WO2013111454A1 - 物理量検出装置 - Google Patents
物理量検出装置 Download PDFInfo
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- WO2013111454A1 WO2013111454A1 PCT/JP2012/081233 JP2012081233W WO2013111454A1 WO 2013111454 A1 WO2013111454 A1 WO 2013111454A1 JP 2012081233 W JP2012081233 W JP 2012081233W WO 2013111454 A1 WO2013111454 A1 WO 2013111454A1
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- sensor
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- unit
- angular velocity
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P21/00—Testing or calibrating of apparatus or devices covered by the preceding groups
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/56—Turn-sensitive devices using vibrating masses, e.g. vibratory angular rate sensors based on Coriolis forces
- G01C19/5776—Signal processing not specific to any of the devices covered by groups G01C19/5607 - G01C19/5719
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
- G01P15/02—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces using solid seismic masses
- G01P15/08—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces using solid seismic masses with conversion into electric or magnetic values
- G01P15/097—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces using solid seismic masses with conversion into electric or magnetic values by vibratory elements
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
- G01P15/02—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces using solid seismic masses
- G01P15/08—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces using solid seismic masses with conversion into electric or magnetic values
- G01P15/125—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces using solid seismic masses with conversion into electric or magnetic values by capacitive pick-up
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
- G01P15/18—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration in two or more dimensions
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- 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
Definitions
- the present invention relates to an apparatus for detecting a physical quantity, and more particularly to a physical quantity detection apparatus suitable for detecting a physical quantity such as angular velocity and acceleration.
- the senor used in such an environment has a self-diagnosis function inside the sensor, and transmits the diagnostic information to the external device in parallel with the sensor output.
- the external device determines whether or not the received sensor output is normal based on the received diagnostic information, and determines whether or not to adopt the sensor output.
- Patent Documents 1 and 2 describe a sensor that detects a physical quantity such as angular velocity and acceleration, and transmits the detection result and a failure diagnosis result inside the sensor to an external device.
- a failure diagnosis signal at the same time as the sensor signal is time-divided and output by an output circuit.
- the external device determines whether the sensor signal output at the next time point is normal based on the failure diagnosis signal.
- the sensor signal is output from the first output terminal as a signal outside the normal output voltage range, and further, a failure diagnosis signal is output. Is output from the second output terminal to the external device.
- Patent Document 1 when a failure diagnosis signal output in a time-sharing manner is erroneous due to noise on the communication path, the external device sets a normal sensor signal as an abnormal value or an abnormal sensor signal as a normal value. There is a problem that it will be judged. Further, in Patent Document 2, the problem of Patent Document 1 is avoided by outputting the sensor signal as an unsteady value at the time of a failure even if the failure diagnosis signal changes to a normal value due to noise. As for the sensor signal in the unsteady state generated by the above, there is a problem that the external device determines that it is a normal value.
- An object of the present invention is to provide a physical quantity detection device with improved reliability.
- a sensor signal output device includes a sensor that detects a physical quantity, a diagnostic unit that diagnoses an operating state of the sensor, and a communication unit that transmits a detection result of the sensor and a diagnostic result of the diagnostic unit.
- the communication unit selects a detection result of the sensor when determining that the sensor is operating normally, and indicates an operation state of the sensor when determining that the sensor is not operating normally. Select and output the signal.
- a physical quantity detection device with improved reliability can be provided.
- FIG. 3 is a control circuit diagram of the sensor signal output device according to the first embodiment.
- the functional block diagram of a sensor signal output part The figure which shows the format of the data which a data buffer hold
- a control circuit diagram of a physical quantity detection apparatus 1000 according to an embodiment of the present invention will be described with reference to FIG.
- an angular velocity sensor 101 is a sensor that detects an angular velocity, and includes a vibrator 102, a fixed electrode 103, electrodes 104 and 105, fixed electrodes 106 and 107, and fixed electrodes 108 and 109.
- the vibrator 102 has a predetermined mass and vibrates in the vibration axis direction at a predetermined vibration frequency.
- the fixed electrode 103 applies an electrostatic force to adjust the vibration amplitude and vibration frequency in the vibration direction of the vibrator 102.
- the electrodes 104 and 105 detect the vibration amplitude and vibration frequency of the vibrator 102 by a change in capacitance.
