characteristics of the motor are not impaired.
Advantageously, the resistance ratio RS / RA is greater than 100.
Here, RS represents the ohmic resistance of the scanning circuit, and RA represents the ohmic resistance of the armature winding.

A simple and reliable reading of each scanning path is performed when the scanning element consists of the scanning path and the aligned sliding contacts.

Alternatively, the scanning element comprises a set of voltage detectors that are electrically isolated from the scanning circuit.
Due to the dust, wear of the scanning lines and scanning elements is avoided.

Another design of the brush mounted commutator motor is characterized in that several scanning lines of different length are formed parallel to each other. With this design, the detected voltage values are compared with each other and are preferably scaled, which makes it possible to increase the accuracy of detecting the speed, the direction of rotation and / or the position.

The signal evaluation device preferably consists of a signal generator, an evaluator logic and a device which emits signals of the above-mentioned values with respect to the direction of rotation, the speed or the rotational angular position or of all. The signal evaluator designed in this way is switched off and, if it is necessary to reverse the direction of rotation of the commutator motor, the detected voltage value and position derived from the signal fixing process Send the direction and displacement speed.

Advantageously, the signal evaluator comprises at least one electronic filter for attenuating the vibrational breakdown signal. This suppresses signal interference caused by mechanical vibrations of sliding contacts or rotors, if available.

Another device for carrying out the method according to the invention consists of a drive, an energy transmission line, an adjustable object and an electrical signal evaluator. The signal evaluator detects a signal measured on the drive, the energy transmission line and / or the adjustable object, and has a fundamental periodicity of the device characteristic, and at least one signal superposing this fundamental periodicity. It also detects and produces a correlation of the two signals whose position, direction of movement and dynamic value of the adjustable object are measured.

In an advantageous design of the device according to the invention for a commutator motor as drive, the segments of the commutator are mounted asymmetrically. Therefore,
The commutator motor current waveform is correspondingly stretched and shortened in its time path. This makes it possible in particular to detect the direction of movement.

Further advantageous embodiments of the device according to the invention are described in the drawing description.

The present invention will be described in more detail with respect to the numerous embodiments shown in the drawings.

[0041]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT FIG. 1 shows two eccentric fan-shaped parts 4, 5 of different polarities, which are eccentrically mounted on a rotary drive shaft 2.
1 shows a N-S pole magnetized permanent magnet ring 100 having The axial extension of the permanent magnet ring 100 is, for example,
It is 15 mm. Echo sensors 3 with integral Schmitt triggers are mounted radially on the sides of the permanent magnet ring 100. Between the permanent magnet ring 100 and the rotary drive shaft 2 is an iron ring 11 which makes the mechanical strength of the device particularly reliable.

During rotation of the permanent magnet ring 100, the magnetic flux density 6 shown in FIG. 2 which depends on the angle of rotation is adjacent to the echo probe 3.

The magnetic flux density 6 varies according to the distance of the eccentric permanent magnet ring 100 from the echo probe 3, and in this embodiment is maximum at about 25 degrees and minimum at about 335 degrees. As can be easily seen, the magnetic flux density 6 extends in the opposite direction of the rotating mirror, which is symmetrical with respect to the starting point coordinates.

A centrally mounted N-S pole magnetized permanent magnet ring 100 is also shown in FIG. 2 for comparison.

The magnetic flux density 6 adjacent to the echo probe 3 produces an echo voltage. This voltage has a magnetic flux density of 6 (almost)
It is proportional and converted by the Schmitt trigger into the binary digit continuous impulse shown in FIG. In the illustrated embodiment, the Schmitt trigger upper switch threshold 21
Reaches 20 mT and the lower switch threshold 22 reaches minus 20 mT.

The two rotation directions will be hereinafter referred to as right and left. Thereby, a two-digit continuous impulse is characterized by the different impulse lengths T1 and T2 of the individual digit impulses. Above 20 mT, the output voltage U of the echo sensor rises to HIGH (here a value of 5 volts) and below -20 mT falls to LOW (here a value of 0 volts).

