WO2017115922A1 - Capteur de couple pour dispositif de direction - Google Patents

Capteur de couple pour dispositif de direction Download PDF

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Publication number
WO2017115922A1
WO2017115922A1 PCT/KR2016/002781 KR2016002781W WO2017115922A1 WO 2017115922 A1 WO2017115922 A1 WO 2017115922A1 KR 2016002781 W KR2016002781 W KR 2016002781W WO 2017115922 A1 WO2017115922 A1 WO 2017115922A1
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WIPO (PCT)
Prior art keywords
magnetic
magnetic body
magnet
torque sensor
magnetic force
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PCT/KR2016/002781
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English (en)
Korean (ko)
Inventor
전창남
권순효
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엘에스오토모티브 주식회사
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Publication of WO2017115922A1 publication Critical patent/WO2017115922A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B62D6/08—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to driver input torque
    • B62D6/10—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to driver input torque characterised by means for sensing or determining torque
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L3/00—Measuring torque, work, mechanical power, or mechanical efficiency, in general
    • G01L3/02—Rotary-transmission dynamometers
    • G01L3/04—Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft
    • G01L3/10—Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft involving electric or magnetic means for indicating

Definitions

  • the present invention relates to a torque sensor for a steering device, and more particularly, to a steering device for improving steering power by allowing an output shaft connected to a wheel to be rotated in the same manner as the input shaft when the input shaft is rotated by the steering wheel.
  • a non-contact torque sensor is used to improve steering power by allowing an output shaft connected to a wheel to be rotated in the same manner as the input shaft when the input shaft is rotated by the steering wheel.
  • the wheels in contact with the road surface also rotate.
  • the wheels rotate in the same direction.
  • a problem may occur in that the rotation amounts of the steering wheel and the wheel are different from each other by the friction force generated between the road surface.
  • a torque sensor for measuring and compensating for the rotation angle deviation of the steering wheel and the wheel.
  • Torque sensor measures the angle of rotation of the steering wheel and the wheel, and additionally rotates the wheel by using separate power means by the measured deviation so that the vehicle can safely and accurately steer in the direction that the vehicle intends to steer. Is raising.
  • Torque sensors are largely divided into a contact method and a non-contact method, and the contact method has recently been adopted a non-contact torque sensor due to noise and deterioration of durability.
  • the non-contact torque sensor is largely divided into magnetoresistance detection, magnetostriction detection, capacitive detection and optical detection.
  • a steering wheel operated by a driver is coupled to an upper end of an input shaft, and a lower end of the input shaft is connected to an upper end of an output shaft by a torsion bar. Connected.
  • the lower end of the output shaft is connected to a wheel, and the outer end of the input shaft including the torsion bar and the upper end of the output shaft are protected by a housing. Inside this housing, the aforementioned torque sensor and power means are provided.
  • Korean Patent Publication No. 10-2007-0043000 may be exemplified.
  • these conventional torque sensors are large in number and complicated in component parts, and have a high loss in the process of inducing magnetic force.
  • Patent Document Korea Patent Publication No. 10-2007-0043000 (2007.04.24)
  • An object of the present invention is to provide a non-contact torque sensor for a steering apparatus which has a small number of components and minimizes magnetic force loss in the process of inducing magnetic force.
  • the steering torque sensor for the steering device, the N pole and the S pole are arranged in a circle alternately and not open with the open area facing the magnet installed at one end of the torsion bar.
  • a first magnetic body having regions alternately arranged along a circumference of the circular connecting member and connected to the other end of the torsion bar;
  • a circular second magnetic body disposed opposite the magnet along the outer circumference of the magnet with the first magnetic body interposed therebetween;
  • a third magnetic body disposed to face the first magnetic body without facing the magnet;
  • a magnetic sensing member disposed between the second magnetic body and the third magnetic body.
  • the second magnetic body may include: a magnetic induction surface having a circular shape facing the magnet with the open area and the non-open area interposed therebetween; And a magnetic concentrator extending outwardly from the magnetic induction surface.
  • the third magnetic body may include: a magnetic induction surface facing an area of the connecting member of the first magnetic body; And a magnetic concentrator extending outward from the magnetic induction surface of the third magnetic body.
  • the magnetic sensing member may be installed in a gap between the magnetic concentrator of the second magnetic body and the magnetic concentrator of the third magnetic body.
  • connection member of the first magnetic body and the magnetic induction surface of the third magnetic body may face in the longitudinal direction of the axis.
  • the magnetic induction surface of the third magnetic body may have a circular shape.
  • Torque sensor for steering apparatus for achieving the above object, the north pole and the south pole alternately arranged in an open area to generate and absorb a magnetic force line, the open area facing the magnet connected to one end of the torsion bar
  • a first magnetic body having an unopened region, passing a magnetic force line through the open region, inducing a magnetic force line through the unopened region, and connected to the other end of the torsion bar
  • a second magnetic body having a circular shape inducing a magnetic force line passing through the open area and transferring the magnetic force line to the open area or the unopened area
  • a third magnetic body transferring a magnetic force line induced and transmitted from the second magnetic body to the first magnetic body, and transferring a magnetic force line induced and transmitted from the first magnetic body to the second magnetic body
  • a magnetic sensing member disposed between the second magnetic body and the third magnetic body to sense a change in the line of magnetic force.
  • the torque sensor may include: a first closed loop returning to the magnet after the magnetic force line generated in the magnet is induced to the unopened region when there is no torsion of the torsion bar; And a second closed loop in which the magnetic force line generated in the magnet passes through the open region to be guided to the second magnetic material and then passes through the open region to return to the magnet.