- the fixed electrodes 106 and 107 detect a displacement generated in the vibrator 102 in a direction perpendicular to the vibration axis by a Coriolis force generated when an angular velocity is applied, based on a change in capacitance.
- the fixed electrodes 108 and 109 apply an electrostatic force to the vibrator 102 so as to cancel the Coriolis force acting on the vibrator 102.
- the capacitance detector 110 detects the displacement in the vibration direction acting on the angular velocity sensor 101 by detecting the difference between the electrostatic capacitance between the angular velocity sensor 101 and the electrode 104 and the electrostatic capacitance between the angular velocity sensor 101 and the electrode 105. To do.
- the drive frequency adjustment unit 151 includes an AD converter 145 that converts the output of the capacitance detector 110 into a digital signal, and an integrator that adds the output of the AD converter 145 at regular intervals.
- the drive amplitude adjusting unit 152 has an integrator that takes a difference between a preset reference amplitude value and the output of the AD converter 145 and adds the outputs at regular intervals.
- the capacitance detector 112 detects the difference between the capacitance between the vibrator 102 and the fixed electrode 106 and the capacitance between the vibrator 102 and the fixed electrode 107, so that the displacement due to the Coriolis force acting on the vibrator 102 is detected. Is detected and converted to a digital signal.
- the angular velocity detection unit 153 includes an AD converter 146 that converts the output of the capacitance detector 112 into a digital signal, and an integrator that adds the output of the AD converter 146 every predetermined period.
- a VCO (Voltage Control Oscillator) 122 outputs a basic clock having a frequency corresponding to the output of the drive frequency adjusting unit 151.
- the clock generator 123 divides the output of the VCO 122 and outputs a drive signal and a detection signal ⁇ 1.
- the biaxial acceleration sensor has vibrators 128 and 129 and electrodes 130 to 133.
- the vibrator 128 is displaced when acceleration is applied in the left-right direction (hereinafter referred to as the X-axis direction).
- the vibrator 129 is displaced when acceleration is applied in the front-rear direction (hereinafter referred to as the Y-axis direction).
- the electrodes 130 and 132 detect displacement amounts in the X-axis direction and the Y-axis direction based on changes in capacitance.
- the electrodes 131 and 133 apply a voltage to forcibly displace the vibrator 128 in the X-axis direction and the vibrator 129 in the Y-axis direction.
- Capacitance detectors 135 and 136 detect a change in capacitance due to displacement and output it as a voltage.
- the AD converters 148 and 149 convert the voltages detected by the capacitance detectors 135 and 136 into digital signals.
- the temperature sensor 137 detects the ambient temperature, converts it into a voltage, and outputs it.
- the AD converter 138 converts the output voltage of the temperature sensor 137 into a digital signal.
- the angular velocity characteristic correction unit 139, the X-axis direction acceleration characteristic correction unit 140, and the Y-axis direction acceleration characteristic correction unit 141 correct the angular velocity detection result and the acceleration detection result according to the output of the temperature sensor 137.
- the diagnosis unit 161 determines whether the drive frequency is normal based on the output of the drive frequency adjustment unit 151.
- the diagnosis unit 162 determines whether or not the vibration in the vibration axis direction of the vibrator 102 is normal based on the output of the drive amplitude adjustment unit 152.
- the diagnosis unit 163 determines whether the angular velocity output is normal based on the output of the angular velocity detection unit 153.
- the diagnosis unit 164 determines whether or not the acceleration sensor is operating normally based on the output of the X-axis direction acceleration characteristic correction unit 140.
- the diagnosis unit 165 determines whether or not the acceleration sensor is operating normally based on the output of the Y-axis direction acceleration characteristic correction unit 141.
- the diagnostic voltage control unit 167 forcibly displaces the vibrator 128 in the X-axis direction and the vibrator 129 in the Y-axis direction to diagnose whether the acceleration sensor is operating normally, and the electrodes 131 and 133. Apply voltage to
- the sensor signal output unit 171 determines the operation state of the sensor based on the outputs of the diagnosis units 161 to 165, outputs the signals of the angular velocity sensor and the acceleration sensor when determined as the steady state, and outputs the signals when determined as the unsteady state. A signal pattern corresponding to the operating state is output.
- the communication unit 191 converts the output of the sensor signal output unit 171 into a serial signal output and transmits it to an external device of the physical quantity detection device 1000.
