WO2019122384A2 - Capteur de vitesse de rotation à résolution accrue et à seuils de commutation multiples - Google Patents

Capteur de vitesse de rotation à résolution accrue et à seuils de commutation multiples Download PDF

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Publication number
WO2019122384A2
WO2019122384A2 PCT/EP2018/086706 EP2018086706W WO2019122384A2 WO 2019122384 A2 WO2019122384 A2 WO 2019122384A2 EP 2018086706 W EP2018086706 W EP 2018086706W WO 2019122384 A2 WO2019122384 A2 WO 2019122384A2
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WO
WIPO (PCT)
Prior art keywords
sensor
signal
signal processing
switching
processing device
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PCT/EP2018/086706
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German (de)
English (en)
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WO2019122384A3 (fr
Inventor
Heinrich Acker
Ralf ENDRES
Mario TROTT
Stephan Jonas
Original Assignee
Continental Teves Ag & Co. Ohg
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Application filed by Continental Teves Ag & Co. Ohg filed Critical Continental Teves Ag & Co. Ohg
Priority to CN201880081965.4A priority Critical patent/CN111492249B/zh
Publication of WO2019122384A2 publication Critical patent/WO2019122384A2/fr
Publication of WO2019122384A3 publication Critical patent/WO2019122384A3/fr

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    • 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
    • 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
    • G01P3/489—Digital circuits therefor

