WO2008080678A2 - Procédé de détermination d'un angle de rotation d'un arbre - Google Patents

Procédé de détermination d'un angle de rotation d'un arbre Download PDF

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Publication number
WO2008080678A2
WO2008080678A2 PCT/EP2007/062150 EP2007062150W WO2008080678A2 WO 2008080678 A2 WO2008080678 A2 WO 2008080678A2 EP 2007062150 W EP2007062150 W EP 2007062150W WO 2008080678 A2 WO2008080678 A2 WO 2008080678A2
Authority
WO
WIPO (PCT)
Prior art keywords
encoder
signal
tooth
wheel
shaft
Prior art date
Application number
PCT/EP2007/062150
Other languages
German (de)
English (en)
Other versions
WO2008080678A3 (fr
Inventor
Uwe Kassner
Original Assignee
Robert Bosch Gmbh
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 Robert Bosch Gmbh filed Critical Robert Bosch Gmbh
Publication of WO2008080678A2 publication Critical patent/WO2008080678A2/fr
Publication of WO2008080678A3 publication Critical patent/WO2008080678A3/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
    • G01D5/244—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
    • G01D5/2454—Encoders incorporating incremental and absolute signals
    • G01D5/2455—Encoders incorporating incremental and absolute signals with incremental and absolute tracks on the same encoder
    • G01D5/2457—Incremental encoders having reference marks
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D41/00—Electrical control of supply of combustible mixture or its constituents
    • F02D41/009—Electrical control of supply of combustible mixture or its constituents using means for generating position or synchronisation signals
    • 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
    • G01D5/147—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 movement of a third element, the position of Hall device and the source of magnetic field being fixed in respect to each other

