WO2020030337A1 - Système capteur pour déterminer au moins une caractéristique de rotation d'un élément rotatif - Google Patents

Système capteur pour déterminer au moins une caractéristique de rotation d'un élément rotatif Download PDF

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Publication number
WO2020030337A1
WO2020030337A1 PCT/EP2019/065767 EP2019065767W WO2020030337A1 WO 2020030337 A1 WO2020030337 A1 WO 2020030337A1 EP 2019065767 W EP2019065767 W EP 2019065767W WO 2020030337 A1 WO2020030337 A1 WO 2020030337A1
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WIPO (PCT)
Prior art keywords
sensor system
evaluation unit
specific integrated
signals
integrated circuit
Prior art date
Application number
PCT/EP2019/065767
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German (de)
English (en)
Inventor
Fabian Utermoehlen
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Robert Bosch Gmbh
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Publication of WO2020030337A1 publication Critical patent/WO2020030337A1/fr

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Classifications

    • 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
    • G01D3/00—Indicating or recording apparatus with provision for the special purposes referred to in the subgroups
    • G01D3/028—Indicating or recording apparatus with provision for the special purposes referred to in the subgroups mitigating undesired influences, e.g. temperature, pressure
    • G01D3/032—Indicating or recording apparatus with provision for the special purposes referred to in the subgroups mitigating undesired influences, e.g. temperature, pressure affecting incoming signal, e.g. by averaging; gating undesired signals
    • 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
    • G01D5/14—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 the magnitude of a current or voltage
    • G01D5/20—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 the magnitude of a current or voltage by varying inductance, e.g. by a movable armature
    • G01D5/204—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 the magnitude of a current or voltage by varying inductance, e.g. by a movable armature by influencing the mutual induction between two or more coils
    • G01D5/2053—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 the magnitude of a current or voltage by varying inductance, e.g. by a movable armature by influencing the mutual induction between two or more coils by a movable non-ferromagnetic conductive element

Definitions

  • asynchronous machines For example, to implement traction in electric vehicles, either asynchronous machines or synchronous machines are often used, each of which consists of a stationary stator and a rotating rotor.
  • the stator generally carries three winding strands, for example offset by 120 ° / p to one another, where p represents a number of pole pairs.
  • the rotor In asynchronous machines, the rotor usually consists of electrically conductive rods which are short-circuited at the ends. When a rotor field rotates, a voltage can be induced in the rods, which causes a current to flow, which in turn turns on
  • the rotor comprises a rotor which carries an excitation coil in which a direct current flows and generates a static magnetic field.
  • a permanent magnet can be used as the rotor. Then it is about a permanently excited synchronous machine, which has a higher efficiency due to the powerless excitation and so for
  • a speed of the rotor can be identical to the speed of an excitation field.
  • the torque can depend on a phase offset, that is to say an angular difference between the stator field and the rotor.
  • Asynchronous machines know the speed of the rotor and for synchronous machines an absolute angular position of the rotor.
  • Transmitter in which a rotor package is mounted on the shaft of the motor at a fixed speed.
  • An excitation coil and several receiver coils are mounted on a stator all the way round in a ring.
  • An AC voltage signal is applied to the excitation coil and passes through the entire arrangement with an alternating electromagnetic field.
  • a sinusoidal amplitude-modulated voltage can be induced in a first receiver coil, while a cosine-shaped amplitude-modulated voltage is induced in a second receiver coil.
  • a resolver is a purely passive one
  • Electromagnetic resolvers are also known, for example from DE 10 2013 203 937. However, optical resolvers are necessary in addition to high costs, a principle-related cross-sensitivity to dirt and therefore cannot be used in every environment.
  • inductive absolute angle sensors based on distributed planar coils, the inductance of which changes as a result of an electrically conductive target due to the
  • DE 10 2014 220 458 A1 describes a rotating component which is coupled to a disk-shaped target which has at least one metal surface and, in conjunction with a coil arrangement which has at least one flat detection coil, generates information for determining the current angle of rotation of the rotating component.
  • the coils are often connected in a resonant circuit whose resonance frequency changes depending on the angle of rotation.
  • such sensors can have a high cross-sensitivity to mechanical installation tolerances, especially when the target is tilted, and a possible locking of the frequencies to interference from outside, so-called injection locking, since frequencies in the range of a few MHz are usually used.
  • Absolute angle sensors based on coupled coils. These consist of at least two receiver coils integrated on a printed circuit board as well as a rotating excitation coil.
  • the excitation coil can with a
  • AC voltage signal with a frequency between 1 MHz and 10 MHz are applied and generates an alternating electromagnetic field, which induces voltages in the receiving coils.
  • the coupling between the transmitter coil and the receiver coils can be influenced as a function of the angle of rotation by scanning over them with an electrically conductive target structure.
  • the embodiment described in EP 0 909 955 B1 can have a complex loop-shaped target structure, which causes high manufacturing costs. Furthermore, the interruptions or cutouts in the target can become undesirable, especially at high speeds
  • Signal processing chain can be performed.
  • Magnetic field-based rotation angle sensors for rotor position detection are also known, for example from EP 0 056 303 A2.
  • a magnet is attached to a rotor, which rotates in relation to a fixed magnetic field sensor.
