WO2019110183A1 - Ensemble capteur destiné à déterminer au moins une caractéristique de rotation d'un élément en rotation autour d'au moins un axe de rotation - Google Patents

Ensemble capteur destiné à déterminer au moins une caractéristique de rotation d'un élément en rotation autour d'au moins un axe de rotation Download PDF

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Publication number
WO2019110183A1
WO2019110183A1 PCT/EP2018/078437 EP2018078437W WO2019110183A1 WO 2019110183 A1 WO2019110183 A1 WO 2019110183A1 EP 2018078437 W EP2018078437 W EP 2018078437W WO 2019110183 A1 WO2019110183 A1 WO 2019110183A1
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WO
WIPO (PCT)
Prior art keywords
sensor
incremental angle
angle sensor
wheel
sensor signal
Prior art date
Application number
PCT/EP2018/078437
Other languages
German (de)
English (en)
Inventor
Eduard Rolew
Fabian Utermoehlen
Guy-Edward Michalski
Andre Yashan
Daniel Matthie
Thomas Preiss
Sven Neubauer
Original Assignee
Robert Bosch Gmbh
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Application filed by Robert Bosch Gmbh filed Critical Robert Bosch Gmbh
Publication of WO2019110183A1 publication Critical patent/WO2019110183A1/fr

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
    • G01P3/42—Devices characterised by the use of electric or magnetic means
    • G01P3/44—Devices characterised by the use of electric or magnetic means for measuring angular speed
    • G01P3/48—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage
    • G01P3/481—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage of pulse signals
    • G01P3/487—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage of pulse signals delivered by rotating magnets
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
    • G01D5/24457—Failure detection
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
    • G01D5/245—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains using a variable number of pulses in a train
    • G01D5/2451—Incremental encoders
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P13/00—Indicating or recording presence, absence, or direction, of movement
    • G01P13/02—Indicating direction only, e.g. by weather vane
    • G01P13/04—Indicating positive or negative direction of a linear movement or clockwise or anti-clockwise direction of a rotational movement
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
    • G01P3/42—Devices characterised by the use of electric or magnetic means
    • G01P3/44—Devices characterised by the use of electric or magnetic means for measuring angular speed
    • G01P3/48—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage
    • G01P3/481—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage of pulse signals
    • G01P3/488—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage of pulse signals delivered by variable reluctance detectors

Definitions

  • Sensor arrangement for determining at least one rotational property of an element rotating about at least one axis of rotation
  • a rotation property is generally a property to understand, which at least partially describes the rotation of the rotating element. This may, for example, be an angular velocity, a rotational speed, an angular acceleration, a rotation angle or another property which may characterize a continuous or discontinuous, uniform or non-uniform rotation or rotation of the rotating element. Examples of such sensors are described in Konrad Reif (ed.): Sensors in motor vehicles, 2nd edition, 2012, pages 63-74 and 120-129.
  • a rotational speed of a rotor or an angular position of a rotor of an electric machine, in particular an electric machine of an electric vehicle can be determined.
  • a position of a camshaft of an internal combustion engine can be determined relative to a crankshaft with a so-called phase encoder by means of a Hall sensor.
  • a donor wheel is mounted on the rotating axle.
  • a device for detecting a rotating part of an internal combustion engine in which the rotating part of a Geberradrise is provided with a plurality of regular teeth, wherein at least two distinguishable fiducial marks are provided.
  • the encoder disc is either mounted on the camshaft or on the shaft in the distributor.
  • DE 10 2013 203 937 Al an electrical Machine with a rotor which is rotatably mounted in a stator about a rotational axis, wherein at least one optical sensor is provided, which is mounted stationary relative to the stator and which has an optical detection range.
  • the rotor has one here
  • Marking device with at least one optical mark.
  • Adjust conditions of the machine such as the electric machine. Furthermore, usually high costs arise during assembly and / or when changing sensor arrangements of the type described. Furthermore, functional safety plays a role in sensor arrangements of the type mentioned and / or in the machines in which these sensor arrangements determine at least one rotational property of at least one Rotary axis rotating element usually be installed, a big role. Furthermore, the determination of the at least one happens
  • Rotational property of the rotating about the axis of rotation element often too slow.
  • a sensor arrangement for determining at least one rotational property of a rotating element is proposed.
  • a “sensor arrangement for determining at least one rotational property of a rotating element” can in principle be understood to mean any device which is suitable for detecting the at least one rotational property and which, for example, can generate at least one electrical measurement signal corresponding to the detected property, such as a voltage or a current. Combinations of properties can also be detected.
  • a "rotation property” can basically be understood as meaning a property which at least partially describes the rotation of the rotating element.
  • This may be, for example, an angular velocity, a rotational speed, a rotational direction, an angular acceleration, an angular position or other properties which may at least partially characterize a continuous or discontinuous, uniform or non-uniform rotation or rotation of the rotating element.