  • the torque sensor may include: a first closed loop returning to the magnet after the magnetic force line generated in the magnet is induced to the unopened area when the torsion bar has a positive value; A second closed loop in which the magnetic force lines generated in the magnet pass through the open region and are guided to the second magnetic body and then pass through the unopened region to return to the magnet; And a third closed loop in which the magnetic force lines generated in the magnet pass through the open region and are sequentially guided to the second magnetic body, the third magnetic body, and the unopened region, and then transferred to the magnet.
  • the torque sensor may include: a first closed loop returning to the magnet after the magnetic force line generated in the magnet is induced to the unopened area when the torsion bar has a negative value; A second closed loop in which the magnetic force lines generated in the magnet are sequentially guided to the unopened region and the second magnetic body and then return to the magnet through the unopened region; And a third closed loop in which the magnetic force lines generated in the magnet are sequentially guided to the unopened region, the third magnetic body and the second magnetic body and then passed through the open region to the magnet.
  • the first magnetic body and the second magnetic body may face the magnet with the area, and the third magnetic body may face the first magnetic body without facing the magnet.
  • the third magnetic body may have a circular shape.
  • the present invention has a simple magnetic circuit configuration and has a small number of overall component parts. As a result, the amount of magnetic material used is less than that in the prior art.
  • the present invention compared with the prior art, the number of pores (magnetic resistance) to reduce the flow of magnetic field lines and magnetic flux density, the number of the variable magnetic resistance member is also small, the loss in the induction process of the magnetic force generated in the magnet It is possible to reduce the magnetic induction efficiency.
  • FIG. 1 is an exploded perspective view of a torque sensor according to an embodiment of the present invention.
  • FIG. 2 is a combined perspective view of the torque sensor of FIG. 1.
  • FIG. 3 is a cross-sectional view taken along line AA ′ of FIG. 2.
  • FIG. 4 is a partial plan view showing the direction of the magnetic force line of the torque sensor according to an embodiment of the present invention.
  • FIG. 5 is a partial plan view showing the direction of the magnetic force line of the torque sensor according to another embodiment of the present invention.
  • FIG. 6 is an overall perspective view of FIG. 5.
  • FIG. 7 is a partial plan view showing the direction of the magnetic force line of the torque sensor according to another embodiment of the present invention.
  • FIG. 8 is an overall perspective view of FIG. 7.
  • FIG. 9 is a circuit diagram illustrating a magnetic equivalent circuit of the torque sensor illustrated in FIGS. 1 and 2.
  • 10 to 12 are diagrams illustrating the closed loop according to the torsion angle of the torque sensor in the magnetic equivalent circuit of FIG. 9.
  • 13 to 15 are diagrams showing a magnetic equivalent circuit and a closed loop of the prior art.
  • 16 and 17 are views illustrating a torque sensor according to a rotation angle when an input shaft and an output shaft rotate without a torsion according to an embodiment of the present invention.
  • FIG. 18 illustrates magnetic force lines and magnetic force lines when the magnets in the circumferential form according to the exemplary embodiment of the present invention are expressed in the form of a straight line.
  • FIG. 19 is a diagram illustrating a circumferential magnet and a first magnetic body of a torque sensor in a straight form when there is no rotation and torsion according to an embodiment of the present invention.
  • FIG. 20 is a diagram illustrating a columnar magnet, a first magnetic body, and a second magnetic body in a straight form when there is no rotation and torsion according to an embodiment of the present invention.
  • FIG. 21 is a view illustrating a circumferential magnet of a torque sensor, a first magnetic body, and a second magnetic body in a straight form when there is no torsion according to an embodiment of the present invention.
  • FIG. 22 is a diagram illustrating a ripple error of a torque sensor according to a rotation angle according to an embodiment of the present invention.
  • FIG. 23 is an exploded perspective view of a torque sensor according to another embodiment of the present invention.
  • FIG. 24 is a perspective view of the combination of FIG.
  • 25 is an exploded perspective view of a torque sensor according to another embodiment of the present invention.
  • FIG. 26 is a combined perspective view of FIG. 25.
  • FIG. 1 is an exploded perspective view of a torque sensor according to an exemplary embodiment of the present invention
  • FIG. 2 is a combined perspective view of the torque sensor of FIG. 1.
  • the torque sensor according to the present embodiment includes a magnet 10, a first magnetic body 20, a second magnetic body 30, a third magnetic body 40, and a magnetic sensing member 50. It includes.
  • the magnet 10 is arranged in a circular shape. As shown in FIGS. 1 and 2, the magnet 10 is a permanent magnet having alternating N poles and S poles having different magnetic poles from side to side, and not one column but two columns. In the magnet 10, the sum of the N pole and the S pole is an even number. For example, if there are eight N poles, there are eight S poles.
  • the magnet 10 is connected to the input shaft connected to the steering wheel of the vehicle, the magnet 10 can also rotate with the input shaft when the steering wheel, but is not limited thereto, the magnet 10 is connected to the wheel Connected to the output shaft, it can rotate with the output shaft when the wheel is rotated.
  • the first magnetic body 20 has an open area 23 and an unopened area 21 facing the magnet 10 along the outer circumferential surface of the magnet 10, and open with the open area 23. Ring-shaped connecting member 22 for connecting the non-region 21.
  • the open area 23 and the unopened area 21 are arranged to face the magnet 10 along the connecting member 22 at predetermined angular intervals about the magnet 10.
  • the first magnetic body 20 has a crown structure in which a plurality of teeth protruded in the longitudinal direction of the shaft from the magnet 10 at a predetermined angular interval along the circumference of the connecting member 22.