- the microcomputer 180 includes a CPU (Central Processing Unit) 181, a ROM (Read Only Memory) 182, and a RAM (Random Access Memory) 183.
- CPU Central Processing Unit
- ROM Read Only Memory
- RAM Random Access Memory
- the CPU 181 executes an arithmetic function of each functional unit included in the microcomputer 180.
- the ROM 182 holds a program executed by the CPU 181.
- the RAM 183 temporarily holds data necessary for the CPU 181 to execute the program.
- Each functional unit configured on the microcomputer 180 can be configured as a program executed by the CPU 181 or can be configured using hardware such as a circuit device that realizes the function.
- the microcomputer 180 and a function equivalent to each functional unit configured on the microcomputer 180 can be configured using a rewritable logic circuit such as an FPGA (Field Programmable Gate Array).
- the function of the sensor signal output unit 171 will be described with reference to FIG.
- the sensor signal output unit 171 includes a data buffer 201, an operation determination unit 202, and an output control unit 203.
- the data buffer 201 receives the detection result of the angular velocity sensor 101 from the angular velocity characteristic correction unit 139, and receives the detection result of the acceleration sensor in each axis direction from the X-axis direction acceleration characteristic correction unit 140 and the Y-axis direction acceleration characteristic correction unit 141. In addition, diagnosis results for each sensor are received from the diagnosis units 161 to 165.
- the operation determination unit 202 determines the operation state inside the sensor from the diagnosis information held in the data buffer 201.
- the output control unit 203 outputs the processing result to the communication unit 191.
- the angular velocity sensor 101 and the 2-axis acceleration sensor output the detection result as 16-bit data.
- This detection result represents, for example, plus and minus signed values in two's complement. Note that the number of bits may be increased or decreased according to the required accuracy, or the detection result may be expressed in another expression format.
- the diagnosis information indicating the diagnosis result of each diagnosis unit is configured as 8-bit data. Each bit indicates a diagnosis result for the following items by 0 (normal) or 1 (abnormal).
- (Bit b7) Driving frequency of the angular velocity sensor 101 (diagnosis result of the diagnosis unit 161) (Bit b6) Driving amplitude of the angular velocity sensor 101 (diagnosis result of the diagnosis unit 162) (Bit b5) Angular velocity detection function of the angular velocity sensor 101 (diagnosis result of the diagnosis unit 163) (Bit b4) Diagnosis result of ROM 182 (diagnosed by CPU 181) (Bit b3) Diagnosis result of RAM 183 (diagnosed by CPU 181) (Bit b2) Acceleration detection function in X (left and right) axial direction (diagnosis result of diagnosis unit 164) (Bit b1) Acceleration detection function in the Y (front-rear) axis direction (diagnosis result of the diagnosis unit 165) (Bit b0
- FIG. 4 summarizes the operations of the operation determination unit 202 and the output control unit 203 in a list.
- the operation determination unit 202 determines the operation state of FIG. KT), angular velocity low-pass filter settling timer (YT), and acceleration low-pass filter settling timer (GT).
- the output control unit 203 determines an angular velocity output and an acceleration output from the above three timer value states.
- Step S401 The operation flow of the operation determination unit 202 will be described with reference to FIG.
- the operation determination unit 202 is in an initial diagnosis state, is in a state where a reset signal is input, or the activation low-pass filter stabilization timer (KT) is not “0”, and the bit b7 or b6 of the diagnosis flag is If “1” (abnormal) is indicated, it is determined as an activated state, and the process proceeds to step S402. Otherwise, the process proceeds to step S405.
- Step S402 The time TD required for the low-pass filter to reach a stable state is set in the starting low-pass filter stabilization timer (KT).
- Step S403 “0” is set to the angular velocity low-pass filter stabilization timer (YT) for counting the time for the low-pass filter to reach a steady state after the angular velocity diagnosis is OK.
- Step S404 “0” is set to an acceleration low-pass filter settling timer (GT) for counting the time when the low-pass filter reaches a settling state after the acceleration diagnosis becomes OK.
- Step S405 If the angular velocity diagnosis is NG, the process proceeds to step S406; otherwise, the process proceeds to step S407.
- Step S406 A time TD required for the low-pass filter to reach a stable state is set in the angular velocity low-pass filter stabilization timer (YT).
- Step S407 If the acceleration diagnosis is NG, the process proceeds to step S408; otherwise, the process proceeds to step S409.