Definitions

  • the present invention relates to a method, a device and a computer program for determining a rotational angle of a shaft, in particular a crankshaft of a
  • the shaft is connected to a donor gear with teeth and tooth gaps with an asymmetric pitch and the encoder wheel at least one differential sensor comprising two donor elements is assigned, wherein the differential encoder generates an output signal which is a difference of signals of the two donor elements, wherein the off - A signal is a square wave signal, which can assume a first value or a second value, wherein a change between the first and the second value, an increment of the rotation angle is assigned.
  • crankshaft angle For the control of internal combustion engines, the determination of the crankshaft angle is of central importance. Solutions known in the art in particular use incremental encoders on the crankshaft and / or camshaft. Customary are encoder discs with incremental markers, comprising teeth and tooth spaces, which enable the motor position to be determined in conjunction with the signals from the crankshaft and camshaft.
  • Such encoder systems allow for an absolute position determination of the crankshaft by a non-uniform arrangement of the incremental marks.
  • a typical implementation is a donor wheel with 60 minus 2 teeth, so 58 teeth and a Geberradlücke of 2 teeth.
  • a disadvantage of such a gap is the lack of increments for the exact determination of the crankshaft angle within the gap.
  • an extrapolation of the crankshaft angle is made by the engine control, which, however, is subject to errors due to the nonuniformity of the crankshaft angular velocity.
  • Modern working methods of internal combustion engines place higher demands on the accuracy, in particular especially for determining the position of injections, both in gasoline engines and diesel engines.
  • the teeth and gullets are usually already made asymmetrical and the asymmetry in the area replacing the previous giver wheel gap is e.g. just turned around. If, for example, the teeth extend over a crankshaft angle degree of 4 ° and tooth gaps over a crankshaft angle of 2 °, the gear wheel gap is replaced by a reversal of this ratio, ie by teeth of, for example, 2 ° and tooth gaps of, for example, 4 °.
  • Crankshaft angle also available in the former gap and in addition, a designated position of the encoder wheel is detected by an evaluation of the ratio of tooth to gap time.
  • An object of the present invention is to enable a higher accuracy in the detection of the tooth to gap times of a sensor wheel.
  • a method for determining a rotational angle of a shaft in particular a crankshaft of an internal combustion engine, wherein the shaft is connected to a donor gear with teeth and tooth gaps with an asymmetric pitch and the encoder wheel at least one differential encoder is associated with two encoder elements, wherein the differential encoder produces an output signal which is a difference of signals of the two encoder elements, the output signal being a square wave signal comprising a first signal
  • the first value and the second value are usually referred to as high or low, so at the output of the differential sensor is based on a known square wave signal.
  • a period of the output signal ie a change from high to low and until the next change from high to low or vice versa from a low to high change until the next low to high transition means that one tooth and one tooth gap of the encoder wheel on the encoder have been passed.
  • tooth and tooth gap each include 6 °
  • a change from the first to the second value or a change between high and low or vice versa is thus associated with an increment of 3 ° in a differential sensor.
  • Shaft may be one of the signals of the encoder elements of the differential sensor, or be a signal of an additionally associated with the encoder wheel donor element. This additional signal of a single encoder allows a more accurate evaluation of the tooth to tooth gap times for the absolute position determination of the crankshaft.
  • an arrangement for determining a rotational angle of a shaft in particular a crankshaft of an internal combustion engine, comprising at least one encoder and a donor gear with teeth and tooth gaps with an asymmetric pitch, wherein the shaft is connected to the encoder wheel and the differential - Encoder with two encoder elements is assigned to the encoder wheel, wherein the differential encoder generates an output signal which is a difference of signals of the two encoder elements, wherein the output signal is a square wave signal, which can assume a first value or a second value, wherein a change an increment of the angle of rotation of the shaft is assigned between the first and the second value, wherein the arrangement provides a further signal of a transmitter element.
  • the further signal of a transmitter element for determining the angle of rotation of the shaft can be one of the signals of the transmitter elements of the differential sensor, or a signal of an additional transmitter element assigned to the transmitter wheel.
  • an encoder for use in an arrangement for determining a rotation angle of a shaft, in particular a crankshaft of an internal combustion engine, comprising two encoder elements, wherein the encoder comprises a circuit which provides an output signal which is a difference of signals of the both donor elements is, wherein in addition to the output signal, which is a difference of signals of the two donor elements, a signal of one of the donor elements is provided.
  • Fig. 1 is a sketch of a sensor wheel with associated encoder
  • FIG. 2 shows a development of a sensor wheel with a Geberradlücke and a settlement of a sensor wheel with asymmetric pitch.
  • 3 shows an evaluation circuit for a differential sensor
  • FIG. 5 shows an exemplary embodiment of an evaluation circuit according to the invention
  • the sender wheel 1 shows a sketch of a known donor wheel 1, which is connected to a crankshaft, not shown here, of an internal combustion engine and rotates about an axis 2 during a rotation of the crankshaft.
  • the sender wheel 1 has encoder wheel marks (markings), which are formed by an alternating arrangement of teeth 3 and tooth spaces 4.
  • the teeth 3 and the tooth gaps 4 may extend over an equal angular range of 3 °, but may also be divided asymmetrically, for example by a tooth 3 covering an angular range of 2 ° and a tooth gap 4 covering an angular range of 4 °.
  • a donor wheel gap 5 is formed by creating a donor wheel gap 5 at an angle of 12 ° by omitting a tooth 3.
  • the encoder wheel 1 is assigned a transmitter 6.
  • the encoder 6 comprises two encoder elements 7, which may be, for example, Hall elements, inductive sensors or the like.
  • the encoder elements 7 supply electrical signals via signal lines 8, of which a difference signal is formed in an evaluation logic unit 9 which is transmitted via a signal line 10 to an unillustrated control unit of the internal combustion engine.
  • the passage of teeth 3 and tooth gaps 4 on the transmitter elements 7 generates voltage changes at outputs of the transmitter elements 7, which are passed on to the evaluation logic 9 via the signal lines 8.
  • the encoder elements 7 are arranged offset in the circumferential direction of the encoder wheel 1, so that a
  • a Geberradlücke 5 in the encoder wheel 1
  • each tooth 3 covers an angle of 3 ° on the encoder wheel 1 and each
  • Tooth gap 4 covers an angle of 3 ° on the encoder wheel 1, so a designated mark can be brought about by e.g. a pair of tooth 3 and tooth space 4 have a different distribution, for example in that a tooth extends over an angle of 2 ° and the associated tooth gap 4 extends over an angle of 4 °.
