WO2007071489A1 - Apparatus for detecting rotational speed and position - Google Patents

Apparatus for detecting rotational speed and position Download PDF

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Publication number
WO2007071489A1
WO2007071489A1 PCT/EP2006/068019 EP2006068019W WO2007071489A1 WO 2007071489 A1 WO2007071489 A1 WO 2007071489A1 EP 2006068019 W EP2006068019 W EP 2006068019W WO 2007071489 A1 WO2007071489 A1 WO 2007071489A1
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WO
WIPO (PCT)
Prior art keywords
sensor elements
active surfaces
sensor
detecting
outputs
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Application number
PCT/EP2006/068019
Other languages
German (de)
French (fr)
Inventor
Steffen Waldenmeier
Original Assignee
Robert Bosch Gmbh
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Publication date
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Publication of WO2007071489A1 publication Critical patent/WO2007071489A1/en

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    • 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

Definitions

  • the invention relates to a speed and position detection device according to the preamble of claim 1.
  • ASICS For the detection of rotational speed or for position / position detection, application-specific sensors, so-called ASICS, are used today in a very wide variety of applications, which include, among others: Output sinusoidal signals as output signal.
  • a device for measuring the angle in a rotatable body in which two Hall sensor elements are used, which are arranged offset by 9CP on a shaft to be scanned.
  • a device with absolute sensors is known with which rotation angles of more than 36CP can be detected.
  • the invention relates to a speed and position detection device for detecting rotational speeds and / or position of a rotatable body, having at least two sensor elements whose active surfaces are arranged in a sensing region of the body, the sensor elements being aligned with their active surfaces almost parallel and the active surfaces have an angular offset with an angle between 0 ° and 10 ° to each other.
  • Sensorwirk vom can be tilted by 90 ° or 45 ° to each other
  • only a small or vanishing angular offset of the active surfaces is provided, preferably, the angular offset is less than 10 °. Nevertheless, a high measurement accuracy can be achieved by this simple and inexpensive arrangement.
  • ASIC application-specific integrated circuit
  • modules can be arranged in combination so that two output signals which are out of phase with each other electrically refer to the absolute value of the position of a sensor. Sorelements output and also the errors of both sensor elements are averaged.
  • the sensor elements are embodied as integrated semiconductor components, preferably as commercially available application-specific sensors for detecting absolute angles. This represents a very inexpensive development.
  • the sensor elements are of similar design.
  • the sensor elements are configured differently such that one sensor element outputs n vibrations as an output signal, while the other sensor element outputs more or less than n vibrations when the body rotates through a certain angle.
  • the oscillations of the sensor elements output as output signals preferably differ by one oscillation. In the nature of the vernier principle, more than one turn of the body can be sensed in absolute values with this embodiment.
  • the sensor elements rotate with the body and detect a magnetic signal from a stationary magnetic device.
  • Fig. 1 is an illustration of typical output signals of a conventional absolute encoder system
  • Fig. 2 is an illustration of typical output signals of a preferred speed and position detecting device
  • Fig. 3 shows a preferred embodiment of a erfindungsgerrfen
  • FIG. 4 shows output signals of a preferred speed and position detection device with different sensor elements.
  • FIG. 1 shows a representation of typical output signals of a conventional absolute encoder system for a speed and position detection device for detecting rotational speeds and / or position of a rotatable body.
  • the usual sinusoidal and cosinusoidal output signals S can be seen as a function of electrical rotation angle ⁇ 1 or a corresponding mechanical rotation angle ⁇ 2.
  • FIG. 2 shows a representation of typical output signals S of a preferred speed and position detection device 10 as shown in FIG.
  • Two sensor elements 12, 16 of a rotatable body 22 are arranged with their active surfaces 14, 18 in a sensing region 24 of the body 22 and detect e.g. a temporally periodically variable magnetic field of a magnet 20.
  • the sensor elements 12, 16 are aligned with their active surfaces 14, 18 almost parallel, wherein the active surfaces 14, 18 have a small angular offset with an angle ⁇ to each other, which is preferably less than 10 °.
  • the angle ⁇ can also be 0 °, so that the active surfaces 14, 18 are parallel.
  • the sensor elements 12, 16 are integrated as semiconductor components, in particular as commercially available application-specific sensors (ASICs) for detecting absolute angles.
  • ASICs application-specific sensors
  • the output signals S of FIG. 2 show twice the number of signals in regular phase relation over the same angular range of electrical and mechanical rotation angles ⁇ 1, ⁇ 2 of the body 22 in comparison with those of FIG. 1, corresponding to the fact that the sensor elements 12, 16 are formed similar and in particular have the same operating principle, eg after the Hall effect or the magnetorestrictive effect and the like more.
  • FIG. 4 shows output signals of a preferred speed and position detection device 10 with different sensor elements. 12, 16.
  • the arrangement of the components corresponds to that in Fig. 3, to the description of which reference is made.
  • one sensor element 12 or 16 outputs oscillations as an output signal S, while the other sensor element 16 or 12 outputs more or fewer than n oscillations.
  • the sensor elements 12, 16 are selected such that one outputs n oscillations per mechanical revolution of the body 22 and the other n + 1 vibrations. This allows revolutions of more than 360 ° to be detected.

