WO2004111570A2 - Determination de la position angulaire absolue d’un volant par mesure incrementale et mesure de la vitesse differentielle des roues - Google Patents
Determination de la position angulaire absolue d’un volant par mesure incrementale et mesure de la vitesse differentielle des roues Download PDFInfo
- Publication number
- WO2004111570A2 WO2004111570A2 PCT/FR2004/001453 FR2004001453W WO2004111570A2 WO 2004111570 A2 WO2004111570 A2 WO 2004111570A2 FR 2004001453 W FR2004001453 W FR 2004001453W WO 2004111570 A2 WO2004111570 A2 WO 2004111570A2
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- angular position
- steering wheel
- absolute angular
- absolute
- determining
- Prior art date
Links
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
- G01D5/245—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 using a variable number of pulses in a train
-
- 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
- G01D5/245—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 using a variable number of pulses in a train
- G01D5/2451—Incremental encoders
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/021—Determination of steering angle
- B62D15/024—Other means for determination of steering angle without directly measuring it, e.g. deriving from wheel speeds on different sides of the car
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/021—Determination of steering angle
- B62D15/0245—Means or methods for determination of the central position of the steering system, e.g. straight ahead position
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/30—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring angles or tapers; for testing the alignment of axes
-
- 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
Definitions
- the invention relates to a system for determining the absolute angular position of the steering wheel of a motor vehicle relative to the chassis of said vehicle, as well as to a method of using such a system.
- absolute angular position is understood to mean the angle separating the position of the steering wheel at a given instant from a reference position, this reference position being fixed and given relative to the chassis.
- the relative angular position is the angle separating the position of the steering wheel from any variable initial position relative to the chassis.
- the invention aims to solve these problems by proposing a system for determining the absolute angular position of the steering wheel which makes it possible, around the measured relative angular positions, to make a point-to-point moving average of the estimates of absolute angular positions which result from the measurement of the differential speed of the wheels, said average being used to readjust a relative angular position so as to obtain the corresponding absolute angular position.
- the invention proposes a system for determining the absolute angular position ⁇ of the steering wheel of a motor vehicle relative to the chassis of said vehicle, said system comprising:
- a device for incremental measurement of the relative angular position ⁇ of the steering wheel comprising:
- an encoder intended to be rotated together with the steering wheel, said encoder comprising a main multipolar track; • a fixed sensor positioned opposite and at an air gap distance from the encoder, comprising at least two sensitive elements positioned opposite the main track so as to deliver two periodic electrical signals S1, S2 in quadrature, the sensor comprising an electronic circuit capable , from the signals S1, S2, to deliver the relative angular position ⁇ of the steering wheel;
- a device for measuring the differential speed ⁇ V / V of the wheels of the same axle a processing device capable of sampling with a period t the angular positions ⁇ (tj) and the differential speeds ⁇ V ⁇ / (tj), said device comprising calculation means suitable, at times t n> to:
- the invention proposes a method for determining the angular position ⁇ by means of such a system, said method comprising the iterative steps providing for:
- the invention relates to a system for determining the absolute angular position ⁇ of the steering wheel 1 of a motor vehicle relative to the chassis of said vehicle.
- this position is intended for use in vehicle path control systems or steering assistance systems.
- the system comprises a device 2 for measuring the differential speed ⁇ V / V of the wheels of the same axle of the vehicle and an incremental device for measuring the relative angular position ⁇ of the steering wheel 1.
- a system mounted in a steering assembly comprising a steering column 3 on which is associated the steering wheel 1 through which the driver applies a torque and therefore a steering angle. Furthermore, column 3 is arranged to transmit this steering angle to the vehicle's steering wheels. To this end, the wheels can be mechanically associated with column 3 by means of a rack pinion and a rack in order to transform the rotational movement of column 3 into angular displacement of the wheels, or be decoupled from column 3.
- the steering system further comprises a fixed element 4 which is integral with the chassis of the motor vehicle.
