WO2017174554A1

WO2017174554A1 - Method and device for determining a relative angle position of rotating components

Info

Publication number: WO2017174554A1
Application number: PCT/EP2017/057940
Authority: WO
Inventors: Herr Reiner PESCH; Herr Christoph HÖWELER
Original assignee: Voith Patent Gmbh
Priority date: 2016-04-07
Filing date: 2017-04-04
Publication date: 2017-10-12
Also published as: DE102016205781A1

Abstract

The invention relates to a method and device for a drive system for measuring a rotation angle between a rotationally driven drive shaft and an input shaft. Said drive shaft is connected to the input shaft by means of a compensation element. The device for measuring the rotational angle comprises a first and a second measuring point. The first measuring point comprises a pulse generator rotationally fixed to the drive shaft. A pulse receiver is associated with the pulse generator which sends the pulse signals to an associated control device. The second measuring point comprises a pulse generator of the input shaft which is rotationally fixed to the input shaft. A pulse receiver is associated with the pulse generator of the input shaft. Said pulse receiver sends the received pulse signals to the associated control device. The control device determines the angular position or the speed of the drive shaft on the first measuring point and determines the speed and/or the angular position of the input shaft on the second measuring point. The control device determines the momentary rotational angle and the path of the rotational angle, by comparing the speeds and/or the angular positions, optionally completed by determining aging and life expectancy.

Description

Method and device for determining a relative angular position of rotating components

The invention relates to a method and a device for determining different angles of rotation and for determining speed differences of at least two rotating shafts. This invention is particularly suitable for a powertrain comprising a motor for driving a rotatably driven shaft called a drive shaft and having a shaft called an input shaft. For the damping of non-uniform rotational movements or torque peaks at least one compensation element between the drive shaft and input shaft is provided. In addition, the apparatus and method can also be used for the determination of speed differences of different rolls in a rolling mill.

As compensation elements torsionally elastic torsional vibration dampers and torque limiting clutches can be used. Torsionally elastic torsional vibration dampers are often referred to in industrial use as highly elastic couplings. Such highly elastic couplings are used to dampen critical torsional vibration amplitudes and limit existing amplitudes of the powertrain or to shift the frequencies at which they occur in a targeted manner. The torsional elasticity is achieved by the use of spring elements made of metallic materials or elastomers, e.g. Rubber, insist.

Torque limiting clutches protect all components in the powertrain. In the case of an impermissibly high torque, the clutches interrupt the power flow in the drive train. This avoids or minimizes consequential damage and longer unforeseen downtime. For example, Voith special designs are known, the additional benefits for to provide the production process. SmartSet couplings for torque limiting are equipped with a slip function. Before triggering, a predetermined slip is possible, so that a short-term overload situation does not directly lead to the interruption of the power flow in the drive train. During the slip phase, a limited torque is initially transmitted. If a predetermined twist angle is exceeded during the slip phase, the SmartSet clutch opens the drive train.

Torque limiting clutches known as AutoSet clutches are equipped with a slip function and an automatic reset of the maximum allowable twist angle during the slip phase.

Torsionally flexible torsional vibration dampers and torque limiting clutches are subject to aging and must be serviced. The torsional load and the resulting stress on the torsional vibration damper or the torque-limiting coupling have a decisive influence on the aging process.

The invention was based on the object to provide a device and a method with which the load of the compensation element can be detected in dynamic operation. Thus, conclusions can be drawn on the current operating behavior, as well as on the aging process. Through observation over the entire service life, the aging state and the remaining life of the compensation element can be approximated.

In particular, the invention was based on the object to provide an improved method and an improved device, with which a twist angle can be detected. The twist angle to be detected may relate to two locations of a drive train between which a rotation may occur due to various components. Possible causes for the torsion are: • generally torsion by the acting torque, in particular with a time-variable torque • dynamic torsional vibration behavior when using torsionally flexible couplings

• progressive misalignment when using friction clutches, also referred to as slip.

As an angle of rotation, an occurrence of slippage of a torque-limiting coupling or twisting caused by a torsional moment of a highly elastic coupling or a shaft can be detected. The invention can also be used to detect a twist angle between two shafts, preferably between two shafts in a power plant or a rolling mill.

The object of the invention is achieved by the Verdrehwinkelmessvorrichtung, the method for determining the twist angle and in particular the method for determining the state of aging.