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  • 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

The invention is based on an apparatus for detecting rotational speeds and/or the position of a rotatable body (22), said apparatus having at least two sensor elements (12, 16) whose active surfaces (14, 18) are arranged in a sensing region (24) of the body (22). The invention proposes that the active surfaces (14, 18) of the sensor elements (12, 16) are aligned at least in a virtually parallel manner, wherein the active surfaces (14, 18) are at an angle (α) of between 0° and 10° with respect to one another.

Description

Beschreibungdescription
Titeltitle
Drehzahl- und PositionserkennungsvorrichtungSpeed and position detection device
Stand der TechnikState of the art
Die Erfindung geht aus von einer Drehzahl- und Positionserkennungsvorrichtung nach dem Oberbegriff des Anspruchs 1.The invention relates to a speed and position detection device according to the preamble of claim 1.
Zur Erfassung von Drehzahl oder zur Lage/Positionserkennung werden heute bei unterschiedlichsten Anwendungen applikationsspezifi- sehe Sensoren, so genannte ASICS, eingesetzt, die u.a. Sinussignale als Ausgangssignal ausgeben.For the detection of rotational speed or for position / position detection, application-specific sensors, so-called ASICS, are used today in a very wide variety of applications, which include, among others: Output sinusoidal signals as output signal.
Werden hohe Anforderungen bezüglich der Genauigkeit gestellt, wie etwa bei Aggregaten in leistungsverzweigenden Hybridantrieben, wird das Resolverprinzip eingesetzt. Diese Art der Positions- und Drehzahlsensierung ist kostenintensiv.If high demands are placed on accuracy, such as with units in power-split hybrid drives, the resolver principle is used. This type of position and speed sensing is costly.
Aus der EP 740776 B1 ist eine Vorrichtung zur Winkelmessung bei einem drehbaren Kxper bekannt, bei dem zwei Hallsensorelemente eingesetzt werden, die um 9CP zueinander versetzt an einer zu sen- sierenden Welle angeordnet sind. Aus der EP 0877916 B1 ist eine Vorrichtung mit Absolutsensoren bekannt, mit denen Drehwinkel von mehr als 36CP erfasst werden können.From EP 740776 B1, a device for measuring the angle in a rotatable body is known in which two Hall sensor elements are used, which are arranged offset by 9CP on a shaft to be scanned. From EP 0877916 B1 a device with absolute sensors is known with which rotation angles of more than 36CP can be detected.
Aus der EP 1 460 764 A1 ist ein Resolver bekannt, der bei hohen Umdrehungsgeschwindigkeiten eingesetzt werden kann.From EP 1 460 764 A1 a resolver is known, which can be used at high rotational speeds.
Offenbarung der ErfindungDisclosure of the invention
Es wird eine Drehzahl- und Positionserkennungsvorrichtung zur Erfassung von Drehzahlen und/oder Position eines drehbaren Körpers, mit wenigstens zwei Sensorelemente vorgeschlagen, deren Wirkflä- chen in einem Sensierbereich des Körpers angeordnet sind, wobei die Sensorelemente mit ihren Wirkflächen nahezu parallel ausgerichtet sind und die Wirkflächen einen Winkelversatz mit einem Winkel zwischen 0° und 10° zueinander aufweisen. Anders als bei herkömmlichen Systemen, bei denen Sensorwirkflächen um 90° oder 45° gegeneinander verkippt