  • Such markings can also be arranged several times in succession for more reliable recognition.
  • FIG. 2 shows in the upper illustration a development of a sender wheel 1 with a gap 5 and in the lower illustration a development of a sender wheel 1 with an asymmetrical division.
  • the developments are each as lines for labeling the teeth 3 and
  • the Geberradlücke 5 can be seen, which extends over an angle of 9 °.
  • the teeth 3 and the tooth gaps 4 each extend over an angle of 3 °, so that the distance between like flanks of the teeth 3 is 6 °.
  • Under similar flanks is understood in reference to an electrical square wave signal in each case a tooth edge 3, which lie with respect to the direction of rotation of the encoder wheel 1 on the same tooth side, so for example in a settlement, as shown in Fig. 2, all tooth flanks on the right side of the teeth 3 lie.
  • a sender wheel 1 is shown with an asymmetrical pitch.
  • the division of tooth 3 to tooth gap 4 is here 2: 1, so a tooth extends over a
  • Angular segment of 4 ° a tooth gap over an angular segment of 3 ° on the encoder wheel 1.
  • the pitch is 1: 2, ie in which the teeth 3 ' extend over an angular segment of 2 °, and the tooth spaces 4 'extend over an angular segment of 4 °.
  • the two consecutive pairs of teeth 3 'and tooth gaps 4' with the pitch changed from the remaining 58 pairs of teeth 3 and tooth spaces 4 is referred to here as the symmetry gap 11.
  • 3 shows a block diagram of the circuit of an evaluation unit for processing the signals of a transmitter 6.
  • the transmitter 6 is delimited by a dashed line in FIG. 3 from the other circuit elements.
  • the encoder 6 comprises, as shown in FIG. 1, two encoder elements 7, which are each connected to connection lines 8 and 8 'to a differential amplifier 11.
  • the output signal of the differential amplifier 11 is via a high-pass filter
  • a Schmitt trigger 14 is supplied to a first input of a Schmitt trigger 14 and to a second input of the Schmitt trigger 14 via a second high-pass filter 12, which is connected to ground via a capacitor 15.
  • At the collector 17 of the transistor 16 is an output signal.
  • the emitter 19 of the transistor 16 is connected to ground, parallel to
  • the circuit shown in FIG. 3 is accommodated together with the encoder 6 in a common housing, which is indicated schematically by a rectangle 20 surrounding the circuit.
  • the power supply unit 21 is shown, comprising a voltage generating unit 21, which is connected via a first protective diode 23, which is connected to a supply voltage Vs, and a second protective diode 24, which is connected to ground. is supplied with voltage.
  • Fig. 4 shows the development of the encoder wheel with asymmetrical pitch of FIG. 2, the
  • line A Shown below is the associated output signal S of a single-encoder, ie a transmitter, which includes only one encoder element 7. Shown below is the output signal D of the differential encoder 6 with two encoder elements 7 as shown in FIG. 1. Among the three lines A, S and D are marked with rectangles tooth times to gap times.
  • the differential sensor 6 switches in the middle of a tooth 3 or the middle of a tooth gap 4 at the zero crossing of the differential signal.
  • the rising or falling edges of the output signal D of the differential sensor 6 are respectively arranged in the middle of the teeth 3 or tooth gaps of the line A.
  • a single-encoder switches with only one
  • Encoder element 7 in each case at a tooth flank, ie a transition between tooth 3 and tooth space 4, so that the lines A and S in Fig. 2 have identical edges. Accordingly, an asymmetrically divided encoder wheel 1 generates an asymmetrical output signal only once during the transition from tooth to gap division to another tooth-to-gap division. Below the line for the output signal of the differential sensor 6 respectively rectangles for clarifying the tooth to gap times are shown. Non-hatched rectangles 25 represent the ratio of the high to low values for the region of the graduation according to FIG. 4, in which the teeth 3 extend over an angle of 4 ° and tooth gaps 4 extend over an angle of 2 ° extend. In the following embodiment, teeth 3 are each the value
  • the differential sensor 6 thus initially supplies a symmetrical output signal even with an asymmetrical division. Only at the transition from an asymmetric division to another asymmetric division does the ratio of the high to low values of the output signal change.
  • the ratio of high to low values is not exactly 1, since the instantaneous acceleration of the crankshaft due to the discontinuous operation of the internal combustion engine is taken into account, so there are fluctuations of the crankshaft speed above the crankshaft angle even in stationary operation of the internal combustion engine.
  • the signal processing according to the invention for the crankshaft angle is now used. Both embodiments combine the advantages of a single-encoder with its exact detection of the tooth-to-space ratio with the good reproducibility of the signal processing of the differential sensor.
  • the additional signal processing can be implemented in the integrated circuit arrangements that contain the actual sensor elements and the previous signal processing, or in the engine control unit.
  • FIG. 5 the circuit of FIG. 3 is shown further simplified. Represented are encoder elements 7 and 7 ', which are each connected via here as individual lines shown signal lines 8 with a subtraction element 28. To the difference-forming element 28, at the output in principle the same signal as applied to the differential amplifier 11 of FIG. 3, a switching logic 29 connects. At the output A1 of the switching logic 29, the signal Q is shown in FIG. 3. 5 is so far identical to the circuit of FIG. 3. The signal of the donor element 7 'is now fed to a further evaluation unit 30, at the output A2, the signal of the donor element 7' as in a single Encoder is present.
  • the difference signal of the encoder elements 7 and 7 ', at the output A2 is only the signal generated by the encoder element 7'.
  • the differential sensor 6 is simultaneously used by this supplement as a single-encoder one of the donor elements, here the donor element T.
  • Signal processing for the signal present at the output A1 takes place in a motor control device (not shown in detail) with processing methods known per se.
  • the signal of the output A2 is now also transmitted to the engine control unit.
  • suitable timers as e.g. are contained in microcontrollers, determined by timing the ratio of tooth to gap time for each tooth-and-space pair. Thus it can be determined directly for each tooth, from which area of the asymmetrical tooth pitch the signal originates.
  • the encoder 6 is a differential sensor as previously shown.
  • the encoder 6 ' is a single-encoder, so contains only one encoder element 7.
  • the differential sensor 6 ensures the reproducibility of the Geberrader written.
  • the single-encoder 6 'allows, as in the embodiment shown above, an accurate detection of the tooth to gap time.
  • the signal processing in an evaluation logic 31 takes place in principle as shown in FIG. 5 on the basis of the circuit elements 28, 29, 30. At the outputs A1 and A2 of the evaluation logic 31, the signals are as shown with reference to the embodiment of FIG. It should be noted that the sig- nale out of phase, which depends on the arrangement of the two encoders 6 and 6 'on the circumference of the encoder wheel 1.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Transmission And Conversion Of Sensor Element Output (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)