  • the magnet can be magnetized diametrically, that is, the magnet can have two oppositely magnetized regions, which are each of the same size, for example each 180 ° and arranged symmetrically with respect to an axis of rotation.
  • the measurement of the magnetic field vector allows conclusions to be drawn about the angle of rotation.
  • Known embodiments for the detection of the magnetic field vector are based
  • GMR giant magnetoresistance
  • TMR magnetic tunnel resistance
  • AMR anisotropic magnetoresistive effect
  • absolutely measuring magnetic field sensors also react to external magnetic fields, which result, for example, from a current flow from adjacent power cables. This is the case, for example, with electrical machines for traction applications, where external fields occur due to the rotating rotor of the frequently used permanently excited synchronous machine and the corresponding leads of the stator coils.
  • the angular errors can depend on the strength of the external field and on the angular position of the sensor.
  • Methods to suppress external fields include differential measurements with more than one magnetic field sensor and use of a multi-pole magnetic target. The angular accuracy of the sensor can be reduced accordingly. Furthermore, such
  • the method can only be effective in the case of low or gradient-free interference fields.
  • a sensor system for determining at least one rotational property of an element rotating about at least one rotational axis.
  • a “sensor” is basically understood to mean any device which is suitable for detecting at least one measurement variable.
  • a “system” is a device comprehensively understood at least two components.
  • the sensor system comprises at least one inductive position sensor and at least one evaluation unit.
  • An inductive position sensor for detecting at least one rotational property is accordingly understood to be a sensor which is set up to detect the at least one
  • rotational characteristic is basically understood to be a property that at least partially describes the rotation of the rotating element. This can be, for example, an angular velocity, a speed, a
  • the rotating element can at least partially characterize a continuous or discontinuous, uniform or non-uniform rotation or rotation of the rotating element.
  • Rotation property is a position, in particular an angular position, a speed, an angular acceleration or a combination of at least two of these quantities. Other properties and / or other combinations of properties can also be ascertainable.
  • an “angular position” basically means an angle of rotation of a device capable of rotation, for example the rotating element or a sensor wheel of the sensor system, with respect to an axis perpendicular to the axis of rotation.
  • the inductive position sensor can be an inductive rotor position sensor or
  • Rotor position sensor can in principle be understood in the context of the present invention to be any sensor that can generate a signal corresponding to a detected property, in particular a measurement signal, in particular an electrical measurement signal, for example a voltage or a current, wherein the measurement signal is generated is based on a change in magnetic flux.
  • the detected property can include a position, for example an angular position.
  • the inductive position sensor can be an inductive magnetic sensor.
  • the sensor system can in particular be set up for use in a motor vehicle, in particular for traction applications for electrical machines.
  • a “rotating element” is basically understood to mean any element which rotates about at least one axis.
  • the rotating element can be a shaft, for example a shaft in a drive machine, for example a camshaft or a crankshaft.
  • a shaft for example a shaft in a drive machine, for example a camshaft or a crankshaft.
  • a crankshaft for example, a crankshaft.
  • Angular position of a camshaft or a speed of a camshaft or an angular acceleration of a camshaft or a combination of at least two of these quantities can be determined.
  • Other properties and / or other combinations of properties can also be ascertainable.
  • the sensor system can have the at least one sensor wheel that can be connected to the rotating element.
  • a “transmitter wheel” can basically be understood to mean any component that can be connected to the rotating element and that is set up at
  • the sensor wheel can, for example, be permanently or reversibly connected or connectable to the rotating element or can also be formed in one piece with the rotating element or integrated into the rotating element.
  • the sensor wheel can have a sensor wheel profile.
  • a “transmitter wheel profile” can basically be understood to mean an entirety of profile elements and of intermediate spaces which are arranged between the profile elements.
  • a “profile element” of the sensor wheel can in principle be understood to mean any shape of the contour of the sensor wheel, in particular a bulge,
  • the encoder wheel can be designed to be rotationally symmetrical.
  • the sensor wheel can have an identical number of electrically conductive blades and electrically non-conductive or less conductive blades and / or recesses.
  • the electric Conductive wings can have a first opening angle a and the electrically non-conductive or less conductive wings and / or the recesses can have a second opening angle ⁇ . A sum of the first and the second
  • Opening angle can be a full angle measurement range of the inductive
  • Position sensor correspond.
  • the first and the second opening angle can be identical or different.
  • the encoder wheel can be fastened to the rotating element by means of a screw and / or adhesive connection.
  • the sensor system can comprise a single sensor wheel or a plurality of sensor wheels.
  • the sensor system can comprise two sensor wheels.
  • the at least two encoder wheels can be arranged offset with respect to one another with respect to the axis of rotation, that is, for example, with an axial offset.
  • the at least two sensor wheels can have the same or, in particular, different sensor wheel profiles.
  • the inductive position sensor includes:
  • the coil arrangement which is arranged on the circuit carrier, the coil arrangement comprising at least one excitation coil and at least two receiver coils;
  • ASIC application-specific integrated circuit
  • a “circuit carrier” can be understood to mean a device on which at least one electrical component can be arranged.
  • the circuit carrier can be designed flexibly.
  • the circuit carrier can comprise a flexible material.