sein können, ist lediglich ein geringer oder verschwindender Winkelversatz der Wirkflächen vorgesehen, vorzugsweise ist der Winkelversatz geringer als 10°. Durch diese einfache und kostengünstige Anordnung kann trotzdem eine hohe Messgenauigkeit erreicht werden. Die üblicherweise sinus- und cosi- nusförmigen Ausgangssignale über einen vorgegebenen mechanischen oder elektrischen Drehbereich werden. Es können handelsübliche ASIC-Bausteine (Application-Specific Integrated Circuit) in Kombination so angeordnet werden, dass zwei elektrisch phasenverschobene Ausgangssignale den Absolutwert der Position eines Sen- sorelements ausgegeben und zudem die Fehler beider Sensorelemente gemittelt werden.The invention relates to a speed and position detection device for detecting rotational speeds and / or position of a rotatable body, having at least two sensor elements whose active surfaces are arranged in a sensing region of the body, the sensor elements being aligned with their active surfaces almost parallel and the active surfaces have an angular offset with an angle between 0 ° and 10 ° to each other. Unlike conventional systems, in which Sensorwirkflächen can be tilted by 90 ° or 45 ° to each other, only a small or vanishing angular offset of the active surfaces is provided, preferably, the angular offset is less than 10 °. Nevertheless, a high measurement accuracy can be achieved by this simple and inexpensive arrangement. The usually sinusoidal and cosine-shaped output signals over a predetermined mechanical or electrical rotation range. Commercially available ASIC (application-specific integrated circuit) modules can be arranged in combination so that two output signals which are out of phase with each other electrically refer to the absolute value of the position of a sensor. Sorelements output and also the errors of both sensor elements are averaged.
In einer günstigen Ausgestaltung sind die Sensorelemente als integ- rierte Halbleiterbauelemente ausgebildet, bevorzugt als handelsübliche applikationsspezifische Sensoren zur Erfassung von Absolutwinkeln ausgebildet. Dies stellt eine sehr preiswerte Weiterbildung dar.In a favorable embodiment, the sensor elements are embodied as integrated semiconductor components, preferably as commercially available application-specific sensors for detecting absolute angles. This represents a very inexpensive development.
In einer günstigen Ausgestaltung sind die Sensorelemente gleichartig ausgebildet.In a favorable embodiment, the sensor elements are of similar design.
In einer alternativen Ausgestaltung sind die Sensorelemente verschieden so ausgebildet, dass das eine Sensorelement n Schwingungen als Ausgangssignal ausgibt, während das andere Sensor- element mehr oder weniger als n Schwingungen ausgibt, wenn sich der Körper um einen bestimmten Winkel dreht. Bevorzugt unterscheiden sich die als Ausgangssignal ausgegebenen Schwingungen der Sensorelemente um eine Schwingung. In der Art des Noniusprin- zips können mit dieser Ausgestaltung mehr als eine Umdrehung des Körpers in Absolutwerten sensiert werden.In an alternative embodiment, the sensor elements are configured differently such that one sensor element outputs n vibrations as an output signal, while the other sensor element outputs more or less than n vibrations when the body rotates through a certain angle. The oscillations of the sensor elements output as output signals preferably differ by one oscillation. In the nature of the vernier principle, more than one turn of the body can be sensed in absolute values with this embodiment.