The device is provided for measuring the angle of rotation of a drive arrangement between a first and a second measuring point. The drive arrangement comprises a drive shaft rotatably drivable. The drive shaft can be connected to an input shaft via a compensation element, wherein the torsion angle measuring device comprises at least one first pulse generator connected rotationally fixed to the drive shaft at the first measuring point. This pulse generator is assigned a first pickup. At a second measuring point at least one rotatably connected to the input shaft second pulse generator is arranged. This input-side second pulse generator is associated with an input shaft side arranged second pickup.

The signals of the first pickup and the second pickup are fed to a controller. An angle of rotation between the first and second measuring points can be determined by the control device. A controller is a unit through which incoming signals are processed and which is suitable for executing a computer program. It has proven to be advantageous that the angular position of the drive shaft and the position of the input shaft can be determined by the control device and from this a rotational angle detection takes place. Due to the separate detection of the angular position of the drive shaft and the input shaft standard components can be used in the angle detection regardless of the geometry, such as diameter of the shafts.

It has been found to be advantageous to use at least one pulse pickup, preferably the first pickup, in the drive shaft, which can detect a pulse rate of at least 1 MHz, preferably 2 MHz. Due to the high number of detectable pulses high accuracy can be achieved. The number of pulses of the pulse generator used must be adapted to the application. Preferably, a pulse generator comprises 90 to 200 pulses. The limits are given by the pickup, whereby the rotation frequency is included. In some applications, even a few pulses, e.g. be sufficient in the range of 1 to 4 pulses.

In a preferred embodiment, it is provided that the first pulse generator per full revolution comprises a number of pulse marks which deviates from the number of pulse marks per full revolution of the second pulse generator. This makes it possible to use pulse generators having the same size in the circumferential direction pulse marks in absolute values, for example in millimeters, wherein the scope of the first pulse generator deviates from the scope of the second pulse generator. For example, gears with different numbers of teeth can be used. As a result, the device can also be used in drive arrangements with a drive shaft having a diameter deviating from the input shaft. The possibility here to use pulse generators with identical pulse widths in terms of the scope has an advantageous effect on the Manufacture cost. It can be used standard sprockets and standard sensors, which are adapted to the tooth spacing.

In a preferred embodiment it is provided that a zero angle detection is performed on both sides. Zero angle detection provides for the determination of an absolute angle with respect to an angular position of the shaft marked as zero angle. A zero angle detection is always provided on both sides, so that always an absolute angle of the drive shaft and the input shaft can be performed independently. As a zero angle can be provided that the respective pulse generator has at least one irregularity. Preferably, this irregularity point is formed by a pulse miss. These irregularities make it easy to detect full revolutions. This irregularity point is designed so that due to the inertia of the drive assembly no such short-term accelerations are possible, which could lead to such a pulse sequence. Due to these irregularities, full revolutions can be clearly detected. Alternatively, a unit called a keyphaser can also be provided for a zero-angle detection consisting of an additional pulse generator with an associated sensor. Usually, the pulse generator of the Keypahsors comprises only one pulse mark for indicating a zero position or a full revolution.

The direction of rotation of the respective shaft may change, so that from the number of pulses can not be concluded clearly on the number of full revolutions. This zero angle detection uniquely determines an angular position.

If both pulse generators are provided with such an irregularity point, full revolutions of both waves can be clearly recognized. A plausibility check can be carried out.

In a preferred embodiment it is provided that at least one of the measuring points is provided with at least two pulse pickups. One of Pickup is provided for detection of the rotational movement of the respective shaft. The other encoder of the measuring point is intended for the detection of the direction of rotation. Detection over the irregularity point, one of the pickups is also designed to detect full revolutions. In a preferred embodiment, the two pickups of a measuring point are arranged with an offset to each other, so that the direction of rotation of the shaft results unambiguously from the sequence of pulses of the two pickup of this measuring point. In a preferred embodiment, it is provided that an absolute angular position of the drive shaft and an absolute angular position of the input shaft can be determined by the control device and that for a determination of the rotation angle, a difference of the absolute angular positions of the drive shaft and the input shaft is provided by the control device.

In a preferred embodiment it is provided that the determined absolute angular positions of the drive shaft and the determined absolute angular positions of the input shaft are stored in a memory and are readable. This memory can be arranged in the control device.

Method for determining a rotation angle between a first measuring point and a second measuring point, wherein the first measuring point is assigned to a designated as a drive shaft shaft and wherein the second measuring point is associated with a shaft called input shaft. The drive shaft is connectable to the input shaft. The method comprises the following method steps:

Supplying pulse signals characterizing a rotational movement from the first measuring point to a control device and

Generating a first pulse train from the pulse signals of the first measuring point by the control device

· Determination of a time-dependent angle signal of the drive shaft from the first pulse train of the drive shaft Supplying second pulse signals characterizing a rotational movement from the second measuring point to the control device

Generating a second pulse train from the pulse signals of the second measuring point by the control device

Determining a time-dependent angle signal of the input wave from the second pulse train from the second pulse train

Determining the angle of rotation by comparing the time-dependent angle signal from the drive shaft and input shaft at the same times. In addition, the rotational speed of the respective shaft can be determined from the determined angular positions of the input shaft and / or the output shaft at continuous time points.