  • the circuit carrier can in particular be selected from the group consisting of: a printed circuit board, in particular a rigid-flex printed circuit board, for example a curved rigid-flex printed circuit board; a rigid circuit board, in particular a rigid circuit board with notches; a circuit board; a circuit board and a printed circuit, in particular a “printed circuit board” (PCB).
  • the circuit carrier can be arranged essentially coaxially to the axis of rotation.
  • the circuit carrier can, for example, be essentially circular or a circle segment of the sensor wheel
  • the term “essentially circular” is basically understood to mean that the component described has a radius of curvature.
  • Radius of curvature can vary within the component by a value from 0% to 80%, preferably from 0% to 50%, more preferably from 0% to 20% and particularly preferably from 0% to 5%.
  • the component can vary by a value from 0% to 80%, preferably from 0% to 50%, more preferably from 0% to 20% and particularly preferably from 0% to 5%.
  • the circuit carrier can also be composed of two or more segments which, for example, can each be flat or curved and which can be connected to one another, for example.
  • the segments as a whole can then also be arranged coaxially to the axis of rotation, even if the individual segments are then arranged tangentially, for example.
  • the circuit carrier can be arranged in a housing, in particular in an injection molded housing.
  • a “coil arrangement” can in principle be understood to mean any device which comprises at least one coil.
  • a “coil” is basically understood to mean any component which has an inductance and is suitable for generating a magnetic field when current flows and / or vice versa.
  • a coil can comprise at least one completely or partially closed conductor loop or turn.
  • an “excitation coil” can in principle be understood as a coil that generates a magnetic flux when an electrical voltage and / or an electrical current is applied. The excitation coil can have at least one excitation turn.
  • a “receiver coil” is basically understood to be a coil that is set up to generate a signal based on an inductive coupling between the excitation coil and the receiver coil, which signal is dependent on the inductive coupling.
  • the coil arrangement can have a receiver coil system.
  • a “receiver coil system” within the scope of the present invention basically any device can be understood, which comprises at least two, preferably at least three, receiver coils.
  • the excitation coil can be essentially circular.
  • the excitation coil and the receiver coils can be configured as described in DE 10 2017 210 655.7, filed on June 23, 2017.
  • the receiver coils can substantially completely revolve around the axis of rotation in a circumferential direction, each receiver coil being formed by a plurality of adjacent partial windings, adjacent ones
  • Partial turns are oriented in opposite directions with respect to the current flow direction.
  • each partial turn with respect to a radial direction which extends outward from the axis of rotation, is formed from sections of at least two arcuate conductor tracks curved to the left and from
  • Circumferential direction is rotated by half of the measuring range with respect to the first point.
  • the further right-curved conductor tracks result from the preceding right-curved conductor track by rotating them
  • a partial turn of a receiver coil can be defined as a part of the receiver coil that is made up of conductor tracks Receiver coil is surrounded, which do not intersect each other.
  • Orientation of a partial turn is determined by a current flow through the receiver coil.
  • Counter-oriented partial windings each have current flows in opposite directions when a current flows through the receiver coil, i.e. with a partial turn with a first orientation, the current runs in the
  • a partial turn can be constructed, for example, like a diamond with curved side surfaces.
  • the four side surfaces of such a diamond can e.g. be formed by two sections of two left-curved conductor tracks and two right-curved conductor tracks.
  • the current direction in at least two sections of the left-curved conductor tracks, which form a partial turn can be opposite to one another.
  • Receiver coil runs. In this way e.g. can also be achieved that the amplitude of the alternating voltage induced in the receiver coil or the measurement signal essentially depends on the angle of rotation as a sine function.
  • the inductive position sensor can comprise a number of n receiver coils, where n is a positive integer.
  • the generated sinusoidal signals of the n receiver coils can be out of phase with one another.
  • adjacent sinusoidal signals have a phase distance of 2tt / (h) and / or 360 ° / (n) for n> 3.
  • adjacent sinusoidal signals from exactly two receiver coils can have a phase separation of 90 °.
  • adjacent sinusoidal signals from exactly three receiver coils can have a phase spacing of 120 °.
  • An “application-specific integrated circuit” (ASIC) can be understood to mean any electronic circuit that is implemented as an integrated circuit.
  • the application-specific integrated circuit arranged on the circuit carrier.
  • the application-specific integrated circuit can be arranged on the circuit carrier and connected to exactly one excitation coil and at least two receiver coils.
  • application-specific integrated circuit is set up to a
  • Providing an excitation signal can be understood to mean that the application-specific integrated circuit is set up to generate the excitation signal and / or that the application-specific integrated circuit is set up to apply the excitation signal to the excitation coil. Under a
  • excitation signal can be understood to mean an electrical signal, in particular at least one alternating voltage and / or at least one alternating current.
  • the excitation signal can be a
  • sinusoidal is understood in principle to mean any shape which has a course of a sine curve.
  • a course of a complete sine curve can be included or only part of a sine curve.
  • essentially sinusoidal is understood in principle to mean any shape which has a course of a sine curve.
  • Embodiments are understood to have a completely sinusoidal course, deviations being conceivable which are not more than 20%, in particular not more than 10% or even not more than 5%, of the absolute value of the sinusoidal shape.