- Step S408 A time TD required for the low-pass filter to reach a stable state is set in the acceleration low-pass filter stabilization timer.
- Step S409) 1 is subtracted from the value KT of the starting low-pass filter stabilization timer.
- Step S410 If the value of the activation LPF stabilization timer value KT is smaller than 0, the process proceeds to step S411, and if not, the process proceeds to step S412.
- Step S411 The value KT of the start low pass filter settling timer is set to zero.
- Step S412 1 is subtracted from the value YT of the angular velocity low-pass filter settling timer.
- Step S413 If a reset is input from the outside or if the value YT of the angular velocity low-pass filter settling timer is smaller than 0, the process proceeds to step S414, and if not, the process proceeds to step S415.
- Step S414) The value YT of the angular velocity low-pass filter settling timer is set to zero.
- Step S415) 1 is subtracted from the value GT of the acceleration low-pass filter settling timer.
- Step S416 If a reset is input from the outside, or if the acceleration low-pass filter settling timer value GT is smaller than 0, the process proceeds to step S417, and if not, the process ends.
- Step S417) The value of the acceleration low-pass filter settling timer (GT) is set to 0, and the process ends.
- the function of outputting a pattern corresponding to the operation state to the sensor output when the operation state is unsteady is referred to as an output mask function.
- the processing of the output mask function is prohibited (output mask OFF) and the sensor signal is always output.
- output mask function processing is executed (output mask ON).
- Step S501 If the output mask is OFF (the value of the time TD required for the low-pass filter to reach a settling state is 0), or if both the value KT of the start low-pass filter settling timer and the value YT of the angular velocity LPF settling timer are 0, go to Step S502 If not, go to Step 503. (Step S502)
- the sensor output is stored in the angular velocity sensor output buffer.
- a time TD required for the low-pass filter to reach a steady state after activation is set in the activation low-pass filter stabilization timer.
- Step S503 If both the output mask OFF or the starting LPF stabilization timer value KT and the acceleration LPF stabilization timer value GT are 0, the process proceeds to step S504. Otherwise, the process proceeds to step 505.
- Step S504 The sensor output is stored in the acceleration sensor output buffer.
- Step S505 If the output mask is ON (the value of the time TD required for the low-pass filter to reach a static state is not 0) and the diagnosis mode is 1 (initial diagnosis state), the process proceeds to step S506, and if not, the process proceeds to S508. .
- Step S506 The hexadecimal value “7FFF” is stored in the buffer of the angular velocity sensor output.
- Step S507 A hexadecimal fixed value “7FFF” is stored in the buffer of the acceleration sensor output.
- Step S508 If the output mask is ON, the diagnosis mode is 0 (normal operation state), and the value of the startup low-pass filter stabilization timer KT is not 0, the process proceeds to step S509, and if not, the process proceeds to S510.
- Step S509 A hexadecimal fixed value “8001” is stored in the buffer of the angular velocity sensor output.
- Step S510 A hexadecimal fixed value “8001” is stored in the acceleration sensor output buffer.
- Step S511 If the output mask is ON and the value of the startup low-pass filter settling timer KT is 0 and the value of the angular velocity low-pass filter settling timer YT is not 0, the process proceeds to step S512. Otherwise, the process proceeds to S513.
- Step S512 The hexadecimal value “7FFF” is stored in the buffer of the angular velocity sensor output.
- Step S513 If the output mask is ON and the value of the startup low-pass filter stabilization timer KT is not 0 and the value of the acceleration low-pass filter stabilization timer GT is not 0, the process proceeds to step S514. Otherwise, the process is terminated.
- a hexadecimal fixed value “7FFF” is stored in the buffer of the acceleration sensor output.
- the registers 601 to 603 store the output from the output control unit 203.
- the register 604 stores diagnostic information in the data buffer 201.
- the counter 607 has a function of counting up by 1 every time a communication clock is input.
- the parallel / serial converter 605 has a function of converting a total of 64 bits of parallel data output from the registers 601 to 604 into 1 bit of serial data.
- the error code generation unit 606 has a function of generating code data for detecting communication errors due to noise on the communication path between the transmission side and the reception side for the four data to be transmitted.
- the decoder 608 has a function of outputting 1 when the output of the counter 607 is from 64 to 79, and outputting 0 during periods of other values.
