WO2012038169A1 - Système de capteur et procédé de mesure de vitesse de rotation incrémentielle - Google Patents

Système de capteur et procédé de mesure de vitesse de rotation incrémentielle Download PDF

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Publication number
WO2012038169A1
WO2012038169A1 PCT/EP2011/064328 EP2011064328W WO2012038169A1 WO 2012038169 A1 WO2012038169 A1 WO 2012038169A1 EP 2011064328 W EP2011064328 W EP 2011064328W WO 2012038169 A1 WO2012038169 A1 WO 2012038169A1
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WO
WIPO (PCT)
Prior art keywords
signal
sensor
sensor system
information
information area
Prior art date
Application number
PCT/EP2011/064328
Other languages
German (de)
English (en)
Inventor
Jens Heim
Christian Mock
Raphael Fischer
Original Assignee
Schaeffler Technologies AG & Co. KG
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 Schaeffler Technologies AG & Co. KG filed Critical Schaeffler Technologies AG & Co. KG
Publication of WO2012038169A1 publication Critical patent/WO2012038169A1/fr

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
    • G01P3/42—Devices characterised by the use of electric or magnetic means
    • G01P3/44—Devices characterised by the use of electric or magnetic means for measuring angular speed
    • G01P3/48—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage
    • G01P3/481—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage of pulse signals
    • G01P3/487—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage of pulse signals delivered by rotating 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
    • 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
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
    • G01P3/42—Devices characterised by the use of electric or magnetic means
    • G01P3/44—Devices characterised by the use of electric or magnetic means for measuring angular speed
    • G01P3/48—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage
    • G01P3/481—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage of pulse signals
    • G01P3/488—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage of pulse signals delivered by variable reluctance detectors