  • a “complete sinus curve” can in particular be understood to mean a course of a sinus curve which comprises at least one period.
  • the sine curve can start at the zero point or any other point on the sine curve.
  • the sinusoidal shape can also be composed, for example, in sections from other functions, so that an approximate sinusoidal shape results overall.
  • the excitation signal can have an amplitude in the range from 0.1 V to 10 V, preferably from 5 V.
  • the excitation signal can have a frequency in the range from 1 MHz to 10 MHz, preferably 3.5 MHz.
  • the application-specific integrated circuit can have at least one
  • the oscillator circuit can drive, for example, an LC oscillator, in which the excitation coil and a capacitor act as frequency-determining elements act.
  • Excitation coil with the excitation signal can produce an alternating electromagnetic field, which couples into the receiver coils and induces, for example, corresponding alternating voltages and / or alternating currents.
  • the inductive position sensor can be set up to detect an inductive coupling and / or a change in an inductive coupling between the excitation coil and the at least one receiver coil.
  • the excitation coil can be configured to generate an alternating electromagnetic field in response to the application of the excitation signal.
  • the excitation coil and the receiver coils can be coupled such that the alternating electromagnetic field induces an alternating voltage in the receiver coils.
  • the receiver coils can be arranged in such a way that the receiver coils generate rotation angle-dependent signals when the rotating element rotates at a constant angular velocity about the axis of rotation.
  • the application-specific integrated circuit is set up to process signals generated by the receiver coils and to provide them as output signals to the evaluation unit.
  • Processing can basically be understood to mean any operation of signal processing by one
  • the signal processing can be digital and / or analog.
  • the signal processing can preferably be carried out purely analog.
  • Application-specific integrated circuit can in particular be set up to infer an amount and a phase of the coupling by demodulating a signal induced in the receiver coils with a carrier signal, that is to say a signal from the excitation coil, also called a transmitter coil.
  • the amount can in particular vary continuously with the angle of rotation.
  • a phase position can be 0 ° or 180 °, for example.
  • application-specific integrated circuit can have at least one
  • the demodulation can include multiplying by the excitation signal. For example, multiplying the amount by a cosine function can result in a preferably offset-free Sin / Cos system, in particular when using two receiver coils with a 90 ° phase offset in relation to the measuring range.
  • a three-phase sine signal can arise in the measuring range, which can be converted into a Sin / Cos system, for example, by using the Clarke transformation.
  • the arctangent (ArcTan) function the angle of rotation can be deduced.
  • application specific integrated circuit can have at least one
  • the low-pass filter can have a cut-off frequency in the range from 50 kHz to 500 kHz, preferably 100 kHz.
  • the application-specific integrated circuit can first demodulate the signals of the receiver coils and then filter using the low-pass filter.
  • the application-specific integrated circuit can furthermore have at least one amplifier. The amplifier can amplify the filtered signals. The output signals can then be sent to the evaluation unit,
  • An “electronic evaluation unit” can generally be used here
  • Be understood device which is set up to output signals generated by the inductive position sensor, in particular the ASIC
  • the evaluation unit can comprise, for example, at least one data processing device, for example at least one computer or microcontroller.
  • Data processing device can have one or more volatile and / or non-volatile data memories, it being possible for the data processing device to be set up, for example, in terms of programming, in order to control the inductive position sensor.
  • the evaluation unit can further comprise at least one interface, for example an electronic interface and / or a human-machine interface, such as an input / output device such as a display and / or a keyboard.
  • Evaluation unit can for example be constructed centrally or decentrally. Other configurations are also conceivable.
  • the evaluation unit can be set up to generate signals from the
  • the sensor system can, in particular, be set up to move from the Movement and / or change caused by a position of the encoder wheel of the inductive coupling between the excitation coil and the receiver coils to determine an absolute or relative angular position of the rotating element.
  • a “relative angular position” can basically be understood to mean a position with respect to a period defined by the receiver coils.
  • the evaluation circuit can be set up to generate at least one quotient of at least two signals from at least two receiver coils.
  • the Clarke transformation can be used to calculate the angular position F from three signals generated by three receiver coils.
  • Rotation property can be a current angle of rotation between the encoder wheel and the inductive position sensor.
  • the sensor wheel can, for example, be designed to “shade” areas of a receiver coil structure depending on its position. As a result, a coupling between a transmitter coil structure and the receiver coils can be influenced as a function of the angle of rotation.
  • Coupling factor can be, for example, -0.3 to +0.3.
  • a coupling factor can in particular be understood to mean an amplitude ratio between a received signal and a transmitted or excitation signal.
  • the coupling factor can in particular run sinusoidally with the angle of rotation.
  • the coil arrangement can surround the sensor wheel or at least one circle segment of the sensor wheel essentially in the form of a segment of a circle or in a circle.
  • the coil arrangement in particular that on the
  • Circuit carrier arranged coil arrangement in at least one
  • Angular position of the encoder wheel cover at least one profile element and at least one space between two profile elements of the encoder wheel.
  • the sensor system in particular the inductive position sensor, can be set up to detect an inductive coupling and / or a change in an inductive coupling between the excitation coil and the at least one receiver coil.
