WO1992010723A1 - Dispositif pour la determination de la position effective absolue d'un composant se deplaçant sur une trajectoire predeterminee - Google Patents

Dispositif pour la determination de la position effective absolue d'un composant se deplaçant sur une trajectoire predeterminee Download PDF

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Publication number
WO1992010723A1
WO1992010723A1 PCT/EP1991/001684 EP9101684W WO9210723A1 WO 1992010723 A1 WO1992010723 A1 WO 1992010723A1 EP 9101684 W EP9101684 W EP 9101684W WO 9210723 A1 WO9210723 A1 WO 9210723A1
Authority
WO
WIPO (PCT)
Prior art keywords
magnetic flux
sensors
resolution
flux sensors
rotary shaft
Prior art date
Application number
PCT/EP1991/001684
Other languages
German (de)
English (en)
Inventor
Karl Tarantik
Original Assignee
Automata Gmbh Industrial & Robotic Controls Gesellschaft Für Automationstechnik
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Automata Gmbh Industrial & Robotic Controls Gesellschaft Für Automationstechnik filed Critical Automata Gmbh Industrial & Robotic Controls Gesellschaft Für Automationstechnik
Publication of WO1992010723A1 publication Critical patent/WO1992010723A1/fr

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
    • G01D5/142—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices
    • G01D5/147—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices influenced by the movement of a third element, the position of Hall device and the source of magnetic field being fixed in respect to each other
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D2205/00—Indexing scheme relating to details of means for transferring or converting the output of a sensing member
    • G01D2205/70—Position sensors comprising a moving target with particular shapes, e.g. of soft magnetic targets
    • G01D2205/77—Specific profiles
    • G01D2205/771—Toothed profiles
    • G01D2205/772—Sawtooth profiles

