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
  • G01D5/244—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 characteristics of pulses or pulse trains; generating pulses or pulse trains
  • G01D5/24471—Error correction
  • G01D5/2449—Error correction using hard-stored calibration data
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
  • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
  • G01P3/42—Devices characterised by the use of electric or magnetic means
  • G01P3/44—Devices characterised by the use of electric or magnetic means for measuring angular speed
• • 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
  • G01D18/00—Testing or calibrating apparatus or arrangements provided for in groups G01D1/00 - G01D15/00
  • G01D18/001—Calibrating encoders
• • 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
  • G01D18/00—Testing or calibrating apparatus or arrangements provided for in groups G01D1/00 - G01D15/00
  • G01D18/008—Testing or calibrating apparatus or arrangements provided for in groups G01D1/00 - G01D15/00 with calibration coefficients stored in memory
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
  • G01P21/00—Testing or calibrating of apparatus or devices covered by the preceding groups
  • G01P21/02—Testing or calibrating of apparatus or devices covered by the preceding groups of speedometers
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
  • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
  • G01P3/42—Devices characterised by the use of electric or magnetic means
  • G01P3/44—Devices characterised by the use of electric or magnetic means for measuring angular speed
  • G01P3/48—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage
  • G01P3/481—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage of pulse signals
  • G01P3/487—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage of pulse signals delivered by rotating magnets
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
  • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
  • G01P3/42—Devices characterised by the use of electric or magnetic means
  • G01P3/44—Devices characterised by the use of electric or magnetic means for measuring angular speed
  • G01P3/48—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage
  • G01P3/481—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage of pulse signals
  • G01P3/489—Digital circuits therefor