  • the sensor system can be set up, which was brought about by a movement and / or a position of the sensor wheel to detect inductive coupling and / or the change in inductive coupling between the excitation coil and the receiver coils caused by a movement and / or a position of the sensor wheel.
  • the evaluation unit can have at least one evaluation circuit.
  • the evaluation unit can have at least one evaluation circuit.
  • Evaluation circuit be set up to evaluate the signals of the position sensor.
  • the evaluation circuit can be, for example, a processor.
  • the evaluation unit can in particular be configured separately from the circuit carrier and can be connectable to the circuit carrier via at least one connection, for example a cable.
  • the output signals can be digitized and
  • the evaluation unit has at least one
  • Subtractor which is set up to subtract at least one offset from the output signals of the application-specific integrated circuit.
  • the evaluation unit can provide an evaluation path for each output signal of the ASIC and one for each path
  • Operation can be understood in which the offset is subtracted from the output signals.
  • a “subtractor” can be understood to mean an electronic component that sets up at least one subtraction
  • the subtractor can have a circuit, for example an operational amplifier.
  • the operational amplifier can be wired at one input with an output signal and at a second input with an offset signal.
  • the operational amplifier can be set up to form a difference between the two input signals at an output.
  • the subtractor can have a processor, which is set up in terms of programming, the offset from the
  • An “offset” can be understood to mean an offset value and / or an offset signal which characterizes, for example, a systematic error in the evaluation circuit and / or the components used and / or systematic errors in the
  • the offset can, for example, be selected from the group consisting of: one
  • the offset can be identical for each evaluation path, in particular for each receiver coil his.
  • the offset can be different for each evaluation path, for example depending on a receiver coil.
  • the evaluation unit can have at least one memory unit.
  • the offset can be a predetermined or
  • the offset can be determined by a calibration, for example by a one-time calibration after manufacture and / or when the sensor system is started up.
  • the offset can be stored in the storage unit, for example in at least one lookup table.
  • the offset can be programmed into the memory unit.
  • the evaluation unit can be set up to determine the offset by means of at least one observer model, in particular when an electric motor of the motor vehicle is in operation. Under a
  • Observer modeH can be understood to mean a control model that is set up to reconstruct the offset from known input variables and output variables of an observed reference system.
  • the evaluation unit can be set up programmatically to emulate a reference system.
  • the evaluation unit can be set up to compare state variables, such as excitation voltage, signals from the receiver coils, with the reference system and to determine the offset therefrom.
  • the evaluation unit has at least one amplifier, which is set up to normalize the output signals of the application-specific integrated circuit.
  • An amplifier can be understood to mean an electronic component which is set up to amplify an input signal.
  • the amplifier can be set up to output the signals
  • the ASIC can be connected to the evaluation unit via a cable.
  • the evaluation unit can be designed such that the output signals of the ASIC are first transmitted to the subtractor and then the offset-subtracted output signals to the amplifier.
  • the evaluation unit can be designed such that the output signals of the ASIC are first transmitted to the subtractor and then the offset-subtracted output signals to the amplifier.
  • other orders are also possible.
  • “essentially identical” can in principle be used
  • the evaluation unit has at least one divider, which is set up at least one quotient signal from the output signals of the
  • a divider can be understood to mean an electronic component which is set up for the output signals, in particular the normalized ones
  • a quotient signal can be understood as a result of the division of the output signals.
  • the division can comprise a division of the output signals, in particular the offset-subtracted output signals, and / or a division of multiples of the output signals, in particular the offset-subtracted output signals, and / or a division of linear combinations of the output signals, in particular the offset-subtracted output signals ,
  • the evaluation unit has at least one arc function unit, which is set up to determine the rotational property of the element rotating about the axis of rotation by determining an arc tangent of the
  • An arc function unit can be understood to mean a device, for example an electronic component and / or a processor, which sets up an arc tangent of the
  • one of the receiver coils can generate a signal sin F and the other receiver coil can generate a signal cos F, where F is the angular position.
  • the evaluation unit can have further modules, such as at least one filter, which is set up to filter the output signals of the application-specific integrated circuit.
  • the inductive position sensor can have at least one contact element.
  • the inductive position sensor, especially the ASIC, can be used with the
  • Evaluation unit can be connected by means of the contact element.
  • Contact element can be selected from the group consisting of: at least one hole for ram contacts, at least one soldered plug, at least one contact pad.
  • the inductive position sensor can be a packaging have, in particular around the inductive position sensor with a
  • the packaging can be at least one
  • the inductive position sensor can be fastened to a further device by means of the connecting element. This can be done by one or more of the methods direct injection molding,
  • the packaging can completely or partially surround all components of the inductive position sensor. It can preferably have bores or recesses through which the inductive position sensor can be fastened with a screw connection, for example to a B-bearing plate of the further device. Alternatively or additionally, the inductive position sensor can also be attached with clips, an adhesive connection or other methods, for example on the B-end shield.
  • a method for determining at least one rotational property of an element rotating about at least one rotational axis comprises the use of at least one sensor system according to the invention.
  • the method comprises the following steps, preferably in the order given.
  • the method can, in addition to the above
  • Process steps also include further process steps.