The information on the direction of rotation is formed from the impulse lengths T1 and T2 of the individual numerical impulses. For this purpose, the existing impulse length is compared in the connected electronic evaluator with two predetermined numbers.

FIG. 4 shows a permanent magnet ring 101 characterized by two adjacent N-S pole magnetized sectors 81, 82 and a large non-magnetized sector 10. When this permanent magnet ring 101 is arranged at the center and rotates,
The same numerical sequence impulses are generated as in FIG.

The ring 102 shown in FIG. 5 is two adjacent so that the magnetic field lines extend in this doughnut-shaped fan 29 around the ring and cause substantially no change in the magnetic flux density in the sensor 3. In addition to the fan-shaped portions 27 and 28 magnetized to the N-S pole, the fan-shaped portion 29 magnetized to the N-S in the radial direction is provided. The ring 102 is made of plastic in which magnetic particles are embedded. Therefore, ring 1
Each region of 02 is magnetized in all directions. This type of ring can be used both with respect to the rotary drive shaft 2 in both central and eccentric arrangements of the ring.

FIG. 6b shows another arrangement of the permanent magnet ring 103. In this case, the permanent magnet ring 103 consists of two small sectors 12, 13 and two large sectors 14,
It consists of 15. The gradient of magnetic flux density 6 is sector 1
4.15 so that it is almost constant along 4.15,
15 is formed. The corresponding path of magnetic flux density 16 is shown in Figure 6a. FIG. 6 for each of the switch thresholds indicated by the 30 mT and -30 mT lines.
The numbered continuous impulses shown in c occur as a digital output voltage U of the echo sensor for clockwise rotation, and the numbered continuous impulses shown in FIG. 6d occur for counterclockwise rotation.

By the clockwise rotation, the digit continuous impulse becomes two different impulse lengths T3 and T4 which are alternately changed.
With the number impulse of. Two impulse lengths T3
T4 is different from 1, and in the illustrated embodiment T4 / T3 is 5. However, due to the counterclockwise rotation, the touch ratio T5 /
The individual digit impulses have a uniform length T5, T6, such that T6 is one. Therefore, the rotation direction of the rotary drive device is detected by detecting the touch ratio.

The comparison of the HIGH lengths of signals having the length of the preceding HIGH level is easier.

FIG. 7a shows another permanent magnet ring 104 connected about the rotary drive shaft 2. The permanent magnet ring 104 is made up of two even-numbered N-S pole magnetized sectors A and B, and as shown in FIG. 7a,
The path of the magnetic flux density is drawn by a sawtooth curve 19 whose period P corresponds to the length of the two fan-shaped portions A and B. Two switch thresholds for Schmitt trigger 25, 26
Are also marked in the figure.

The digit sequence impulses shown in FIGS. 7b and 7c occur according to the direction of rotation. According to the direction of rotation,
The individual digit impulses have different impulse lengths T7 or T8. Therefore, the measured impulse length compared to the period length P contains information on the direction of rotation.

FIGS. 8 and 9 show signal transmitting elements 105 and 106 which differ in geometry from a ring. One or more sets of adjacent north-south magnetized mounting pieces 31, 32 or 33, 34, 35, 36 are mounted on the outer circumference of the rotary drive shaft 30. Signal transmission element 1 according to FIG.
During rotation, 05 produces a signal corresponding to the signal of ring 101 shown in FIG.

The embodiments described above relate to a bipolar echo sensor, ie an echo sensor capable of detecting two opposite magnetic field directions (corresponding to +,-). It must be pointed out, however, that comparable or identical results would be obtained if a unipolar echo sensor could be used that responds to only one magnetic field direction. The method according to the invention is essentially independent of the choice of echo sensor used.

The ideal transmission characteristic (hysteresis curve) of a unipolar echo sensor or its threshold switch is shown in FIG. Therefore, the value 1 corresponds to the maximum value at each time. When the magnetic field adjacent to the sensor exceeds a predetermined value B2, the output voltage rises to HIGH, and when it falls below the value B1, the output voltage falls to LOW and returns. By changing the difference B2-B1 designated as the hysteresis of the switch, it is possible to change the length of the digit impulse of the digit continuous impulse.