Definitions

  • the invention relates to a device according to the preamble of claim 1.
  • Conventional devices of the generic type are based on the principle that, when the component moves along the predetermined distance, the distance units traveled through from a starting or reference position are added.
  • applications with field plates are known which are combined to form differential magnetic flux sensors and which are used in angle encoders or linear position encoders.
  • the disadvantage of these devices is that they make it necessary to move the movable component e.g. after interrupting the program controlling the movement by switching off the power, it must first be brought into the start position before it can be moved on from its last actual position.
  • the invention has for its object to provide a device of the type specified in the preamble of claim 1, which allows the actual position of the component to be determined absolutely and directly, even after the power has been switched off or the program has been interrupted, without having to approach a starting position beforehand.
  • FIG. 1 shows an embodiment of an absolute linear measuring system
  • FIG. 2 shows a section through the carrier and the toothed rack forming the transmitter part for the fine resolution
  • FIG. 3 shows a bridge circuit in which there are two field plates forming a magnetic flux sensor
  • FIG. 4 shows the course of the evaluation circuits of the field plate pairs shown in FIG. 2 when the carrier moves over the rack
  • 5 to 7 show a first embodiment for a rotary absolute measuring system
  • FIG. 8 shows a second embodiment for a rotary absolute measuring system
  • Figure 9 shows a third embodiment for a rotary absolute measuring system
  • Figure 10 shows the principle of angle determination with a rotary measuring system.
  • the absolute linear measuring system shown in FIG. 1 shows a carrier 3 which is connected to a component (not shown) and can be displaced in the measuring direction x along a predetermined path.
  • the carrier 3 is located above a fixed rail 1 and a fixed rack 2.
  • the rail 1 consists of magnetically highly conductive material and forms an acute angle with the direction of movement x of the carrier 3. It has the function of an encoder part for the rough resolution.
  • the rack 2 also consists of magnetic, highly conductive material and extends parallel to the direction of displacement x of the carrier 3. Your teeth 8 point upwards.
  • the rack 2 has the function of a transmitter part for fine resolution.
  • Magnetic flux sensor arrangements 4 and 5 are located on the underside of carrier 3.
  • Magnetic flux sensor arrangement 5 contains two magnetic flux sensors 6 and 7
  • magnetic flux sensor arrangement 4 contains only one magnetic flux sensor.
  • Each magnetic flux sensor contains two field plates 4a, 4b, 6a, 6b and 7a, 7b.
  • Each magnetic flux sensor thus contains a pair of field plates.
  • the field plates 4a and 4b are arranged side by side in the direction of displacement x and have a center distance which is approximately equal to the width of the rail 1.
  • the field plate 4a is located approximately above one side edge of the rail 1, while the field plate 4b is located approximately above the other side edge of the rail 1.
  • the two field plates 4a and 4b form the magnetic flux sensor for the coarse resolution.
  • two Hall sensors can also be used use the arrangement of which corresponds to the magnetic flux sensor 4 above the respective side edge of the rail 1.
  • the field plates 6a, 6b and 7a, 7b of the magnetic flux sensors 6 and 7 are arranged one behind the other in the direction of displacement x. According to a conventional arrangement, the respectively assigned field plates of the magnetic flux sensors 6 and 7 have a center distance which is equal to an integral multiple of half the tooth spacing of the rack 2.
  • the magnetic flux sensors 6 and 7, each consisting of two field plates, have a spacing which corresponds to a quarter tooth of the rack 2 or an integral multiple thereof. They form magnetic flux sensors for fine resolution.
  • Each of the magnetic flux sensor arrangements 4 and 5 is connected to an evaluation circuit 9, which outputs the actual position of the carrier 3 or the component connected to it in the direction of displacement x.
  • the evaluation circuit 9 contains an intelligent processor-controlled circuit which can be integrated into the position drive of the carrier 3 and which can output the absolute position values via a serial interface.
  • the signals supplied by the magnetic flux sensor arrangements 4 and 5 are preferably linearized and temperature compensated in the evaluation circuit.
  • Figure 2 shows a section through the rack 2 and the carrier 3 with the two pairs of field plates 6 and 7 of the magnetic flux sensor arrangement 5 for fine resolution.
  • a permanent magnet 10, 11 is arranged above each of the two pairs of field plates 6 and 7.
  • the carrier 3 acts here as a yoke, and the magnetic flux generated by the permanent magnets 10, 11 flows through the carrier 3, the field plate pairs 6, 7 and the rack 2.
  • the magnetic resistance of the closed magnetic flux circuit depends on the distance between the field plates and the Rack 2, which changes as a result of the teeth when the carrier 3 moves in the displacement direction x.
  • Field plates have the property that their electrical resistance depends on the magnetic flux flowing through them. The same applies to Hall sensors, since the Hall voltage emitted depends on the magnetic flux flowing through the sensors.
  • the electrical resistance of the field plate pairs 6, 7 is a function of the position of the carrier 3 in the direction of displacement above the fixed rack 2.
  • Field plates of a pair of field plates are usually used in a bridge circuit that allows temperature compensation.
  • Figure 3 are the Field plates shown as electrical resistors Ria or Rib, which are in series with each other and are arranged parallel to the series connection of the resistors Rl and R2. With a relative movement of a pair of field plates with a rack, it can be achieved that the output voltage Voi of the bridge circuit is sinusoidal.
  • FIG. 4 shows the signal profiles of the field plate pairs 6, 7, which are each evaluated with a bridge circuit according to FIG. 3, as a function of the direction of displacement x.
  • the two phase-shifted signal oscillations Vo6 and Vo7 according to FIG. 4 enable a large usable measuring range with the aid of the evaluation circuit 9.
  • the evaluation circuit 9 preferably always operates in the steep flank region of one of the two sine curves of the field plate pairs 6, 7. Another possibility is to process the two signal voltages of the field plate pairs 6, 7 and the signal voltage of the magnetic flux sensor 4 in a computing circuit in order to determine and display the actual position of the carrier 3.