- the steering wheel 1 is arranged to be able to perform a plurality of turns, typically two, on each side of the position in which the wheels are straight.
- the incremental measuring device shown in the figure comprises an encoder 5 which is integral in rotation with the column 3 and a fixed sensor 6 associated on the element 4 so that the sensitive elements of said sensor are arranged opposite and at a distance from air gap of the encoder 5.
- the system according to the invention makes it possible to determine the absolute angular position of the encoder 5, and therefore of the flywheel 1, relative to the fixed element 4, and therefore to the chassis.
- the encoder 5 comprises a main multipole track.
- the encoder 5 is formed of a multipolar magnetic ring on which is magnetized a plurality of pairs of North and South poles equally spaced with a constant angular width so as to form the main track.
- the sensor 6 comprises at least two sensitive elements, for example chosen from the group comprising Hall effect probes, magnetoresistors, giant magnetoresistors.
- the sensor 6 used is capable of delivering two periodic electrical signals S1, S2 in quadrature via the sensitive elements.
- the sensor further comprises an electronic circuit 7 which, on the basis of the signals S1, S2, delivers digital signals of position A, B square in quadrature which make it possible to calculate the relative angular position ⁇ of the steering wheel 1.
- the electronic circuit 7 comprises counting means capable of determining, from an initial position, the variations of the angular position of the encoder 5.
- the counting means comprise a register in which the value of the angular position is incremented or decremented by an angular value corresponding to the number of edges of the signals A 1 B which are detected, the initial value being for example fixed at zero when the device is put into service.
- the electronic circuit 7 makes it possible to know the relative position of the encoder 5 with respect to the initial position.
- the electronic circuit 7 also comprises an interpolator, for example of the type described in document FR-2 754 063 from the applicant, making it possible to increase the resolution of the output signals.
- an interpolator for example of the type described in document FR-2 754 063 from the applicant, making it possible to increase the resolution of the output signals.
- a resolution of the angular position ⁇ less than 1 ° can be obtained.
- the sensor 6 with its electronic circuit 7 can be partially or totally integrated on a silicon or equivalent substrate, for example AsGa, so as to form an integrated and personalized circuit for a specific application, circuit sometimes designated by the term ASIC to refer to the integrated circuit designed partially or completely according to the needs.
- a silicon or equivalent substrate for example AsGa
- the encoder 5 can be formed from a metal or glass target on which the main track is engraved so as to form an optical pattern analogous to the multipolar magnetic pattern exposed above, the sensitive elements then being formed of detectors. optics.
- the device 2 for measuring the differential speed ⁇ V / V is supplied with the speeds of the left wheels V 9 and right wheels V d of the same axle, respectively, and comprises calculation means arranged to supply said differential speed.
- the determination system also comprises a processing device 8 capable of sampling the angular positions ⁇ (tj) and the differential speeds ⁇ V ⁇ / (tj) with a period t.
- the processing device also comprises calculation means capable, at times t n , of:
- a mode of implementation of a determination system according to the invention is described below in which the angular position ⁇ (tj) and the differential speed ⁇ V / V (tj) are sampled, for example with a period of the order of 1 ms.
- an estimate ⁇ * (tj) of the angular position ⁇ (tj) is determined by calculation.
- ⁇ * (tj) is particularly negligible when the measurement of the differential speed is carried out on the non-driving wheels, but also on the driving wheels when the grip is normal.
- the relationship is identified using measurements carried out on the vehicle under optimal conditions which may include:
- the incremental angular position ⁇ (tj) makes it possible to know the variations of the angular position ⁇ (tj) over time, but it is offset by a constant offset value with respect to said absolute angular position.
- the offset value (t n ) then corresponds to the minimum of the cost function / 9 (t ,,) - J (t ,,) - offset * l n , I n being the identity matrix of dimension n.