- the switch 609 has a function of selecting an input from the error code generation unit 606 when the output of the decoder 608 is 1, and selecting an input from the parallel / serial converter 605 otherwise.
- the output driver 610 is a function that outputs the output of the switch 609 to the outside as transmission data when the communication permission signal is “L”, and sets the output to a high impedance state when the communication permission signal is “H”.
- FIG. 8 shows a function of generating a CRC (Cyclic Redundancy Check) type error detection code as an embodiment of error code generation.
- Adders 701, 702, and 703 have a function of adding two input data.
- the latch circuits 704 to 709 have a function of holding input data at the rising edge of the transfer clock, and in FIG. 8, a part of the latch is omitted, but a bit shift circuit composed of a total of 16 latch circuits L0 to L15. Consists of. This is a mechanism in which four 16-bit parallel data (total of 64 bits) stored in the registers 601 to 604 are sequentially input one bit at a time by a transmission clock, so that an error detection code is output bit by bit.
- CRC Cyclic Redundancy Check
- FIG. 9 shows a communication time chart of this embodiment.
- the transfer clock is input from the external device on the receiving side, the data stored in the registers 601 to 604 is output one bit at a time until the 64th clock, and the above four data are output from the 65th clock to the 80th clock.
- An error detection code for the data is output.
- the fifth error detection code is used to verify whether or not the four data have an error on the communication path. If there is an error, the transfer clock is input again and the data communication is re-executed.
- FIG. 10 shows an example of transmission data output from the communication unit 191 and corresponding to the operation state. However, description of the fifth error code in the five transmission data shown in FIG. 9 is omitted.
- the diagnostic units 161, 162, 163 is “1” (NG) during the period until the sensor shifts to a steady operation state. Is output, the operation determination unit 202 determines that the system is being activated, and the activation diagnosis flag is “1”. As a result, the output control unit 203 outputs “8001” in hexadecimal for all the angular velocity data and the acceleration data in the X and Y directions during the period. As the fourth diagnosis data, both b7 (driving frequency abnormality) and b6 (driving amplitude abnormality) in the diagnosis flag 2011 in FIG.
- the output of the low-pass filter in the angular velocity characteristic correction unit 139, the X-axis direction acceleration characteristic correction unit 140, and the Y-axis J-direction acceleration characteristic correction unit 141 is statically settled.
- the period until the state value is output (period set as TD)
- the angular velocity data and the acceleration data in the X and Y directions all output “7FFF” in hexadecimal.
- the fourth diagnosis data outputs “0000” since the start state is shifted to the steady state. Thereafter, since the output of the low-pass filter outputs a correct value, the angular velocity data and the acceleration data in the X direction and the Y direction all output detected values.
- the initial diagnosis of acceleration is executed until the initial diagnosis start signal “Lo” is input next.
- the operation determination unit 202 determines that the initial diagnosis is being performed, and the initial diagnosis flag is “1”.
- the output control unit 203 outputs sensor output for the angular velocity data during that period and “7FFE” for the acceleration data in the X and Y directions in hexadecimal. Since the b0 (initial diagnosis mode) in the diagnosis flag 2011 in FIG. 3 is “1”, the fourth diagnosis data is output as “0001” in hexadecimal.
- the fourth diagnosis data outputs hexadecimal “0002” because b1 (X acceleration diagnosis abnormality) in the diagnosis flag 2011 in FIG. 3 is “1” (NG). After that, since it is determined that the initial diagnosis result is abnormal, the acceleration data in the X direction and the Y direction output “7FFF”. The fourth diagnosis data also remains “0002”.
- the angular velocity data When the diagnosis result is abnormal in the angular velocity diagnosis When the angular velocity diagnosis becomes “1” (NG) during the normal operation, the angular velocity data outputs “7FFF” in hexadecimal.
- the acceleration data in the X and Y directions is output as acceleration detection values.
- the fourth diagnostic data indicates that b5 (abnormal angular velocity detection) of the diagnostic flag 2011 in FIG. 3 is “1” (NG), and outputs “0020” in hexadecimal.
- b5 (abnormal angular velocity detection) of the diagnostic flag 2011 is “0” (OK)
- the angular velocity data is output as “7FFF” until the angular velocity low-pass filter stabilization time (TD). Thereafter, the angular velocity data is outputted as the angular velocity detection value.
