WO2005024369A1 - 絶対回転角度とトルクの検出装置 - Google Patents
絶対回転角度とトルクの検出装置 Download PDFInfo
- Publication number
- WO2005024369A1 WO2005024369A1 PCT/JP2004/012910 JP2004012910W WO2005024369A1 WO 2005024369 A1 WO2005024369 A1 WO 2005024369A1 JP 2004012910 W JP2004012910 W JP 2004012910W WO 2005024369 A1 WO2005024369 A1 WO 2005024369A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- rotation angle
- absolute rotation
- gear
- torque
- gears
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/08—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to driver input torque
- B62D6/10—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to driver input torque characterised by means for sensing or determining torque
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/021—Determination of steering angle
- B62D15/0215—Determination of steering angle by measuring on the steering column
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- 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
- 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
- G01D5/145—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 relative movement between the Hall device and magnetic fields
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L3/00—Measuring torque, work, mechanical power, or mechanical efficiency, in general
- G01L3/02—Rotary-transmission dynamometers
- G01L3/04—Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft
- G01L3/10—Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft involving electric or magnetic means for indicating
- G01L3/101—Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft involving electric or magnetic means for indicating involving magnetic or electromagnetic means
- G01L3/104—Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft involving electric or magnetic means for indicating involving magnetic or electromagnetic means involving permanent magnets
-
- 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
- G01D2205/20—Detecting rotary movement
- G01D2205/26—Details of encoders or position sensors specially adapted to detect rotation beyond a full turn of 360°, e.g. multi-rotation
-
- 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
- G01D2205/20—Detecting rotary movement
- G01D2205/28—The target being driven in rotation by additional gears
Definitions
- the present invention relates to a device that is attached to a torsion bar and simultaneously detects an absolute rotation angle and a torque.
- the detection device of the present invention is used for power steering of automobiles and the like. Background art
- Figure 6 shows a conventional rotation angle and torque detection device.
- Gear 18 is attached to the input shaft (not shown) of the torsion bar.
- the gear 21 engaged with the gear 18 has a circular code plate 20 having a large number of magnetic poles.
- the code plate 20 rotates according to the rotation of the input shaft.
- the magnetic detection element 22 detects the rotation angle of the input shaft by counting the number of rotating magnetic poles.
- the gear 42 is attached to an output shaft (not shown) of the torsion bar, and the rotation angle of the output shaft is detected in the same manner as described above. When torque is applied to the torsion bar and the shaft is twisted, the torque can be detected by comparing the rotation angle between the input shaft and the output shaft.
- the code plate 20 needs a large number of magnetic poles, and thus there is a problem that the size of the detection device becomes large. Also, arranging the magnetic detecting elements 22 in the radial direction of the code plate 20 increases the size of the detecting device. Further, this conventional detecting device does not detect an absolute angle. Disclosure of the invention
- An absolute rotation angle and torque detecting device includes a torsion-pa unit having an input shaft, an output shaft, and a torsion member, a first gear connected to the input shaft, and a gear A engaged with the first gear. And a first absolute rotation angle detector located at the center of gear A , A second gear coupled to the output shaft, a gear B engaged with the second gear, and a second absolute rotation angle detector disposed at the center of the gear B.
- FIG. 1 is a block diagram of the absolute rotation angle and torque detection device of the present invention.
- Figure 2 is an explanatory diagram for determining the absolute rotation angle
- Figure 3 is an explanatory diagram for obtaining the twist angle
- FIG. 4 is a circuit block diagram of the detection device of the present invention.
- Figure 5 is an illustration of error correction
- FIG. 6 shows a conventional rotation angle and torque detection device.
- FIG. 1 shows the configuration of the absolute rotation angle and torque detection device of the present embodiment.
- the torsion unit is composed of an input shaft 2, a torsion bar 5 and an output shaft 4 which are made of the same rigid body and are arranged concentrically.
- the first gear 1 and the second gear 3 are respectively coupled to an input shaft 2 and an output shaft 4 of the torsion unit.
- the first gear 1 engages with gear A 6 and the second gear 3 engages with gear B 7.
- a first magnet 8 is installed at the center of the gear A 6, and a second magnet 9 is installed at the center of the gear B 7.
- the first magnet 8 and the second magnet 9 are magnetized into one pole pair.
- the first magnetic detecting element 10 mounted on the substrate 12 is disposed at a position facing the first magnet 8, and the second magnetic detecting element 11 mounted on the substrate 13 is connected to the second magnet 9. It is arranged at the position facing to.