By evaluating the pulse train of the drive shaft and evaluating the pulse train of the input shaft determination of a rotation angle of the two shafts to each other with reduced technical complexity is possible. This method can also be used to obtain a twist angle of different rolls in a rolling mill, i. different angular positions of the rollers to each other and their change to determine. In this case, a first of the rolls to be compared corresponds to the shaft designated as the drive shaft, and the further shaft i to be compared corresponds to the shaft designated as the input shaft.

By means of this method it is possible to use characterizing pulse signals which, at the first measuring point, have a meaning different from the second measuring point. For example, a pulse at the drive shaft may be associated with a swept angle that deviates from an angle swept at the input shaft per pulse. It eliminates the need to work on both sides with an identical number of pulses per full revolution. In a preferred embodiment of the method it is provided that the generation of the pulse signals by a sensor technology preferably Non-contact scanning of arranged on the drive shaft and input shaft pulse generators takes place.

In a preferred method it is provided that in the method, a learning mode is provided, wherein in the learning mode at predetermined, preferably constant rotation of the drive shaft and / or the input shaft in the unloaded state measured the pulses and detected per revolution repetitive deviations and in the control device be stored in relation to a zero position / zero angle. As a result, small deviations in the pulse sequence during the evaluation and determination of the angular position of the respective shaft at the measuring point can be taken into account. One reason for a significant disturbance of the pulse uniform distribution over the circumference lies in the partially given need for the mounting of a ring gear in two halves. This is often the case with retrofitting an existing powertrain. At the joints, the tooth spacing can not be realized with arbitrarily high accuracy. Through the learning mode these deviations can be compensated. This can increase the accuracy.

In a preferred method it is provided that the method comprises a zero position detection for both measuring points. The zero position detection generates an additional pulse train by an additional pulse generator, wherein the additional pulse train marks a zero position, also referred to as keyphasor. Alternatively, it may be provided by an irregularity point in the pulse sequence of a measuring point per 360 °. This irregularity point marks a zero position. The zero position can also be set to a predeterminable angle to the irregularity point.

In a preferred method it is provided that the method comprises a direction of rotation detection for both of the measuring points, wherein the direction of rotation detection is detected by the sequence of an additionally recorded pulse sequence per pulse generator by the control device. Are the pulses of the pulse sequence of a measuring point out of phase by 1/4 of a pulse cycle, so it can be concluded from the sequence of detected pulse trains on the direction of rotation. This method is also referred to as a quadrature encoder method. In a preferred method it is provided that measurement errors in the form of individual outliers are detected from at least one of the pulse sequences, preferably from all pulse sequences, and corrected from the pulse sequence by a spike remover. In each case a pulse train is processed in isolation by the Spike Remover. Based on the known number of teeth, the sampling frequency used and a known maximum speed, it can be deduced that one tooth corresponds to at least x (eg two hundred) "1" signals just to act a disorder. These individual "1" or "0" can then be corrected in the pulse train.

In a preferred method it is provided that the determined angle of rotation and its time profile are taken into account by the control device for determining the stress of a compensation element used to connect drive shaft and input shaft. It should be noted that an external load leads to an internal stress of the material in a highly elastic coupling.

In a preferred method, it is provided that from the information about the angle of rotation, taking into account previously determined characteristic values and possibly further sensor measuring signals, the stress of the compensation element in the current operating state is determined. As a further sensor signals, measuring an applied torsional moment can also be advantageous. Then the determination of the torsional moment from the respective angles of rotation is not required. In a preferred embodiment, characteristic tables for torsion-dependent aging values, also referred to as damage values, are stored. Moreover, in the case of a compensating element comprising an elastomer, it has proved advantageous to include characteristic values in which the frequency of a periodic angle of rotation is included in the aging values and to be taken into account when determining a residual service life.

In an advantageous embodiment, it is provided that further measurement signals detect the local temperature at at least one, preferably a plurality of points of the spring element or of the spring elements. In a preferred method, it is provided that the stress of the compensation element in the current operating state is determined by detection and from the information about the angle of rotation, including previously determined characteristic values. The previously determined characteristic values can be load values that depend on the angle of rotation and its time course.