Definitions

• This invention relates to improvements in angular velocity sensors, and in particular to an angular velocity sensor suitable for determining the angular position of the rotor in an electrical motor. It also relates to a method of determining the angular velocity of a rotor.
• rotor has been used to describe a device or element which is free to rotate about an axis. It may commonly comprise the rotor of an electric motor and indeed the invention primarily arose from work into monitoring the angular position of rotors in motors for subsequent use in a motor control strategy.
• the term is not to be construed in the narrow sense and should instead be given a broader interpretation which includes - amongst other things - steering shafts for vehicle steering systems.
• angular position sensors To measure the angular position of a rotor a wide variety of angular position sensors have been developed. The most common way of determining the angular velocity of a rotor is to provide a sensor, which determines the elapsed time taken for a fixed position on the rotor to make a complete revolution. The faster the rotor is spinning the shorter the elapsed time taken for the fixed point to pass the sensor and complete a revolution before passing the sensor again.
• a problem with sensing the passing of a fixed point on a rotor is that a velocity value is only produced once for each complete revolution. If the rotor is turning relatively slowly the update time for the velocity value may be too long for accurate measurements to be obtained. To improve on the response time of the sensor it is therefore common to provide a number of different fixed points equally spaced around the rotor. For example, four points at 90 degrees spacing may be provided. In this case a velocity signal can be generated when the rotor has passed through a quarter of a revolution.
• An example of a widely used angular velocity sensor which produces more than one output for each revolution of the rotor is the use of a Hall effect sensing device to detect the passing of the poles of the magnets of an electric motor.
• the state of the Hall effect sensors changes whenever a magnet edge passes the sensing region of the elements.
• the passing of the rotor magnets defines the fixed measurement points used by the sensor. As more than one magnet is used then more than one fixed point is provided within each revolution.
• the invention provides an angular velocity sensor for detecting the angular velocity of a rotor, the sensor comprising: at least two event generating means located at angularly spaced positions around the rotor; angular position sensing means which is adapted to produce a plurality of temporally spaced events as the rotor is rotated about its axis relative to the sensing means, each event occurring as a respective event generating means passes the sensing means, event time measurement means adapted to record the time at which the respective sensed events occur; event position determining means adapted to determine the angular position of the rotor at the time the events occur; and velocity determining means adapted to determine the average velocity of the rotor between two temporally spaced events based upon the measured times at which the' events occur and the determined angular position of the rotor when the events occur, characterised in that the event position determining means determines the relative angular position of the two event generating means from information previously obtained from the event time measurement means during
• the invention thus provides apparatus in which information obtained from measurements of the times at which events occurred during a previous revolution of the rotor is used to determine the relative angular positions of the event generating means. This allows the apparatus automatically to be insensitive to the misalignment errors that can occur where two or more event generating means are spaced around a rotor. Instead of assuming that the events occur at "ideal" fixed locations, the apparatus actually determines where the event generating means are located to allow an accurate velocity value to be determined.
• the event position determining means may be adapted to determine the relative angular positions of the event generation means from measurements obtained during an initial testing operation of the apparatus.
• the determined position values may be stored in a memory for subsequent use by the apparatus.
• the event position determining means may update the values at regular intervals during operation of the rotor or perhaps even continuously. They may be updated whenever the sensor is started up after each period in which it has been laid dormant.
• the event position determining means may comprise: first means for determining the elapsed time taken for the rotor to complete a full revolution, second means for determining the average velocity over the complete revolution from the elapsed time, third means for determining the elapsed time between two events that occurred during the complete revolution, and fourth means for determining the displacement of the rotor between the two events based upon the average velocity from the second means and the elapsed time from the third means.
• the average velocity is taken for a full revolution it can be calculated with high accuracy since it is free from any misalignment errors of the event generating means. This is then used with the time measurements for the two events within the revolution to determine their relative positions.
• the average velocity should only be used when determining the relative angular positions of events that occur at or around the half way point through the revolution.
• the apparatus may therefore determine a set of average velocity values, each one corresponding to a full revolution that starts at the time of a different event, and employ this average to determine the relative position of those events at or around half a revolution earlier in the complete revolution.
• Timings may be taken for a first pair of events during one revolution to determine the relative angular positions. Timings may also be taken some time later from a different revolution to determine the relative angular position of a different pair of events.
• each of the event generating means will be known. They will typically be uniformly spaced around the rotor. In this case, instead of storing values indicative of the actual relative positions of the event generating means a set of error correction values may be stored representing the amount that each event generating means deviates from its ideal position.
• the error correction value may be stored in the memory as well as or instead of the determined angular position values.
• An error correction value may be determined for, and stored for, each event over a complete revolution of the rotor.
• a set of ideal angular position values for each event that occurs over a revolution may comprise a set of data values, or a stored function from which the ideal position can be determined. For example, the number of events per revolution and their ideal angular spacing may be stored in the memory.
• the storage means will contain a set of error values, or actual angular position values, for each event that occurs as the rotor rotates.
• error values or actual angular position values
• the event generating means may comprise magnets spaced around the rotor and the sensing means may comprise one or more, and preferably three, electromagnetic sensors. Suitable sensors are those which use the Hall effect to detect the passing of the poles of a magnet.
• the time measurement means may comprise a counter.
• the counter may be triggered whenever an event occurs and be stopped whenever a subsequent event occurs.
• the total count between events will provide an indication of the time between events.
• many other devices for measuring the elapsed time between temporally spaced events are possible.
• the invention provides a method of determining the angular positions of at least two event generating means located at angularly spaced positions around a rotor, the method comprising the steps of: producing a plurality of temporally spaced events as the rotor is rotated about its axis relative to a sensing means, each event occurring as a respective event generating means passes the sensing means over a complete revolution, recording the time at which the respective sensed events occur; determining the time taken for the rotor to rotate through the complete revolution, determining the average velocity of the rotor across the complete revolution from the elapsed time for the complete revolution; and determining the relative angular position of the two event generating means from the determined average velocity for the complete revolution and the elapsed time between the measurements of the two events within that complete revolution.
• the method therefore combines elapsed time measurements for two events within a revolution with an average determined across a complete revolution to determine the actual positions at which the events occurred.
• the time taken to complete a revolution may be determined by measuring the elapsed time taken for one of the event generating means to generate two temporally spaced events.
• Each event generating means may produce a unique identifiable event allowing it to be uniquely identified to do this.
• the passing of a complete revolution may be determined by counting the number of events that have occurred.
• the method may comprise determining a set of average velocity values, each one corresponding to a full revolution of the rotor that starts at the time of a respective event, with each average being used to determine the relative displacement between events that occur at or around half a revolution earlier in the respective complete revolution from which the average velocity was obtained.
• the method may comprise storing a rolling set of n timing values from the n event generating means. Thus, at the instant of any event occurring the times of the n previous events will be stored in the buffer.
• the method may then comprise determining the total elapsed time taken for a complete revolution up to the instant of the current event by adding together the total times held in the buffer for the n previous events. The average velocity for a revolution may be determined from this elapsed time. Finally, the method may comprise determining the elapsed time between two events at or around the centre of rolling set of values and combining this elapsed time with the average velocity to determine the angular displacement of the rotor between the two events and hence their relative angular positions. This may be stored in a memory.
• the method may be repeated for each event time an event occurs over a full revolution until a full set of n relative position values are stored.
• the method may be stopped or may be continuously updated as the rotor turns.
• the invention provides a method of determining the angular velocity of a rotor comprising the initial steps of determining the position of a plurality event generating means spared around the rotor using the method of the second aspect of the invention, and subsequently measuring the elapsed time between events together with the angular position at which the event occurred to determine the velocity of the rotor.
• Figure 1 is cross sectional view of a motor which is monitored by a velocity sensor in accordance with a first aspect of the invention
• Figure 2(a) is a cross-sectional view of a rotor having perfectly spaced rotor magnets and 2(b) illustrates the same rotor having imperfectly aligned rotor magnets;
• Figure 3 is a schematic of the sensor of the present invention.
• Figure 4 illustrates the contents of the rolling buffer in the memory of the sensor after a complete revolution
• Figure 5 shows how the contents of the buffer shown in Figure 4 changes as the next event occurs.
• the angular velocity sensor illustrated by way of example in the accompanying drawings is especially suited to the monitoring of the angular position of an electric motor illustrated in Figure 1.
• the motor 1 comprises a 3-phase star-connected brushless permanent magnet (PM) configuration.
• PM brushless permanent magnet
• Its electromagnetic design includes a 6-pole permanent magnet rotor 2 and 9-slot copper-wound stator 3.
• the six magnets 4 are generally evenly spaced around the rotor. As the rotor 1 rotates through one complete mechanical revolution there are six PM north-south pole transitions seen at any point on the stator.
• a Hall Effect Array 5 is secured to the stator which comprises three electromagnetic sensors (not shown) spaced around the rotor at 40 degree mechanical spacing. Each sensor can adopt one of two polarisation states as the north and south poles of magnets on the rotor pass by. Each of the Hall effect sensors changes from one state to another as the motor rotates.
• the pattern of the sensor output can adopt six different states to indicate the electrical position of the motor as illustrated in Figure 2 of the accompanying drawings. It is notable that the pattern repeats three times within each complete mechanical revolution of the rotor for the type of motor illustrated in Figure 1 of the accompanying drawings, giving a total of 18 transitions of "events" per revolution.
• the output of the sensing means 5 is passed to a processor 6 as shown in Figure 3 of the accompanying drawings.
• the processor 6 also receives a count signal from a timer 7. Each time an event occurs in the output of the Hall effect sensors 5 it is passed to the processor.
• the time at which the event occurred (from tl to tl8) is also stored in the memory in a rolling buffer.
• the processor determines the total time for a complete revolution by summing all the times held in the rolling buffer.
• the average velocity (degrees per second) of the rotor during the revolution is determined by dividing the time (in seconds) by the angle (360 degrees) .
• the average velocity could be used to determine the angular displacement between each adjacent event in the buffer by multiplying the elapsed time between events by the average velocity. However, if the motor is accelerating or decelerating the average velocity not be correct for all the transition points.
• vent n 2 for the second revolution
• the time of the first event is pushed out of the rolling buffer and the new event entered as shown in Figure 5.
• the average velocity of the revolution indicated by the new buffer contents is again calculated. This time the average is used to determine the displacement between the 10 ,h and l l" 1 events. This is also stored in the memory. This is shown in Figure 5.
• the process of measurement is continued 18 times until the angular displacements between all adjacent pairs of events are stored in the memory. This provides a measure of the relative angular position of each event.
• the complete set of offset error values are used during subsequent operation of the sensor to determine the exact angular velocity of the rotor.
• the time between two events is determined and the angular position at which the events actually occurred is found by identifying the events.
• the velocity can then be directly found by combing the displacement between events with the elapsed time between events.