  • the rotational property may be a position, in particular an angular position, or a rotational speed or a rotational speed
  • an "angular position" can basically be understood to mean a rotational angle of a rotatable device, for example of the rotating element or of the encoder wheel, with respect to an axis perpendicular to the axis of rotation.
  • the sensor arrangement can be set up in particular for use in a motor vehicle, in particular in an internal combustion engine or an electric motor.
  • a "rotating element" can basically be understood to mean any element which has an axis of rotation and rotates about it.
  • the rotating element may be a shaft in an engine, for example a camshaft.
  • an angular position of a camshaft or a rotational speed of a camshaft or a combination of both variables can be determined.
  • the rotating element can also be a rotating element of an electric motor, for example a rotor.
  • the sensor arrangement for determining at least one rotational property of an element rotating about at least one axis of rotation comprises at least one encoder wheel which can be connected to the rotating element, wherein the transmitter wheel has a transmitter wheel profile.
  • the sensor arrangement furthermore comprises at least one first incremental angle sensor and at least one second incremental angle sensor, wherein the first incremental angle sensor, the second incremental angle sensor and the at least one encoder wheel are arranged relative to one another such that at least one first sensor signal generated by the first incremental angle sensor and at least one of the second
  • Inkrementalwinkelsensor generated second sensor signal are out of phase with each other.
  • Donor wheel may in the context of the present invention
  • the invention should be understood to mean any element which, as a component of the encoder wheel, contributes to effecting the at least one measurable signal when the encoder wheel is connected to the rotating element per revolution of the rotating element. In particular, it may be at the
  • Profile element to act any shaping of the contour of the encoder wheel, in particular a bulge, such as a pin-shaped, a tooth-shaped or a serrated bulge, or a notch or a recess, such as a hole.
  • the serrated bulge may be referred to as a tooth and the notch may be referred to as a gap.
  • the encoder wheel may comprise at least one ferromagnetic material.
  • the at least one profile element may comprise at least one ferromagnetic material.
  • the profile element may, for example, a circular contour of the
  • the profile element can contribute to the formation of the measurable signal by electrical, magnetic or optical properties.
  • a donor wheel in particular a donor wheel with a circular contour, have a plurality of profile elements, which can be arranged such that at least two successive profile elements have different magnetic properties.
  • Such a partially differently magnetized encoder wheel can also be referred to as a pole wheel or as a multipole wheel.
  • the profile element may have a dimension D in a direction of extension tangential to the encoder wheel.
  • the profile element can be formed as a tooth and the tooth can have a dimension DZ tangentially to the encoder wheel in the extension direction.
  • the profile element can be formed as a gap and the gap can span direction tangential to the Encoder wheel have a dimension DL.
  • the dimension DL may have a value of 1 mm to 8 mm, preferably 2 mm to 5 mm, particularly preferably 3.5 mm.
  • the dimension DZ is a dimension of 1 mm to 8 mm, preferably 2 mm to 5 mm, particularly preferably 3.5 mm.
  • the at least one encoder wheel may have at least one profile element.
  • the sender wheel may in particular have a multiplicity of profile elements.
  • the sender wheel may have a radius r.
  • an “incremental angle sensor” can in principle be understood to mean any sensor which detects an angular position of an element connected to a transmitter wheel discontinuously, for example at least once per revolution, and at least one measurement signal corresponding to at least one element rotating about at least one axis of rotation can generate a detected angular position, in particular an electrical measurement signal, for example a voltage or a current.
  • the incremental angle sensor can be set up to detect an angular position of the element per revolution of the element connected to the sender wheel and rotating about at least one axis of rotation.
  • the incremental angle sensor can also be set up to detect a multiplicity of angular positions of the element connected to the transmitter wheel and rotating about at least one axis of rotation.
  • the first incremental angle sensor, the second incremental angle sensor and the at least one encoder wheel are arranged relative to one another such that at least one first sensor signal generated by the first incremental angle sensor and at least one second sensor signal generated by the second incremental angle sensor are out of phase with one another.
  • a “sensor signal” can in principle be understood to be any measurable signal which differs from a sensor according to a detected by the sensor property is generated.
  • the sensor signal may be an electrical signal, for example a voltage or a current.
  • phase-shifted can basically be understood as meaning a relation of the sensor signals with respect to at least two sensor signals, wherein the sensor signals are generated periodically according to at least one property of at least one periodic operation.
  • the sensor signals themselves may be periodic.
  • the sensor signals may have the period of the periodic process whose at least one property they detect.
  • the sensor signals may be said to be out of phase if they coincide in their periods, but not in the times of their zero crossings.
  • the sensor signals may be generated periodically, in particular in the context of the at least partial detection of the same periodic process, and may coincide in their period. In particular, the period may correspond to a duration of one complete revolution of the rotating element.
  • the relation of the phase-shifted sensor signals can be described in more detail by a phase shift. Voices the two out of phase
  • the first sensor signal and the second sensor signal are
  • the first sensor signal and the second sensor signal have a phase shift.
  • the phase shift between the first sensor signal and the second sensor signal may be constant.