Definitions

  • the invention relates to a sensor system for measuring the rotational speed of a rotatable machine element, in particular a wheel hub, comprising a signal transmitter, a first and a second sensor, wherein the signal transmitter is coupled to the rotatable machine element and concentrically arranged to the axis of rotation and circumferentially alternating information areas of two different Has varieties. Furthermore, the invention relates to a method for speed measurement by means of two sensors.
  • Speed sensors and anti-lock brake encoders for vehicles provide a square wave signal generated by an application specific integrated circuit (ASIC) which processes the signal from the sensing element.
  • ASIC application specific integrated circuit
  • This signal gives two consecutive pulses ("up” and “down” or “1” and “0") per pole pair of the signal transmitter.
  • a rotational speed for the rotatable machine part for example a wheel hub, can be specified.
  • the problem with this is that for very low speeds it is not possible to tell if the wheel is still moving, ie if the speed is approaching 0 km. Thus, most control systems are overwhelmed when the wheels hardly move in the event of black ice.
  • resolvers such as a slip-ringless resolver (DE19527156C1) or a magneto-electronic angle sensor, in particular reluctance resolver (DE19719354C2).
  • a donor disk is shaped to generate a reliable sine signal over the entire circumference of the rotary member, so that the function value, i. E. can be read in the amount of amplitude in which angular position is the machine part.
  • This device is incompatible with conventional speed sensors of the automotive industry, because too much space installed and many new parts would have to be created.
  • the object of the invention is therefore to provide a sensor system or a method, which makes it possible to implement an efficient, cost-effective and precise speed measurement and thus allows a wider use of control systems.
  • the object is achieved by a wheel bearing unit of the type mentioned above in that the sensors are arranged such that the first sensor substantially to interact with an information area and at the same time the second sensor substantially to interact with a border region of two adjacent information areas are provided.
  • the detection of the sensors can take place both in the axial and in the radial direction to the axis of rotation.
  • the information areas continuously move in the circumferential direction when the machine element is in operation.
  • the term "essentially” here means that the interacting information areas of the signal generator vary over time, but the information area considered to be essential, which is - for a maximum of two information areas - for the greater part in the interaction region of the sensor This may also apply to a boundary area formed between two adjacent information areas, and both the interacting areas are circumferentially separated from one another by at least half a non-interacting information area (for example, one half magnetic pole) or a plurality of non-interacting information areas of the signal generator.
  • a first-order information region is a positive magnetic pole and a second-order information region is a negative magnetic pole.
  • a first type information area is a soft magnetic material tooth and a second type information area is a recess between the teeth.
  • the first variant leads to a better signal strength and the second one is cheaper to manufacture.
  • the signal generator has at least two information areas which are offset by 90 ° (or half a pole) in the circumferential direction, which simplifies the positioning of the sensor. These areas may be axially or radially, or both axially and radially aligned.
  • the signal transmitter has an additional information area with higher resolution, with which the pure speed detection is generated with higher resolution.
  • This additional area can also be aligned axially or radially.
  • the first and / or second sensor is formed from a first or second measuring element and each an application-specific circuit, wherein the circuit for generating a periodic square wave signal from the first signal of the first measuring element, or from a second signal of the second measuring element , is provided, whose period corresponds to a circumferential length, or the radian measure of two adjacent information areas.
  • first analysis means are provided which convert the first signal of the first measuring element into a sine or cosine signal and second analysis means provided, the second signal of the second measuring element in a phase-shifted, in particular with a phase of 90 degrees shifted sine or Convert cosine signal.
  • These analysis means may, for example, be impedance regulators which receive their two input signals directly from the terminals of the measuring elements. Due to their amplitude, these signals thus already contain information about the incremental rotation angle within an information range pair and even within a single information range.
  • evaluation means such as an evaluation unit or a computer, are provided which generate an incremental rotation angle ( ⁇ ) from the first and the second signal calculate the arctangent of the signal quotient:
  • ⁇ (t) arctan2 (A sin (nwt) / B cos (nwt))
  • A, B are signal amplitudes of the first and second signals respectively
  • w is the angular velocity of the machine part
  • n is the number of information area pairs
  • t is the time.
  • the first signal takes the form Asin (nwt)
  • the second signal takes the form Bcos (nwt).
  • ⁇ is a rotation angle within a period nwt, i. For each information area pair, for example a magnetic pole pair, a position angle can be determined.
  • ⁇ could represent the discrete rotational angle sequence that can be detected by a sensor with circuitry by counting the "1" events, thus assigning an angle ⁇ to each of the n times "1" information.
  • the incremental rotation angle ⁇ can now be used, with which the final angular position with ⁇ + ⁇ can be specified for each time t.
  • arctan2 (S1, S2) arctane (S1 / S2) + ⁇ , for S2 ⁇ 0, S1> 0;
  • arctan2 (S1, S2) arctan (S1 / S2) - ⁇ , for S2 ⁇ 0, S1 ⁇ 0;
  • it is designed as a signal generator rotor of a wheel hub motor.
  • a direction trained, alternating magnetic field already available for driving purposes.
  • this can serve as an encoder.
  • the sensors may not require any application-specific circuits, since the angle ⁇ is already predetermined by the control unit of the wheel hub motor.
  • the signals of two outputs of the circuits are linked by means of an exclusive or prescription ("either or” or XOR) in order to generate a double pulse rate increment signal in comparison with one of the signals of the circuit outputs
  • an exclusive or prescription either or or XOR
  • ESP ABS or electronic stabilization systems
  • Method for speed measurement of a rotatable machine element in particular a wheel hub, wherein a signal generator coupled to the machine element has alternating information areas of two different grades in the circumferential direction and rotates together with the machine element, a first sensor essentially having an information area and at the same time a second sensor in the Essentially with a border region of two information areas of the signal generator interact.
  • FIG. 7 Sensor system with connectable units according to the exemplary embodiment of FIG. 4.
  • FIG. 7 Sensor system with connectable units according to the exemplary embodiment of FIG. 4.
  • Fig. 1 shows an incremental speed measurement with multipole encoder as Signal transmitter 20.
  • two sensors with measuring elements 27, 28 are arranged, which each have a detection gate 6, which determine the interaction regions of the sensors with their dimensions.
  • Each of the investigation sections faces exactly one information area and one border area.
  • a negative pole 25 is located opposite the detection section 6 of the measuring element 27. The largest portion of the negative pole 25 is in this rotational position in the interaction region of the sensor with measuring element 27, thus this is substantially in interaction with this sensor.
  • the detection sections 6 are formed from a plurality of sub-elements, for example to suppress interference fields or to increase the signal yield.
  • Fig. 2 shows an incremental speed measurement with soft magnetic signal generator 21, in which two permanent magnets 29,30 are used to increase the flux density of the sensor-own coils to increase the signal strength.
  • the soft-magnetic teeth 22 and recesses 23 assume the function of the plus and minus poles 24, 25 of FIG. 1.
  • Fig. 3 shows a first signal conditioning circuit with impedance controller 7.8 for incremental speed measurement.
  • the application-specific circuits 9, 10 prepare the first signal of the sensor with measuring element 27 and the second signal of the sensor with measuring element 28 in such a way that square-wave signals which have a phase shift relative to one another at the outputs A1 and A2 can be tapped off from one another equivalent. Based on one of these signals, the rotation angle ⁇ can be determined.
  • the impedance converters 7, 8 process the first and second signals of the two measuring elements 27, 28 into a sine-cosine signal. These be also a phase difference to each other, which corresponds to the circumferential distance of the two measuring elements 27, 28. These signals can be tapped at the terminals A4 and A5.
  • the circuits 9, 10 and the impedance regulators 7, 8 are supplied with voltage.
  • the connection A6 is connected to earth.
  • the incremental rotation angle ⁇ can now be derived from the first and second signals of the two measuring elements 27, 28 by generating the individual signals or an intermediate signal generated thereon. Ideally, the operation of an arctangent is used.
  • the total rotation angle of the machine part or the wheel hub is thus: ⁇ + ⁇
  • ⁇ can be determined from the signals of the terminals A1 and A2 in the conventional method, or alternatively use the phase sequences at the terminals A4 and A5.
  • ⁇ can be determined from the signals of the terminals A1 and A2 in the conventional method, or alternatively use the phase sequences at the terminals A4 and A5.
  • the terminals A1, A2, A3, A4, A5 and A6 of the following embodiments the same applies, provided that they are provided.
  • Fig. 4 shows a second signal conditioning circuit with impedance controller 7.8 for incremental speed measurement.
  • the signal output of the formwork 10 has been grounded, in case the second square wave signal is not of interest.
  • Fig. 5 shows a third signal conditioning circuit with impedance controller for incremental speed measurement without square wave signal.
  • the connections A1 and A2 are not available.
  • the signal conditioning circuit is suitable for use with a wheel hub motor, since the square wave signal no longer needs to be generated there.
  • Circuits 9, 10 (ASICs) then serve the supply of the investigation sections 6 and, where appropriate, the suppression of disturbances.
  • FIG. 6 shows a sensor system with connectable units according to the exemplary embodiment of FIG. 3.
  • an interface 14 is provided, which can be designed, for example, as a cable.
  • the sensor head 13 away from the amplifier circuit 12 can be installed with a small space requirement, and the amplifier circuit 12 is connected via an interface 1 1 to a computer or another analysis or evaluation.
  • FIG. 7 shows a sensor system with connectable units according to the embodiment of FIG. 4, but in the same distribution as in FIG. 6.
  • the invention relates to a sensor system for speed measurement of a rotatable machine element, in particular a wheel hub, comprising a signal transmitter, a first and a second sensor, wherein the signal transmitter is coupled to the rotatable machine element and concentrically arranged to the axis of rotation and alternately in the circumferential direction information areas two has different varieties.
  • the invention relates to a method for speed measurement by means of two sensors. The aim is to enable a more precise detection of the angle of rotation with a low number of components and little space. The aim is to provide known control systems, such as ABS, with a broader information base for security measures.
  • the sensors are arranged in such a way that the first sensor is provided essentially for interaction with an information area and at the same time the second sensor essentially for interaction with a boundary area of two circumferentially adjacent information areas.
  • two phase-shifted sine or cosine signals can be created, which are used to calculate an incremental rotation angle. which allows the determination of an angular position within an information area.
  • connection measuring element 2 connection measuring element
  • A6 sixth connection 31 limit range