Definitions

  • the invention relates to a sensor according to the preamble of claim 1 and a sensor arrangement.
  • WO 2016/023769 A2 proposes a rotational speed sensor which provides an increase in resolution, wherein this sensor generates a sinusoidal signal and a cosine signal respectively by means of a Sen sorelements in the detection of the periodic pattern of an encoder, wherein an angle signal is calculated from these signals by means of an arc cosine function , which is quantized with 8-bit resolution, whereby the sensor per detected period of the encoder can provide 7 or 8 Positrons- or Win kelu.
  • an implementation of the Sig nal kaus submitted this sensor is relatively complex and expensive, especially in terms of Ar kuscosinusfunktion, also requires the calculation of the angle signal relatively much time.
  • the invention is based on the object of a sensor before strike, which is relatively inexpensive or which has a relatively fast signal processing or measures / recorded with a relatively high resolution.
  • a sensor for detecting relative movements between an encoder, with a We sentlichen periodic scale and / or pattern, and at least one sensor element, wherein the speed sensor has at least one sensor element and a signal processing device, wherein the signal processing device is designed such that it provides a motion signal depending on the sensor element output signal of the Sensorele ment, wherein
  • the signal processing device is designed so that it has two or more switching thresholds with respect to the Sensorele mentausgangssignals, wherein in each case at above and below a switching threshold by, in particular the amplitude of the sensor element output signal motion information is generated, which takes into account in the generation of the motion signal becomes.
  • the sensor is preferably formed out as a speed sensor and / or speed sensor and / or angular velocity sensor, in particular as a crankshaft speed sensor or wheel speed sensor or transmission speed sensor or Turbola derfieresensor.
  • an amplitude value of the value of the magnetic field detected by the at least one sensor element is provided by the at least one sensor element output signal or information therein Value is included, understood.
  • the amplitude value also includes the digitized or quantified value detected at certain detection times.
  • the at least one sensor element comprises a bridge circuit with two half bridges or that the sensor has two sensor elements, the half bridges or the two sensor elements each providing a sensor element output signal which is supplied to the signal processing device and wherein the signal processing device is designed so that at Above and below a respective switching threshold by the respective sensor element output signal of one of the half-bridges or one of the two sensor elements respectively a motion information is generated, which is taken into account in the generation of the motion signal.
  • the signal processing device comprises two signal paths for this purpose.
  • the two half-bridges or the two sensor elements are arranged in the sensor so that they can detect or detect the periodic scale and / or the pattern of the encoder with a phase offset of substantially 90 °.
  • the at least one sensor element is preferably designed as Mag netfeldsensorelement, in particular as AMR, so as anisotropic magnetoresistive, or Hall or GMR, ie as a giant magnetoresistive or stand on the giant magnetoresistance principle based sensor element, or TMR sensor element, ie as a tunnel magnetoresistives Sensor element formed.
  • the signal processing device is preferably formed such that each switching threshold comprises a hysteresis.
  • each switching threshold comprises a first and a second Operaschaltschwelle to form a hysteresis, wherein the first Generalschaltschwelle is triggered by exceeding and the second Generalschaltschwelle is formed by falling below and / or each switching threshold by means of a Schmitt trigger element or the Signal kausein direction is designed so that it includes a hysteresis with respect to each switching threshold, which behaves We sentlichen as a Schmitt trigger element.
  • a Schmitt trigger element is preferably understood to mean an analog comparator with positive feedback, which operates as a comparator for two analog voltage signals and functions as a threshold value switch for these signals.
  • the Schmitt trigger has two threshold values for a hysteresis, an upper threshold value which, when exceeded by the voltage signal to be evaluated, in particular a sensor element output signal, leads to a switching process, in particular a maximum or a defined relatively large output voltage value at the output of the Schmitt triggers, and a lower threshold value which, when undershot by the voltage signal to be evaluated, in particular a sensor element output signal, leads to a switching threshold.
  • a minimum or defined relatively low output voltage value is provided at the output of the Schmitt trigger.
  • the sensor expediently comprises two sensor elements which each provide a sensor element output signal and each have a signal path in the signal processing device.
  • each of the two signal paths in particular special hysteresis, which is particularly preferably realized at least by a Schmitt trigger element or a substantially equivalent circuit, wherein the respective Schmitt trigger element each of the Sensorelementaus output signals is supplied as input voltage signal to be evaluated on the input side and the other sensor element output signal inverted as a comparison signal.
  • a signal processing device is preferably understood to mean a signal processing circuit and / or a freely programmable circuit.
  • the signal processing device preferably comprises a microcontroller which performs at least some or all of the calculations and / or signal generation and / or adaptations of the threshold values of the switching thresholds and is designed accordingly.
  • the signal processing device is designed such that it independently carries out an adaptation of the switching thresholds with regard to the threshold value, wherein this adaptation takes place as a function of the time profile of the at least one sensor element output signal.
  • the signal processing device is designed such that a defined number of successive amplitude values, in particular minima and / or maxima, of the at least one sensor element output signal are stored in a memory unit of the signal processing device, according to which / depending on this stored amplitude values of the threshold value of at least one of the switching thresholds is adjusted.
  • the mean value switching threshold is adapted to an arithmetic mean value of the respective magnitude of the stored amplitude values, with one or more of the stored ones in particular being adapted
  • Amplitude values are discarded before the formation of the arithmetic mean value and / or the same number of minima and maxima of the amounts of the stored amplitude values are taken into account in the formation of the arithmetic mean and / or before or after arithmetic mean of each of the stored amplitude values or their magnitudes and / or the arithmetic mean is multiplied by a defined factor.
  • the signal processing device is designed so that beyond an adjustment of the other switching thresholds takes place, depending on the distance of the respective switching threshold to the mean threshold, which the Signalverarbei processing device takes into account and / or that after Be calculation of the value to be adjusted the mean threshold the other switching thresholds are adjusted.
  • the signal processing device preferably has a clock generator unit, which is designed in particular as an oscillator and particularly preferably has at least one transistor and at least one capacitance element.
  • the clock unit comprises no Quar zoszillator and no ceramic resonator.