- the first magnet 8 and the first magnetic detection element 10 form a first absolute rotation angle detector, and the second magnet 9 and the second magnetic detection element 11 form a second absolute rotation angle detector.
- the first gear 1 and the second gear 3 have the same number of teeth c, the number of teeth of the gear A 6 is a, and the number of teeth of the gear B 7 is b (a ⁇ b).
- the absolute rotation angles of the first gear 1 and the second gear 3 and the torsion bar 5 The calculation of the torque will be described.
- FIG. 2 illustrates a method of calculating the absolute rotation angle.
- the horizontal axis is the absolute rotation angle z of the first gear 1 and the second gear 3.
- the upper row shows the absolute rotation angle X of the gear A 6 and the absolute rotation angle y of the gear B 7.
- the lower part shows the absolute rotation angle difference (x-y) between the gear A 6 and the gear B 7.
- the absolute rotation angle difference (X-y) forms a straight line and is uniquely related to the absolute rotation angle z. Therefore, the absolute rotation angle z is calculated by (X-y) which is the absolute rotation angle difference between the gear A and the gear B.
- the vertical axis in FIG. 3 shows the difference T between the absolute rotation angle X of the gear A6 and the absolute rotation angle y of the gear B7 multiplied by the gear ratio (bZa) of the gears A6 and B7.
- T changes stepwise as shown.
- T fluctuates by ⁇ * (c / a) with respect to the case without twist, and the twist angle ⁇ can be calculated.
- the detection accuracy of the absolute rotation angle z can be improved.
- the torque is calculated from the twist angle ⁇ . If the torsion angle ⁇ exceeds the tolerance specified separately, it is determined that an abnormality has occurred and a warning is issued.
- the above-described detection of the absolute rotation angle and the torque can be performed by making the number of teeth of the gear A6 and the gear B7 the same and making the number of teeth of the first gear 1 and the second gear 3 different.
- the first magnetic detection element 10 and the second magnetic detection element 11 are connected to a CPU 14.
- the nonvolatile memory EE PROM 15 is also connected to the CPU 14.
- the CPU 14 Connected to master CPU 17 via serial communication line 16.
- the initial absolute rotation angle of the gear A 6 is calculated from the signal of the first magnetic detection element 10
- the initial absolute rotation angle of the gear B 7 is calculated from the signal of the second magnetic detection element 11, and their initial absolute rotation angles are calculated. Is stored in the non-volatile memory (EEPROM15). Each time the power is turned on, the initial absolute rotation angles stored in the EE PROM 15 are read out, and the rotation angles from those initial absolute rotation angles are used as the absolute rotation angles of the gear A 6 and the gear B 7.
- the absolute rotation angle and torque detection device provides a vehicle power
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
- Transmission And Conversion Of Sensor Element Output (AREA)
- Power Steering Mechanism (AREA)
Abstract
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US10/528,586 US7258027B2 (en) | 2003-09-02 | 2004-08-31 | Device for detecting absolute rotation angle and torque |
DE602004015916T DE602004015916D1 (de) | 2003-09-02 | 2004-08-31 | Gerät zur detektion von absolutem drehwinkel und drehmoment |