  • the first magnetic body 20 is connected to the output shaft connected to the wheel of the vehicle, the first magnetic body 20 can also rotate with the output shaft when the wheel is rotated, but is not limited thereto, the first magnetic body 20 ) Is connected to an input shaft connected to the steering wheel of the vehicle, and can rotate together with the input shaft when the steering wheel is rotated.
  • the first magnetic body 20 When the magnet 10 is connected to the input shaft, the first magnetic body 20 is connected to the output shaft, or when the magnet 10 is connected to the output shaft, the first magnetic body 20 is connected to the input shaft. At this time, the input shaft and the output shaft are connected to the torsion bar. Therefore, the magnet 10 and the first magnetic body 20 are installed on opposite sides of the torsion bar. When the rotation angles of the input shaft and the output shaft are different, the torsion bar is distorted, and thus the position change of the magnet 10 and the first magnetic body 20 occurs.
  • the non-opened area 21 of the first magnetic body 20, that is, the teeth, is a magnetic induction area that induces a line of magnetic force generated from the magnet 10 or returned to the magnet 10. 10) has half the number of poles. For example, if the magnet 10 has sixteen poles, that is, eight pole pairs, the magnetic induction region is composed of eight.
  • the connecting member 22 of the first magnetic body 20 transmits a magnetic force line generated from the magnet 10 to the non-opened area 21, that is, a tooth induced in the teeth, to a neighboring tooth, or a third part to be described later. Transfer to the magnetic body (40).
  • the connection member 22 of the first magnetic body 20 transmits a line of magnetic force transmitted from the third magnetic body 40 to the teeth 21.
  • the connecting member 22 of the first magnetic body 20 has a predetermined air gap in order to transmit a line of magnetic force to the third magnetic body 40 or to receive a line of magnetic force from the third magnetic body 40.
  • the surface of the third magnetic body 40 is spaced apart from each other.
  • the connecting member 22 has a surface substantially perpendicular to the open area 23 and the unopened area 21. That is, the connecting member 22 has an area in the radial direction of the axis, and as described later, the third magnetic body 40 faces the connecting member 22 in the longitudinal direction of the axis.
  • the second magnetic body 30 is spaced apart from the magnet 10 by a predetermined distance along the outer circumferential surface of the magnet 10 with the first magnetic body 20 interposed therebetween to face the outer circumferential surface of the magnet 10. It is a magnetic induction member arranged. As shown in FIGS. 1 and 2, the second magnetic body 30 has a segment of a circle shape and faces an outer circumferential surface of the magnet 10 with a constant air gap with the first magnetic body 20. ) And a magnetic concentrating portion 32 extending in an opposite direction to the direction toward the magnet 10 from the magnetic induction surface 31 and the magnetic induction surface 31 spaced apart from each other.
  • the magnetic induction surface 31 of the second magnetic body 30 induces a line of magnetic force generated by the magnet 10 and exits through the open region 23 of the first magnetic body 20 to again open the open region ( 23) or to the teeth 21 of the first magnetic body 20 or to transfer some magnetic force lines to the magnetic concentrator 32.
  • the magnetic induction surface 31 of the second magnetic body 30 transmits a magnetic force line transmitted from the magnetic concentrator 32 to the magnet 10 through the open region 23 or the first magnetic body. 20 to the teeth 21 to pass.
  • the magnetic concentrator 32 concentrates a magnetic force line induced by the magnetic induction surface 31 of the second magnetic body 30 and transfers the magnetic force lines to the third magnetic body 40 or is transferred from the third magnetic body 40.
  • the magnetic field lines are transferred to the magnetic induction surface 31.
  • the third magnetic body 40 is a magnetic induction member spaced apart from the first magnetic body 20 by a predetermined distance without facing the magnet 10 and disposed to face the first magnetic body 20. That is, the third magnetic body does not face the magnet 10 by being present at a position outside the vertical width of the magnet 10. As shown in FIGS. 1 and 2, the third magnetic body 40 has an arc shape and faces the connecting member 22 of the first magnetic body 20 while being spaced apart from each other at a predetermined air gap. And a magnetic concentrator 42 extending in a direction opposite to the direction toward the magnet 10 from the surface 41 and the magnetic induction surface 41.
  • the magnetic induction surface 41 of the third magnetic body 40 induces a line of magnetic force generated by the magnet 10 to exit from the first magnetic body 20 or to enter the first magnetic body 20.
  • the magnetic concentrator 42 of the third magnetic body 40 concentrates a line of magnetic force induced from the first magnetic body 20 on the magnetic induction surface 41 of the third magnetic body 40 and the second magnetic body ( 30 is transmitted to the magnetic concentrator 32 or the magnetic force line is received from the magnetic concentrator 32 of the second magnetic body 30 and transferred to the magnetic induction surface 41 of the third magnetic body 40.
  • the magnetic concentrator 42 of the third magnetic body 40 and the magnetic concentrator 32 of the second magnetic body 30 are spaced apart from each other with a predetermined air gap to face each other.
  • the magnetic induction surface 41 of the third magnetic body 40 is located below the connecting member 22 of the first magnetic body 20, that is, in the direction of the output shaft, so that the connecting member of the first magnetic body 20 is located.
  • the magnetic induction surface 41 of the third magnetic body 40 is the upper portion of the connection member 22 of the first magnetic body 20, that is, the input shaft. It may be located in the direction and the area facing the connecting member 22 of the first magnetic body 20.
  • the non-facing means not facing the longitudinal direction and the radial direction of the axis, and the magnetic induction surface 41 of the third magnetic body 40 is located outside the upper and lower widths of the magnet 10.