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Transmission And Conversion Of Sensor Element Output (AREA)

Abstract

L'invention concerne en résumé un système de capteur de mesure de la vitesse de rotation d'un élément de machine rotatif, en particulier d'un moyeu de roue, comportant un transmetteur de signal ainsi qu'un premier et un deuxième capteur. Le transmetteur de signal est couplé à l'élément de machine rotatif et est disposé concentriquement par rapport à son axe de rotation, et il comporte des zones d'informations de deux types différents qui alternent dans le sens de sa circonférence. L'invention concerne en outre un procédé de mesure de vitesse de rotation au moyen de deux capteurs, et a pour objectif de permettre une détection plus précise de l'angle de rotation tout en limitant le nombre de composants et l'encombrement. Le but recherché est de fournir à des systèmes de régulation connus tels que l'ABS un ensemble d'informations plus étendu pour les mesures de sécurité à prendre. A cet effet, les capteurs sont disposés de telle manière que le premier capteur est prévu essentiellement pour interagir avec une zone d'informations tandis que le deuxième capteur est prévu essentiellement pour interagir avec une zone limitrophe entre deux zones d'informations voisines dans le sens de la circonférence. Ceci permet de générer deux signaux sinus ou cosinus déphasés servant à calculer un angle de rotation incrémentiel, lequel permet de déterminer une position angulaire à l'intérieur d'une zone d'informations.
PCT/EP2011/064328 2010-09-21 2011-08-22 Système de capteur et procédé de mesure de vitesse de rotation incrémentielle WO2012038169A1 (fr)