  • the period of the first sensor signal and the period of the second sensor signal may change, in particular according to a change in the duration of the complete revolution of the rotating element.
  • the phase shift between the first sensor signal and the second sensor signal may be constant even with the changing period duration.
  • the phase shift between the first sensor signal and the second Sensor signal may be in particular a quarter of the period. Another phase shift is possible in principle.
  • the first incremental angle sensor and the second incremental angle sensor may be selected from the group consisting of: an active one
  • Inkrementalwinkelsensor a single Hall sensor; a differential Hall sensor; a GMR-based sensor; a TMR based sensor; an AMR-based sensor; an inductive incremental angle sensor.
  • an “active incremental angle sensor” can basically be understood as meaning any incremental angle sensor which detects a measurement signal corresponding to one
  • the Property can generate, in particular an electrical measurement signal, such as a voltage or a current, wherein the measurement signal is generated at a constant magnetic flux, for example in the presence of a static magnetic field.
  • the active incremental angle sensor can in particular at least one Hall element and / or at least one
  • Magnetic field generator in particular a permanent magnet and / or an electromagnet include.
  • Incremental angle sensor be designed as a single-Hall sensor.
  • a “single Hall sensor” can be understood as meaning any sensor, in particular an active incremental angle sensor, which comprises a Hall element.
  • the single Hall sensor may comprise at least one magnetic field generator, in particular a permanent magnet and / or an electromagnet.
  • the active in particular a permanent magnet and / or an electromagnet.
  • Inkrementalwinkelsensor be designed as a differential Hall sensor.
  • a “differential Hall sensor” can be understood as any sensor, in particular an active incremental angle sensor, which comprises a plurality of Hall elements, for example two Hall elements, preferably three Hall elements. Accordingly, the Hall elements of the differential Hall sensor may be referred to as a first Hall element, a second Hall element and a third Hall element. Furthermore, the differential Hall sensor at least one
  • Magnetic field generator in particular a permanent magnet and / or an electromagnet include.
  • the differential Hall sensor and / or an evaluation unit described in more detail below can be set up to at least one difference between a Hall voltage of the first Hall element and the second Hall element and a difference between a Hall voltage to determine the second and the third Hall element.
  • the differential Hall sensor at least one
  • the Hall element in particular the first and / or the second and / or the third Hall element, in a
  • Extending direction tangential to the encoder wheel have a dimension of 0.2 mm to 5 mm, preferably from 0.3 mm to 2.5 mm, particularly preferably from 0.4 mm to 1 mm.
  • the active incremental angle sensor can also be used on other
  • the active incremental angle sensor may be based on at least one of the following effects: a GMR effect; a TMR effect; an AMR effect.
  • GMR, TMR and AMR stand for the commonly used English terms “giant magnetoresistance” (GMR), “tunnel magnetoresistance” (TMR) and “anisotropic magnetoresistance” (AMR).
  • GMR giant magnetoresistance
  • TMR tunnel magnetoresistance
  • AMR anisotropic magnetoresistance
  • Incremental angle sensor as already mentioned as inductive
  • Inkrementalwinkelsensor be configured. Under an "inductive
  • Incremental angle sensor can in the context of the present invention basically an arbitrary incremental angle sensor are understood, which can generate a measurement signal corresponding to a detected property, in particular an electrical measurement signal, such as a voltage or a current, wherein a generation of the measurement signal based on a change in a magnetic flux density.
  • the inductive incremental angle sensor can in particular at least one coil and / or at least one
  • Magnetic field generator in particular a permanent magnet and / or an electromagnet include.
  • the inductive incremental angle sensor may also comprise further elements, in particular at least one core at least partially surrounded by the coil.
  • the first incremental angle sensor and the second incremental angle sensor can be configured identically.
  • Inkrementalwinkelsensor be configured as active incremental angle sensors, in particular as a differential Hall sensors.
  • the first incremental angle sensor, the second incremental angle sensor and the at least one encoder wheel are arranged relative to one another such that at least one first sensor signal generated by the first incremental angle sensor and at least one second sensor signal generated by the second incremental angle sensor are out of phase with one another.
  • a first distance A1 of the first incremental angle sensor to the axis of rotation and a second distance A2 of the second incremental angle sensor to the axis of rotation may be the same.
  • the sensor arrangement can have a transmitter wheel and the first incremental angle sensor, the second incremental angle sensor and the one transmitter wheel can be arranged in the same plane.
  • the first incremental angle sensor and the second incremental angle sensor can be arranged offset from one another on a circular path around the encoder wheel, in particular about the axis of rotation.
  • Incremental angle sensor and the second incremental angle sensor with respect to the axis of rotation include an angle a.
  • this may have the sender wheel at least one gap and at least one tooth and the angle a can satisfy the following equation:
  • the angle a may be selected such that the phase shift between the first sensor signal and the second sensor signal is one quarter of the period of the first sensor signal, the second sensor signal and the rotating element.
  • the angle a can satisfy the following equation:
  • angles ⁇ and g described later and described in detail can satisfy equations (1) and (2) (see equations (3), (4), (5) and (6) below).