  • a permanent magnet (not shown) is also arranged above the pair of field plates 4 shown in FIG. 1 for the coarse resolution, as shown in FIG. Due to the inclined arrangement of the rail 1 with respect to the direction of displacement x of the carrier 3, the electrical resistance of the field plates 4a and 4b changes in opposite directions. In the same way as the field plate pairs 6, 7, the field plates of the field plate pair 4 are arranged in a bridge circuit, which enables temperature compensation, because the tendency of the electrical resistance with changing temperature is the same for both field plates.
  • the electrical resistance of the magnetic flux sensor 4 changes relatively little for the coarse resolution and that a specific electrical resistance of the magnetic flux sensor 4 must be defined for each actual position.
  • the measuring path through which the carrier 3 or a component connected to it can travel along the displacement direction x must be limited. The limits result from the arrangement of the field plates or the Hall sensors of the magnetic flux sensor 4 with respect to the rail 1.
  • both elements of the magnetic flux sensor 4 still respond to the movement when the carrier 3 is displaced.
  • no reference point travel has to be undertaken even after the voltage supply of the measuring system has been switched off when the supply voltage is switched on again.
  • the unambiguous assignment of the signals from the magnetic flux sensors 4 and 6, 7 allows the actual position of the carrier 3 to be unambiguously determined. With such an arrangement, a resolution in the celebrity range of one millimeter can be achieved.
  • the actual angle position (of a component, not shown) is to be determined.
  • the component is connected to a rotary shaft 112.
  • An eccentric disk 101 and a gearwheel 102 are located on the rotary shaft 112, both of which are rotated along with the rotary shaft 112.
  • the eccentric disk 101 consists of a magnetically highly conductive material and has the function of a transmitter part for the coarse resolution.
  • the gear 102 is also made of magnetically highly conductive material and has the function of a transmitter part for fine resolution.
  • the eccentric disk 101 and the gear 102 are shown in front view in FIG.
  • Figure 6 shows the eccentric 101 in side view.
  • two carriers 117, 118 are arranged, which consist of magnetically highly conductive material and are connected to one another in a magnetically conductive manner.
  • the two supports 117, 118 are offset from one another by approximately 90 °.
  • the carrier 117 has a field plate pair or a Hall sensor 105 on its front side and one behind it
  • the carrier 118 has a field plate pair or a Hall sensor 104 on its end face and a permanent magnet behind it
  • Hall sensors 104, 105 a clear measure of the angle of rotation of the eccentric disc 101.
  • a coarse resolution for the angle of rotation is achieved. The evaluation takes place in the same way as was described in connection with the absolute linear measuring system according to FIGS. 1 to 4.
  • the gear 102 is shown in side view in FIG.
  • two carriers 115, 116 are in turn arranged at an angle.
  • the two carriers are made of magnetically highly conductive material and are magnetically connected to one another (not shown).
  • the carrier 115 has a pair of field plates 106 and a permanent magnet 110 arranged behind it.
  • the carrier 116 has a pair of field plates 107 and a permanent magnet 111 arranged behind it.
  • the toothing 108 of the gear 102 produces the same effect as was already described in connection with FIG. 2 and the absolute linear measuring system. This means that the gear 102 can be used to determine a fine resolution for the actual angle position.
  • the arrangement of the field plates of a field plate pair or of the two field plate pairs 106 and 107 with respect to the tooth spacing of the gear 102 corresponds to the linear measuring system according to FIG. 1.
  • limits are also specified for the measurable angle of rotation for the rotary absolute measuring system described in FIGS. 5 to 7, namely through the unambiguity of the measurement result for the coarse resolution according to FIG. 6.
  • the measurement can take place within the angular range of 360 °.
  • the second embodiment shown in FIG. 8 for a rotary absolute measuring system differs from the first embodiment shown in FIGS. 5 to 7 only in that the eccentric disk is replaced here by a thread 201 applied to the rotary shaft 212.
  • the function of the gear 202 is the same as that of the gear 102 in Figure 5, so that a further explanation can be omitted.
  • the thread 201 is again made of magnetically highly conductive material.
  • two carriers 217, 218 made of magnetically highly conductive material are arranged, which are magnetically connected to one another.
  • the two carriers 217, 218 are arranged one behind the other in the axial direction of the rotary shaft 212.
  • the carrier 217 has a pair of field plates 205 directed against the thread 201 and a permanent magnet 214 arranged behind it.
  • the carrier 218 has a field plate pair 204 directed against the thread 201 and a permanent magnet 213 arranged behind it.
  • the electrical resistance of the field plate pairs 204, 205 changes within an angular range of 360 ° clearly changes, so that this combination is suitable for the rough resolution of the angle of rotation.
  • the spacing of the carriers 217, 218 is chosen with respect to the teeth of the thread 201 as in the spacing of the magnetic field plates 6 and 7 with respect to the teeth 8 of the rack 2 according to FIG. 1.
  • the third embodiment shown in FIG. 9 for a rotary absolute measuring system differs from the embodiments shown in FIGS. 5 to 8 only in that the eccentric disk or the thread are replaced by a diametrically magnetized magnet 301.
  • the function of the gear 102 or 202 of the first or second embodiment is the same as that of a gear, not shown in Figure 9, so that a further explanation can be omitted.
  • One carrier has a field plate pair or a Hall sensor 305 and the other carrier has a field plate pair or a Hall sensor 304 and the other carrier has a field plate pair or a Hall sensor 305.
  • the preferably disc-shaped diametrically magnetized magnet produces the same effect as was already described in connection with the first two embodiments of the rotary absolute measuring system. This means that a rough resolution for the actual angle position can be determined with the diametrically magnetized magnet 301. In order to obtain a clear angular position in one revolution, the two sensors are offset by 90 °. At a constant rotational speed, the output voltages of the field plate pairs or Hall sensors 304, 305 are sinusoidal.
  • Hall sensors which are available individually, can be used instead of field plate pairs for the coarse resolution in both the linear and the rotary absolute measuring system.
  • field plate pairs have the advantage that they allow temperature compensation in a bridge circuit.
  • the angle determination for a rotary absolute measuring system according to FIGS. 5 to 9 is shown in FIG. 10. If two voltages V2 and VI, each assigned to one another and offset by 90 °, are divided by one another, the tangent of the included angle results. Accordingly, the arc tangent of the quotient of the two voltages V2 to VI must be formed in the evaluation circuit 9 in order to determine the angle c ⁇ .