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Application Number Priority Date Filing Date Title
DE102010045952.6 2010-09-21
DE201010045952 DE102010045952A1 (de) 2010-09-21 2010-09-21 Sensorsystem und Verfahren zur inkrementellen Drehzahlmessung

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102013211797A1 (de) 2013-06-21 2014-12-24 Schaeffler Technologies Gmbh & Co. Kg Polrad mit verbesserter Feldwinkeländerung
DE102013221943A1 (de) 2013-10-29 2015-04-30 Schaeffler Technologies Gmbh & Co. Kg Sensorsystem zur Drehzahlmessung mit einem Polrad mit linearisiertem Magnetfeld
US9863786B2 (en) 2013-07-17 2018-01-09 Infineon Technologies Ag Sensor with interface for functional safety
CN111505330A (zh) * 2020-05-31 2020-08-07 嘉兴学院 一种水轮发电机组测速装置

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DE102014109956B4 (de) * 2013-07-17 2020-09-10 Infineon Technologies Ag Sensor mit Schnittstelle für Funktionssicherheit
DE102014207767A1 (de) * 2014-04-24 2015-10-29 Continental Teves Ag & Co. Ohg Drehzahlsensorerweiterung für einen Resolver
DE102016206409A1 (de) * 2016-04-15 2017-10-19 Continental Teves Ag & Co. Ohg Radsensoraufnahme und Radsensorsystem zur Montage an einer Fahrzeugachse
DE102016225126A1 (de) 2016-12-15 2018-06-21 Zf Friedrichshafen Ag Drehzahlbestimmung
DE102017112975B3 (de) * 2017-06-13 2018-10-25 KNF Micro AG Membranpumpe
DE102018201893B4 (de) * 2018-02-07 2021-01-21 Jungheinrich Aktiengesellschaft Flurförderzeug umfassend eine Vorrichtung zum Messen einer zurückgelegten Wegstrecke
DE102020106063A1 (de) 2020-03-06 2021-09-09 WMT GmbH Radnabenantrieb mit hochauflösender Sensorik

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DE4440214A1 (de) * 1994-11-10 1996-05-15 Itt Ind Gmbh Deutsche Drehgeber mit Hallsensoren
DE19527156C1 (de) 1995-07-25 1996-08-01 Siemens Ag Schleifringloser Drehmelder
DE19623101A1 (de) * 1996-06-10 1997-10-02 Bosch Gmbh Robert Vorrichtung zur Positionserkennung eines rotierenden Teils
DE19719354C2 (de) 1997-05-07 2000-12-07 Tyco Electronics Logistics Ag Magneto-elektronischer Winkelsensor, insbesondere Reluktanz-Resolver
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EP1574421A1 (fr) * 2004-03-08 2005-09-14 Valeo Schalter und Sensoren GmbH Capteur d'angle de braquage

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102013211797A1 (de) 2013-06-21 2014-12-24 Schaeffler Technologies Gmbh & Co. Kg Polrad mit verbesserter Feldwinkeländerung
WO2014202065A1 (fr) 2013-06-21 2014-12-24 Schaeffler Technologies Gmbh & Co. Kg Roue polaire à modification de l'angle de champ améliorée
US9863786B2 (en) 2013-07-17 2018-01-09 Infineon Technologies Ag Sensor with interface for functional safety
US10845210B2 (en) 2013-07-17 2020-11-24 Infineon Technologies Ag Sensor with interface for functional safety
DE102013221943A1 (de) 2013-10-29 2015-04-30 Schaeffler Technologies Gmbh & Co. Kg Sensorsystem zur Drehzahlmessung mit einem Polrad mit linearisiertem Magnetfeld
WO2015062592A1 (fr) 2013-10-29 2015-05-07 Schaeffler Technologies AG & Co. KG Système capteur pour mesurer une vitesse de rotation, comportant une roue polaire à champ magnétique linéarisé
US10078094B2 (en) 2013-10-29 2018-09-18 Schaeffler Technologies AG & Co. KG Sensor system for rotational speed measurement having a pole wheel with a linearized magnetic field
CN111505330A (zh) * 2020-05-31 2020-08-07 嘉兴学院 一种水轮发电机组测速装置

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