FIG. 11 shows a magnetic circuit comprising a permanent magnet core 37, which corresponds to a part of the shaft of the rotary drive and the soft magnetic yoke 38 having the coil 39.
Between the two ends 40, 41 of the yoke 38 and the core 37, there are air gaps 42, 43 corresponding to the magnetic resistance. Void 4
Reference numerals 2 and 43 correspond to signal transmission paths of the magnetic circuit.

The core 37 has a tangible attachment piece 44 on its outer circumference so that the radius R of the core 37 increases to a maximum value and, after reaching the maximum value, drops sharply to a low value and then returns. During rotation of the core 37 with the tangible appendages, the voids 42, 43 are periodically filled with the material of the tangible appendage 44. This reduces the magnetic reluctance of the air gaps 42, 43 each time, thus increasing the magnetic flux density of the magnetic circuit. FIG. 12 shows paths corresponding to the magnetic flux densities of the air gaps 42 and 43.

It is also possible to use the permanent magnet yoke 38 in combination with the soft magnetic core 37.

In order to evaluate the signal, the current or voltage of the conductive coil generated by the change of the magnetic flux density, or
The voltage or current induced in the coil input is evaluated. The conversion of the signal into binary digit continuous impulses is not shown here. From FIG. 12, the amplitude of the signal increases sharply or gently depending on the direction of rotation, so that the information of the direction of rotation is generated from the evaluation of the rise or fall of the signal.

FIG. 13 is similar to the tangible attachment piece 44,
In addition, a tangible concave portion 45 that causes a change in the magnetic flux density of the magnetic circuit
3 shows a core 37 with a groove. The evaluation of the direction of rotation is again carried out from the evaluation of the rise or fall of the signal.

14 and 15 show a core 37 having a tangible attachment piece 46 and a tangible recess 47, respectively, the angular spacing of which reaches 60, 120 and 180 degrees. Therefore, the signals evaluated and measured in the coil likewise have maximum and minimum values at intervals of 60, 120 and 180 degrees. The rotation direction of the rotary drive is determined by whether the interval between the maximum value and the minimum value increases or decreases within one cycle.

With these embodiments, impulse switch sensors as well as echo elements are used to detect the signal.

In the embodiment shown in FIGS. 11 to 15, the core 37 and its corresponding tangible appendage or dent are each integrated to form a signal changing element.

A preferred application of the present invention is to detect the rotational direction and speed of a window opening / closing device for an automobile and a rotary drive device for a sunroof. Since the rotary drive has a clear mechanical share with the translational parts of these structural elements, the position and direction of the motion of these parts is positively detected by the method of the invention.

Another design of the present invention is depicted in FIGS. 16-25.

FIG. 16 is designed as a DC motor,
Commutator motor 5 with rotor 58 and stator 59
7 is illustrated. The armature winding 61 of the rotor 58 is
In a known manner, it is connected to a commutator piece of a fan-shaped, individually insulated commutator 9, each of the two coil parts of the armature winding 61 being connected to the commutator piece of the commutator 9. .
The armature current is sent to the rotor 58 around the commutator 9 by means of brushes 8, 9 preferably made of graphite.

As can be clearly seen from the following figures, at least one commutator strip of the commutator 9 is connected to at least one electrically conductive scanning line extending substantially parallel to the commutator and connected to the detector. The connected scanning element 70 is connected to each scanning circuit 66.

The commutator motor rotor 58 is further connected to a motor shaft 60, which in this embodiment is designed as part of the worm gear. The motor shaft 60 drives the translational or rotational movement part of the assembly 72, which comprises, for example, the gears of an automobile window opening / closing device. This gear converts the rotational movement of the motor shaft into a translational movement that raises and lowers the window glass.