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Transmission And Conversion Of Sensor Element Output (AREA)
  • Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)

Abstract

Un dispositif pour la détermination de la position effective absolue d'un composant se déplaçant sur une trajectoire prédéterminée présente un indicateur (1) pour une résolution grossière et un indicateur (2) pour une résolution fine. A l'indicateur (1) pour la résolution grossière est associé un détecteur de flux magnétique (4) pour la résolution grossière. A l'indicateur (2) pour la résolution fine sont également associés des détecteurs de flux magnétique (6, 7). Les détecteurs de flux magnétique (4-7) se déplacent par rapport aux indicateurs (1, 2). Les détecteurs de flux magnétique (4-7) sont formés par des paires de magnétorésistances derrière lesquelles sont disposés des aimants permanents. Lors du déplacement relatif entre les indicateurs (1,2 ) et les paires de magnétorésistances (4-7), le flux magnétique traversant les paires de magnétorésistances varie, ce qui a pour conséquence que leur résistance électrique varie en fonction du déplacement. La variation de la résistance électrique des paires de magnétorésistances (4-7) est mesurée pour la détermination de la position effective.
PCT/EP1991/001684 1990-12-04 1991-09-05 Dispositif pour la determination de la position effective absolue d'un composant se deplaçant sur une trajectoire predeterminee WO1992010723A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE4038674A DE4038674A1 (de) 1990-12-04 1990-12-04 Vorrichtung zum bestimmen der absoluten ist-position eines entlang einer vorbestimmten wegstrecke bewegbaren bauteils
DEP4038674.0 1990-12-04

Publications (1)

Publication Number Publication Date
WO1992010723A1 true WO1992010723A1 (fr) 1992-06-25

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Application Number Title Priority Date Filing Date
PCT/EP1991/001684 WO1992010723A1 (fr) 1990-12-04 1991-09-05 Dispositif pour la determination de la position effective absolue d'un composant se deplaçant sur une trajectoire predeterminee

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Country Link
EP (1) EP0513251A1 (fr)
DE (1) DE4038674A1 (fr)
WO (1) WO1992010723A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1994005974A1 (fr) * 1992-09-09 1994-03-17 Siemens Aktiengesellschaft Dispositif pour la saisie geometrique comportant des elements a effet hall
FR2771812A1 (fr) * 1997-11-28 1999-06-04 Denso Corp Dispositif de detection de position de type magnetoresistif

