WO2005043074A1 - Dispositif de détection d'un angle de braquage - Google Patents

Dispositif de détection d'un angle de braquage Download PDF

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Publication number
WO2005043074A1
WO2005043074A1 PCT/JP2004/016263 JP2004016263W WO2005043074A1 WO 2005043074 A1 WO2005043074 A1 WO 2005043074A1 JP 2004016263 W JP2004016263 W JP 2004016263W WO 2005043074 A1 WO2005043074 A1 WO 2005043074A1
Authority
WO
WIPO (PCT)
Prior art keywords
angle
rotation
shaft
steering
hall element
Prior art date
Application number
PCT/JP2004/016263
Other languages
English (en)
Japanese (ja)
Inventor
Yasuhito Kanno
Masaru Suzuki
Original Assignee
Asahi Kasei Emd Corporation
Asahi Kasei Electronics Co., Ltd.
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 Asahi Kasei Emd Corporation, Asahi Kasei Electronics Co., Ltd. filed Critical Asahi Kasei Emd Corporation
Publication of WO2005043074A1 publication Critical patent/WO2005043074A1/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
    • G01D5/145—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
    • 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
    • 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

Definitions

  • the present invention relates to a steering angle detection device that detects a rotation angle of a shaft that rotates 360 degrees or more.
  • a steering angle sensor detects a rotational position of a steering shaft as an angle based on a true neutral position (so-called absolute steering angle). Since this steering angle sensor is important as one of the sensors used for vehicle control in an automobile or the like, various proposals have been made in the past.
  • Patent Document 1 discloses a rotation angle detection device capable of detecting and storing information on the rotation direction and the rotation angle of the steering shaft while the engine is stopped. This rotation angle detection device employs an incremental system that counts the number of ON / OFF signals.
  • Patent Document 2 discloses a backup multi-rotation absolute position detector capable of high-speed response even when the main power supply is shut off.
  • a rotating disk provided with information such that a digital value of "0" or "1" can be detected by the detection element is used, and the detection element detects "0".
  • the gray code method that detects the angle by the combination of '1' and so on is adopted.
  • Patent Document 3 discloses a vehicle steering sensor capable of detecting an accurate absolute steering angle early after an ignition key is turned on. This vehicle steering sensor is provided with a rotation speed detection unit using a gear reduction mechanism in order to detect the entire rotation range of the steering wheel.
  • Patent Document 4 discloses a method in which the ignition key is not turned on and the detection of steering angle information is not continued when the ignition key is turned off.
  • the present invention discloses a steering angle sensor capable of detecting a steering angle at the same time.
  • the rotation angle range of the steering shaft is converted into “within one rotation” by a gear mechanism, and the angle range of less than one rotation is detected by a magnetic sensor. . That is, a reduction gear mechanism is attached to the steering shaft. This reduction gear mechanism bidirectionally moves the entire rotation angle range of the steering shaft (for example, an angle range of right and left two rotations: 720 degrees on the earth). Rotation angle range of less than one rotation (360 degrees) ". Then, one angle information within 360 degrees is obtained by the output of two Hall elements having different phases provided in two adjacent gaps.
  • Patent Document 4 converts a rotation in the range of ⁇ 720 degrees into a rotation angle of less than 360 degrees by attaching a reduction gear mechanism to the steering shaft. There is a problem that an unavoidable error may occur in the measured value of the rotation angle due to the inherent backlash of the.
  • the conventional steering angle detection technology has a problem that highly accurate angle measurement cannot be performed.
  • Patent Document 1 JP-A-11-264725 (page 1, abstract)
  • Patent Document 2 JP-A-5-322599 (page 1, abstract)
  • Patent Document 3 JP-A-11-287608 (page 1, abstract)
  • Patent Document 4 JP-A-2002-228408 (page 1, abstract, FIG. 1)
  • an object of the present invention is to provide a steering angle detection device that detects a rotation angle of a shaft accurately with a simple structure in view of the above problems.
  • the present invention provides a steering angle detection device for detecting a rotation angle of a shaft that rotates 360 degrees or more, wherein an annular magnet provided around the shaft; A first angle sensor having a magnetic sensor for detecting a magnetic flux due to rotation of the annular magnet; a second angle sensor for detecting a range of the rotation angle of the shaft; and the first angle sensor.
  • a calculating means for calculating a rotation angle value of the shaft based on an output of the angle sensor and an output of the second angle sensor.
  • the second angle sensor includes a dependent gear that rotates in association with each rotation of the shaft, a magnet fixed to the dependent gear, And a magnetic detection element for detecting the position of the magnet.
  • the second angle sensor includes a magnet that moves in parallel with a rotation axis of the shaft in conjunction with the rotation of the shaft, and a magnetic detection that detects a position of the magnet. And an element.
  • FIG. 1 is an external configuration diagram of a steering angle sensor to which the present invention is applied.
  • FIG. 2A is a diagram showing a plan configuration in a steering angle sensor case 6 according to the first embodiment.
  • FIG. 2B is a diagram showing a side configuration of a steering angle sensor case 6 in the first embodiment.
  • FIG. 3 is an enlarged view showing a relationship between a first magnet MG1 mounted on an outer peripheral surface of a steering shaft 4, a first hall element HE1, and a second hall element HE2.
  • FIG. 4 is a block diagram showing an electric circuit configuration of a steering angle sensor to which the present invention is applied.
  • FIG. 5 is a waveform chart showing detection signals output from a first Hall element HE1 and a second Hall element HE2.
  • FIG. 6 is a waveform diagram illustrating an angle detection signal S in FIG. 4.
  • FIG. 1 A first figure.
  • FIG. 8 is a waveform diagram illustrating an output signal S obtained from an angle output circuit 44 in FIG. 4.
  • FIG. 9A is a diagram showing a plan configuration inside a steering angle sensor case 6 according to a second embodiment.
  • FIG. 9B is a diagram showing a side configuration of the inside of the steering angle sensor case 6 according to the second embodiment.
  • FIG. 10 is a waveform diagram illustrating a signal obtained from a second angle sensor Hall element HE3 ′ in the second embodiment.