The commutator motor 57 is the embedded connector 6
4 and the connector 64 simultaneously incorporates a circuit for detecting the speed, the rotation direction, and / or the rotation angle position of the electric motor 57 or the assembly portion 72. From this data, the position and direction of the adjustable object movement and the displacement rate are derived. The controller, which functions to control the current of the motor or armature, further contains a power supply circuit connected to the voltage source 63.

The controller 65 is further connected to a switch 67 which has one or more switches in which the movement of the driven assembly parts is set and opened in one or the other direction. To this end, the switch can consist of a rocker or push-button switch, the switch allowing the first touch to move the assembly part to a stop position in one or the other direction, and then , Only move, and the associated switch is activated.

Detection of the speed or direction of rotation of the commutator motor 57 or mechanically connected assembly parts is shown in FIG.
7 and 18 will be described.

FIG. 17 shows, for example, 12 insulated from each other.
A commutator 9 having a number of commutator pieces is shown. The commutator piece is connected to the coil portion of the armature winding 61 as described above. The supply of electric current is carried out by two opposing brushes 8 and 12 with springs, which are mounted on a brush holder 62 which surrounds the commutator 9 in an annular shape.

One of the commutator strips 96 is electrically conductive so that at least two coil portions of the armature winding 61 are intermittently measured by the scanning electrical path 66 and the sliding contacts 70 aligned. It is connected to the scanning circuit 66 and the circuit 66
Extends to the commutator 9 and its length (L) is larger than the section of the commutator. Thereby, the detected voltage is related to the average potential.

The length of the scanning circuit 66 is more or less 3
If the torque and the direction of rotation of the commutator motor function in the same way during rotation of the motor, the time-voltage path is as shown in FIG. Induced. The voltage path is composed of voltage blocks separated every time, and the separation depends on the number of coil portions of the armature winding 61 connected in series. It is necessary to know that in the above clockwise direction of rotation, each revolution produces a decreasing voltage path, and in the opposite direction an increasing voltage path.

Commutator motor 57 driven thereby
The rotation direction of the assembly part is clearly detected from the shape of each voltage path, and the detection is preferably performed by the signal evaluator 4 described in detail below.

The speed of the commutator motor 57 originates from the periodic voltage path, which results in each period tp1 and tp2.
Is detected, for example, between the highest values of the intermittently generated voltages. The mutual value of each cycle corresponds to the speed of the commutator motor 57.

However, the commutator motor 57 operates like a generator as shown in FIG. 17, which reduces the driving load, more specifically, when the motor is switched off by stopping the operation in the inertial state. If so, the corresponding rotation direction of the commutator motor 57 forms a different voltage path than in FIG.

If generator operation occurs, for example, by counterclockwise rotation of commutator motor 57, the voltage will be reversed by an increasing negative voltage path, as shown in FIG. Therefore, the signal evaluator 4 connected to the scanning element is preferably detected every hour so that abrupt changes in the mode of operation of the commutator motor 57 can be evaluated by detecting the speed and the direction of rotation. It has a switching element for checking the magnitude of the voltage.

FIG. 20 shows another embodiment. In this case, the scanning circuit 66 'connected to the commutator pieces 91, 97 is shown.
Attached adjacent to the wound commutator strip in the figure. The scanning line 66 ', which is preferably connected to the two opposing commutator strips 91, 97, has the largest annular angle up to 360 ° and the remaining insulation is the sliding contact 7
Greater than zero.

The closed scanning path 66 'has a greater ohmic resistance than the coil portion of the armature winding 61 so that the motor characteristics are not significantly affected. This ohmic resistance is preferably RS / RA greater than 100, where R
A represents the resistance of the scanning circuit 66 ', and RA is the armature winding 6
1 represents the resistance of the coil portions 611 and 612.

As clearly shown in FIG. 21, by connecting the scanning circuit to the two commutator pieces, the armature winding 6
It is possible to detect the difference in the voltage induced in the coil portion of No. 1.