- the sensor detection signal and the failure diagnosis information are output to the output terminal, and the sensor is in the unsteady operation state or When the failure diagnosis result is abnormal, it is possible to output a signal indicating the operation state of the sensor and failure diagnosis information to the output terminal.
- highly accurate sensor output can be provided by transmitting sensor results only in the steady state.
- the external device can increase the reliability of the received sensor signal by adopting the sensor detection result only when the failure diagnosis result output in parallel indicates “normal”.
- Angular velocity sensors 102, 128 and 129 Vibrators 103, 106 to 109 Fixed electrodes 104, 105, 131 to 133 Electrodes 110, 112, 135 and 136 Capacitance detector 122 VCO 123 Clock generation unit 137 Temperature sensor 138 AD converter 139 Angular velocity characteristic correction unit 140 X-axis direction acceleration characteristic correction unit 141 Y-axis direction acceleration characteristic correction units 145 and 146, 148 and 149 AD converter 151 Drive frequency adjustment unit 152 Drive amplitude Adjustment unit 153 Angular velocity detection units 161 to 165 Diagnosis unit 167 Diagnosis voltage control unit 171 Sensor signal output unit 180 Microcomputer 181 CPU 182 ROM 183 RAM 191 Communication unit 201 Data buffer 202 Operation determination unit 203 Output control units 601 to 604 Register 605 Parallel / serial converter 606 Error code generation unit 607 Counter 608 Decoder 609 Switch 610 Output drivers 701 to 703 Adders 704 to 709 Latch circuit
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Abstract
Description
(ビットb7)角速度センサ101の駆動周波数(診断部161の診断結果)
(ビットb6)角速度センサ101の駆動振幅(診断部162の診断結果)
(ビットb5)角速度センサ101の角速度検出機能(診断部163の診断結果)
(ビットb4)ROM182の診断結果(CPU181が診断する)
(ビットb3)RAM183の診断結果(CPU181が診断する)
(ビットb2)X(左右)軸方向の加速度検出機能(診断部164の診断結果)
(ビットb1)Y(前後)軸方向の加速度検出機能(診断部165の診断結果)
(ビットb0)初期診断状態の検出機能(初期診断指示信号の外部入力値)
(ステップS401)
動作判定部202は、初期診断状態にあるか、リセット信号が入力された状態にあるか、または、起動ローパスフィルタ静定タイマ(KT)が“0”ではなく、診断フラグのビットb7またはb6が“1”(異常)を示している場合は起動状態と判定しステップS402へ進み、そうでない場合はステップS405へ進む。
(ステップS402)
ローパスフィルタが安定状態に達するのに要する時間TDを起動ローパスフィルタ静定タイマ(KT)にセットする。
(ステップS403)
角速度診断がOKになった後にローパスフィルタが静定状態に達する時間をカウントするための角速度ローパスフィルタ静定タイマ(YT)に“0”をセットする。
(ステップS404)
加速度診断がOKになった後にローパスフィルタが静定状態に達する時間をカウントするための加速度ローパスフィルタ静定タイマ(GT)に“0”をセットする。
(ステップS405)
角速度診断がNGの場合はステップS406へ進み、そうでない場合はステップS407へ進む。
(ステップS406)