  • Rotation property by means of an evaluation unit of the sensor system at least one offset being subtracted from the signals of the receiver coils, the signals being normalized, at least one quotient signal being determined from the signals, the rotation property of the element rotating about the axis of rotation being determined by determining an arctangent of the quotient signal is determined.
  • the method is carried out using a sensor system according to the present invention, that is to say according to one of the abovementioned
  • a computer program which, when running on a computer or computer network, executes the method according to the invention in one of its configurations.
  • a computer program with program code means is proposed in order to carry out the method according to the invention in one of its configurations when the program is executed on a computer or computer network.
  • the program code means can be stored on a computer-readable data carrier.
  • a data carrier is proposed within the scope of the present invention, on which a data structure is stored, which after loading into a main memory and / or main memory of a computer or
  • a computer program product is understood to mean the program as a tradable product. In principle, it can be in any form, for example on paper or a computer-readable data carrier, and can in particular be distributed over a data transmission network.
  • Computer network includes executable instructions for performing a method according to one of the described embodiments.
  • the proposed device and the proposed method have numerous advantages over known devices and methods.
  • the devices according to the invention allow an increase in functional safety by relocating the
  • the proposed devices and methods can be used for any inductive position sensors based on coupled coils.
  • the measuring principle does not require an expensive magnet. A smaller installation space in contrast to known sensors is possible. The measuring principle is practically not due to a high carrier frequency
  • Figure 1 is a schematic representation of a
  • Figure 2 is a schematic representation of a
  • Figure 3 shows an embodiment of a transmitter wheel
  • FIG. 4 shows an ASIC structure according to the invention
  • Figure 5 waveforms of the sensor system according to the invention.
  • Figure 6 shows an embodiment of an evaluation unit.
  • FIG. 1 shows an exemplary embodiment of a sensor system 110 for determining at least one rotational property by at least one
  • Rotation axis 112 of rotating element 114 is shown.
  • the sensor system 110 can in particular be set up for use in the motor vehicle.
  • the sensor system 110 can detect at least one
  • Rotational property of a camshaft can be set up.
  • the sensor system 110 can be configured to detect an angular position of the camshaft.
  • the rotating element 114 can be a shaft, for example.
  • the shaft can carry a permanent magnet 116.
  • a cylindrical shape around this permanent magnet 116 can be
  • Stator coil package 118 may be arranged.
  • An output can be arranged in the negative z direction and is not shown further.
  • a B bearing 120 can be arranged, which receives the axis 114.
  • the sensor system 110 has at least one inductive position sensor 124.
  • the B bearing 120 can be connected to a B bearing plate 122 which holds the inductive position sensor 124.
  • the sensor system 110 can have the at least one sensor wheel 126 that can be connected to the rotating element 114.
  • the encoder wheel 126 which is connected to the shaft and rotates with it, can be arranged between the B bearing 120 and the inductive position sensor 124.
  • the sensor system has at least one evaluation unit 130.
  • the inductive position sensor 124 can be connected to the evaluation unit 130 via a cable 128.
  • Evaluation unit 130 can supply the inductive voltage
  • the evaluation unit 130 can be provided position sensor 124.
  • the evaluation unit 130 can be provided position sensor 124.
  • the sensor system 110 can further comprise one or more additional elements, for example one or more further functional elements not shown in the figures, such as electrodes, electrode leads and contacts, several layers, heating elements or other elements.
  • the inductive position sensor comprises at least one circuit carrier 132.
  • the circuit carrier 132 can, for example, have a printed circuit board which revolves around the rotating element 114 in a substantially circular manner and preferably covers an angular range of 360 °.
  • the inductive position sensor comprises at least one coil arrangement 134, not shown here, which is arranged on the circuit carrier 132.
  • the coil arrangement 134 comprises at least one excitation coil 136 and at least two receiver coils 138, see for example FIG. 4.
  • the inductive position sensor comprises at least one application-specific integrated circuit (ASIC) 140, which is set up to provide an excitation signal for the excitation coil 136.
  • the application-specific integrated circuit 140 is set up to process signals generated by the receiver coils 138 and to provide them as output signals, for example the evaluation unit 130.
  • ASIC application-specific integrated circuit
  • Position sensor 124 has at least one contact element 142 to which the cable 128 can be attached.
  • the contact element 142 can be a hole for ram contacts, a soldered plug or pads, with which the cable 128 can be connected to the circuit carrier 132 by a soldering process.
  • the inductive position sensor 124 can have a packaging 144.
  • the packaging 144 can allow the inductive position sensor 124 to be provided with chip protection and to ensure a sufficiently high mechanical strength.
  • the packaging 144 may be one or more of the
  • the packaging 144 can completely or partially surround all components of the inductive position sensor 124.
  • the packaging 144 can have at least one connecting element 146, preferably bores and / or recesses, through which the inductive position sensor 124, for example with a screw connection 148 on the B- Bearing plate 122 can be attached.
  • the inductive position sensor 124 can also be attached to the B-bearing plate 122 with clips, an adhesive connection or other methods.
  • FIG. 1 An exemplary embodiment of an encoder wheel 126 according to the invention is shown in FIG.
  • the encoder wheel 126 can be configured to be rotationally symmetrical.