By the two voltage paths showing the left and right movements, both the speed and the rotational angle position of the commutator motor 57,
The direction of rotation can be detected. Velocity is detected by the period of the sawtooth voltage path as in the previous embodiments. The direction of rotation is evaluated over the length of the scanning path by comparing the detected instantaneous value with the voltage path formed for each direction of rotation. However, the rotational angle position is measured in each rotational direction by amplitude and symbol.

In order to detect the angular position of rotation of the commutator motor 57, it is even more convenient to use the largest annular open-ended scanning circuit, depending on the scanning plane of the sliding contact. Alternatively, it is also expedient to use several open scanning lines, which are arranged circumferentially in succession, each covering for example two commutator strips.
Therefore, the rotation angle position is detected by the magnitude of the voltage,
In this case, the fixed brush acts as a reference point.

The accuracy in detecting the rotational angle position is determined by the number of coil portions of the armature winding connected in series, as already described above.

22 to 24 show various shapes of the scanning electric circuit.

FIG. 22 shows, in a modified embodiment,
Several scanning lines 661, 66 extending parallel to each other
2, 663 shows the outer circumference of the commutator 9 to which the electric wires are attached. The electric paths have different lengths and are integrally connected to the commutator piece 99 in an electrically conductive state. Each scanning path has its own associated scanning element, which are not shown in detail.

The outer scanning electric path 663 has a maximum loop angle and preferably serves to detect the rotational angle position. However, the inner scanning line only covers the four commutator strips and is therefore particularly suitable for detecting the direction of rotation.

The commutator 9 shown in FIG.
Several parallel scanning lines 661 ', 66 of different lengths
2 ', 663', whose electric paths are connected to the other commutator pieces 95, 97, 99 of the commutator 9 in an electrically conductive state. This embodiment has the advantage that in the event of a disturbance in the scanning circuit, the induced voltage or the measurement value derivable from it is additionally detected by the remaining scanning circuit.

In the embodiment shown in FIG. 24, there are three commutator strips and three different lengths of scanning lines 661 ", 66.
2 ″ and 663 ″ are arranged in a common columnar body, and one scanning electric path is attached in the circumferential direction behind the other electric path and is connected to the other commutator pieces 92, 96 and 99, respectively. .

The single sliding contact with spring is connected to the three scanning lines 661 ", 662", 663 ", and the scanning lines gradually increase or decrease according to the direction of rotation. The stepwise placement produces a coded continuous signal that is rotation direction dependent,
Further detection of the direction of rotation is possible after the increasing or decreasing voltage path.

FIG. 25 shows another embodiment of a commutator having two commutator pieces. The coil portions 611 and 612 of the armature winding 61 and the commutator piece are shown in a rewound form.

The commutator 9 is composed of two coils 6 of different lengths.
Reference numerals 8 and 69 are provided with scanning electric paths 66 'extending and mounted in parallel with the commutator pieces. Commutator 9 at about 360 °
The end of the large coil 68 that surrounds is connected to two opposing commutator strips 91, 97, and the end of the small coil 69 mounted inside the large coil 68 is likewise It connects to one of these two opposing commutator strips and to the commutator strip 94 in between.

The scanning element is connected to the scanning circuit 66 'or to the two coils 68,69. This scanning element consists of a signal detection element 71 mounted in a potential-separated manner from the scanning circuit 66 '. As an example, Echo
A sensor is used as the scanning element in this case,
The echo sensor detects the change in the signal in the coil portion of the armature winding 61 due to the change in the magnetic field generated in the coils 68 and 69, and sends a corresponding voltage signal.

This voltage signal path is reproduced in FIG. 26 for the embodiment described herein. By connecting the sensor coil ends to different commutator strips, the difference in voltage induced in the coil portion of the armature winding is measured. The signal path shown in FIG. 26 corresponds to the sum of the magnetic fields due to the overlap of the two sensor coils.

By the signal path encoded in this way,
It is possible to clearly detect the direction and speed of rotation of the commutator motor. The section of rotation angle position is relatively high even if the scanning element 71 detects a constant signal over a rotation angle range of 120 °.