  • the sensor arrangement may comprise a plurality of encoder wheels.
  • the plurality of encoder wheels can be arranged offset in the axial direction along the axis of rotation.
  • the Sensor arrangement comprise two encoder wheels, which can be referred to as a first encoder wheel and a second encoder wheel.
  • the first sender wheel and the second sender wheel can be arranged offset along the axis of rotation.
  • the sensor arrangement may have a first transmitter wheel with a first transmitter wheel profile and a second transmitter wheel with a second transmitter wheel profile, wherein the first incremental angle sensor and the first transmitter wheel may be arranged in a first plane, wherein the second incremental angle sensor and the second transmitter wheel arranged in a second plane could be.
  • first transmitter wheel profile and transmitter wheel profile of the first transmitter wheel as well as the terms second transmitter wheel profile and transmitter wheel profile of the second transmitter wheel are used synonymously.
  • the planes can be spaced apart by a distance A3 of 1 mm to 10 cm, preferably 2 mm to 5 cm, particularly preferably 3 mm to 3 cm.
  • the first encoder wheel profile and the second encoder wheel profile can be formed identically.
  • the encoder wheel profile of the first encoder wheel can be arranged rotated in relation to the encoder wheel profile of the second encoder wheel with respect to the axis of rotation.
  • the projection of the first Geberradprofils and the projection of the second Geberradprofils with respect to the axis of rotation may include an angle ß.
  • the angle ⁇ may be selected such that the phase shift between the first
  • Sensor signal and the second sensor signal is a quarter of the period of the first sensor signal, the second sensor signal and the rotating element.
  • another phase shift is possible.
  • the angle ⁇ can satisfy the equations (1) and (2) already formulated above for the angle a:
  • encoder wheels in particular the first sender wheel with the first sender wheel profile and the second sender wheel with the second sender wheel profile, can also be arranged in alignment with respect to the axis of rotation.
  • Inkrementalwinkelsensor be offset from one another.
  • the first incremental angle sensor may be compared to the second
  • Inkrementalwinkelsensor be arranged rotated with respect to the axis of rotation.
  • Inkrementalwinkelsensors in the direction of the axis of rotation offset along a circular path around the encoder wheel, in particular around the axis of rotation, have.
  • Incremental angle sensors with respect to the axis of rotation include an angle g.
  • the angle g can satisfy the equations (1) and (2) already formulated above for the angles a and ⁇ :
  • p is the sum of the dimension DL of the gap and the dimension DZ of the tooth.
  • r is the radius of the encoder wheel.
  • the incremental angle sensor and the second incremental angle sensor may also be arranged in alignment with respect to the axis of rotation.
  • the sensor arrangement may comprise at least one evaluation unit, wherein the evaluation unit may be configured to detect the first sensor signal and the second sensor signal.
  • the evaluation unit can be designed as a single unit. However, the evaluation unit can also be completely or partially outsourced to a control unit, in particular in a central control. Furthermore, the evaluation unit can also be wholly or partially incorporated in the first incremental angle sensor and / or in the second
  • Inkrementalwinkelsensor be integrated, in particular in the form of at least one ASIC.
  • the common abbreviation ASIC stands for the English term application-specific integrated circuit.
  • the evaluation unit may have at least one first evaluation circuit, wherein the first
  • Evaluation circuit is arranged to prepare the first sensor signal. Furthermore, the evaluation unit can have at least one second evaluation circuit, wherein the second evaluation circuit is set up to process the second sensor signal.
  • the first sensor signal and / or the second sensor signal may in particular each comprise a plurality of sensor signals.
  • the first sensor signal and / or the second sensor signal may each comprise two sensor signals, as in the example of FIG.
  • the evaluation unit can be set up to compare the difference between the Hall voltage of the first Hall element and the second Hall element with at least one first upper threshold value and / or with at least one first lower threshold value. Furthermore, the evaluation unit can be set up to output a logical zero when the first upper threshold value is exceeded by the ASIC. Furthermore, the evaluation unit can be set up to output a logical one when the first lower threshold value is undershot by the ASIC. Furthermore, the evaluation unit can be set up to compare the difference between the Hall voltage of the second Hall element and of the third Hall element with at least one second upper threshold value and / or with at least one second lower threshold value. Furthermore, the evaluation unit can be set up to be at a
  • the evaluation unit can be set up to output a logical one when the second lower threshold value is undershot by the ASIC.
  • the evaluation unit may be configured to determine from the first sensor signal and / or from the second sensor signal the at least one rotation property of the rotating element. Furthermore, the evaluation unit can be set up to conclude from a comparison of the first sensor signal and the second sensor signal to a direction of rotation of the rotating element. Furthermore, the evaluation unit can be configured to conclude from the first sensor signal and the second sensor signal to a functionality of the sensor arrangement. Under a "functionality of the sensor arrangement" can in the context of the present invention in principle a state regarding a healthiness, in particular a functionality, the sensor arrangement are understood. So the evaluation unit
  • the first sensor signal and the second sensor signal be set up in particular to close from the first sensor signal and the second sensor signal, in particular from the presence or absence of the phase shift on a serviceability or a defective state of the sensor arrangement, for example, one by a
  • EMC electromagnetic interference, in particular an EMC event, caused defect state.