- the method provides for using the set of values ⁇ * (tj) and ⁇ (tj) statistically so as to continuously improve the precision of the offset mean (t n ) since the number of values used increases with the time.
- the set of disturbances affecting the calculation of the estimates ⁇ * (tj) for example such as the flatness of the ground, which can be assumed to be centered on zero, the statistical calculation proposed makes it possible to quickly converge towards the desired offset value.
- the processing device 8 makes it possible to deliver the absolute angular position ⁇ (t n ) in an iterative manner, by freeing up for a large part of the defects in the driving area.
- the precision of the determination of the absolute angular position can be improved by providing for implementing the method under determined driving conditions.
- the driving conditions may include a maximum speed of rotation of the steering wheel so as to limit the disturbances linked to the time for registration of the vehicle in the trajectory and / or a minimum speed of the vehicle to allow the accuracy of the estimates to be improved.
- the speed limit of the vehicle can be set at 5 km / h and that of the. steering wheel speed at 207s.
- the absolute angular position of the steering wheel can be obtained with a typical precision of the order of +/- 5 °. This precision can therefore be obtained after 25 m of driving and can be established at +/- 2 ° after 50 m of driving.
- the determination system makes it possible to overcome mechanical indexing faults between the encoder 5 and the handwheel 1 since these are corrected during the calculation of the offset value.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- General Physics & Mathematics (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Physics & Mathematics (AREA)
- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
- Transmission And Conversion Of Sensor Element Output (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
- Steering Controls (AREA)
- Gyroscopes (AREA)
Abstract
Description
Claims
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP04767318A EP1631485A2 (fr) | 2003-06-11 | 2004-06-10 | DETERMINATION DE LA POSITION ANGULAIRE ABSOLUE D’UN VOLANT PAR MESURE INCREMENTALE ET MESURE DE LA VITESSE DIFFERENTIELLE DES ROUES |
JP2006516285A JP2007526987A (ja) | 2003-06-11 | 2004-06-10 | 増分測定および車輪の差速の測定によるステアリングホイールの絶対角位置の決定 |
US10/560,106 US20060279278A1 (en) | 2003-06-11 | 2004-06-10 | Determining of the absolute angular position of a steering wheel by means of an incremental measurement and the measurement of the differential velocity of wheels |
US12/003,528 US7605586B2 (en) | 2003-06-11 | 2007-12-28 | Determination of the absolute angular position of a steering wheel by incremental measurement and measuring the differential speed of the wheels |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR03/07002 | 2003-06-11 | ||
FR0307002A FR2856142B1 (fr) | 2003-06-11 | 2003-06-11 | Determination de la position angulaire absolue d'un volant par mesure incrementale et mesure de la vitesse differentielle des roues |
Related Child Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US10/560,106 A-371-Of-International US20060279278A1 (en) | 2003-06-11 | 2004-06-10 | Determining of the absolute angular position of a steering wheel by means of an incremental measurement and the measurement of the differential velocity of wheels |