In a preferred method, it is provided that the aging and the expected remaining service life of the element are determined from the recorded data for stressing the compensation element. In a preferred method it is provided that when a predetermined frequency of rotation is exceeded or during a continuous rotation, the control device comes into signal contact with a drive control for driving the drive shaft. In a preferred method it is provided that at least one contact address is stored in the control device and information is sent to the predetermined contact address when a predetermined stress of the compensation element is exceeded. In an advantageous embodiment, it is provided that the direction of rotation of the drive shaft and / or the input shaft, in particular changing directions of rotation, are taken into account. The determination of the direction of rotation can be made the sequence of pulses of a first and a second pulse train are derived at one of the measuring points.

In an advantageous embodiment, it is provided that the signals of some of the pickups, preferably all pickups, are read out before being put into operation at a known speed. As a result, compensation parameters can be stored in the control device. By virtue of the compensation parameters stored in the control device, sensor-related and application-related influences can be eliminated. This contributes to increasing the measurement accuracy. Furthermore, it can be provided to allow an interpolation for the determination of angular positions between two pulses. The interpolation can increase the accuracy.

The solution according to the invention is explained below with reference to a figure. The following is shown in detail:

It shows:

Fig. 1: drive arrangement with a measuring channel per measuring point

Fig. 2: Drive arrangement with two or three measuring channels per measuring point

Fig. 3: flowchart with respect to a measuring point

A drive arrangement with which a rotation angle measurement can be realized will be described with reference to FIG. The Verdrehwinkelmessvorrichtung 1 comprises a first pulser 3 and a second pulser 5. The first pulser 3 is rotatably connected to a drive shaft 2 of a drive. The second pulse generator is rotatably connected to an input shaft 6. The input shaft 6 is operatively connected to a consumer 17. The first pulse generator 3 is assigned a first pulse pickup 9 and the second pulse generator 5 is assigned a second pulse pickup 10. The first pulse generator 3 and the first pulse pickup 9 are assigned to a first measuring point 21. The second pulse generator 5 and the second pulse pickup 10 are assigned to a second measuring point 22. The second pulser 5 has one of the first Pulse encoder 3 different diameter. For zero position detection, the first pulser and the second pulser are provided with a defect as an irregularity. By the first pickup 9 a rotational movement of the drive shaft 2 characterizing pulses / signals of a control device 15 via a signal connection 1 1 are fed. This signal connection 1 1 can also be implemented wirelessly by means of a transmitting and a receiving device. From the control device 15, the respective angular position and / or the rotational movement of the drive shaft 2 from the signals of the first pulse pickup 9, as described in detail below with reference to Figure 3, determined.

Furthermore, signals of the second pulse pickup 10 of the control device 15 are transmitted via a signal connection 12. This signal connection 12 can also be wireless. From the signals transmitted by the second pickup 10, the angular position and / or the rotational movement of the input shaft 6, as will be explained in more detail below with reference to FIG. 3, is determined. Due to the irregularity for zero position detection, angular positions of the drive shaft 4 and the input shaft 6 can be determined by the control device 15 as absolute values. Subsequently, a subtraction is carried out, wherein the difference formation is carried out taking into account the 360 ° breakthroughs. From a difference between the rotational movement of the drive shaft 2 and the input shaft 6 results in a twist angle between the first measuring point 21 and the second measuring point 22 at the moment considered. In the illustrated embodiment, the drive shaft 2 is connected to the input shaft 6 via a compensation element 4. The compensation element 4 may be a safety coupling, a highly elastic coupling or a non-rotatable connection of the drive shaft 2 to the input shaft. In a highly elastic coupling and also in the rotationally fixed connection, torsion between the first measuring point 21 and the second measuring point 22 is accompanied by the angle of rotation. This torsion loads the shaft / connection or the highly elastic coupling. It can become a repetitive periodic Forming a change in the angle of rotation, which can also be referred to as oscillation. By detecting the time course of the rotation angle, such a vibration can be detected. In a safety coupling as compensation element 4, slippage of the safety coupling can result from the twist angle. Due to the time course of the rotation angle can be concluded that a temporary slipping of a safety clutch or a release of the safety clutch. It can be provided to sum up the twist angle and to provide a triggering of the safety clutch when a predetermined angle of rotation is exceeded over a predetermined limit within a predetermined period of time. This triggering can be triggered by the control device or remotely. By triggering the safety clutch, overheating of the safety clutch can be prevented.