  • the encoder wheel 126 can have an identical number of electrically conductive blades 150 with a first opening angle ⁇ and electrically non or less conductive blades and / or recesses 152 with a second opening angle ⁇ .
  • a sum of the first and second opening angles can correspond to a full angle measuring range d of the inductive position sensor 124.
  • the first and the second opening angle can be identical or different in size.
  • the encoder wheel 126 can be fastened to the rotating element 114 via a screw and / or adhesive connection and / or with a longitudinal pressing process.
  • FIG. 4 shows a construction of an ASIC 140 according to the invention.
  • the ASIC 140 can be connected exactly to an excitation coil 136 and at least two receiver coils 138.
  • a block 154 can be used to generate a substantially sinusoidal excitation signal 156
  • block 154 can be an oscillator circuit that drives an LC oscillator in which excitation coil 136 and at least one capacitor (not shown) act as frequency-determining elements.
  • the amplitude of the excitation signal 156 can be in the range from 0.1 V and 10 V, preferably 5 V, at frequencies in the range from 1 MHz and 10 MHz, preferably 3.5 MHz.
  • the application-specific integrated circuit 140 can have at least one demodulation device 160, which is set up to demodulate the signals 158, 162 of the receiver coils 138, in particular synchronously. Demodulation may include multiplying by excitation signal 156.
  • the application-specific integrated circuit 140 can have at least one low-pass filter 164.
  • the low-pass filter 164 can have a cut-off frequency in the range from 50 kHz to 500 kHz, preferably 100 kHz.
  • the application-specific integrated circuit 140 can first demodulate the signals 158, 162 of the receiver coils 138 and then filter using the low pass 164.
  • the application-specific integrated circuit 140 may further have at least one amplifier 166.
  • the amplifier 166 can amplify the filtered signals. After the optional amplification in the amplifiers 166, the output signals 168, 170 can be transmitted directly to the evaluation unit 130 via the cable 128.
  • Exemplary signal profiles as a function of the angle of rotation for a continuous rotary movement are shown in FIG. 5.
  • a demodulated sinusoidal signal 170 and a demodulated cosine-shaped signal 168 result as a function of the angle of rotation.
  • the output signals can be digitized and further processed in the evaluation unit 130.
  • the evaluation unit 130 has at least one subtractor 172, which is set up to subtract at least one offset 174 from the output signals 168, 170 of the application-specific integrated circuit 140.
  • the evaluation unit can provide an evaluation path for each output signal of the ASIC and have a subtractor 172 for each path.
  • Subtractor 172 can be one
  • Operational amplifiers can be wired with an output signal at one input and with an offset signal at a second input.
  • Operational amplifiers can be set up to form a difference between the two input signals at an output.
  • the subtractor 172 can have a processor which is set up in terms of programming to subtract the offset 174 from the output signals.
  • the offset 174 can, for example, be selected from the group consisting of: a voltage value; an offset voltage; a voltage signal.
  • the offset can be identical for each evaluation path, in particular for each receiver coil.
  • the offset 174 can be different for each evaluation path, for example a first offset 176 and a second offset 178.
  • the evaluation unit 130 can have at least one memory unit 180. Offset 174 may be a predetermined or predetermined offset.
  • the offset 174 can be determined by a calibration, for example by a one-off calibration after manufacture and / or when the sensor system 110 is started up.
  • the offset 174 can be stored in the memory unit 180, for example in at least one lookup table.
  • the offset 174 can be programmed into the memory unit 180.
  • the evaluation unit 130 can be set up to determine the offset 174 by means of at least one observer model, in particular when an electric motor of the motor vehicle is in operation.
  • the evaluation unit 130 can be set up in terms of program technology
  • the evaluation unit 130 can be set up to compare state variables, such as excitation signal 156, signals 158, 162 of the receiver coils 138, with the reference system and to determine the offset 174 therefrom.
  • the evaluation unit 130 has at least one amplifier 182, which is set up to normalize the output signals 168, 170.
  • the amplifier 182 can be configured to output signals 168, 170 of the
  • the ASIC 140 can be connected to the evaluation unit 130 via the cable 128.
  • the evaluation unit 130 can be configured such that the output signals 168, 170 of the ASIC 140 are first transmitted to the subtractor and then the offset-subtracted output signals 184, 186 to the amplifier 182.
  • other orders are also possible.
  • the evaluation unit 130 has at least one divider 188, which is set up to determine at least one quotient signal from the output signals 168, 170 of the application-specific integrated circuit 140.
  • the division can be a division of the output signals and / or a division of multiples of the output signals 168, 170, in particular the offset-subtracted output signals 184, 186, and / or a division of linear combinations of the Output signals 168, 170, in particular the offset subtracted
  • Output signals 184, 186 include.
  • the evaluation unit 130 has at least one arc function unit 190, which is set up to control the rotational property of the axis of rotation
  • the evaluation unit 130 can have further modules, such as at least one filter, which is set up to filter the output signals 158, 162 of the application-specific integrated circuit 140.