Grundsätzlich kann vorgesehen sein, dass die Sensorelemente mit dem Körper mitdrehen und ein Magnetsignal von einer feststehenden magnetischen Einrichtung detektieren. - A -In principle, it can be provided that the sensor elements rotate with the body and detect a magnetic signal from a stationary magnetic device. - A -
Zeichnungendrawings
Weitere Ausführungsformen, Aspekte und Vorteile der Erfindung ergeben sich auch unabhängig von ihrer Zusammenfassung in Ansprüchen, ohne Beschränkung der Allgemeinheit aus nachfolgend anhand von Zeichnungen dargestellten Ausführungsbeispielen der Erfindung.Further embodiments, aspects and advantages of the invention will become apparent independently of their summary in claims, without limiting the generality of embodiments of the invention shown below with reference to drawings.
Im Folgenden zeigen:In the following show:
Fig. 1 eine Darstellung typischer Ausgangssignale eines üblichen Absolutwertgebersystems; Fig. 2 eine Darstellung typischer Ausgangssignale einer bevorzugten Drehzahl- und Positionserkennungsvorrichtung; Fig. 3 eine bevorzugte Ausgestaltung eines erfindungsgerrfenFig. 1 is an illustration of typical output signals of a conventional absolute encoder system; Fig. 2 is an illustration of typical output signals of a preferred speed and position detecting device; Fig. 3 shows a preferred embodiment of a erfindungsgerrfen
Drehzahl- und Positionserkennungsvorrichtung; und Fig. 4 Ausgangssignale einer bevorzugten Drehzahl- und Posi- tionserkennungsvorrichtung mit unterschiedlichen Sensorelementen.Speed and position detection device; and FIG. 4 shows output signals of a preferred speed and position detection device with different sensor elements.
Fig. 1 zeigt eine Darstellung typischer Ausgangssignale eines üblichen Absolutwertgebersystems zur eine Drehzahl- und Positionserkennungsvorrichtung zur Erfassung von Drehzahlen und/oder Position eines drehbaren Körpers dar. Erkennbar sind die üblichen sinus- förmigen und cosinusförmigen Ausgangssignale S als Funktion eines elektrischen Drehwinkels φ1 bzw. eines damit korrespondierenden mechanischen Drehwinkels φ2.1 shows a representation of typical output signals of a conventional absolute encoder system for a speed and position detection device for detecting rotational speeds and / or position of a rotatable body. The usual sinusoidal and cosinusoidal output signals S can be seen as a function of electrical rotation angle φ1 or a corresponding mechanical rotation angle φ2.
Fig. 2 zeigt eine Darstellung typischer Ausgangssignale S einer be- vorzugten Drehzahl- und Positionserkennungsvorrichtung 10, wie sie in Fig. 3 dargestellt ist. Zwei Sensorelemente 12, 16 eines drehbaren Körpers 22 sind mit ihren Wirkflächen 14, 18 in einem Sensierbereich 24 des Körpers 22 angeordnet und detektieren z.B. ein zeitlich periodisch veränderliches Magnetfeld eines Magneten 20.FIG. 2 shows a representation of typical output signals S of a preferred speed and position detection device 10 as shown in FIG. Two sensor elements 12, 16 of a rotatable body 22 are arranged with their active surfaces 14, 18 in a sensing region 24 of the body 22 and detect e.g. a temporally periodically variable magnetic field of a magnet 20.