The device shown in Figure 2 for measuring the rotation angle 1 differs in that at the first measuring point 21 in addition to the first pulse generator 3, an additional pulse generator of the kephasor 3b is arranged. The pulse generator of the Cephasors 3b is also rotatably connected to the drive shaft 2. The pulse generator of the kephasor 3b is associated with a pickup of the keyphaser 9b. The pulse generator of the keyphaser 3b has one pulse per full revolution. The pulse generator of the keyphaser 3b is used for counting the full revolutions and for identifying a predetermined angular position, also referred to as zero angle. This unit of pulse generator of the keyphaser 3b and pickup of the keyphaser 9b is also referred to as a keyphaser sensor or short keyphaser. The first pulse generator 3 is associated with a further pulse pickup 9a. This further pickup 9a is arranged for phase-shifted detection of the pulses of the first pulse generator 3. Due to the phase offset, the detection of the direction of rotation of the drive shaft from the sequence of detected pulses by the first pickup 9 and the other pickup 9a is possible. All pickups 9, 9a, 9b of the first measuring point 21 are arranged radially. At the second measuring point 22, a further Impulsaufnehnner 10 a is assigned to the second pulse generator 5. The further pickup 10a is arranged axially for picking up pulses. The second pulser 5 is equipped with a defect for the detection of a zero position.

By the pickup 10, 10a of the pulse generator 5 is sensed by sensors. The second and the further pickup 10a are arranged in such a way that can be closed by the sequence of recorded by the second and the other pulse pickup pulses on the direction of rotation of the input shaft 6. As a pulse generator 5 may be provided in particular a sprocket. Frequently, both pickups are arranged radially or axially, so that relative movements in the shaft affect both Impulsaufnhemer together.

By the pulse pattern of 3b or second pulser 5 full revolutions can be detected. For detection of the full revolutions and the zero position, both the detected pulse sequence by the second pickup 10 or the pulse train of the further pickup 10a can be used.

In the embodiment shown in Figure 2 it can be seen that the drive shaft 2 has a different from the input shaft 6 diameter. The first pulser 3 and the second pulser 5 may receive a different number of scannable pulses, e.g. Teeth, per 360 °.

In the preferred method of measuring the angle of rotation is provided that initially the angular position of the drive shaft 2 and the input shaft 6 are determined at the same times. Only then is determined by comparing the angular position of the drive shaft 2 with the angular position of the input shaft 6 of the angle of rotation. This makes it irrelevant whether for identical angle of rotation in the drive shaft 2 and the input shaft 6, a different number of Pulses are measured. The Verdrehwinkelmessung will be described below in detail with reference to Figure 3.

The embodiment shown in Figure 2 has a transmitting unit 18, can be sent by the signals. Furthermore, the drive 16 is provided with a receiver 23. It can be provided that the operation of the drive to reduce the occurring angle of rotation is changed depending on the time profile of the angle of rotation. Via the receiver signals can be transmitted to the drive to change the control of the drive. For example, in the case of frequent slippage, a reduction in the drive power of the drive 16 may be provided. In a highly elastic coupling as a compensation element 4, the rotational speed of the drive 16 can be changed when occurring periodically changing angle of rotation. By determining the angular position of the drive shaft 2 and the input shaft 6 and then subtracting a high accuracy can be achieved. 360 ° breaks are taken into account when determining the angle of rotation. The dynamic detection of the vibration behavior is thus easily possible. For determining the absolute angular offset, the angular position is determined with reference to a set reference point. This determination is thus made with respect to a predetermined reference point of the drive shaft 2 and with respect to a predetermined reference point of the input shaft 6. The reference points are also referred to as the zero angle. The drive shaft 2 is provided with a reference point and independently of this reference point, the input shaft 6 is provided with its own reference point.

To increase the accuracy can be provided that sensor-related influences are compensated by compensation parameters. For example, if a gear is provided as the first pulser that has been formed by joining two gear halves, the distance between the two teeth at the abutment does not exactly match the distance between the other teeth. The implementation of the method provides a kind of "learning mode" for Determination of the compensation parameters. During the arbitrarily long learning phase with as constant and load-free rotation as possible, the incoming impulses are measured. During the learning mode, the detected tooth distances are averaged so that the result can be improved by a longer learning phase in the learning mode. If a zero angle is known, the tooth spacings associated with an angular position are averaged. As a result, irregularities in the pulse generators 3 and / or 5 associated with the angular position can be detected and taken into account in the determination of the angular position. This contributes to an increase in accuracy.

In this embodiment, the compensation element 4 is provided with a plurality of temperature sensors 74. By the temperature sensors, the temperature of the compensation element 4 can be taken into account in the determination of the instantaneous stress of the compensation element. It may be provided to sum up the instantaneous stresses and compare them with a predetermined lifetime to determine a remaining remaining life. If a predetermined remaining service life is exceeded, then a trigger signal is transmitted. By means of this trigger signal maintenance and thus replacement of the compensation element 4 can be planned. As a result, early failure of the compensation element 4 can be prevented.