  • EMC electromagnetic interference
  • An EMC event may in particular be an electromagnetic interference event.
  • the sensor arrangement can be set up to pass on the first sensor signal and / or the second sensor signal to the control unit.
  • the evaluation unit can be set up around the first one
  • the evaluation unit can also be formed as part of the control unit. Alternatively, however, the control unit can also be set up as part of the evaluation unit.
  • a method for determining at least one rotational property of a rotating element about at least one axis of rotation is proposed, the method comprising the use of at least one with the rotating element-connecting encoder wheel, wherein the encoder wheel has a Geberradprofil. The method comprises the following steps, preferably in the order given. Also another
  • Sequence is possible in principle. Furthermore, one or more or all of the method steps can also be carried out repeatedly. Furthermore, two or more of the method steps may also be performed wholly or partially overlapping in time or simultaneously. The method may, in addition to the method steps mentioned, also comprise further method steps.
  • the method steps are: a) generating at least one first sensor signal by at least one first incremental angle sensor; and b) generating at least one second sensor signal by at least one second incremental angle sensor, wherein the first sensor signal and the second sensor signal are out of phase with each other.
  • the method can in particular be carried out using a sensor arrangement according to the present invention, that is to say according to one of the abovementioned embodiments or according to one of the embodiments described below in more detail. Accordingly, for
  • the method may include:
  • the method may include:
  • the method may include:
  • the rotation property of the first sensor signal and / or the second sensor signal can be determined by an evaluation unit and / or by the control unit.
  • the method may include:
  • a time offset of the arrival of the first sensor signal and the second sensor signal can be determined by the control unit.
  • the method may include:
  • the first sensor signal and / or the second sensor signal may each comprise a plurality of sensor signals
  • the sensor arrangement may have a simple and / or flexible structure, in particular a simple and / or flexible sensor structure.
  • the sensor arrangement may have only one encoder wheel and the first incremental angle sensor, the second incremental angle sensor and the one encoder wheel may be arranged in the same plane.
  • the sensor arrangement may have a first encoder wheel and a second encoder wheel, wherein the first incremental angle sensor and the first encoder wheel may be arranged in a first plane, wherein the second incremental angle sensor and the second encoder wheel may be arranged in a second plane.
  • the sensor arrangement may have a first encoder wheel and a second encoder wheel, wherein the first incremental angle sensor and the first encoder wheel may be arranged in a first plane, wherein the second incremental angle sensor and the second encoder wheel may be arranged in a second plane.
  • Inkrementalwinkelsensors and the second incremental angle sensor in particular by the combination of two individual sensors, high
  • the sensor arrangement according to the invention can reduce costs compared with the prior art, in particular during assembly and / or during complete and / or partial replacement of the sensor arrangement, since the first incremental angle sensor and / or the second incremental angle sensor are radial with respect to the at least a sensor wheel may be arranged and, for example, a motor shaft must not completely enclose, as may be the case with other sensor arrangements of the prior art, in particular for example in a resolver. Furthermore, it may be possible for the sensor arrangement to be able to quickly recognize a direction of rotation of the rotating element, in particular at the latest after a passage has taken place
  • inventive method for a large number, in particular all types of electric machines can be used. Furthermore, it may be advantageous that in the case of the present device and / or in the case of the present method, the rotational speed of the rotating element does not have to be derived from an absolute angle information of the resolver by a differentiation.
  • Figures 1A, 1B and IC a first, as a differential Hall sensor
  • FIG. 2 shows an embodiment of a sensor arrangement in a front view
  • FIG. 4 shows another embodiment of the
  • FIGS. 5A, 5B, 6A and 6B show two further embodiments of the invention
  • FIG. 7 is a flowchart of a device according to the invention.
  • the sensor arrangement 110 for determining at least one
  • Rotational property of an element rotating about at least one axis of rotation 112 comprises at least one encoder wheel 114 which can be connected to the rotating element, the transmitter wheel 114 having a transmitter wheel profile 116.
  • the sensor arrangement 110 further comprises at least a first one
  • Incremental angle sensor 118 and at least a second
  • Incremental angle sensor 120 wherein the first incremental angle sensor 118, the second incremental angle sensor 120 and the at least one encoder wheel 114 are arranged such that at least one of the first incremental angle sensor 118 generated first sensor signal 122 and at least one generated by the second incremental angle sensor 120 second
  • Incremental angle sensor 118 and second incremental angle sensor 120 may be selected from the group consisting of: an active one
  • FIG. 1A shows, by way of example, a first incremental angle sensor 112 designed as a differential Hall sensor 127 with a transmitter wheel 114.