Die Sensorelemente 12, 16 sind mit ihren Wirkflächen 14, 18 nahezu parallel ausgerichtet, wobei die Wirkflächen 14, 18 einen geringen Winkelversatz mit einem Winkel α zueinander aufweisen, der vorzugsweise weniger als 10° beträgt. Der Winkel α kann auch 0° betragen, so dass die Wirkflächen 14, 18 parallel sind.The sensor elements 12, 16 are aligned with their active surfaces 14, 18 almost parallel, wherein the active surfaces 14, 18 have a small angular offset with an angle α to each other, which is preferably less than 10 °. The angle α can also be 0 °, so that the active surfaces 14, 18 are parallel.
Die Sensorelemente 12, 16 sind integrierte als Halbleiterbauelemente ausgebildet, insbesonders als handelsübliche applikationsspezifische Sensoren (ASICs) zur Erfassung von Absolutwinkeln.The sensor elements 12, 16 are integrated as semiconductor components, in particular as commercially available application-specific sensors (ASICs) for detecting absolute angles.
Die Ausgangssignale S der Fig. 2 zeigen im Vergleich mit denen der Fig. 1 über denselben Winkelbereich von elektrischen und mechanischen Drehwinkeln φ1 , φ2 des Körpers 22 die doppelte Anzahl von Signalen in regelmäßiger Phasenbeziehung, entsprechend der Tat- sache, dass die Sensorelemente 12, 16 gleichartigen ausgebildet sind und insbesondere dasselbe Wirkprinzip aufweisen, z.B. nach dem Halleffekt oder dem magnetorestriktiven Effekt und dergl. mehr.The output signals S of FIG. 2 show twice the number of signals in regular phase relation over the same angular range of electrical and mechanical rotation angles φ1, φ2 of the body 22 in comparison with those of FIG. 1, corresponding to the fact that the sensor elements 12, 16 are formed similar and in particular have the same operating principle, eg after the Hall effect or the magnetorestrictive effect and the like more.
In Fig. 4 sind Ausgangssignale einer bevorzugten Drehzahl- und Po- sitionserkennungsvorrichtung 10 mit unterschiedlichen Sensorele- menten 12, 16 dargestellt. Die Anordnung der Komponenten entspricht derjenigen in Fig. 3, auf deren Beschreibung verwiesen wird.FIG. 4 shows output signals of a preferred speed and position detection device 10 with different sensor elements. 12, 16. The arrangement of the components corresponds to that in Fig. 3, to the description of which reference is made.
Mittels des Noniusprinzips gibt hierbei das eine Sensorelement 12 oder 16 n Schwingungen als Ausgangssignal S aus, während das andere Sensorelement 16 oder 12 mehr oder weniger als n Schwingungen ausgibt. In der Fig. 4 sind die Sensorelemente 12, 16 so gewählt, dass das eine n Schwingungen pro mechanischer Umdrehung des Körpers 22 ausgibt und das andere n+1 Schwingungen. Damit können Umdrehungen von mehr als 360° detektiert werden. By means of the vernier principle, one sensor element 12 or 16 outputs oscillations as an output signal S, while the other sensor element 16 or 12 outputs more or fewer than n oscillations. In FIG. 4, the sensor elements 12, 16 are selected such that one outputs n oscillations per mechanical revolution of the body 22 and the other n + 1 vibrations. This allows revolutions of more than 360 ° to be detected.