角速度ローパスフィルタ静定タイマ(YT)にローパスフィルタが安定状態に達するのに要する時間TDをセットする。
(ステップS407)
加速度診断がNGの場合はステップS408へ進み、そうでない場合はステップS409へ進む。
(ステップS408)
加速度ローパスフィルタ静定タイマにローパスフィルタが安定状態に達するのに要する時間TDをセットする。
(ステップS409)
起動ローパスフィルタ静定タイマの値KTから1を減算する。
(ステップS410)
起動LPF静定タイマの値KTの値が0より小さい場合はステップS411へ進み、そうでない場合はステップS412へ進む。
(ステップS411)
起動ローパスフィルタ静定タイマの値KTを0にする。
(ステップS412)
角速度ローパスフィルタ静定タイマの値YTから1を減算する。
(ステップS413)
外部よりリセットが入力された状態か、または角速度ローパスフィルタ静定タイマの値YTが0より小さい場合はステップS414へ進み、そうでない場合はステップS415へ進む。
(ステップS414)
角速度ローパスフィルタ静定タイマの値YTを0にする。
(ステップS415)
加速度ローパスフィルタ静定タイマの値GTから1を減算する。
(ステップS416)
外部よりリセットが入力された状態か、または加速度ローパスフィルタ静定タイマの値GTが0より小さい場合はステップS417へ進み、そうでない場合は処理終了となる。
(ステップS417)
加速度ローパスフィルタ静定タイマ(GT)の値を0にして、処理終了となる。
(ステップS501)
出力マスクOFF(ローパスフィルタが静定状態に達するのに要する時間TDの値が0)または起動ローパスフィルタ静定タイマの値KTと角速度LPF静定タイマの値YTがともに0の場合はステップS502へ進み、そうでない場合はステップ503へ進む。
(ステップS502)
角速度センサ出力のバッファにセンサ出力を格納する。
(ステップS503)
出力マスクOFFまたは起動時LPF静定タイマの値KTと加速度LPF静定タイマの値GTがともに0の場合はステップS504へ進み、そうでない場合はステップ505へ進む。
(ステップS504)
加速度センサ出力のバッファにセンサ出力を格納する。
(ステップS505)
出力マスクON(ローパスフィルタが静定状態に達するのに要する時間TDの値が0ではない)、かつ診断モードが1(初期診断状態)の場合はステップS506へ進み、そうでない場合はS508へ進む。
(ステップS506)
角速度センサ出力のバッファに16進数の固定値“7FFF”を格納する。
(ステップS507)
加速度センサ出力のバッファに16進数の固定値“7FFF”を格納する。
(ステップS508)
出力マスクON、かつ診断モードが0(通常動作状態)かつ起動ローパスフィルタ静定タイマKTの値が0でない場合はステップS509へ進み、そうでない場合はS510へ進む。
(ステップS509)
角速度センサ出力のバッファに16進数の固定値“8001”を格納する。
(ステップS510)
加速度センサ出力のバッファに16進数の固定値“8001”を格納する。
(図6:ステップS511)
出力マスクON、かつ起動時ローパスフィルタ静定タイマKTの値が0かつ角速度ローパスフィルタ静定タイマYTの値が0でない場合はステップS512へ進み、そうでない場合はS513へ進む。
(図6:ステップS512)
角速度センサ出力のバッファに16進数の固定値“7FFF”を格納する。
(図6:ステップS513)
出力マスクON、かつ起動ローパスフィルタ静定タイマKTの値が0ではなく、かつ加速度ローパスフィルタ静定タイマGTの値が0でない場合はステップS514へ進み、そうでない場合は処理を終了する。
(図6:ステップS514)
加速度センサ出力のバッファに16進数の固定値“7FFF”を格納する。
外部からリセット信号が入力されると、センサが定常動作状態に移行するまでの期間、診断部161、162、163のうち、少なくとも1つの出力が“1”(NG)を出力する場合、動作判定部202にて起動中と判定し起動診断フラグは“1”となる。その結果、出力制御部203は、その期間角速度データとX方向、Y方向の加速度データを全て16進数で“8001”を出力する。4番目の診断データは図3の診断フラグ2011中のb7(駆動周波数異常)およびb6(駆動振幅異常)が共に“1”であるため16進数の“000C”を出力する。つぎに、起動状態から通常動作状態に移行した後は、角速度特性補正部139、X軸方向加速度特性補正部140、Y軸J方向加速度特性補正部141の中にあるローパスフィルタの出力が静定状態の値を出力するまでの期間(TDとして設定した期間)角速度データとX方向とY方向の加速度データは全て16進数で“7FFF”を出力する。また、4番目の診断データは、起動状態から定常状態に移行したため“0000”を出力する。その後は、ローパスフィルタの出力が正しい値を出力するので、角速度データとX方向とY方向の加速度データは全て検出した値を出力する。
外部から初期診断開始信号が入力されると、次に初期診断開始信号“Lo”が入力されるまで加速度の初期診断が実行される。その期間、動作判定部202にて初期診断中と判定し初期診断フラグは“1”となる。その結果、出力制御部203は、その期間角速度データはセンサ出力を、X方向とY方向の加速度データは16進数で“7FFE”を出力する。4番目の診断データは図3の診断フラグ2011中のb0(初期診断モード)が“1”であるため16進数の“0001”を出力する。つぎに、初期診断状態から通常動作状態に移行した後は、X軸方向加速度特性補正部140、Y軸方向加速度特性補正部141の中にあるローパスフィルタの出力が正しい値を出力するまでの期間(TDとして設定した期間)X方向とY方向の加速度データは16進数で“8001”を出力する。その後は、ローパスフィルタの出力が正しい値を出力するので、X方向とY方向の加速度データは加速度を検出した値を出力する。