  • the differential Hall sensor 127 may have a plurality of Hall elements 128, for example two Hall elements 128, preferably three Hall elements 128, as shown in Figure 1A. Accordingly, the Hall elements 128 of the differential Hall sensor 127 may be referred to as a first Hall element 130, a second Hall element 132, and a third Hall element 134.
  • the differential Hall sensor 127 may comprise at least one magnetic field generator 136, in particular a permanent magnet 138 and / or an electromagnet, as shown in Figure 1A.
  • the permanent magnet 138 may be a
  • the differential Hall sensor 127 and / or an evaluation unit 140 may be configured to detect at least one difference between a Hall voltage of the first Hall element 130 and the second Hall element 132 and a difference between a Hall voltage Hall voltage to determine the second Hall element 132 and the third Hall element 134.
  • the differential Hall sensor 127 may include at least one sensor signal 142 according to the difference between the Hall voltage of the first Hall element 130 and the second Hall element 132 and at least one further sensor signal 142 according to the difference between the Hall voltage of the second Hall element 132 and the third Hall element 134.
  • the Hall element 128, in particular the first Hall element 130 and / or the second Hall element 132 and / or the third Hall element 134, in a direction of extension tangential to the encoder wheel 114th have a dimension of 0.2 mm to 5 mm, preferably from 0.3 mm to 2.5 mm, particularly preferably from 0.4 mm to 1 mm.
  • FIGS. 1B and 1C each show a first sensor signal 122, as with the first one configured as a differential Hall sensor 127
  • the Incremental angle sensor 118 can be generated.
  • the first sensor signal 122 may comprise a plurality of sensor signals 142, in particular two sensor signals 142 according to the difference between the Hall voltage of the first Hall element 130 and the second Hall element 132 and according to the difference between the Hall voltage of the second Hall element 132 and the third Hall element 134, as shown in Figures 1B and C. More specifically, according to the difference between the Hall voltage of the first Hall element 130 and the second Hall element 132, the sensor signal 142 may be referred to as the A channel 144 and the sensor signal 142 may be referred to as the difference between the Hall voltage of the second Hall element 132 and the third Hall element 134 may be referred to as B channel 146.
  • the sensor signal 142 according to the difference between the Hall voltage of the first Hall element 130 and the second Hall element 132 and the sensor signal 142 according to the difference between the Hall voltage of the second Hall element 132 and the third Hall element 134 may each be a difference signal 147 are designated.
  • the evaluation circuit 140 for example, using an AS IC, not shown here, which may be part of the evaluation circuit 140, output a logical zero when at least one of the two difference signal 147 exceeds an upper threshold, and the
  • Evaluation circuit 140 for example using the ASIC, can output a logical one if at least one of the two difference signals 147 exceeds a lower threshold.
  • the common abbreviation ASIC stands for the English term "application-specific integrated Circuit", which can be translated as an application-specific integrated circuit.
  • the sensor signal 142 may be calculated according to the difference between the Hall voltage of the first Hall element 130 and of the second Hall element 132 and the sensor signal 142 may be out of phase with each other according to the difference between the Hall voltage of the second Hall element 132 and the third Hall element 132. Accordingly, the two differential signals may have a phase shift.
  • the first sensor signal 122 is for two different ones
  • the sensor device 110 has next to at least a first
  • Incremental angle sensor 118 at least a second incremental angle sensor 120 on.
  • Incremental angle sensor 120 may be configured identically. In particular, the first incremental angle sensor 118 and the second
  • Inkrementalwinkelsensor 120 be configured as active incremental angle sensors 126, in particular as a differential Hall sensors 127. However, the first incremental angle sensor 118 and the second incremental angle sensor 120 can also be configured differently. The first
  • the incremental angle sensor 118, the second incremental angle sensor 120 and the at least one encoder wheel 114 are arranged relative to one another such that at least one first sensor signal 122 generated by the first incremental angle sensor 118 and at least one second sensor signal generated by the second incremental angle sensor 120 are out of phase with one another.
  • Incremental angle sensor 120 to the axis of rotation 112 may be the same, as shown in Figure 2.
  • the sensor arrangement 110 can
  • Have encoder wheel 114 and the first incremental angle sensor 118, the second incremental angle sensor 120 and the one encoder wheel 114 may be arranged in the same plane, as shown in Figure 2.
  • FIG. 2 shows the sensor arrangement 110 in a coordinate system comprising an x-axis and a y-axis.
  • Incremental angle sensor 120 offset from each other on a circular path around the encoder wheel 114, in particular about the axis of rotation 112, be arranged, as also seen in Figure 2. Furthermore, the first
  • Incremental angle sensor 118 and the second incremental angle sensor 120 with respect to the axis of rotation 112 include an angle a, as illustrated in Figure 2.
  • the encoder wheel 114 may have a radius r, as shown in particular in Figures 2 and 5A.
  • the encoder wheel 114 has a Geberradprofil 116, the at least one
  • Profile element 152 may include.
  • the transmitter wheel profile 116 may comprise a plurality of profile elements 152, for example a plurality of teeth 154 and a plurality of gaps 156.