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

Abstract

L'invention concerne un système capteur (110) pour déterminer au moins une caractéristique de rotation d'un élément tournant (114) autour d'au moins un axe de rotation (112). Le système capteur (110) comprend au moins un capteur de position inductif (124) et au moins une unité d'évaluation (130). Le capteur de position inductif (124) comprend : ‑ au moins un support de circuit (132) ; ‑ au moins un ensemble bobine (134) qui est monté sur le support de circuit (132), l'ensemble bobine (134) comprenant au moins une bobine d'excitation (136) et au moins deux bobines réceptrices (138) ; - au moins un circuit intégré à application spécifique (ASIC) (140) qui est conçu pour fournir un signal d'excitation (156) pour la bobine d'excitation (136), le circuit intégré à application spécifique (140) étant conçu pour traiter des signaux (158, 162) générés par les bobines réceptrices (138) et pour les fournir sous forme de signaux de sortie (168, 170) à l'unité d'évaluation (130). L'unité d'évaluation (130) comprend au moins un soustracteur (172) conçu pour soustraire au moins un offset (174) des signaux de sortie du circuit intégré à application spécifique (140). L'unité d'évaluation (130) comprend au moins un amplificateur (182) conçu pour normaliser les signaux de sortie (168, 170) du circuit intégré à application spécifique (140). L'unité d'évaluation (130) comporte au moins un diviseur (188) conçu pour déterminer au moins un signal quotient à partir des signaux de sortie (168, 170) du circuit intégré à application spécifique (140). L'unité d'évaluation (130) comporte au moins une unité à fonction réciproque (190) conçue pour déterminer la caractéristique de rotation de l'élément (114) tournant autour de l'axe de rotation (112) en déterminant un arc tangente du signal quotient.
PCT/EP2019/065767 2018-08-09 2019-06-14 Système capteur pour déterminer au moins une caractéristique de rotation d'un élément rotatif WO2020030337A1 (fr)

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DE102018213414.6A DE102018213414A1 (de) 2018-08-09 2018-08-09 Sensorsystem zur Bestimmung mindestens einer Rotationseigenschaft eines rotierenden Elements

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DE102019120887B3 (de) * 2019-08-02 2020-07-16 Dr. Ing. H.C. F. Porsche Aktiengesellschaft Verfahren zur Drehwinkelerfassung, entsprechende Schaltung und Vorrichtung zur Drehwinkelerfassung

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EP0056303A2 (fr) 1981-01-14 1982-07-21 Biosound, Inc. Capteur de position angulaire
EP0909955A2 (fr) 1997-09-05 1999-04-21 Hella KG Hueck & Co. Détecteur angulaire inductif
US20060255794A1 (en) * 2005-04-08 2006-11-16 Lee Joong K Signal conditioning system for inductive position sensor
US20070247144A1 (en) * 2004-11-02 2007-10-25 Denso Corporation Rotation detecting device
US20090224751A1 (en) * 2005-12-16 2009-09-10 Elmos Semiconductor Ag Inductive position sensor
DE102009022084A1 (de) * 2009-05-20 2010-11-25 Sew-Eurodrive Gmbh & Co. Kg Verfahren und Vorrichtung zur Bestimmung der Winkelstellung eines drehbaren Teils
DE102013203937A1 (de) 2013-03-07 2014-09-11 Siemens Aktiengesellschaft Elektrische Maschine ohne Resolver
DE102014220458A1 (de) 2014-10-09 2016-04-14 Robert Bosch Gmbh Sensoranordnung zur berührungslosen Erfassung von Drehwinkeln an einem rotierenden Bauteil
DE102016224856A1 (de) * 2016-12-13 2018-06-14 Robert Bosch Gmbh Sensorsystem zur Bestimmung mindestens einer Rotationseigenschaft eines um mindestens eine Rotationsachse rotierenden Elements
DE102017210655A1 (de) 2017-06-23 2018-12-27 Robert Bosch Gmbh Drehwinkelsensor

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EP0056303A2 (fr) 1981-01-14 1982-07-21 Biosound, Inc. Capteur de position angulaire
EP0909955A2 (fr) 1997-09-05 1999-04-21 Hella KG Hueck & Co. Détecteur angulaire inductif
US20070247144A1 (en) * 2004-11-02 2007-10-25 Denso Corporation Rotation detecting device
US20060255794A1 (en) * 2005-04-08 2006-11-16 Lee Joong K Signal conditioning system for inductive position sensor
US20090224751A1 (en) * 2005-12-16 2009-09-10 Elmos Semiconductor Ag Inductive position sensor
DE102009022084A1 (de) * 2009-05-20 2010-11-25 Sew-Eurodrive Gmbh & Co. Kg Verfahren und Vorrichtung zur Bestimmung der Winkelstellung eines drehbaren Teils
DE102013203937A1 (de) 2013-03-07 2014-09-11 Siemens Aktiengesellschaft Elektrische Maschine ohne Resolver
DE102014220458A1 (de) 2014-10-09 2016-04-14 Robert Bosch Gmbh Sensoranordnung zur berührungslosen Erfassung von Drehwinkeln an einem rotierenden Bauteil
DE102016224856A1 (de) * 2016-12-13 2018-06-14 Robert Bosch Gmbh Sensorsystem zur Bestimmung mindestens einer Rotationseigenschaft eines um mindestens eine Rotationsachse rotierenden Elements
DE102017210655A1 (de) 2017-06-23 2018-12-27 Robert Bosch Gmbh Drehwinkelsensor

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