Families Citing this family (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4400616C2 (de) * 1994-01-12 1998-09-03 Mannesmann Vdo Ag Magnetischer Positionssensor, insbesondere für Kraftfahrzeuge
DE4432827C2 (de) * 1994-09-15 1998-10-22 Festo Ag & Co Positionsbestimmungseinrichtung
DE4440214C2 (de) * 1994-11-10 1997-08-14 Itt Ind Gmbh Deutsche Drehgeber mit Hallsensoren
CH690932A5 (de) * 1996-10-11 2001-02-28 Hera Rotterdam Bv Drehgeber.
DE10244703A1 (de) 2001-09-27 2003-04-10 Marquardt Gmbh Einrichtung zur Messung von Wegen und/oder Positionen
US7034523B2 (en) 2001-09-27 2006-04-25 Marquardt Gmbh Device for measuring paths and/or positions
DE102004011809A1 (de) 2004-03-11 2005-09-29 Robert Bosch Gmbh Magnetsensoranordnung
US7609055B2 (en) 2004-07-21 2009-10-27 Control Products, Inc. Position sensing device and method
DE202004014849U1 (de) 2004-09-23 2005-02-03 Trw Automotive Safety Systems Gmbh Vorrichtung zur Bestimmung eines absoluten Drehwinkels
DE102011004147A1 (de) * 2011-02-15 2012-08-16 Robert Bosch Gmbh Sensoranordnung zur Wegmessung einer Stange

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2428785B1 (de) * 1974-06-14 1975-05-15 Ottensener Eisenwerk Gmbh, 2000 Hamburg Vorrichtung zur Ermittlung der Position einer in ihrer Längsrichtung verschiebbaren Stange
WO1986000877A1 (fr) * 1984-07-20 1986-02-13 Robert Bosch Gmbh Detecteur a magnetoresistance pour la production de signaux electriques
EP0203275A2 (fr) * 1985-03-23 1986-12-03 Robert Bosch Gmbh Capteur incrémentiel
US4746859A (en) * 1986-12-22 1988-05-24 Sundstrand Corporation Power and temperature independent magnetic position sensor for a rotor
DE3725405A1 (de) * 1987-07-31 1989-02-09 Boge Ag Vorrichtung zur bestimmung eines drehwinkels
EP0363512A1 (fr) * 1988-10-13 1990-04-18 Siemens Aktiengesellschaft Dispositif sans-contact pour établir la vitesse d'une roue dentée

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2428785B1 (de) * 1974-06-14 1975-05-15 Ottensener Eisenwerk Gmbh, 2000 Hamburg Vorrichtung zur Ermittlung der Position einer in ihrer Längsrichtung verschiebbaren Stange
WO1986000877A1 (fr) * 1984-07-20 1986-02-13 Robert Bosch Gmbh Detecteur a magnetoresistance pour la production de signaux electriques
EP0203275A2 (fr) * 1985-03-23 1986-12-03 Robert Bosch Gmbh Capteur incrémentiel
US4746859A (en) * 1986-12-22 1988-05-24 Sundstrand Corporation Power and temperature independent magnetic position sensor for a rotor
DE3725405A1 (de) * 1987-07-31 1989-02-09 Boge Ag Vorrichtung zur bestimmung eines drehwinkels
EP0363512A1 (fr) * 1988-10-13 1990-04-18 Siemens Aktiengesellschaft Dispositif sans-contact pour établir la vitesse d'une roue dentée

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1994005974A1 (fr) * 1992-09-09 1994-03-17 Siemens Aktiengesellschaft Dispositif pour la saisie geometrique comportant des elements a effet hall
US5594335A (en) * 1992-09-09 1997-01-14 Siemens Aktiengesellschaft Position-detecting apparatus with hall elements and an interpolation circuit for interpolating analog output signals of the hall elements
FR2771812A1 (fr) * 1997-11-28 1999-06-04 Denso Corp Dispositif de detection de position de type magnetoresistif
US6452381B1 (en) 1997-11-28 2002-09-17 Denso Corporation Magnetoresistive type position detecting device

Also Published As

Publication number Publication date
EP0513251A1 (fr) 1992-11-19
DE4038674A1 (de) 1992-06-11

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