  • the tooth 154 may have a dimension DZ in an extension direction tangential to the transmitter wheel 114, as shown in FIG.
  • the profile element 152 may be formed as a gap 156, and the gap 156 may have a dimension DL that is tangential to the transmitter wheel 114, as can also be seen in FIG.
  • the dimension DL may have a value of 1 mm to 8 mm, preferably 2 mm to 5 mm, particularly preferably 3.5 mm.
  • the dimension DZ may in particular have a value of 1 mm to 8 mm, preferably 2 mm to 5 mm, particularly preferably of 3.2 mm.
  • the dimension DL can exceed the dimension DZ by a value of 5% to 15%, preferably 7% to 12%, particularly preferably 10%.
  • the tooth 154 may have a height HZ, wherein an extension direction of the height HZ may extend in the radial direction of the encoder wheel 114, as shown in FIG.
  • the encoder wheel 114 may have at least one gap 156 and at least one tooth 154, and the angle ⁇ shown in particular in FIG. 2 may satisfy the following equation:
  • p is the sum of the dimension DL of the gap 156 and the
  • the angle a can be selected in this way be that the phase shift between the first sensor signal 122 and the second sensor signal is a quarter of the period of the first sensor signal 122, the second sensor signal and the rotating element.
  • the angle a can satisfy the following equation:
  • angles ⁇ and g which are still introduced below and described in greater detail, can also satisfy equations (1) and (2).
  • FIG. 4 shows a sensor arrangement 110 in a perspective view. As seen there, the first incremental angle sensor 118 and the second
  • Incremental angle sensor 120 may be incorporated in a common housing 158 with a plug 160.
  • FIG. 5A shows a further embodiment of the sensor arrangement 110 in a front view.
  • the sensor assembly 110 may include a plurality of encoder wheels 114. As shown in Figure 5A, the
  • Sensor arrangement 110 in particular two encoder wheels 114 include, which may be referred to as the first encoder wheel 162 and second encoder wheel 164.
  • the sensor arrangement 110 may have a first transmitter wheel 162 with a first transmitter wheel profile 166 and a second transmitter wheel 164 with a second transmitter wheel profile 168, wherein the first incremental angle sensor 118 and the first transmitter wheel 162 may be arranged in a first plane, wherein the second incremental angle sensor 120 and the second sender wheel 164 may be arranged in a second plane, as shown in Figure 5A.
  • first encoder wheel profile 166 and encoder wheel profile 116 of the first transmitter wheel 114 as well as the terms second transmitter wheel profile 168 and transmitter wheel profile 116 of the second transmitter wheel 164 are used synonymously.
  • the planes just described can be spaced apart by a distance A3 from 1 mm to 10 cm, preferably from 2 mm to 5 cm, particularly preferably from 3 mm to 3 cm.
  • the first encoder wheel profile 166 and the second transmitter wheel profile 168 may be formed identically.
  • the sender wheel profile 116 of the first sender wheel 162 and the sender wheel profile 116 of the second sender wheel 164 can be arranged offset to one another, as shown in FIGS. 5A and 5B.
  • a projection of the first encoder wheel profile 166 in the direction the rotation axis 112 and a projection of the second Geberradprofils 168 in the direction of the rotation axis 112 have an offset 170.
  • the projection of the first Geberradprofils 166 and the projection of the second Geberradprofils 168 with respect to the rotation axis 112 include an angle ß.
  • the angle ⁇ may be selected such that the phase shift between the first sensor signal 122 and the second sensor signal is one quarter of the period of the first sensor signal, the second sensor signal and the rotating element.
  • Rotation axis 112 and a projection of the second incremental angle sensor 120 in the direction of the rotation axis 112 completely overlap and
  • FIG. 5B shows in schematic form a section of the sensor arrangement 110 from FIG. 5A in a plan view. To illustrate an arrangement of the first encoder wheel 162 with the first Geberradprofil 166 and the second encoder wheel 164 with the second Geberradprofil 168 and the first
  • FIGS. 5A and 5B show the sensor arrangement 110 in one
  • Coordinate system comprising an x-axis, a y-axis and a z-axis.
  • FIGS. 5B and 6B one possible direction of rotation of the rotating element and of the first encoder wheel 162 which can be connected to the rotating element and of the second encoder wheel 164 which can be connected to the rotating element is indicated by a circular arrow in each case.
  • FIG. 6A shows a further embodiment of the sensor arrangement 110 in a front view.
  • the sensor arrangement 110 can have, in particular, the first transmitter wheel 162 with the first transmitter wheel profile 166 and the second transmitter wheel 164 with the second transmitter wheel profile 168, wherein the first incremental angle sensor 118 and the first transmitter wheel 162 can be arranged in a first plane , where the second
  • Incremental angle sensor 120 and the second encoder wheel 164 may be arranged in a second plane. Furthermore, as illustrated in FIG. 6A by the front view of the sensor arrangement 110, a projection of the first transmitter wheel 162 with the first transmitter wheel profile 166 in the direction of the rotation axis 112 and a projection of the second transmitter wheel 164 with the second encoder wheel profile 168 completely overlap in the direction of the axis of rotation and in particular have no offset 170.