EP04772859A EP1536217B1 (en) | 2003-09-02 | 2004-08-31 | Device for detecting absolute rotation angle and torque |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2003309794A JP4474872B2 (ja) | 2003-09-02 | 2003-09-02 | 絶対回転角およびトルク検出装置 |
JP2003-309794 | 2003-09-02 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2005024369A1 true WO2005024369A1 (ja) | 2005-03-17 |
Family
ID=34269622
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2004/012910 WO2005024369A1 (ja) | 2003-09-02 | 2004-08-31 | 絶対回転角度とトルクの検出装置 |
Country Status (6)
Country | Link |
---|---|
US (1) | US7258027B2 (ja) |
EP (1) | EP1536217B1 (ja) |
JP (1) | JP4474872B2 (ja) |
CN (1) | CN100460842C (ja) |
DE (1) | DE602004015916D1 (ja) |
WO (1) | WO2005024369A1 (ja) |
Families Citing this family (29)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2007183121A (ja) * | 2006-01-05 | 2007-07-19 | Matsushita Electric Ind Co Ltd | 回転角およびトルク検出装置 |
DE102006006359A1 (de) | 2006-02-11 | 2007-08-16 | Leopold Kostal Gmbh & Co. Kg | Drehwinkelsensor sowie Verfahren zum Bestimmen der absoluten Winkelstellung eines über mehrere Runden drehbaren Körpers |
JP4607033B2 (ja) * | 2006-02-28 | 2011-01-05 | 株式会社日本自動車部品総合研究所 | 回転角度検出装置 |
JP2007256140A (ja) * | 2006-03-24 | 2007-10-04 | Matsushita Electric Ind Co Ltd | 回転角度・回転トルク検出装置 |
JP4597907B2 (ja) * | 2006-05-16 | 2010-12-15 | 株式会社デンソー | 回転角検出装置 |
US7562591B2 (en) * | 2006-06-26 | 2009-07-21 | KRS Technologies Co. | Steering angle sensor |
JP4763540B2 (ja) * | 2006-07-21 | 2011-08-31 | 東洋電装株式会社 | 舵角センサ |
US7841231B2 (en) * | 2006-07-25 | 2010-11-30 | Lg Innotek Co., Ltd. | Steering angle sensing apparatus and method thereof |
EP1910155B1 (en) * | 2006-07-25 | 2013-05-01 | LG Innotek Co., Ltd | Steering angle sensing apparatus and method thereof |
FR2919385B1 (fr) * | 2007-07-24 | 2009-10-09 | Moving Magnet Tech Mmt | Capteur magnetique sans contact de position absolue multitour a arbre traversant |
US8607650B2 (en) * | 2008-07-14 | 2013-12-17 | Continental Teves Ag & Co. Ohg | Torque sensor arrangement with rotational angle index detection |
DE102009022712A1 (de) * | 2009-05-26 | 2010-12-02 | Bourns, Inc., Riverside | Torsionswinkelsensor |
CN102481948B (zh) * | 2009-06-29 | 2015-07-08 | 沃尔沃拉斯特瓦格纳公司 | 用于在运行期间辅助车辆驾驶员的方法和系统 |
CN102155932B (zh) * | 2010-07-01 | 2012-06-27 | 长春设备工艺研究所 | 用于扭力轴扭转试验的双编码器角度检测系统 |
JP2012173268A (ja) * | 2011-02-24 | 2012-09-10 | Honda Motor Co Ltd | 角度検出器及び電動パワーステアリング装置 |
DE102011106339B4 (de) * | 2011-03-04 | 2012-12-06 | Auma Riester Gmbh & Co. Kg | Messvorrichtung zur Erfassung des Absolutdrehwinkels eines rotierenden Messobjekts |
DE102011052043B4 (de) * | 2011-07-21 | 2022-06-09 | Bourns, Inc. | Drehwinkel- und Torsionswinkelsensor |
CN102506698B (zh) * | 2011-11-04 | 2014-03-12 | 合肥工业大学 | 一种非接触式转角转矩传感器 |
DE102012022869A1 (de) * | 2012-11-21 | 2014-05-22 | Volkswagen Aktiengesellschaft | Lenkwinkelsensor und Vorrichtung zur kombinierten Erfassung von einem Winkel und einem Drehmoment |
CN103085876A (zh) * | 2013-01-10 | 2013-05-08 | 青岛科技大学 | 销轴铰接车辆转向角度检测装置 |
CN103112496A (zh) * | 2013-01-10 | 2013-05-22 | 青岛科技大学 | 销轴铰接车辆转向角度检测装置 |
DE102013001829B4 (de) | 2013-02-04 | 2014-08-21 | Bourns, Inc. | Drehwinkel- und Torsionswinkelsensor |
JP6083428B2 (ja) * | 2014-12-16 | 2017-02-22 | トヨタ自動車株式会社 | 車両の電動パワーステアリング装置 |
WO2017148534A1 (en) * | 2016-03-04 | 2017-09-08 | Thyssenkrupp Ag | Ripple minimization by proper as/ts magnet arrangement in electric power assisted steering apparatus |
CN106541985A (zh) * | 2016-10-13 | 2017-03-29 | 北京联合大学 | 用于无人驾驶电动车辆的自动驾驶控制器及其车辆 |
US11022463B2 (en) * | 2016-12-27 | 2021-06-01 | Kabushiki Kaisha Tokai Rika Denki Seisakusho | Position sensor and shift lever device |