US12/003,528 Continuation US7605586B2 (en) | 2003-06-11 | 2007-12-28 | Determination of the absolute angular position of a steering wheel by incremental measurement and measuring the differential speed of the wheels |
Publications (2)
Publication Number | Publication Date |
---|---|
WO2004111570A2 true WO2004111570A2 (fr) | 2004-12-23 |
WO2004111570A3 WO2004111570A3 (fr) | 2005-03-24 |
Family
ID=33484340
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/FR2004/001453 WO2004111570A2 (fr) | 2003-06-11 | 2004-06-10 | Determination de la position angulaire absolue d’un volant par mesure incrementale et mesure de la vitesse differentielle des roues |
Country Status (7)
Country | Link |
---|---|
US (2) | US20060279278A1 (fr) |
EP (1) | EP1631485A2 (fr) |
JP (1) | JP2007526987A (fr) |
KR (1) | KR20060022690A (fr) |
CN (2) | CN100447534C (fr) |
FR (1) | FR2856142B1 (fr) |
WO (1) | WO2004111570A2 (fr) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7249527B2 (en) | 2003-11-18 | 2007-07-31 | S.N.R. Roulements | System for sensing absolute torque and a module comprising it |
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FR2899862B1 (fr) * | 2006-04-13 | 2009-06-05 | Siemens Vdo Automotive Sas | Procede et dispositif de mesure de la position angulaire, entre deux butees de braquage,d'un volant de direction d'un vehicule |
JP2010002297A (ja) * | 2008-06-20 | 2010-01-07 | Nippon Soken Inc | 車両用操舵角検出装置 |
CN101293535B (zh) * | 2008-06-27 | 2010-06-23 | 中国科学院合肥物质科学研究院 | 用于汽车方向盘转角的测量方法 |
FR2935485B1 (fr) * | 2008-08-28 | 2010-09-10 | Roulements Soc Nouvelle | Systeme et procede de mesure du mouvement axial d'une piece mobile en rotation |
FR2935486B1 (fr) * | 2008-08-28 | 2010-09-10 | Roulements Soc Nouvelle | Dispositif de codage magnetique |
US8077303B2 (en) * | 2009-11-30 | 2011-12-13 | Bi Technologies Corporation | Rotation and differential angle optical sensor with short optical sensing array |
US8218134B2 (en) * | 2009-11-30 | 2012-07-10 | Bi Technologies Corporation | Rotation and differential angle optical sensor with non-transition pattern sampling |
US8077302B2 (en) * | 2009-11-30 | 2011-12-13 | Bi Technologies Corporation | Rotation and differential angle optical sensor which does not require keyed installation |
US8077301B2 (en) * | 2009-11-30 | 2011-12-13 | Bi Technologies Corporation | Rotation and differential angle optical sensor with integral bearing races |
CN102241273A (zh) * | 2010-05-10 | 2011-11-16 | 上海宏曲电子科技有限公司 | 激光式数码舵角指示系统 |
CN102243082B (zh) * | 2010-05-10 | 2015-05-20 | 上海宏曲电子科技有限公司 | 光敏角位传感器 |
CN102478394A (zh) * | 2010-11-25 | 2012-05-30 | 上海宏曲电子科技有限公司 | 间接式分体型主动激光角位传感器 |
CN102478406A (zh) * | 2010-11-25 | 2012-05-30 | 上海宏曲电子科技有限公司 | 直接式被动激光角位传感器 |
CN102478393A (zh) * | 2010-11-25 | 2012-05-30 | 上海宏曲电子科技有限公司 | 直接式分体型被动激光角位传感器 |
CN102478409A (zh) * | 2010-11-25 | 2012-05-30 | 上海宏曲电子科技有限公司 | 间接式被动激光角位传感器 |
CN102478391A (zh) * | 2010-11-25 | 2012-05-30 | 上海宏曲电子科技有限公司 | 直接式主动激光角位传感器 |
CN103017786B (zh) * | 2011-09-26 | 2016-02-17 | 东莞易步机器人有限公司 | 自平衡两轮车转向偏移量校准装置及校准方法 |
CN103177311A (zh) * | 2011-12-21 | 2013-06-26 | 上海华虹Nec电子有限公司 | 尼尔森规格管理方法及系统 |
CN107356273B (zh) * | 2016-05-09 | 2021-04-30 | 成都安驭科技有限公司 | 一种提高编码检测装置可靠性的方法 |