  • the signal processing device is embodied such that it stores in the memory unit a defined quantity of, in particular last, amplitude values which are last at acquisition times or respectively at the time of acquisition. Scanning time points, which are determined by the clock unit, are calculated or measured in the signal processing device.
  • a functional model or a model of the signal shape of the signal type usually to be detected is stored or stored in the signal processing device.
  • the implementation of the parameter determination of the functional model takes place by means of a parameter extraction, which is stored, for example, in the form of a numerical algorithm.
  • the signal processing device is expediently designed such that from a defined quantity of the amplitude values available in the memory unit, in particular filtering or averaging and / or weighting is performed with respect to these values, function parameters are calculated by means of the parameter extraction, on the basis of which new threshold values of the Switching thresholds, including the average switching thresholds, or alternatively preferably without them, be be calculated and as thresholds of the corresponding
  • Switching thresholds are stored and used for the measurement and the generation of the motion signal or sensor output signal.
  • the signal processing device is designed such that it compensates for offset with respect to the one sensor element and / or the signal path within the Signal processing device comprises.
  • the signal processing device is designed so that it compensates the / an offset of at least one amplifier element kom and / or that it carries out an offset compensation by means of driving at least one amplifier element.
  • the signal processing device is expediently designed so that due to the occurrence of afrosin formation in each case a motion pulse of defined length and / or an additional data pulse or an additional data pulse sequence defi ned length is generated in the motion signal.
  • the signal processing device for generating the motion pulse of defined length and / or an additional data pulse or an additional data pulse train comprises at least one
  • Power source more preferably, it has 3 current sources for 3 defined current levels, on.
  • the motion signal is generated as an output signal of the sensor, in the form of an impressed current signal.
  • the signal processing device is embodied such that it has a mode switching unit which, depending on a detected Be wegungs Anlagen and / or speed over a defined speed value, the signal processing device in a normal operating mode or leaves, wherein the signal processing means is designed in the normal operating mode, it provides a movement signal which generates a motion pulse with a defined first amplitude and a defined time duration only when the average switching threshold is exceeded and undershot, followed by a defined number of additional data pulses with a defined second amplitude and defined duration.
  • each additional data pulse another additional data information, which provides the sensor encoded, particularly preferably or alternatively preferably the number of subsequent / appended additional data pulses from the detected Geschwin speed / speed from, are particularly preferred only so long , Expediently attached at relatively high speeds / speeds, additional data pulses until new BeWe supply pulse is generated or will be generated in direct, defined maximum temporal proximity.
  • the mode switching unit is expediently designed such that it has a hysteresis with regard to the speed or rotational speed.
  • the signal processing device is designed such that it has a mode switching unit which depending on a detected by the sensor Be wegungs technically and / or speed under a defi ned speed value the Signal kauseinrich device in a special operating mode or leaves, wherein the signal processing device is formed is that it provides a motion signal in the special operating mode, which / which generates a motion pulse having a defined first amplitude and a defined time duration only when the average switching threshold is exceeded or undershot, to which a defined number of additional data pulses having a defined second amplitude and defined time duration in particular, nine additional data pulses follow / are appended to the movement impulse, each additional data impulse containing a different additional data information, which of the S sensor, encoded, and wherein the Sig nal kaus disturbed is designed so that in the Special operating mode when exceeding and falling below the other switching thresholds, ie non-average switching thresholds, in each case only generates a defined number of offeredda ten pulses with defined second amplitude
  • the additional data pulses generated, in particular directly following one another comprise position information or angle information, particularly preferably the information as to which switching shaft has just been exceeded or undershot. Most preferably, this information is coded in the 6th, 7th and 8th additional data pulses.
  • the coding by the additional data pulses is binary.
  • the signal processing device is preferably formed such that the generation of the motion pulse, in particular with appended / following additional data pulses, and / or the generation of a defined number of additional data pulses, without motion impulse, in each case on the basis of motion information.
  • the motion signal forms at least the Rela tivschul between the encoder and the sensor or the at least one sensor element.
  • the sensor arrangement is designed so that the sensor transmits the movement signal to an electronic control unit which calculates a speed / speed from the movement signal.
  • the sensor carries out the calculation for mode switching itself or, alternatively, preferably receives a mode signal from the electronic control unit for this purpose.
  • the speed signal preferably depends at least on the relative speed between the encoder and sensor element and is provided on the output side of the speed sensor, in particular special on a two-wire interface.
  • a signal processing device is preferably understood to be a signal processing circuit.
  • sensor element output signal is expediently understood to mean the rising signal of the at least one or one sensor element.
  • the senor according to the invention allows an increased resolution and a rotational direction detection, which is very advantageous for au tomatis elected parking a motor vehicle.
  • the signal processing device is designed such that it can detect or determine or determine or determine a direction of rotation of the detected encoder or its pattern / scale.
  • the direction of rotation is determined, in particular, from the phase offset between the two sensor element output signals or the sin and cos signals.
  • the first amplitude is larger / higher than the second amplitude. It is preferred that the signal processing device and the at least one sensor element on a chip or. ASIC are integrated.
  • the sensor expediently has a plastic housing, as well as two connections as an interface for connection to an electronic control unit of a motor vehicle control or regulation system.
  • the sensor is designed in particular as an active sensor and is supplied with electrical energy via this interface.
  • the new calculated thresholds of the switching thresholds can be used for the measurement and for the calculation of the motion signal.
  • this adjustment and recalculation of the thresholds is not used for the mean switching thresholds and only for some of the defined switching thresholds, for example at 2 switching thresholds for a switching threshold with positive amplitude and a switching threshold with negative amplitude.
  • each newly calculated value D is stored, at least for a certain time, and from a defined amount of the last calculated values of D by means of a filtering, a filtered value of D for the determination of the switching threshold occurrence. is used.
  • This filtering includes in particular a low pass.