初期診断指示の入力からローパスフィルタの出力が正しい値を出力するまでの期間(TDとして設定した期間)の出力は(2)の場合と同じであるが、4番目の診断データは図3の診断フラグ2011中のb1(X加速度診断異常)が“1”(NG)であるため16進数の“0002”を出力する。その後は初期診断結果が異常と判定されているため、X方向とY方向の加速度データは“7FFF”を出力する。4番目の診断データも“0002”のままである。
通常動作中に角速度診断が“1”(NG)となった場合、角速度データは16進数で“7FFF”を出力する。X方向およびY方向の加速度データは加速度検出値を出力する。4番目の診断データは図3の診断フラグ2011のb5(角速度検出異常)が“1”(NG)であること示しており16進数で“0020”を出力する。つぎに、診断フラグ2011のb5(角速度検出異常)が“0”(OK)になると、角速度ローパスフィルタの静定時間(TD)までの間は角速度データは“7FFF”を出力する。その後は、角速度データは角速度検出値を出力する。
102、128および129 振動子
103、106~109 固定電極
104、105、131~133 電極
110、112、135および136 容量検出器
122 VCO
123 クロック生成部
137 温度センサ
138 AD変換器
139 角速度特性補正部
140 X軸方向加速度特性補正部
141 Y軸方向加速度特性補正部
145および146、148および149 AD変換器
151 駆動周波数調整部
152 駆動振幅調整部
153 角速度検出部
161~165 診断部
167 診断電圧制御部
171 センサ信号出力部
180 マイコン
181 CPU
182 ROM
183 RAM
191 通信部
201 データバッファ
202 動作判定部
203 出力制御部
601~604 レジスタ
605 パラレル・シリアル変換器
606 誤り符号生成部
607 カウンタ
608 デコーダ
609 スイッチ
610 出力ドライバ
701~703 加算器
704~709 ラッチ回路
Claims (6)
- 物理量を検出するセンサと、
前記センサの稼動状態を診断する診断部と、
前記センサの検出結果および前記診断部の診断結果を送信する通信部と、を備え、
前記通信部は、
前記センサが正常に稼動していると判断した場合は前記センサの検出結果を選択し、
前記センサが正常に稼動していないと判断した場合は前記センサの動作状態を示す信号を選択して出力することを特徴とするセンサ信号出力装置。 - 前記通信部は、
前記センサの検出結果、または、前記センサの動作状態の出力とともに前記診断部の診断結果を出力することを特徴とする請求項1記載のセンサ信号出力装置。 - 前記センサの動作状態は、起動状態、初期診断状態、故障状態、出力フィルタ非静定状態のいずれかを含むことを特徴とする請求項1記載のセンサ信号出力装置。
- 前記センサは、角速度または加速度を検出するセンサであることを特徴とする請求項1記載のセンサ信号出力装置。
- 前記センサの動作状態を示す信号は、定常動作時に出力するセンサ信号の範囲外の値であることを特徴とする請求項1記載のセンサ信号出力装置。
- 前記通信部は、一本の信号出力端子で構成されたことを特徴とする請求項1記載のセンサ信号出力装置。
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US9791488B2 (en) * | 2013-03-15 | 2017-10-17 | Taiwan Semiconductor Manufacturing Company, Ltd. | Sensor and method of sensing a value of a parameter |
DE102017101545A1 (de) | 2017-01-26 | 2018-07-26 | Infineon Technologies Ag | Sensorsteuereinheit, Sensorsignalempfänger, ein Modul mit inkrementellem, magnetischem Geschwindigkeitssensor, ein Verfahren für eine Sensorsteuereinheit, ein Verfahren für einen Sensorsignalempfänger und Computerprogramm |
DE102017103724B4 (de) * | 2017-02-23 | 2019-11-28 | Infineon Technologies Ag | Vorrichtung und Verfahren zum Steuern eines Sensorbauelements eines Sicherheitssystems eines Objekts, Steuerungssystem für ein Automobilfahrzeug und Sensorbauelement für ein Sicherheitssystem eines Automobilfahrzeugs |
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