In this exemplary embodiment, a separate evaluation unit 76 is provided for determining the state of aging or the remaining service life. This evaluation unit 76 is part of the control device 15. This evaluation unit 76 could also be designed as an independent unit.

In the following, a possible method for measuring the angle of rotation will be described with reference to FIG. The determination of the angular position / angular velocity of the drive shaft 2 will be described with reference to FIG. The determination of the angle of rotation of the input shaft 6 takes place in the same way. To determine the current angular position, the detected pulse sequences are not directly related to each other. Instead, the absolute angular position is detected at both measuring points (eg on both sides of the coupling) independently of one another with the highest possible accuracy. The two angles thus detected are then finally calculated by subtraction taking into account the 360 ° breakthroughs to the resulting twist angle. This approach has the advantage that there is no dependency between the two measuring points 21, 22 with respect to the sensor system. This means in the first place that the number of pulses per revolution may vary for both measuring points 21, 22. This freedom is often important in practice, since at different measuring points 21, 22 often a different diameter is present, which usually leads to different numbers of teeth or pulses using standard gears.

The controller 15 are supplied via a digital input 25 signals. These signals are converted into a pulse sequence, step 26. If a plurality of pulse pickups 9, 9a and 9b are provided at the measuring point 21, then it is provided that a pulse train is generated from the incoming signals of each pulse pickup 9, 9a, 9b, step 26.

Alternatively, it may also be provided to use an analog input 27 and to generate a pulse train from the incoming signals, step 28. The use of incoming analog and digital signals to generate pulse sequences may be provided.

When using an arrangement as in FIG. 1, only one pulse sequence is generated per measuring point. When using an arrangement according to FIG. 2, three pulse sequences are generated with respect to the first measuring point, and two pulse sequences are generated at the second measuring point. The flowchart shown in FIG. 3 comprises all the procedures which are used for the further processing of generative pulse sequences.

If a pulse train of a keyphaser is present, this pulse train is optionally subjected to a filtering of the signals in step 42. There are individual outliers away. In the case of the other present pulse sequences, filtering of the signals may also be provided in step 31, with individual outliers being removed from the pulse sequence during filtering. That steps 31 and 42 are optionally provided is indicated by the dashed bypass line.

In step 31, two pulse sequences of a measuring point can be processed in parallel. If, in particular, two pulse pickups, such as 10, 10a or 9 and 9a, are provided, two pulse sequences per measuring point can be subjected to filtering, also referred to as spike remover.

If a pulse generator with an irregularity is e.g. provided in the form of a defect, so one of the irregularity-containing pulse sequence is used in step 41 for a zero detection and based on which determines the zero.

In step 33, the direction of rotation detection is performed in the case of two sequences of pulses which are recorded in phase offset from one another. Furthermore, in at least one of the pulse trains the count of the pulses is made. This counting of pulses can be done by detecting the pulse edges from 0 to 1. This result is summarized in FIG. 34. In the negative direction of rotation is counted backwards. This result is used in steps 43 and 44. The number of detected pulses from 33 is referenced to the detected zero angle, also referred to as the zero position, in step 43 or 44, result 46. Thus, e.g. the result before that the current angular position is three pulses after the zero angle when rotating in the positive direction of rotation. Which is the positive direction depends ultimately on the arrangement of the sensor pairs, or of the definition of which signal input 9 and which is 9a.

This result 46 is converted into an angle value in step 35. When referring to a zero position, an absolute angle value is determined. If correction parameters are available, these correction parameters are taken into account in the determination of the absolute angle value, step 36. This step is optional and increases the accuracy of the absolute angle value. The correction parameters may have been or have been determined in a learning mode at startup. Module 70 represents the determination of the time profile of the absolute angular position. In step 71, an interpolation between the concretely determined absolute angular positions is provided. The result is available in 72. This result refers only to one measuring point. In the same way, the absolute angular position is determined for the further measuring point and then the angle of rotation is determined by subtraction, not shown in Figure 3.