  • the magnetic sensing member 50 is provided in a gap formed between the magnetic concentrator 32 of the second magnetic body 30 and the magnetic concentrator 42 of the third magnetic body 40.
  • the magnetic sensing member 50 detects a change in the magnitude and direction of the magnetic force line formed between the two magnetic concentrators 32 and 42.
  • a hall sensor for example, a hall sensor, an AMR sensor or a GMR sensor can be used.
  • FIG. 3 is a cross-sectional view taken along line AA ′ of FIG. 2.
  • the teeth 10 of the magnet 10 and the first magnetic body 20 face each other with a predetermined gap 110 therebetween.
  • the magnetic induction surface 31 of the second magnetic body 30 faces the magnet 10 with the first magnetic body 20 interposed therebetween.
  • the magnetic induction surface 31 of the second magnetic body 30 faces the teeth 21 of the first magnetic body 20 with a predetermined gap 120.
  • the magnetic induction surface 41 of the third magnetic body 40 faces the space between the connecting member 22 of the first magnetic body 20 with a predetermined gap 140.
  • the magnetic concentrator 32 of the second magnetic body 30 and the magnetic concentrator 42 of the third magnetic body 40 face each other with a predetermined gap 100 therebetween.
  • the pores 100, 110, 120, and 140 serve as a medium having a relatively high magnetic resistance
  • Such a relative position change causes a change in the area of the first magnetic body 20 that is not opened, that is, the teeth of the magnet 10 opposite to the N pole and the S pole, and also the first magnetic body (
  • the open area 23 of 20 produces a change in the area of the magnet 10 opposite to the N pole and the S pole. Accordingly, the magnetic force intensity and the direction of the magnetic force line are changed between the magnetic concentrators 32 and 42, and the magnetic sensing member 50 detects this.
  • the operation of the torque sensor of the present embodiment according to the twist angle will be described below.
  • FIG. 4 is a partial plan view showing the direction of the magnetic force line of the torque sensor according to an embodiment of the present invention, showing the direction of the magnetic force line when the twist angle is 0 degrees.
  • the ratio of the opposing areas between the teeth 21 of the first magnetic body 20 and the N poles and the S poles of the magnet 10 is 50 to 50. Therefore, the magnetic force lines generated at the north pole of the magnet form a closed loop (hereinafter referred to as # 1 closed loop). That is, the magnetic force lines from the N pole are guided to the teeth 21 of the first magnetic body 20 and then enter the S pole again.
  • the ratio of the area of the magnetic induction surface 31 of the second magnetic body 30 and the N pole and the S pole of the magnet 10 that face each other through the open region 23 of the first magnetic body 20 is also 50 to 50. to be.
  • the line of magnetic force generated at the N pole of the magnet 10 and exited into the open region 23 of the first magnetic body 20 forms a closed loop (hereinafter referred to as # 2 closed loop). That is, the magnetic force lines generated in the N pole and exited through the open region 23 are guided to the magnetic induction surface 31 of the second magnetic material 30 and then return to the S pole through the open region 23 again.
  • an N pole magnetic field may be induced in the magnetic concentrator 32 of the second magnetic body 30 and the magnetic concentrator 42 of the third magnetic body 40, but is induced in each of the magnetic concentrators 32 and 42. Since the induction ratio of the N-pole magnetic field is 5 to 5, the magnetic force lines do not flow to the space 100 provided with the magnetic sensing member 50. Therefore, the magnetic flux density in the magnetic sensing member 50 may be referred to as zero gasuss.
  • the magnetic force lines generated in the magnet 10 may all move through the first closed loop and the second closed loop.
  • the ratio of the lines of magnetic force flowing through the closed loop 1 and the closed loop 2 that is, the magnetic flux density is the distance between the air gap 110 between the magnet 10 and the teeth 21 of the first magnetic body 20 and the teeth ( 21 and the magnetic permeability characteristics of the first magnetic body 20 and the magnetic material (Magnetic material) of the second magnetic material 30, the distance between the gap 120 between the magnetic induction surface 31 of the second magnetic material 30 It does not have to be mentioned separately because it depends on.
  • the magnetic concentrators 32 and 42 on which the magnetic sensing members 50 described above are installed can be explained in the same way.
  • FIG. 5 is a partial plan view illustrating a direction of a magnetic force line of a torque sensor according to another exemplary embodiment of the present invention
  • FIG. 6 is an overall perspective view of FIG. 5 and illustrates a direction of the magnetic force line when the twist angle is + max.
  • the area ratio of the teeth 21 of the first magnetic body 20 to the N pole and the S pole of the magnet 10 is 0 to 100. . Therefore, a part of the magnetic force lines generated at the north pole of the magnet 10 is guided to the teeth 21 of the first magnetic body 20 adjacent to the north pole as shown in 1 and then closed to return to the south pole of the magnet 10 ( Hereinafter, No. 1 closed loop) is formed.
  • the area ratio of the magnetic induction surface 31 of the second magnetic body 30 to the N pole and the S pole of the magnet 10 is also 100 to 0 through the open region 23 of the first magnetic body 20. to be.
  • closed loop 2 A closed loop (hereinafter referred to as closed loop 2) is formed to return to the S pole of the magnet 10 through 21.
  • the N pole magnetic field is induced in the magnetic concentrator 32 of the second magnetic body 30, and the S pole magnetic field is induced in the magnetic concentrator 42 of the third magnetic body 40. Therefore, part of the magnetic force line generated at the north pole of the magnet 10 is closed loop such as e. 3 which is led to the magnetic concentrator 42 of the third magnetic body 40 via the magnetic concentrator 32 of the second magnetic body 30.