Landscapes

• Physics & Mathematics (AREA)
• General Physics & Mathematics (AREA)
• Control Of Motors That Do Not Use Commutators (AREA)
• Transmission And Conversion Of Sensor Element Output (AREA)
• Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)

Priority Applications (6)

Applications Claiming Priority (2)

Related Child Applications (1)

Publications (1)

Family

ID=9927281

Family Applications (1)

Country Status (9)

Cited By (4)

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Citations (4)

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• 2001
  • 2001-12-08 GB GBGB0129446.1A patent/GB0129446D0/en not_active Ceased
• 2002
  • 2002-12-09 JP JP2003555218A patent/JP4652688B2/ja not_active Expired - Fee Related
  • 2002-12-09 EP EP02783320A patent/EP1451592B1/en not_active Expired - Lifetime
  • 2002-12-09 WO PCT/GB2002/005587 patent/WO2003054556A1/en not_active Ceased
  • 2002-12-09 AU AU2002347387A patent/AU2002347387A1/en not_active Abandoned
  • 2002-12-09 KR KR1020047008395A patent/KR101034999B1/ko not_active Expired - Fee Related
  • 2002-12-09 ES ES02783320T patent/ES2268117T3/es not_active Expired - Lifetime
  • 2002-12-09 DE DE60214588T patent/DE60214588T2/de not_active Expired - Lifetime
• 2004
  • 2004-06-08 US US10/863,005 patent/US6958599B2/en not_active Expired - Lifetime

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