FIG. 27 shows, in the form of a circuit diagram, a signal evaluator 4 for detecting the speed, rotational direction and rotational angular position of the commutator motor.

The signal path detected at the scanning element is
Within the signal evaluator, it is first sent to the signal processor 401, where the detected signal is such that the voltage switching that takes place when changing from motor to generator operation does not result in an incomplete evaluation of the signal path. Is converted to a total value, for example.

Furthermore, the signal processor 401 is advantageously provided with an active electronic filter which prevents signal interference in a vibrating state.

The signal evaluator 4 further includes an evaluation logic circuit 4
02, the circuit 402 detects the relevant speed, direction of rotation, and / or angular position of the commutator motor from the processed signal path described above and sends it to the transmitter 403.

Further, as long as the detected voltage value, that is, the speed, the rotation direction, and / or the rotation angle position of the extracted commutator motor sends a signal to a fixed process or a desired position, the microprocessor is preferably configured. The evaluation logic circuit 402 is sending a switch-off or reset signal to the commutator motor controller 65.

The invention is not restricted in its design to the embodiments described above. Rather, many variants are possible that make use of the method according to the invention, even for structures which are designed differently.

[0104]

As described above, according to the present invention, since a single sensing device is used for highly sophisticated analysis of speed and rotation direction, the manufacturing cost is low and the rotary drive device of the above type can be manufactured. The speed and the direction of rotation can be detected.

[Brief description of drawings]

1 is a sectional view through an apparatus according to the invention of an eccentrically mounted permanent magnet ring and an echo sensor.

2 shows the path of the magnetic flux density in the echo sensor in the device according to FIG. 1 over an angular range of 360 °.

FIG. 3 shows the path of a binary digit continuous impulse with magnetic flux density adjacent to the echo sensor according to FIG.

FIG. 4 shows a centrally mounted permanent magnet ring with non-magnetic sectors.

FIG. 5 shows a permanent magnet ring with different magnetized sectors.

FIG. 6 illustrates the path of the magnetic flux density in the echo sensor for the permanent magnet ring shown in the open state and the corresponding digit sequence impulses in both directions.

FIG. 7 shows the permanent magnet ring in the open state and the numerical sequence impulses produced by this permanent magnet ring in both directions.

FIG. 8 shows another signaling element.

FIG. 9 shows another signaling element.

FIG. 10 shows an ideal transmission characteristic curve of a unipolar echo sensor.

FIG. 11 shows a magnetic circuit with a signal modifying element having a core and a tangible appendage.

FIG. 12 shows the path of the magnetic flux density of the magnetic circuit of FIG. 11 due to rotation of the signal modifying element over a 360 ° angular range.

FIG. 13 shows another signal modifying element consisting of a core and one tanged recess.

FIG. 14 shows another signal modifying element consisting of a core and three featured recesses.

FIG. 15 shows another signal modifying element consisting of a core and three tangible appendages.

FIG. 16 is an illustration of a brush mounted commutator of a translational or rotary motion assembly portion.

FIG. 17 is an explanatory diagram of a commutator wound by an open and terminated scanning electric line extending in parallel in the circumferential direction.

18 is a time course diagram of the voltage path measured from the scanning circuit according to FIG. 17 when the commutator motor rotates left and right in an operating state.

19 is a time course diagram of the voltage path measured from the scanning circuit according to FIG. 17 when the commutator motor rotates left and right in a power generating state.

FIG. 20 is an explanatory diagram of a commutator wound by a closed scanning circuit.

FIG. 21 shows a case where the commutator motor rotates left and right as shown in FIG.
FIG. 3 is a time course diagram of a voltage path measured from a scanning circuit according to 0.

FIG. 22 is an explanatory diagram of an example of a scanning circuit having various configurations.

FIG. 23 is an explanatory diagram showing another example of the scanning circuit.

FIG. 24 is an explanatory diagram showing still another example of the scanning circuit.

FIG. 25 is an explanatory diagram of a commutator wound by a closed scanning circuit and a voltage detection element mounted so as to be separated from the scanning electric path in terms of potential.