FR3052254B1 (fr) * | 2016-06-07 | 2018-06-15 | Stmicroelectronics (Rousset) Sas | Dispositif de determination du mouvement d'un element rotatif, en particulier pour les releves de compteurs d'eau et/ou de gaz |
CN107628110A (zh) * | 2017-09-29 | 2018-01-26 | 株洲易力达机电有限公司 | 一种汽车电动助力转向盘角度识别方法 |
FR3077263B1 (fr) * | 2018-01-31 | 2021-01-08 | Jtekt Europe Sas | Amelioration de l’evaluation de la position angulaire absolue d’un volant de conduite par prise en consideration de la situation lors de la coupure de contact du vehicule |
FR3101704B1 (fr) | 2019-10-08 | 2021-09-24 | Robert Bosch Automotive Steering Vendome | Procédé de détection d’une position angulaire absolue ou d’une course de déplacement angulaire absolue d’un organe tournant |
CN111516755A (zh) * | 2020-04-22 | 2020-08-11 | 东风汽车集团有限公司 | 一种方向盘转角信号校准方法和转角零位确认方法 |
KR102521764B1 (ko) | 2020-09-25 | 2023-04-14 | 한국신발피혁연구원 | 실리카 마스터배치 제조방법 및 이로부터 제조된 실리카 마스터배치 |
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JP2002168651A (ja) * | 2000-11-28 | 2002-06-14 | Yazaki Corp | ステアリング角センサ |
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FR2845154B1 (fr) * | 2002-09-27 | 2005-03-18 | Roulements Soc Nouvelle | Capteur d'angle absolu comprenant un codeur a singularites non-equireparties |
-
2003
- 2003-06-11 FR FR0307002A patent/FR2856142B1/fr not_active Expired - Lifetime
-
2004
- 2004-06-10 US US10/560,106 patent/US20060279278A1/en not_active Abandoned
- 2004-06-10 EP EP04767318A patent/EP1631485A2/fr not_active Withdrawn
- 2004-06-10 WO PCT/FR2004/001453 patent/WO2004111570A2/fr active Application Filing
- 2004-06-10 CN CNB200480020895XA patent/CN100447534C/zh not_active Expired - Fee Related
- 2004-06-10 CN CNA2004800197601A patent/CN1819945A/zh active Pending
- 2004-06-10 KR KR1020057023787A patent/KR20060022690A/ko not_active Application Discontinuation
- 2004-06-10 JP JP2006516285A patent/JP2007526987A/ja active Pending
-
2007
- 2007-12-28 US US12/003,528 patent/US7605586B2/en not_active Expired - Fee Related
Patent Citations (4)
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EP0353995A2 (fr) | 1988-08-01 | 1990-02-07 | Honda Giken Kogyo Kabushiki Kaisha | Détecteur d'angle de rotation du volant de direction et méthode pour contrôler le lacet d'un véhicule |
EP0460582A2 (fr) | 1990-06-04 | 1991-12-11 | Nippondenso Co., Ltd. | Appareil de détection d'angle de direction pour véhicules à moteur |
DE19856304A1 (de) | 1998-03-31 | 1999-10-07 | Continental Teves Ag & Co Ohg | Vorrichtung und Vorrichtung zum Überprüfen und Korrigieren der Ausgabe eines Lenkwinkelsensors |
EP1167927A1 (fr) | 2000-06-30 | 2002-01-02 | Snr Roulements | Dispositif de détermination de la position angulaire absolue d'un organe tournant |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7249527B2 (en) | 2003-11-18 | 2007-07-31 | S.N.R. Roulements | System for sensing absolute torque and a module comprising it |
Also Published As
Publication number | Publication date |
---|---|
US20080177502A1 (en) | 2008-07-24 |
CN1819945A (zh) | 2006-08-16 |
US7605586B2 (en) | 2009-10-20 |
EP1631485A2 (fr) | 2006-03-08 |
WO2004111570A3 (fr) | 2005-03-24 |
FR2856142A1 (fr) | 2004-12-17 |
CN1826510A (zh) | 2006-08-30 |
CN100447534C (zh) | 2008-12-31 |
US20060279278A1 (en) | 2006-12-14 |
FR2856142B1 (fr) | 2005-09-30 |
KR20060022690A (ko) | 2006-03-10 |
JP2007526987A (ja) | 2007-09-20 |
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