  • closed loop 3 (Hereinafter, closed loop 3) is formed.
  • the magnetic force lines formed by the third closed loop pass through the magnetic sensing member 50 provided between the magnetic concentrators 32 and 42, and thus the magnetic sensing member 50 can detect the magnetic flux density generated by the magnetic force lines. have.
  • the magnetic force lines generated from the magnet 10 may all move through the closed loops 1, 2, and 3.
  • the ratio of the lines of magnetic force flowing through the closed loops 1, 2, and 3, that is, the magnetic flux density is the distance of the air gap 110 between the magnet 10 and the teeth 21 of the first magnetic body 20 and the teeth.
  • the distance of the gap 120 between the magnetic induction surface 31 of the second magnetic body 30 and the connecting member of the magnetic induction surface 41 of the third magnetic body 40 and the first magnetic body 20 22, the distance between the gaps 140, the distance between the gaps 100 between the magnetic concentrators 32 and 42, and the distance between the first magnetic body 20, the second magnetic body 30, and the third magnetic body 40. It is not mentioned separately because it depends on the magnetic permeability characteristics of the magnetic material.
  • the magnets provided with the magnetic sensing member 50 described above are installed.
  • the magnetic properties induced between the concentrators 32 and 42 can be described in the same way.
  • the relative twist angle between the magnet 10 and the first magnetic body 20 is 0 degrees. 5 and 6, the relative twist angle between the magnet 10 and the first magnetic body 20 is + max.
  • the torsion angle of the magnet 10 and the first magnetic body 20 gradually increases from 0 degree to + maximum, the magnetic flux induced to the air gap 100 in which the magnetic sensing member 50 is installed through the closed loop 3 described above. Density also increases gradually.
  • the magnetic sensing member 50 may detect the linear change in the magnetic flux density to determine the degree of twist of the torsion bar installed between the input shaft connected to the handle and the output shaft connected to the wheel.
  • FIG. 7 is a partial plan view showing the direction of the magnetic force line of the torque sensor according to another embodiment of the present invention
  • Figure 8 is an overall perspective view of Figure 7, showing the direction of the magnetic force line when the torsion angle is -Max (Max).
  • the closed loop when the torsion angle shown in FIGS. 7 and 8 is -maximum is only the opposite of the direction of the magnetic field lines, compared to the closed loop when the torsion angle described with reference to FIGS. 5 and 6 is + max. .
  • the moving path of the magnetic force line of the closed loop 3 is N-pole of the magnet 10-> magnetic induction surface 31 of the second magnetic body 30-> second magnetic body 30
  • the movement path of the magnetic force line of the closed loop 3 is the N pole of the magnet 10-> the teeth 21 of the first magnetic body 20-> of the first magnetic body 20
  • the magnetic sensing member 50 may detect the linear change in the magnetic flux density to determine the degree of twist of the torsion bar installed between the input shaft connected to the handle and the output shaft connected to the wheel.
  • (+) and (-) when the torsion angle is + max and-max are relative. That is, when one direction of torsion is set to the (+) direction, the opposite torsion is a (-) direction.
  • FIG. 9 is a circuit diagram illustrating a magnetic equivalent circuit of the torque sensor illustrated in FIGS. 1 and 2.
  • the same reference numerals as used in FIGS. 1 and 2 correspond to the components of FIGS. 1 and 2.
  • the magnetic flux always forms a closed loop.
  • the path through which the closed loop is formed is determined by the reluctance of the surrounding medium. That is, the magnetic flux is concentrated toward the smaller magnetic resistance. Therefore, the magnetic flux is concentrated in the direction of the lower magnetic resistance such as soft magnetic material rather than a medium having a large magnetic resistance such as air or vacuum to form a closed loop.
  • Magnetic resistance is a physical quantity similar to electrical resistance with respect to magnetic force, the ability of magnetic circuit elements to store magnetic potential energy, and exists in air or vacuum as well as magnetic materials. Therefore, as shown in FIG. 9, the voids 100, 110, 120, 140 in the torque sensor of the embodiment of the present invention may be denoted as magnetoresistance in a magnetic equivalent circuit.
  • the formula for Reluctance (R) derived from Hopkins' law is as follows, which is proportional to the length of the magnetic circuit (l) and inversely proportional to the permeability ( ⁇ ) and the cross-sectional area (A).
  • ⁇ 0 is the permeability of the vacuum and ⁇ R is the specific permeability of the magnetic material.
  • the first, second, and third magnetic bodies 20, 30, and 40 using the magnetic material should also be marked as magnetoresistive components on the magnetic equivalent circuit of FIG. 9, but the relative permeability of the magnetic material is higher than that of air / vacuum. Because of their relative size, the magnetic resistance value of the magnetic material becomes very small. For example, if the relative magnetic permeability of vacuum / air is 1, the magnetic permeability of the magnetic material, iron / silicon steel / permalloy, is 5000/7000 / 10,000 to 100,0000, respectively. This is the same as the reason in which a small resistance exists in a wire in a magnetic equivalent circuit, but a solid line is used instead of a resistance component.
  • the teeth 21 and the open area 23 of the first magnetic body 20 are denoted by variable resistors. This is because when the torsional change occurs in the torque sensor, a change in the ratio of the opposing areas of the teeth 21 and the open area 23 of the first magnetic body 20 and the N pole and the S pole of the magnet 10 occurs, and thus the magnetoresistance value. This is because the change and also the change of the magnetic flux movement path.