In the module 60, a determination of a specific speed is provided. In method step 61, the angle support points are transformed into velocity values. Furthermore, an interpolation between the speed bases is provided. The result is shown in FIG. 62. This result 62 refers to a measuring point. Such a determination can also be carried out for the other measuring point and the difference in the speeds between the measuring points can be represented. The accuracy of angle detection is determined by various aspects, such as

Sampling, pulse count, measurement error and interpolation. Some by the

Hardware-related negative effects can be reduced or compensated for by processing steps in the method. scanning:

In the transition from sensor technology to software processing, the most accurate timing of the pulse edge is important. For this reason, the incoming digital signals of the pickups 9, 9a, 9b, 10, 10a are detected and evaluated by the pulse generators 3, 3b, 5 at a high sampling rate. With the hitherto used hardware, rates of the order of 2 MHz can be realized. The resulting angular accuracy on the edge of the pulse generator then depends on the speed. In a typical Speed of 1500 rpm (= 25 Hz) corresponds to the 2 MHz sampling rate of an angle increment of 0.0045 °.

Measurement error:

Should there be measurement errors in the form of isolated outliers ("spikes") during digital acquisition, these SW-side can be eliminated with an optionally switchable "spike remover".

Pulses / number of teeth:

The aforementioned accuracy always refers to the edge only. In order to be able to determine the dynamics more precisely over the circumference, sprockets with sufficient impulses, ie teeth, are applied per revolution.

Interpolation:

To increase the accuracy between the pulse edges, the angular positions are linearly interpolated there. This is made possible by the strategy of the slightly time-delayed evaluation of input signals in the calculation. If necessary, the accuracy could be improved a little by providing quadratic interpolation.

The accuracy can be further increased by further measures such as compensation and averaging.

Compensation:

If a pulser / ring gear can be applied before the assembly of the clutch or the compensation element 4, it may be possible to integrate this as a whole. As a result, an optimal uniform distribution of the pulses on the circumference can be achieved from the mechanical side. With subsequent application of a ring gear, it is sometimes essential to put this in half. At the two joints, the exact uniform distribution of the pulse intervals can then no longer be guaranteed. For this reason, the method includes the option of compensating for nonuniform pulse distributions. The determination of the parameters required for the compensation is supported in the method implemented here by a kind of "learning mode". In the learning mode, the tooth distances are automatically measured with constant, unloaded rotation. A learning trip can be carried out for any length of time. To increase the accuracy, the determined pulse positions are averaged over the entire learning travel.

Averaging over time window:

Due to the interpolation, the directly determined angles of rotation always refer to the surrounding pulse generators. To determine a relatively static twist angle, the accuracy of this dynamic signal can be increased by averaging (moving averaging window).

In addition to the highly dynamic determination of the angular positions, the dynamic speed can also be determined based on this measuring chain (including optional compensation of non-uniform pulse distributions).

LIST OF REFERENCE NUMBERS

1 Verdrehwinkelmessvorrichtung device for measuring the angle of rotation

2 drive shaft

3 first pulse generator, drive-side sprocket

3b Pulse generator of the keyphaser

4 compensation element

5 second impulse tanner, consumer-side sprocket

6 input shaft

9 first impulse pickup; drive shaft side Impulsaufnehnner

9a further pickup

9b Pickup of the keyphaser

10 second pickup;

10a further pickup

1 1 signal connection of the first sensor of the control device

12 signal connection (second sensor control device)

15 control device

16 drive

17 consumers

18 stations

19 drive arrangement

21 first measuring point

22 second measuring point

23 recipients

25 digital input, input signal

26 Conversion in pulse train

27 analogue or SW-side pre-processed measuring channel

28 Conversion in pulse train

31 Signal Clearing, Spike Remover (Measuring Outliers)

33 detection of flanks; Transfer to pulse counter (with varying

Rotation direction in- and decrement)

34 result pulse counter Conversion of the pulse counter into angular positions

Correction parameter in the angle determination

Zero angle determination from irregularity / defect

Signal purge on pulse train with one pulse per revolution. Adjust pulse counter based on zero angle

Irregularity / defect

Adapt pulse counter to zero angle from kephasor signal

Zero angle pulse counter

Speed search

Transformation of the angular support points into speed bases and interpolation

resulting speed signal

angle determination

Interpolation between the angle bases

resulting angle signal

temperature sensor

Evaluation unit for the aging condition / remaining service life

Claims

claims

1 . Verdrehwinkelmessvorrichtung (1) for a drive assembly (19) having a rotatably driven drive shaft (2), wherein the drive shaft (2) via a compensation element (4) with an input shaft (6) is connected, wherein the Verdrehwinkelmessvorrichtung (1) at least one of a first measuring point (21) with the drive shaft (2) rotatably connected first pulse generator (3) and wherein the drive shaft side, a first pickup (9) at the first measuring point (21) is associated with the first pulse generator (3) on the input shaft (6) at least one second pulse generator (5) non-rotatably connected to the input shaft (6) is arranged non-rotatably at a second measuring point (22), this input-shaft-side second pulse generator (5) being assigned a second pulse pickup (10) arranged on the input shaft side,

characterized,

in that the signals of the first pulse pickup (9) and of the second pulse pickup (10) are fed to a control device (15) and wherein a rotation angle between the first (21) and second measuring point (22) is determined by the control device based on a specific angular position of the first measuring point (21) and based on a certain angular position of the second measuring point (22) can be determined.