FIG. 26 is a time-lapse diagram of the signal path detected in the scanning circuit according to FIG. 23.

FIG. 27 is a circuit configuration diagram of a transmission / control circuit that detects the speed, rotation direction, and rotation angle position of a commutator motor.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 signal transmission element 2 axis of rotation drive device 3 echo sensor 4 signal evaluator 6 magnetic flux density 7 magnetic flux density 9 commutator 37 permanent magnet core 38 soft magnetic yoke 39 coil 42 signal transmission path 57 commutator motor 66 scanning electric circuit

Front Page Continuation (72) Inventor Laurent Karp, Kosbrger Strasse, Germany, Rosach, Germany 7 (72) Inventor, Jürgen Seeberger, Ebingel Strasse, Rattersdorf, Germany 11

Claims (29)

[Claims] 1. The speed and direction of rotation of a rotary drive by using a signal transmitting element and a signal modifying element rotatably held and connected to the rotary drive, and by using a sensor and an electronic evaluator. , And / or a method for detecting the angular position of rotation, during the rotation of the element of the signal transmission or the signal modification, a signal in which the cyclic direction of rotation is encoded is formed, detected by the sensor (3) and evaluated by the electronic evaluator. A method characterized by being sent to. 2. The cyclically encoded direction-encoded signal has at least one limit value, and as the limit value is approached from different sides, differently increasing or decreasing signal amplitudes are formed, And / or 3 due to at least one division where the limit value is different from the ratio of 360 ° to the number of limit values.
Method according to claim 1, characterized in that it is randomly distributed in relation to 60 °. 3. The signal-transmitting element comprises at least one permanent magnet, so that during the rotation of the signal-transmitting element a coded magnetic field in the direction of rotation is formed in the sensor (3). The method described in. 4. The magnetic flux density of the magnetic circuit changes cyclically during rotation of the signal modifying element, the alternating magnetic flux density being encoded in the direction of rotation. Method. 5. Method according to at least one of the preceding claims, characterized in that the alternating current or voltage generated in the sensor (3) as a result of the rotationally encoded signal is evaluated by an evaluator. . 6. A method as claimed in claim 5, characterized in that the analog voltage generated in the sensor (3) is converted into a binary digit continuous impulse by an impulse circuit. 7. The impulse length of a digit impulse of a digit sequence impulse and / or the ratio of two consecutive digit impulses of a digit sequence impulse is detected for measuring the direction of rotation. the method of. 8. A locally fixed sensor (3) is connected to the signal transmitting element or the signal modifying element in a radially spaced manner, and is cyclic during rotation of the signal transmitting element or the signal modifying element. Device for carrying out the method according to at least one of claims 1 to 7, characterized in that the direction of rotation encoded signal and its output are connected to an electronic evaluator. 9. Device according to claim 8, characterized in that the signal transmitting element is formed by at least one permanent magnet. 10. Device according to claim 9, characterized in that the signal transmitting element is a closed permanent magnet ring. 11. The permanent magnet ring comprises two equal-sized sectors (4, 5) of different polarities (N, S), which are eccentrically connected to the shaft (2) of the rotary drive. 11. The device according to claim 10, characterized in that 12. The permanent magnet ring comprises fan-shaped portions arranged uniformly along the circumference of the ring and is eccentrically connected to the shaft (2) of the rotary drive. The device according to claim 10. 13. The fan-shaped portion smaller than 360 ° is connected to the magnetic region of the signal transmitting element.
Or the apparatus according to 10. 14. A signal-transmitting element (1) having one or more regions of the same or different size that are non-magnetizable or non-magnetizable, such that they do not substantially form a magnetic field in the sensor (3). The device according to claim 9, 10 or 13, characterized in that its magnetization is oriented. 15. Echo sensor or impulse sensor
Device according to at least one of claims 8 to 14, characterized in that a switch sensor is used as sensor (3). 16. A non-rotationally symmetrical contour of the signal transmitting element, such that during rotation of the signal transmitting element, the magnetic properties of the signal transmitting path (42, 43) of the magnetic circuit and thus the magnetic flux density of the magnetic circuit change. 9. The method according to claim 8, comprising: and being part of a magnetic circuit. 17. The soft magnetic core (37) comprises a coil (3).