  • the second magnetic body 30 and the third magnetic body 40 also changes the magnetic flux when the torsional change occurs in the torque sensor (that is, the magnetic flux movement to the magnetic concentrators 32 and 42), the second and third magnetic body (30, 40) is a fixed structure, simply connecting the movement path of the magnetic flux changed by the change in the relative position of the magnet 10 and the first magnetic body 20, the wire moves the current in the magnetic equivalent circuit of FIG. It is the same role that it is used in the self-equivalent circuit, so it is not labeled as a resistance component in a magnetic equivalent circuit.
  • FIG. 10 to 12 are diagrams illustrating the closed loop according to the torsion angle of the torque sensor in the magnetic equivalent circuit of FIG. 9.
  • FIG. 10 is when the torsion angle is + maximum
  • FIG. 11 is when the torsion angle is 0 degrees
  • FIG. 12 is when the torsion angle is ⁇ max. 10 to 12, when the torsion angle is 0 degrees, the first closed loop (1) and the second closed loop (2) are formed, and the third through the magnetic concentrators 32 and 42; The closed loop 3 is not formed.
  • the torsion angle is + maximum and-maximum, the third closed loop (3) is formed, the direction of the magnetic field lines are opposite to each other.
  • 13 to 15 show a magnetic equivalent circuit and a closed loop of the prior art, which are torque sensors of Korean Patent Laid-Open No. 10-2007-0043000. 13 to 15 are the same as those described in the specification of Korean Patent Laid-Open No. 10-2007-0043000. 13 is when the torsion angle is + maximum, FIG. 14 is when the torsion angle is 0 degrees, and FIG. 15 is when the torsion angle is-maximum. As shown in Figs. 13 to 15, when the torsion angle is 0 degrees, two closed loops 1 and 2 are formed but closed loops between the collecting sectors 33 and 34 (i.e., HALL SENSOR). Is not formed.
  • the torque sensor according to the embodiment of the present invention has a simple magnetic circuit configuration as compared with the torque sensor of the prior art, and the number of overall components is small. Specifically, it is as follows.
  • the torque sensor according to the embodiment of the present invention has one crown structure, whereas the torque sensor of Korean Patent Publication No. 10-2007-0043000 has two crown structures. Consists of dogs.
  • the torque sensor according to the embodiment of the present invention has a smaller number of voids (magnetic resistance) in the entire magnetic circuit to reduce the flow of magnetic force lines and the magnetic flux density than in the prior art.
  • the number of variable resistance members is also smaller than that of the prior art. This means that the loss in the process of inducing the magnetic force generated in the magnet has a higher magnetic induction efficiency than the prior art.
  • the torque sensor detects the twist angle of the input shaft and the output shaft connected to the torsion bar.
  • a representative evaluation item among the items for evaluating the performance of the torque sensor is a ripple error.
  • Ripple error refers to an error that the output of the torque sensor changes in a situation where the input shaft and the output shaft are not twisted. It is a kind of component like signal noise. If such a ripple error is large, a change may occur at the output of the torque sensor due to the ripple error even in the absence of torsion, which may cause, for example, a malfunction of the steering system of the vehicle.
  • the torsion angle output indicates 0 degrees in the torque sensor while driving the vehicle (for example, when the twist angle between the steering wheel and the wheel is 0 degrees), there may be two cases.
  • the first is when the vehicle travels straight ahead. If the vehicle travels straight, the input and output shafts do not rotate. Therefore, the magnet 10 and the first magnetic body 20 of the torque sensor also do not rotate, and a twist angle does not occur between the magnet 10 and the first magnetic body 20. In addition, the positional change with the magnet 10 also occurs in the second magnetic body 30 having an arc shape. Therefore, the magnetic flux density induced in the magnetic sensing member 50 between the second magnetic body 30 and the third magnetic body 40 is zero gauss as described above, and the magnetic sensing member 50 changes the torsion angle change. Do not print. Therefore, there is no ripple error and there is no change in the output of the torque sensor so that the steering system of the vehicle does not control the motor and does not interfere with the straight running of the vehicle.
  • the second is when the vehicle is rotating.
  • the input shaft and the output shaft rotate.
  • the friction force between the input shaft and the output shaft is small, so that the input shaft and the output shaft are not twisted, and the rotation operation can be performed.
  • the magnet 10 and the first magnetic body 20 rotate, but there is no change in the opposing area due to twisting therebetween.
  • a positional change occurs between the second magnetic body 30 and the third magnetic body 40 that are arcuate and fixed parts, and the magnet 10 and the first magnetic body 20 that are rotating parts.
  • FIGS. 16 and 17 are views illustrating a torque sensor according to a rotation angle when an input shaft and an output shaft rotate without a torsion according to an embodiment of the present invention.
  • the magnet 10 is an example in which eight N poles and eight S poles are alternately arranged.
  • FIG. 16A illustrates a case where a rotation angle of an input shaft and an output shaft is 0 degrees
  • FIG. 16B illustrates a rotation angle. Is 11.25 degrees
  • FIG. 17C is a case where the rotation angle is 22.5 degrees
  • FIG. 17D is a case where the rotation angle is 33.75 degrees.
  • the torque sensors show the same position pattern at 45 degree intervals, as shown in FIGS. 16 and 17. That is, the torque sensor illustrated in FIGS.
  • 16 and 17 has a second magnetic body 30 and a third magnetic body 40 as fixed parts and a magnet 10 as rotating parts when the rotation angle is 0 degrees and 45 degrees. And the positional relationship of the first magnetic body 20 is the same. This is because the center angles of the second magnetic body 30 and the third magnetic body 40 having a bow shape are 45 degrees.