2. Verdrehwinkelmessvorrichtung according to claim 1,

characterized,

the first pulse generator (3) comprises, per full revolution, a number of pulse marks which deviates from the number of pulse marks per full revolution of the second pulse generator (5).

3. Verdrehwinkelmessvorrichtung according to any one of the preceding claims, characterized in that at least one, preferably both, of the pulse generator (3, 5) has an irregularity point.

Angle angle measuring device according to one of the preceding claims, characterized

in that at least one of the pulse transmitters (3, 5) is assigned two pulse pickups (9, 9a, 10, 10a) which record the pulses of the pulse generator in phase-offset manner for detecting the direction of rotation.

in that the pickup of the drive shaft (9) and one of the pickups (10) of the input shaft have at least one sampling rate of 1 MHz, preferably of at least 2 MHz.

in that the first measuring point (21) is marked with a zero angle and the measuring point (22) is marked with a zero angle, whereby an absolute angular position of the drive shaft (2) and an absolute angular position of the input shaft (6) can be determined by the control device.

the determined absolute angular positions of the first measuring point of the drive shaft (2) and the determined absolute angular positions of the second measuring point of the input shaft (6) are stored in a memory and can be read out.

Method for determining a twist angle between a first measuring point (21) and a second measuring point (22), wherein the first measuring point (21) is associated with a shaft designated as drive shaft (2) and wherein the second measuring point (22) is assigned to a shaft designated as input shaft (6), with the following method steps:

Supplying pulse signals of the first measuring point (21) characterizing a rotational movement to a control device and

Generating a first pulse train assigned to the first measuring point from the pulse signals by the control device (15)

• Determining a time-dependent angle signal (70) of the drive shaft from the first pulse train

Supplying second pulse signals of the second measuring point (22) characterizing a rotational movement to a control device (15)

Generating a second pulse train of the second measuring point (22) from the pulse signals by the control device (15)

• Determining a time-dependent angle signal of the input shaft (6) from the second pulse train

• Determination of the angle of rotation by comparing the time-dependent angle signal from the drive shaft (2) and input shaft (6) between the first measuring point (21) and the second measuring point (22).

9. The method according to claim 8,

characterized,

in that the detected pulse signals of the drive shaft (2) at the first measuring point (21) and / or the input shaft (6) at the second measuring point (22) occur periodically, and wherein an angle value assigned to a pulse signal is stored in the control device (15) is, wherein preferably a predetermined for the pulses of the drive shaft angular value and a predetermined input for a pulse of the input shaft angle are stored.

10. The method according to any one of the preceding claims,

characterized,

that in the method a learning mode (36) is provided, wherein in the learning mode with constant rotation of the drive shaft (2) and / or the input shaft (6) measured in the unloaded state, the pulse intervals and per revolution repetitive deviations, also referred to as correction parameters, detected and stored in the control device (15) with respect to a zero position / zero angle. 1 1. Method according to one of the preceding claims,

characterized,

the method comprises a zero position detection (41, 43) for at least one of the measuring points, wherein the zero position detection is realized by an additional pulse train by an additional pulse generator (3b), marking a zero position, or by at least one in the

Pulse train per 360 ° predetermined irregularity is detected.

12. The method according to any one of the preceding claims,

characterized,

that the method comprises a direction of rotation detection for at least one of

Measuring points (21, 22), wherein the direction of rotation detection by the sequence of pulses of the additional pulse train (9a, 10a) by the control device (15) is detected. 13. The method according to any one of the preceding claims,

characterized,

that measuring errors in the form of individual outliers are detected from at least one of the pulse sequences, preferably from all pulse sequences, and are corrected from the pulse sequence by a spike remover (31, 42).

14. The method according to any one of the preceding claims,

, characterized, that is provided in an advantageous embodiment, that more

Measuring signals detect the local temperature at least one, preferably several points of the compensation element (4) or the compensation elements (4).

15. The method according to any one of the preceding claims,

, characterized,

in that the aging and the expected remaining service life of the compensation element (4) are determined from the recorded data on the stressing of the compensation element (4), and a trigger signal is preferably emitted when a predetermined residual service life is undershot.