  • FIG. 1 is an external configuration diagram of a steering angle sensor to which the present invention is applied.
  • 2 is a steering wheel
  • 4 is a steering shaft
  • 6 is a case for a steering angle sensor.
  • the steering angle sensor according to the present embodiment is housed in the steering angle sensor case 6.
  • FIG. 2A shows a plan configuration inside the steering angle sensor case 6, and FIG. 2B shows a side configuration of the steering angle sensor case 6.
  • a first magnet MG1 is concentrically mounted on the outer peripheral surface of the steering shaft 4.
  • the first Hall element HE1 and the second Hall element HE2 are fixedly arranged in a non-contact state with the first magnet MG1.
  • These two Hall elements HE1 and HE2 are arranged on concentric circles that are displaced by approximately 90 degrees with respect to the rotation center axis of the steering shaft 4.
  • the current position of the steering shaft 4 is changed by 0 ° to 360 °. Measure over a range. In other words, the position at which the steering shaft 4 rotates left or right regardless of how many times it has turned is detected as 0 ° -360 ° information.
  • a main gear 10 is attached to the steering shaft 4, and the projection 10 a rotates with the rotation of the steering shaft 4. That is, every time the steering shaft 4 makes one rotation, the projection 10a also makes one rotation.
  • a dependent gear 20 is provided in a form that meshes with the main gear 10.
  • the dependent gear 20 has protrusions 20a to 20f that engage with the protrusions 10a. Each time the protrusion 10a of the main gear 10 makes one rotation, the dependent gear 20 rotates by a predetermined angle.
  • a second magnet MG2 is attached to the lower surface of the slave gear 20, and the second magnet MG2 rotates as the slave gear 20 rotates.
  • a third hole is provided close to the circumference of the rotation of the second magnet MG2.
  • the element HE3 is fixedly arranged. Therefore, a detection signal corresponding to the distance between the second magnet MG2 and the third Hall element HE3 is obtained from the third Hall element HE3.
  • the detection signal obtained from the third hall element HE3 is a signal representing the number of rotations of the steering shaft 4 in which direction.
  • Reference numeral 30 denotes a signal processing IC mounted on the substrate 8, which will be described later in detail with reference to FIG.
  • FIG. 3 shows an enlarged view of the relationship between the first magnet MG1 mounted on the outer peripheral surface of the steering shaft 4, the first Hall element HE1, and the second Hall element HE2. .
  • the first magnet MG1 is separately magnetized into an S pole and an N pole. Then, since the two Hall elements HE1 and HE2 are arranged with a shift of 90 degrees, a detection signal with a phase shift of 90 degrees is obtained from the first Hall element HE1 and the second Hall element HE2.
  • FIG. 4 shows an electric circuit configuration of a steering angle sensor to which the present invention is applied.
  • DU1 is a first angle sensor unit, and includes the first Hall element HE1 and the second Hall element HE2 shown in FIGS. 2A and 2B.
  • DU2 is a second angle sensor unit, and includes the third Hall element HE3 shown in FIGS. 2A and 2B.
  • the first angle sensor unit DU1 will be described. From the first Hall element HE1 and the second Hall element HE2, a detection signal having the same waveform whose phase is shifted by 90 degrees as shown in FIG. 5 is obtained. These two detection signals are input to the angle conversion circuit 42 via the Hall element drive & input signal amplification circuit 40. A point to be particularly noted in this angle conversion circuit 42 is that it outputs an angle detection signal S representing only a range of 0 degrees to 360 degrees based on the above two detection signals. That is, the steering shaft 4
  • the angle detection signal S is 0 degrees
  • the detection signal output from the third Hall element HE3 is input to the area determination circuit 48 via the Hall element drive & input signal amplifier circuit 46.
  • This area determination circuit 48 outputs from the third Hall element HE3. Based on the detected detection signal, the steering shaft outputs four signals that indicate the number of rotations in which direction.
  • the digitalized output signal S is controlled via the AZD converter 50.
  • FIGS. 9A and 9B are diagrams showing the second embodiment. This figure corresponds to FIGS. 2A and 2B described above.
  • the second embodiment has a configuration different from that of the first embodiment described above in order to obtain a rotation detection signal S indicating which direction the steering shaft 4 has rotated and how many rotations.
  • a ball screw 60 is formed on the steering shaft 4, and a ball nut 62 that engages with the ball screw 60 and a nut rotation preventing member (not shown) are provided.
  • a second angle sensor magnet MG2 ' is fixed to one end of the ball nut 62. Therefore, the second angle sensor magnet MG2 'is moved along the rotation center axis of the steering shaft 4 by the Beaune screw 60, the ball nut 62, the nut rotation preventing member (not shown), and the powerful magnet feed mechanism. (Ie, up and down in FIG. 9B).
  • the second angle sensor Hall element HE 3 ′ is fixedly arranged on the back surface of the substrate 8 ′. With this configuration, a signal as shown in FIG. 10 is obtained from the second angle sensor Hall element HE3 '.
  • the signal processing IC shown in FIG. 4 includes the area determination circuit 48.
  • the sensor output obtained from the second angle sensor unit DU2 without using the area determination circuit 48 is directly used as the rotation area instruction signal. It is also possible to output. For example, it is also possible to directly output the analog signal shown in FIG. 10 as a rotation area instruction signal, and to calculate the final rotation angle in a signal processing circuit (not shown) at the subsequent stage.
  • the present invention no mechanical component is used for the first angle sensor that detects a highly accurate angle, so that the mechanical component does not deteriorate due to long-term use. As a result, it is possible to realize a highly accurate first angle sensor having high durability and high reliability. Furthermore, the second sensor that detects the rotation region of the shaft that has rotated many times does not need to have accurate measurement accuracy, so that various configurations can be adopted.
  • the steering angle detection device according to the present invention is compared to a conventionally known steering angle sensor.
  • a very small and accurate steering angle detection device can be provided.
  • a steering angle sensor that detects the steering angle ( ⁇ 2 turns) of the electric power steering.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
  • Transmission And Conversion Of Sensor Element Output (AREA)