  • ripple errors in the form of sine waves may appear at intervals of 45 degrees.
  • This ripple error causes the steering system motor to be assisted unnecessarily by operating the motor of the steering system in a situation where there is no torsion between the input shaft and the output shaft during rotational driving of the vehicle and thus it is not necessary to assist the steering force.
  • the ripple error causes a change in the output of the torque sensor and activates the motor of the steering system by the amount of change, thereby assisting the steering force, which in turn can cause a change in the running radius of the vehicle's turning. Therefore, the vehicle may be rotated to be larger or smaller than the driver's desired amount of rotation, thereby impairing vehicle driving performance and causing a malfunction that may threaten the driver's safety.
  • FIG. 18 shows magnetic lines and magnetic lines of force when the magnet 10 in the form of a cylinder according to an embodiment of the present invention is expressed in the form of a straight line. As shown in FIG. 18, the line of magnetic force coming from the north pole of the magnet 10 forms a closed loop that enters the south pole, and the magnetic force represents the shape of a sine wave.
  • FIG. 19 is a diagram illustrating a circumferential magnet 10 and a first magnetic body 20 of the torque sensor in a straight form when there is no rotation and torsion according to an embodiment of the present invention.
  • the lines of magnetic force are in self equilibrium.
  • the unopened area 21 of the first magnetic body 20 that is, the teeth are installed in accordance with the number of poles of the magnet 10 (for example, if the N poles are 8, the unopened area 21 is 8
  • the magnet 10 and the first magnetic body 20 are always in a state of self equilibrium. In the torque sensor, only the magnet 10 and the first magnetic body 20 exist, and when rotating without distortion between the input shaft and the output shaft, the magnetic balance is always kept the same.
  • FIG. 20 is a sectional view of the magnet 10, the first magnetic body 20, and the second magnetic body 30 in the form of a circumference of the torque sensor when there is no rotation and torsion according to an embodiment of the present invention.
  • the torque sensor is self-balancing when there is no rotation and torsion.
  • the magnetic flux flow at this time is a magnetic flux flow 2201 generated between the magnet 10 and the first magnetic body 20, and a magnetic flux flow 2202 issued between the magnet 10 and the second magnetic body 30 having a bow shape. ),
  • FIG. 21 is a view illustrating the magnet 10 having the circumference of the torque sensor, the first magnetic body 20 and the second magnetic body 30 in a straight form when there is no torsion, but according to an embodiment of the present invention.
  • the rotation angle is 11.25 degrees
  • the position change occurs between the magnet 10 and the first magnetic body 20 and the second magnetic body 30 is a fixed component.
  • FIG. 21 Compared with the state shown in FIG. 20, in FIG. 21, the ratio of the opposing area of the N pole and the S pole in which the second magnetic body 30 faces the magnet 10 through the open region 23 of the first magnetic body 20 is shown in FIG. 21. Is 50:50, which is the same as there is no rotation of the input and output shafts. However, it is noted that both ends of the second magnetic material 30 in the form of a bow. When rotation occurs in the torque sensor as shown in FIG. 21, the right end of the second magnetic body 30 is closer to the N pole of the magnetic flux 2203 flowing into the air through the open region 23 of the first magnetic body 20. .
  • the left end of the second magnetic body 30 is far from the S pole of the magnetic flux 2203 flowing into the air through the open region 23 of the first magnetic body 20.
  • the magnetic equilibrium collapses according to the change of both ends of the arch-shaped second magnetic body 30, and the amount of induced magnetic flux of the N pole increases in the second magnetic body 30, and the increase of the N pole increases to achieve magnetic balance.
  • Magnetic flux flows to the magnetic concentrator 32 of the second magnetic material 30.
  • the amount of magnetic flux of the N pole guided to the magnetic concentrator 42 of the third magnetic body 40 does not change regardless of the rotational motion, a difference in the amount of magnetic flux occurs between the magnetic concentrators 32 and 42.
  • the magnetic sensing member 50 detects a change in magnetic flux density. For this reason, a ripple error occurs when the input shaft and the output shaft are rotated without twisting.
  • FIG. 22 is a diagram illustrating a ripple error of a torque sensor according to a rotation angle according to an embodiment of the present invention.
  • the magnet has the largest magnetic force at the center of the pole and generates magnetic force in the form of a sine wave. If the circular magnet 10 in the torque sensor is a magnet of 16 poles, one pole is 22.5 degrees, and thus shows the largest ripple error in the + direction at 11.25 degrees, as shown in FIG. 22, and 33.75 degrees. Represents the maximum ripple error in the-direction. And the torque sensor shows the same position pattern at 45 degree intervals. Therefore, when the input shaft and the output shaft rotate constantly, since the magnet 10 generates a magnetic force in the form of a sine wave, the ripple error also represents the sine wave shape.
  • the second magnetic body may be circular rather than circular.
  • FIG. 23 is an exploded perspective view of a torque sensor according to another exemplary embodiment of the present invention
  • FIG. 24 is a combined perspective view of FIG. 23.
  • the second magnetic material 2510 is in the shape of a circle.
  • the second magnetic material 2510 has a circular shape and faces the outer circumferential surface of the magnet 10 in an area, while being spaced apart from the first magnetic material 20 at a predetermined air gap with the magnetic induction surface 2511. It includes a magnetic concentrator 32 extending in a direction opposite to the direction toward the magnet 10 in the induction surface 2511, that is, outward.