Claims

Anspüche Anspüche
1. Drehzahl- und Positionserkennungsvorrichtung zur Erfassung von Drehzahlen und/oder Positionen eines drehbaren Körpers (22), mit wenigstens zwei Sensorelementen (12, 16), die mit ihren Wirkflächen (14, 18) in einem Sensierbereich (24) des Kör- pers (22) angeordnet sind, dadurch gekennzeichnet, dass die1. Speed and position detecting device for detecting rotational speeds and / or positions of a rotatable body (22), with at least two sensor elements (12, 16), the pers with their active surfaces (14, 18) in a Sensierbereich (24) of the body pers (22) are arranged, characterized in that the
Sensorelemente (12, 16) mit ihren Wirkflächen (14, 18) zumindest nahezu parallel ausgerichtet sind, wobei die Wirkflächen (14, 18) einen Winkel (α) zwischen 0° und 10° zueinander aufweisen.Sensor elements (12, 16) with their active surfaces (14, 18) are aligned at least almost parallel, wherein the active surfaces (14, 18) at an angle (α) between 0 ° and 10 ° to each other.
2. Vorrichtung nach Anspruch 1 , dadurch gekennzeichnet, dass die Sensorelemente (12, 16 integrierte) als Halbleiterbauelemente ausgebildet sind.2. Device according to claim 1, characterized in that the sensor elements (12, 16 integrated) are designed as semiconductor components.
3. Vorrichtung nach Anspruch 1 oder 2, dadurch gekennzeichnet, dass die Sensorelemente (12, 16) als handelsübliche applikationsspezifische Sensoren zur Erfassung von Absolutwinkeln ausgebildet sind.3. Apparatus according to claim 1 or 2, characterized in that the sensor elements (12, 16) are designed as commercially available application-specific sensors for detecting absolute angles.
4. Vorrichtung nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass die Sensorelemente (12, 16) gleichartig ausgebildet sind.4. Device according to one of the preceding claims, characterized in that the sensor elements (12, 16) are of similar design.
5. Vorrichtung nach einem der Ansprüche 1 bis 3, dadurch ge- kennzeichnet, dass die Sensorelemente (12, 16) verschieden so ausgebildet sind, dass das eine Sensorelement (12 oder 16) n Schwingungen als Ausgangssignal ausgibt, während das andere Sensorelement (16 oder 12) mehr oder weniger als n Schwingungen ausgibt.5. Device according to one of claims 1 to 3, character- ized in that the sensor elements (12, 16) different are formed such that the one sensor element (12 or 16) outputs n oscillations as an output signal, while the other sensor element (16 or 12) outputs more or less than n oscillations.
6. Vorrichtung nach Anspruch 5, dadurch gekennzeichnet, dass sich die als Ausgangssignal ausgegebenen Schwingungen der Sensorelemente (12, 16) um eine Schwingung unterscheiden.6. Apparatus according to claim 5, characterized in that the output of the output vibrations of the sensor elements (12, 16) differ by one oscillation.
7. Vorrichtung nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass der Winkelversatz (α) geringer als 10° ist. 7. Device according to one of the preceding claims, characterized in that the angular offset (α) is less than 10 °.
PCT/EP2006/068019 2005-12-20 2006-11-02 Apparatus for detecting rotational speed and position WO2007071489A1 (en)

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Application Number Priority Date Filing Date Title
DE200510060906 DE102005060906A1 (en) 2005-12-20 2005-12-20 Speed and position detection device
DE102005060906.6 2005-12-20

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0217478A1 (en) * 1985-10-01 1987-04-08 Twente Technology Transfer B.V. Contactless angle transducer
DE19530386A1 (en) * 1995-08-18 1997-02-20 Philips Patentverwaltung Position sensor
EP1510787A2 (en) * 2003-08-28 2005-03-02 Lenord, Bauer & Co. GmbH Method and rotary encoder for measuring the absolute angular position
US20050242802A1 (en) * 2004-04-30 2005-11-03 Denso Corporation Angular speed detecting device
US20050264282A1 (en) * 2004-05-31 2005-12-01 Denso Corporation Rotation angle detecting device

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0217478A1 (en) * 1985-10-01 1987-04-08 Twente Technology Transfer B.V. Contactless angle transducer
DE19530386A1 (en) * 1995-08-18 1997-02-20 Philips Patentverwaltung Position sensor
EP1510787A2 (en) * 2003-08-28 2005-03-02 Lenord, Bauer & Co. GmbH Method and rotary encoder for measuring the absolute angular position
US20050242802A1 (en) * 2004-04-30 2005-11-03 Denso Corporation Angular speed detecting device
US20050264282A1 (en) * 2004-05-31 2005-12-01 Denso Corporation Rotation angle detecting device

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