  • a plurality or a defined number of the amplitude values last stored at the switching threshold occurrence prediction instants are filtered, in particular by means of a low-pass filter.
  • acceleration information and / or acceleration change information and / or acceleration change information of a higher order are preferably taken into account.
  • acceleration information and / or acceleration change information and / or acceleration change information of higher order on a previously calculated directly last acceleration or acceleration change or loading Acceleration change higher order based and / or on a defined number of several recently calculated and stored accelerometer information or Beschreibungsänungsinformati onions higher order, which are in particular filtered, particularly preferably by means of a low-pass.
  • value / information is stored, it is stored in the memory unit or an additional / separate memory unit.
  • the storage of values or information is realized via one or more counters in the signal processing device.
  • the invention also relates to a sensor arrangement comprising the sensor according to the invention and a magnetic, in particular permanent magnetic, encoder with a We sentlichen periodic scale and / or pattern.
  • the invention relates to the use of he inventive sensor and / or the sensor arrangement in
  • the figures illustrate exemplary embodiments of the sensor arrangement as well as signal curves of the sensor or the sensor arrangement.
  • the averaging clamp 4 is known and popular in the art.
  • the two other switching thresholds 3 are arranged so that over a full period of the approximately sinusoidal signal or sensor element output signal 6 events or BeWe information be generated, the nominal angle of these events or the corresponding motion information associated with equidistant by appropriate choice of thresholds and each threshold or switching threshold is crossed twice per period of the signal, ie it is always exceeded and undershot.
  • the nominal values of the switching thresholds are for example sym metric to the mean, characterized by the average switching threshold example.
  • the switching thresholds each have a hysteresis 5, which are formed by Schmitt trigger elements in the signal processing device.
  • the switching thresholds have, for example, in each case a hysteresis, and thus a slightly different value when crossing from above or below, or above and below, for noise suppression.
  • a motion pulse 1 is generated with a defined number of appended additional data pulses
  • the other switching thresholds 3 are exceeded or undershot, only a defined number of appended additional data pulses are generated.
  • the respective 9 additional data pulses contain or encode information in the form of a data word, and in this case Bit5, Bit6, Bit7 which of the switching thresholds in terms of their switching sequence within the passage of the periodic signal, the periodic encoder pattern he followed. Bit2 encodes the information about the operating mode.
  • Tab.l shows the basic structure of the data packets or the data word encoded by the 9 additional data pulses. These data packets consist of 9 bits and also provide information about error BitO, status mode Bitl, validity of the direction of rotation Bit3, direction of rotation Bit4 and parity Bit8. The data packets are transmitted in binary.
  • Fig. 2 illustrates the structure of the sensor arrangement:
  • the encoder (20) causes by its periodic pattern an approximately sinusoidal signal 24 at the output of a Magnetfeldsensorel element 21.
  • Magnetic sensor element output signal is given as an input signal to the signal processing block 22 of the Sig nal kaus worn, the 2N + 1 Sch
  • Fig. 3 shows an exemplary waveform.
  • the output signals 25 of Schmitt trigger elements top: top, middle: middle, bottom: bottom threshold.
  • the horizontal axis corresponds to the time t in unspecified units. It can be seen that there is a certain temporal and logical relationship between the signals 25: the signal edges must occur in a certain order and the logic levels are linked accordingly, eg: if the upper signal is 'high' then the other two signals must also , to be high. These relationships can be used for error correction.
  • the signal processing block 22 of the signal processing device has the task or is designed to avoid this by its heuristic or adaptation of the thresholds he switching thresholds as far as possible, but there may occasionally be cases in which this does not succeed.
  • the signal processing block 23 detects the violation of the sequence of the edges as an error and can supplement the missing edges at the output or give a message about this situation via the protocol. Additionally or alternatively, on the receiver side, in an electronic control unit, the Error situation can be detected because two data words, preceded by a pulse, follow each other directly.
  • the duration D between the last two middle switching thresholds is measured. D depends on the speed.
  • the instantaneous reading of the encoder sampling signal is stored to use as a comparison value for the corresponding switching threshold. For each switching threshold except the middle, such a value is stored.
  • the output signals for the upper and lower switching thresholds are generated by comparing the current value of the encoder sampling signal with the stored values at all times.
  • indexed quantities are used.
  • X (i) denotes the last known or measured value of X, X (il), X (i-2), etc. designate earlier values of X. These may be the next to last and the pre-last value of X, in a further abstraction the distances in the sequence of the However, measurements should also be higher so that any difference of one in the index corresponds to a fixed but arbitrary distance in the sequence of measurements.
  • At least two measured values D (i) and D (i-1) are stored for the duration D at least.
  • the difference A D (i) -D (i-1) depends on the acceleration. Instead of the last value of D, in steps 2-4 of the above method, a value D (i) + c * A increased by c * A is used, where c is a fixed coefficient for scaling.
  • any of the low-pass filtering features described may be used alone or in any combination.
  • D, A as well as other quantities, which represent the change of the velocity with higher order; Furthermore, the stored switching thresholds.
  • register D contains the value of the time interval between the last two middle ones
  • a. N 1: A distinction can be made between the sign of the signal (in the sense of greater or less than the mean value) as to which of the two switching thresholds is currently involved.
  • each switching threshold can be independent of the other be, no symmetry provided in the calculation model, or the non-current switching threshold is also updated, symmetry in the calculation model is assumed by being set to a value that is the same Distance to the mean results.
  • there are two thresholds, "one" above “one” below “- this follows from N 1.
  • the correct switching threshold can then be selected to store the signal of the encoder scan
  • switching thresholds which are symmetrical to the middle switching threshold can be updated together by assuming a symmetrical course of the encoder sampling signal, ie corresponding switching thresholds above and below the middle switching threshold are always equidistant from it.
  • the output signals for the upper and lower switching thresholds are generated by comparing the current value of the encoder sampling signal with the values stored in (6) at any one time For example, to generate the 2 N + 1 digital signals, these signals come into the sequence of "timing" the two thresholds.
  • the counting frequency f need neither be known nor long-term stable, since it is only used to form fractions of the duration between two middle switching thresholds. Therefore, no high-quality oscillator for this frequency is needed, in particular special an oscillator can be used, which can be integrated without external components on an ASIC. Quartz or ceramic resonators are not needed.