  • the twist sensing of the torque sensor and the magnetic equivalent circuit according to the present exemplary embodiment are the same as those of the torque sensor described with reference to FIGS. 1 and 2. However, by implementing the second magnetic body 2510 having a circular shape, even when the magnet 10 and the first magnetic body 20 rotate, the magnetic balance is always performed so that a ripple error does not occur.
  • the third magnetic body may be circular in shape.
  • 25 is an exploded perspective view of a torque sensor according to still another embodiment of the present invention
  • FIG. 26 is a perspective view of the combined view of FIG. 25.
  • the third magnetic body 2710 is a component that does not face the magnet 10, and is a component that does not change the characteristics of the ripple error according to the shape of the second magnetic body 30.
  • a ripple error may occur when the rotational operation is eccentrically caused by a tolerance due to flatness or an assembly tolerance when the first magnetic body 20 is assembled to the steering column in the manufacturing process of the first magnetic body 20 that rotates. .
  • the twist sensing method and the magnetic equivalent circuit of the torque sensor according to the present exemplary embodiment are the same as those of the torque sensor described with reference to FIGS. 1 and 2.

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Power Steering Mechanism (AREA)
  • Electromagnetism (AREA)

Abstract

Capteur de couple pour dispositif de direction, comprenant un plus petit nombre de parties constitutives et dans lequel une perte de force magnétique au cours d'un processus d'induction de force magnétique est minimisée, comportant: une première substance magnétique dans laquelle des pôles N et des pôles S sont disposés en alternance suivant un cercle, et une région ouverte et une région non ouverte faisant face à un aimant placé à une extrémité d'une barre de torsion sont disposées en alternance suivant la circonférence d'un élément circulaire de liaison, et reliées à l'autre extrémité de la barre de torsion; une deuxième substance magnétique de forme circulaire disposée de manière à faire face à l'aimant le long d'une surface extérieure de l'aimant, la première substance magnétique étant positionnée entre ceux-ci; une troisième substance magnétique disposée de manière à faire face à la première substance magnétique tout en ne faisant pas face à l'aimant; et un élément de détection magnétique disposé entre la deuxième substance magnétique et la troisième substance magnétique.
PCT/KR2016/002781 2015-12-29 2016-03-18 Capteur de couple pour dispositif de direction WO2017115922A1 (fr)

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Publication number Priority date Publication date Assignee Title
CN113518743A (zh) * 2019-02-25 2021-10-19 移动磁体技术公司 特别是设计成用于检测转向柱中的扭转的位置传感器
DE102020212378A1 (de) 2020-09-30 2022-03-31 Thyssenkrupp Ag Elektromechanisches Lenksystem und Verfahren zur Kompensation eines Messsignals einer Drehmomentsensorvorrichtung
DE102020214628A1 (de) 2020-11-20 2022-05-25 Thyssenkrupp Ag Elektromechanisches Lenksystem und Verfahren zur Bereitstellung einer Eingangsgröße für ein Lenkgetriebe des Lenksystems
DE102021209048A1 (de) 2021-08-18 2023-02-23 Thyssenkrupp Ag Flusssammelelement und Kollektoreinheit eines magnetischen Positionssensors sowie Verfahren zur Herstellung davon

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US7644635B2 (en) * 2004-07-09 2010-01-12 Moving Magnet Technologies Position sensor which is intended, in particular, for measuring steering column torsion
KR20120058814A (ko) * 2010-11-30 2012-06-08 엘지이노텍 주식회사 스티어링 시스템의 토크 센서
KR20150135595A (ko) * 2014-05-22 2015-12-03 대성전기공업 주식회사 파워 스티어링 토크 센서

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JP2005345284A (ja) * 2004-06-03 2005-12-15 Favess Co Ltd トルク検出装置
US7644635B2 (en) * 2004-07-09 2010-01-12 Moving Magnet Technologies Position sensor which is intended, in particular, for measuring steering column torsion
US7287440B1 (en) * 2006-03-13 2007-10-30 Kayaba Industry Co., Ltd. Torque sensor
KR20120058814A (ko) * 2010-11-30 2012-06-08 엘지이노텍 주식회사 스티어링 시스템의 토크 센서
KR20150135595A (ko) * 2014-05-22 2015-12-03 대성전기공업 주식회사 파워 스티어링 토크 센서

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113518743A (zh) * 2019-02-25 2021-10-19 移动磁体技术公司 特别是设计成用于检测转向柱中的扭转的位置传感器
CN113518743B (zh) * 2019-02-25 2024-03-19 移动磁体技术公司 特别是设计成用于检测转向柱中的扭转的位置传感器
DE102020212378A1 (de) 2020-09-30 2022-03-31 Thyssenkrupp Ag Elektromechanisches Lenksystem und Verfahren zur Kompensation eines Messsignals einer Drehmomentsensorvorrichtung
WO2022069354A1 (fr) 2020-09-30 2022-04-07 Thyssenkrupp Presta Ag Système de direction électromécanique et procédé de compensation d'un signal de mesure provenant d'un dispositif capteur de couple
DE102020214628A1 (de) 2020-11-20 2022-05-25 Thyssenkrupp Ag Elektromechanisches Lenksystem und Verfahren zur Bereitstellung einer Eingangsgröße für ein Lenkgetriebe des Lenksystems
DE102021209048A1 (de) 2021-08-18 2023-02-23 Thyssenkrupp Ag Flusssammelelement und Kollektoreinheit eines magnetischen Positionssensors sowie Verfahren zur Herstellung davon
WO2023020864A1 (fr) 2021-08-18 2023-02-23 Thyssenkrupp Presta Ag Élément collecteur de flux et unité collectrice de capteur de position magnétique et leur procédé de fabrication

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