DE102017116764A1 (de) * | 2017-07-25 | 2019-01-31 | Danfoss Power Solutions Aps | Lenkhandrad-Winkelsensor und Verfahren zur Fehlererfassunq eines Lenkhandrad-Winkelsensors |
JP7000263B2 (ja) * | 2018-06-20 | 2022-01-19 | 株式会社東海理化電機製作所 | 初期設定方法及び初期設定装置 |
WO2020133471A1 (zh) * | 2018-12-29 | 2020-07-02 | 深圳市优必选科技有限公司 | 转动角度的检测方法及装置 |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH05231968A (ja) * | 1992-02-24 | 1993-09-07 | Ono Sokki Co Ltd | トルク検出装置 |
JPH10142082A (ja) * | 1996-11-07 | 1998-05-29 | Toyoda Mach Works Ltd | トルクセンサ |
JP2002522760A (ja) * | 1998-08-07 | 2002-07-23 | ローベルト ボツシユ ゲゼルシヤフト ミツト ベシユレンクテル ハフツング | 回転角及び/又はトルクの検出のためのセンサ装置 |
Family Cites Families (12)
Publication number | Priority date | Publication date | Assignee | Title |
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JPH01270627A (ja) * | 1988-04-22 | 1989-10-27 | Hitachi Ltd | トルクセンサ保護装置 |
DE19506938A1 (de) * | 1995-02-28 | 1996-08-29 | Bosch Gmbh Robert | Verfahren und Vorrichtung zur Winkelmessung bei einem drehbaren Körper |
DE19834322B4 (de) | 1998-07-30 | 2015-06-11 | Robert Bosch Gmbh | Verfahren und Vorrichtung zur Ermittlung des auf eine Welle wirkenden Drehmoments |
AU775247B2 (en) * | 1999-12-06 | 2004-07-22 | Robert Bosch Gmbh | Device for measuring the angle and/or the angular velocity of a rotatable body and/or the torque acting upon said body |
DE10041095B4 (de) | 1999-12-06 | 2015-11-12 | Robert Bosch Gmbh | Vorrichtung zur Messung eines Winkels und/oder eines Drehmomentes eines drehbaren Körpers |
JP2003240652A (ja) * | 2002-02-15 | 2003-08-27 | Denso Corp | 出力補正回路内蔵型半導体センサ及びトーションバー式トルクセンサ |
JP2003270062A (ja) * | 2002-03-13 | 2003-09-25 | Koyo Seiko Co Ltd | 回転角度検出装置、トルク検出装置及び舵取装置 |
JP2004020370A (ja) * | 2002-06-17 | 2004-01-22 | Matsushita Electric Ind Co Ltd | トルク検出装置 |
JP2004144716A (ja) * | 2002-10-28 | 2004-05-20 | Koyo Seiko Co Ltd | 回転角検出装置及びトルク検出装置 |
JP3938902B2 (ja) * | 2002-11-27 | 2007-06-27 | 株式会社ジェイテクト | 角度検出装置及びそれを備えたトルクセンサ |
JP4120425B2 (ja) * | 2003-02-28 | 2008-07-16 | 株式会社ジェイテクト | 回転角度検出装置及びトルク検出装置 |
JP2005077305A (ja) * | 2003-09-02 | 2005-03-24 | Matsushita Electric Ind Co Ltd | 回転角度およびトルク検出装置 |
-
2003
- 2003-09-02 JP JP2003309794A patent/JP4474872B2/ja not_active Expired - Fee Related
-
2004
- 2004-08-31 DE DE602004015916T patent/DE602004015916D1/de active Active
- 2004-08-31 CN CNB2004800009509A patent/CN100460842C/zh not_active Expired - Fee Related
- 2004-08-31 WO PCT/JP2004/012910 patent/WO2005024369A1/ja active IP Right Grant
- 2004-08-31 US US10/528,586 patent/US7258027B2/en not_active Expired - Fee Related
- 2004-08-31 EP EP04772859A patent/EP1536217B1/en not_active Expired - Fee Related
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH05231968A (ja) * | 1992-02-24 | 1993-09-07 | Ono Sokki Co Ltd | トルク検出装置 |
JPH10142082A (ja) * | 1996-11-07 | 1998-05-29 | Toyoda Mach Works Ltd | トルクセンサ |
JP2002522760A (ja) * | 1998-08-07 | 2002-07-23 | ローベルト ボツシユ ゲゼルシヤフト ミツト ベシユレンクテル ハフツング | 回転角及び/又はトルクの検出のためのセンサ装置 |
Non-Patent Citations (1)
Title |
---|
See also references of EP1536217A4 * |
Also Published As
Publication number | Publication date |
---|---|
EP1536217B1 (en) | 2008-08-20 |
DE602004015916D1 (de) | 2008-10-02 |
JP2005077304A (ja) | 2005-03-24 |
CN100460842C (zh) | 2009-02-11 |
US7258027B2 (en) | 2007-08-21 |
EP1536217A1 (en) | 2005-06-01 |
EP1536217A4 (en) | 2006-09-20 |
US20060042403A1 (en) | 2006-03-02 |
JP4474872B2 (ja) | 2010-06-09 |
CN1701221A (zh) | 2005-11-23 |
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