Abstract

Procédé de détermination d'un angle de rotation d'un arbre, notamment d'un vilebrequin d'un moteur à combustion interne. L'arbre est relié à une roue de détection (1) pourvue de dents (3) et d'entredents (4), et au moins un détecteur différentiel (6) comprenant deux éléments détecteurs (7, 7') est associé à la roue de détection (1). Le détecteur différentiel (6) produit un signal de sortie (A1) qui est une différence des signaux des deux éléments détecteurs (7, 7'). Le signal de sortie (A1) est un signal qui peut prendre une première valeur ou une deuxième valeur, sachant qu'un incrément de l'angle de rotation de l'arbre est associé à une alternance entre la première et la deuxième valeur. En plus du signal de sortie (A1) du détecteur différentiel, on utilise un autre signal d'un élément détecteur (7', 6') pour déterminer l'angle de rotation de l'arbre.
PCT/EP2007/062150 2006-12-27 2007-11-09 Procédé de détermination d'un angle de rotation d'un arbre WO2008080678A2 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102006061577.8 2006-12-27
DE200610061577 DE102006061577A1 (de) 2006-12-27 2006-12-27 Verfahren zur Bestimmung eines Drehwinkels einer Welle

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Publication Number Publication Date
WO2008080678A2 true WO2008080678A2 (fr) 2008-07-10
WO2008080678A3 WO2008080678A3 (fr) 2008-11-20

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WO (1) WO2008080678A2 (fr)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102012222316A1 (de) * 2012-12-05 2014-06-05 Robert Bosch Gmbh Sensorvorrichtung zur Bestimmung mindestens einer Rotationseigenschaft eines rotierenden Elements
TWI689704B (zh) * 2018-12-21 2020-04-01 財團法人工業技術研究院 磁性位置感知裝置與方法

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0825420A1 (fr) * 1996-08-21 1998-02-25 General Motors Corporation Codeur d'angle absolut
US20020190709A1 (en) * 2001-02-28 2002-12-19 Bvr Aero Precision Corporation Methods and apparatus for sensing angular position and speed of a rotatable shaft utilizing linearized annular magnet and commutated ratiometric hall sensors
EP1674831A1 (fr) * 2004-12-23 2006-06-28 Carl Freudenberg KG Procédé de transmission d'informations angulaires et dispositif pour la mise en oeuvre de ce procédé

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0825420A1 (fr) * 1996-08-21 1998-02-25 General Motors Corporation Codeur d'angle absolut
US20020190709A1 (en) * 2001-02-28 2002-12-19 Bvr Aero Precision Corporation Methods and apparatus for sensing angular position and speed of a rotatable shaft utilizing linearized annular magnet and commutated ratiometric hall sensors
EP1674831A1 (fr) * 2004-12-23 2006-06-28 Carl Freudenberg KG Procédé de transmission d'informations angulaires et dispositif pour la mise en oeuvre de ce procédé

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DE102006061577A1 (de) 2008-07-03
WO2008080678A3 (fr) 2008-11-20

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