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

Abstract

L'invention concerne un capteur destiné à détecter des mouvements relatifs entre un codeur, comportant une échelle et/ou un motif sensiblement périodique, et au moins un élément de détection. Le capteur comporte au moins un élément de détection et un dispositif de traitement de signal. Le dispositif de traitement de signal est conçu pour délivrer un signal de mouvement en fonction du signal de sortie de l'élément de détection. Le dispositif de traitement de signal est conçu de manière à avoir au moins deux seuils de commutation par rapport à l'au moins un signal de sortie d'élément de détection. Une information de mouvement, qui est prise en compte dans la génération du signal de mouvement, est générée sensiblement lors de chaque franchissement vers le haut et vers le bas d'un seuil de commutation par le signal de sortie de l'élément de détection.
PCT/EP2018/086706 2017-12-22 2018-12-21 Capteur de vitesse de rotation à résolution accrue et à seuils de commutation multiples WO2019122384A2 (fr)

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CN201880081965.4A CN111492249B (zh) 2017-12-22 2018-12-21 具有提高的分辨率和多个开关阈的转速传感器

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DE102017011938 2017-12-22
DE102017011938.4 2017-12-22
DE102018222791.8 2018-12-21
DE102018222791.8A DE102018222791B4 (de) 2017-12-22 2018-12-21 Drehzahlsensor mit erhöhter Auflösung und mehreren Schaltschwellen

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CN111492249B (zh) 2022-06-17
DE102018222791A1 (de) 2019-06-27
DE102018222791B4 (de) 2024-02-01
CN111492249A (zh) 2020-08-04

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