  • the first transmitter wheel profile 166 and the second transmitter wheel profile 168 may be identical.
  • the first incremental angle sensor 118 and the second incremental angle sensor 120 may be staggered with each other as shown in FIGS. 6A and 6B. In particular, the first
  • Incremental angle sensor 118 and the second incremental angle sensor 120 have an offset 170.
  • Incremental angle sensor 118 in the direction of the rotation axis 112 and a projection of the second incremental angle sensor 120 in the direction of
  • Rotation axis 112 an offset 170 along a circular path around a
  • Projection of the first encoder wheel 162 and / or the second encoder wheel 164, in particular around the axis of rotation 112, have.
  • the projection of the first incremental angle sensor and the projection of the second incremental angle sensor with respect to the axis of rotation may include an angle g.
  • FIG. 6B shows in schematic form a section of the sensor arrangement 110 from FIG. 6A in a plan view. To illustrate an arrangement of the first encoder wheel 162 with the first Geberradprofil 166 and the second encoder wheel 164 with the second Geberradprofil 168 and the first
  • FIGS. 6A and 6B show the sensor arrangement 110 in one
  • Coordinate system comprising an x-axis, a y-axis and a z-axis.
  • the sensor arrangement 110 may include at least one evaluation unit not shown in the figures, wherein the evaluation unit may be configured to detect the first sensor signal 122 and the second sensor signal.
  • the evaluation unit can be designed as a single unit. However, the evaluation unit can also be wholly or partly in a likewise not shown in the figures control unit, in particular in a central processing unit.
  • the evaluation unit can also be wholly or partially incorporated in the first incremental angle sensor and / or in the second
  • the evaluation unit may have at least one first evaluation circuit, wherein the first Evaluation circuit is arranged to prepare the first sensor signal. Furthermore, the evaluation unit can have at least one second evaluation circuit, wherein the second evaluation circuit is set up to process the second sensor signal.
  • a method for determining at least one rotational property of an element rotating about at least one axis of rotation 112, the method comprising the use of at least one encoder wheel 114 connecting the rotating element, the encoder wheel 114 having a transmitter wheel profile 116.
  • the method comprises the following steps, preferably in the order given. Also a different order is possible. Furthermore, one or more or all of the method steps can also be carried out repeatedly. Furthermore, two or more of the method steps may also be performed wholly or partially overlapping in time or simultaneously. The method may, in addition to the method steps mentioned, also comprise further method steps.
  • the method comprises generating at least one first sensor signal 122 by at least one first incremental angle sensor 118; and in a second step b) (method step 174) generating at least one second sensor signal by at least one second incremental angle sensor 120, the first sensor signal 122 and the second sensor signal being out of phase with one another.
  • the method may also include further, not shown in the figures steps.
  • the method may include one or more or all of the following steps:
  • the rotation property of the first sensor signal 122 and / or the second sensor signal can be determined by an evaluation unit and / or by the control unit.
  • the method may include: f) comparing the first sensor signal 122 with the second sensor signal by the control unit.
  • a time offset of the arrival of the first sensor signal 122 and of the second sensor signal can be determined by the control unit.
  • the method may include:

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Abstract

L'invention concerne un ensemble capteur (110) destiné à déterminer au moins une caractéristique de rotation d'un élément en rotation autour d'au moins un axe de rotation (112). L'ensemble capteur (110) comprend au moins une roue de capteur (114) pouvant être reliée à l'élément en rotation, ladite roue de capteur (114) présentant un profil de roue de capteur (116). De plus, ledit ensemble capteur (110) comporte également au moins un premier codeur incrémental (118) et au moins un deuxième codeur incrémental (120), le premier codeur incrémental (118), le deuxième codeur incrémental (120) et ladite au moins une roue de capteur (114) étant disposés les uns par rapport aux autres de telle sorte qu'au moins un premier signal de capteur (122) produit par le premier codeur incrémental (118) et au moins un deuxième signal de capteur produit par le deuxième codeur incrémental (120) sont déphasés l'un par rapport à l'autre.
PCT/EP2018/078437 2017-12-06 2018-10-17 Ensemble capteur destiné à déterminer au moins une caractéristique de rotation d'un élément en rotation autour d'au moins un axe de rotation WO2019110183A1 (fr)

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DE102017222020.1 2017-12-06
DE102017222020.1A DE102017222020A1 (de) 2017-12-06 2017-12-06 Sensoranordnung zur Bestimmung mindestens einer Rotationseigenschaft eines um mindestens eine Rotationsachse rotierenden Elements

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EP1186894A1 (fr) * 2000-09-07 2002-03-13 Sem Ab Capteur de vitesse angulaire avec marque de référence
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CN113252939B (zh) * 2021-05-13 2023-12-05 中国长江电力股份有限公司 基于图像识别技术的水轮发电机组蠕动探测方法及装置

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