Abstract

L'invention porte sur le dispositif de détection d'un angle de braquage détectant avec précision l'angle de rotation d'un arbre malgré la simplicité de sa structure. A cet effet les signaux de détection provenant d'une première (HE1) et d'une deuxième (HE2) sonde de Hall sont introduits dans un circuit de conversion d'angles (42) qui émet un signal de détection d'angle SDET correspondant uniquement à une plage de 0 à 360°, puis on introduit dans un circuit de détermination de zone (48) un signal de détection provenant d'une troisième (HE3) sonde de Hall et un signal SROT représentant le nombre de tours de l'arbre et son sens de rotation. Finalement, un circuit de calcul de l'angle (44) calcule +/-N x 360° + DET (N = 0, 1, 2,...) en fonction de SDET et de SROT, et produit un signal SOUT.
PCT/JP2004/016263 2003-11-04 2004-11-02 Dispositif de détection d'un angle de braquage WO2005043074A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2003375010A JP2005140557A (ja) 2003-11-04 2003-11-04 舵角検出装置
JP2003-375010 2003-11-04

Publications (1)

Publication Number Publication Date
WO2005043074A1 true WO2005043074A1 (fr) 2005-05-12

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PCT/JP2004/016263 WO2005043074A1 (fr) 2003-11-04 2004-11-02 Dispositif de détection d'un angle de braquage