Device according to claim 16, characterized in that, together with 9) and the permanent magnet yoke (38), the signal modifying element forms an open magnetic circuit which is connected in a contactless manner. 18. The soft magnetic core (37) comprises a coil (3).
17. Device according to claim 16, characterized in that, together with 9) and the permanent magnet yoke (38), the signal modifying element forms a magnetic circuit which is connected in a contactless manner. 19. The signal modifying element has at least one region in which the radius (R) of the signal modifying element increases to a maximum value and, after reaching the maximum value, falls back to a relatively low value relatively rapidly. Device according to at least one of claims 16 to 18, characterized in that 20. The signal-modifying element has three tangible protrusions (46) or recesses (47) on its circumference, which are irregularly distributed about the axis of the rotary drive and whose angular spacing is Device according to at least one of claims 16 to 18, characterized in that it reaches 60 °, 120 ° and 180 °. 21. Device according to at least one of claims 8 to 20, characterized in that a threshold switch is integrated in the sensor (3). 22. By detecting the position and the direction of movement and by detecting the dynamic characteristic value of the remotely controlled displacement of the object adjustable by the brush mounted commutator motor and the electronic signal evaluator. At least one commutator strip of the commutator (9) is connected to at least one electrically conducting scanning line (66, 66 '), said line extending substantially parallel to the commutator (9) and having its length. Is larger than the section (t) of the commutator, said circuit is designed as part of a circular ring, each scanning circuit connecting to a signal evaluator (4) and the voltage of the scanning circuit (66, 66 '). Device for carrying out the method according to at least one of claims 1 to 7, characterized in that it has a connected scanning element (70, 71) for detecting the instantaneous value of. 23. A device for detecting position and direction of movement and for detecting remotely controlled dynamic characteristic values of displacement of an object adjustable by a brush-mounted commutator motor and an electronic signal evaluator. , At least one commutator segment of the commutator (9) is connected to at least one electrically conducting scanning line (66, 66 '), said line extending substantially parallel to the commutator (9), The length is greater than the section (t) of the commutator, the electrical path is designed and closed as part of a circular ring and is further connected to another commutator strip (91) of the commutator and each scan Device, characterized in that the circuit has a scanning element (70, 71) connected to the signal evaluator (4) and for detecting the instantaneous value of the voltage of the scanning circuit (66, 66 '). 24. The ohmic resistance of the scanning circuit (66 ') is larger than the ohmic resistance of the coil portion (611) of the armature winding (61) of the commutator motor (57), and specifically, the resistance ratio RS / RA. Is greater than 100, wherein RS represents the ohmic resistance of the scanning circuit (66 ') and RA represents the ohmic resistance of the coil portion (611) of the armature winding (61). The device according to. 25. The scanning element is a scanning circuit (66, 66 ').
Sliding contacts (70) or scanning electrical lines (66,
66 '), which comprises a voltage-sensing element (71) mounted separately from the potential.
The device according to 2 or 23. 26. A commutator piece of a commutator (9) having several scanning lines (661, 662, 663) of different length and parallel to one another. 23. Device according to claim 22, characterized in that it is electrically connected to (99). 27. Several scanning lines of different lengths (66)
1, 662, 663), and the scanning circuit (661 ', 6)
Device according to claim 22, characterized in that each 62 ', 663') is electrically connected to another commutator strip (95, 97, 99) of the commutator (9). 28. Device according to claim 22, characterized in that it comprises several separately arranged scanning lines (661 ", 662", 663 "). 29. The signal evaluator (4) is a signal processor (40).
24. The method according to claim 22 or 23, which comprises 1), an evaluation logic circuit (402), and an emitter (403) of a signal relating to the rotation direction, speed, and rotational position of the commutator motor (57). The described device.