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WO (1) WO2005043074A1 (fr)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2007065496A1 (fr) * 2005-12-11 2007-06-14 Valeo Schalter Und Sensoren Gmbh Detecteur d'angle de rotation et système de detection de l'angle de rotation
FR2898973A1 (fr) * 2006-03-22 2007-09-28 Sc2N Sa Capteur d'angle
CN103171624A (zh) * 2011-12-23 2013-06-26 操纵技术Ip控股公司 方向盘位置检测系统
JP2018008650A (ja) * 2016-07-15 2018-01-18 国立研究開発法人農業・食品産業技術総合研究機構 トラクタ
CN113104112A (zh) * 2021-05-27 2021-07-13 福建盛海智能科技有限公司 一种转向角度传感器及其测量方法
WO2022058239A1 (fr) * 2020-09-17 2022-03-24 Robert Bosch Gmbh Capteur d'angle de couple

Families Citing this family (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5128766B2 (ja) * 2005-11-08 2013-01-23 東洋電装株式会社 舵角センサ
JP2007271372A (ja) * 2006-03-30 2007-10-18 Furukawa Electric Co Ltd:The 回転センサ
US7841231B2 (en) 2006-07-25 2010-11-30 Lg Innotek Co., Ltd. Steering angle sensing apparatus and method thereof
JP5042551B2 (ja) * 2006-07-28 2012-10-03 Ｎｔｎ株式会社 回転検出装置および回転検出装置付き軸受
US20100114524A1 (en) * 2006-11-10 2010-05-06 The Furukawa Electric Co., Ltd Rotation angle detection apparatus
JP2008215843A (ja) * 2007-02-28 2008-09-18 Furukawa Electric Co Ltd:The 回転センサ
FR2919385B1 (fr) * 2007-07-24 2009-10-09 Moving Magnet Tech Mmt Capteur magnetique sans contact de position absolue multitour a arbre traversant
JP4978399B2 (ja) * 2007-09-27 2012-07-18 株式会社デンソー 車両用操舵装置
JP5290675B2 (ja) * 2008-09-19 2013-09-18 古河電気工業株式会社 回転検出装置
FR2947902B1 (fr) * 2009-07-07 2011-07-22 Moving Magnet Technologies M M T Capteur de position absolue et multi-periodique
JP5611411B1 (ja) * 2013-05-01 2014-10-22 三菱電機株式会社 磁気センサモジュール

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Publication number Priority date Publication date Assignee Title
JPH11211456A (ja) * 1998-01-22 1999-08-06 Alps Electric Co Ltd 回転角検出装置
JP2001336912A (ja) * 2000-05-29 2001-12-07 Yazaki Corp ステアリング角センサ
JP2002340619A (ja) * 2001-05-16 2002-11-27 Matsushita Electric Ind Co Ltd 回転角度検出装置
JP2003130637A (ja) * 2001-10-24 2003-05-08 Tokai Rika Co Ltd 回転角度検出装置

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH11211456A (ja) * 1998-01-22 1999-08-06 Alps Electric Co Ltd 回転角検出装置
JP2001336912A (ja) * 2000-05-29 2001-12-07 Yazaki Corp ステアリング角センサ
JP2002340619A (ja) * 2001-05-16 2002-11-27 Matsushita Electric Ind Co Ltd 回転角度検出装置
JP2003130637A (ja) * 2001-10-24 2003-05-08 Tokai Rika Co Ltd 回転角度検出装置

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7932716B2 (en) 2005-11-12 2011-04-26 Valeo Schalter Und Sensoren Gmbh Rotation angle sensor and rotation angle sensor system
WO2007065496A1 (fr) * 2005-12-11 2007-06-14 Valeo Schalter Und Sensoren Gmbh Detecteur d'angle de rotation et système de detection de l'angle de rotation
FR2898973A1 (fr) * 2006-03-22 2007-09-28 Sc2N Sa Capteur d'angle
CN103171624A (zh) * 2011-12-23 2013-06-26 操纵技术Ip控股公司 方向盘位置检测系统
EP2612801A1 (fr) * 2011-12-23 2013-07-10 Steering Solutions IP Holding Corporation Système de détection de position de volant
US9254869B2 (en) 2011-12-23 2016-02-09 Steering Solutions Ip Holding Corporation Hand wheel position detection system
JP2018008650A (ja) * 2016-07-15 2018-01-18 国立研究開発法人農業・食品産業技術総合研究機構 トラクタ
WO2022058239A1 (fr) * 2020-09-17 2022-03-24 Robert Bosch Gmbh Capteur d'angle de couple
CN113104112A (zh) * 2021-05-27 2021-07-13 福建盛海智能科技有限公司 一种转向角度传感器及其测量方法

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