WO2022271375A1 - Dispositif capteur magnétique multicanaux - Google Patents

Dispositif capteur magnétique multicanaux Download PDF

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Publication number
WO2022271375A1
WO2022271375A1 PCT/US2022/030477 US2022030477W WO2022271375A1 WO 2022271375 A1 WO2022271375 A1 WO 2022271375A1 US 2022030477 W US2022030477 W US 2022030477W WO 2022271375 A1 WO2022271375 A1 WO 2022271375A1
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WO
WIPO (PCT)
Prior art keywords
sensor
sensors
magnetic
magnetic field
magnet
Prior art date
Application number
PCT/US2022/030477
Other languages
English (en)
Inventor
Thomas LAGGER
David M. Thunga
Original Assignee
Woodward, Inc.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from US17/353,940 external-priority patent/US20210310827A1/en
Application filed by Woodward, Inc. filed Critical Woodward, Inc.
Publication of WO2022271375A1 publication Critical patent/WO2022271375A1/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
    • 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
    • G01D5/142—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 using Hall-effect devices
    • G01D5/145—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 using Hall-effect devices influenced by the relative movement between the Hall device and magnetic fields
    • 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
    • G01D18/00—Testing or calibrating apparatus or arrangements provided for in groups G01D1/00 - G01D15/00
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R33/00—Arrangements or instruments for measuring magnetic variables
    • G01R33/0005—Geometrical arrangement of magnetic sensor elements; Apparatus combining different magnetic sensor types
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R33/00—Arrangements or instruments for measuring magnetic variables
    • G01R33/02—Measuring direction or magnitude of magnetic fields or magnetic flux
    • G01R33/06—Measuring direction or magnitude of magnetic fields or magnetic flux using galvano-magnetic devices
    • G01R33/07—Hall effect devices
    • G01R33/072—Constructional adaptation of the sensor to specific applications
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R33/00—Arrangements or instruments for measuring magnetic variables
    • G01R33/02—Measuring direction or magnitude of magnetic fields or magnetic flux
    • G01R33/06—Measuring direction or magnitude of magnetic fields or magnetic flux using galvano-magnetic devices
    • G01R33/09—Magnetoresistive devices
    • G01R33/091—Constructional adaptation of the sensor to specific applications
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R33/00—Arrangements or instruments for measuring magnetic variables
    • G01R33/02—Measuring direction or magnitude of magnetic fields or magnetic flux
    • G01R33/038—Measuring direction or magnitude of magnetic fields or magnetic flux using permanent magnets, e.g. balances, torsion devices

Definitions

  • Certain embodiments of the disclosure relate to multi-channel magnetic sensor device. More specifically, certain embodiments of the disclosure relate to a rotary, contactless potentiometer employing an axially magnetized ring magnet configured to generate an asymmetric magnetic field directed toward a plurality of sensors, such that each sensor is within range of the asymmetric magnetic field, each sensor with one or more wires, two or more redundant channels, a DC input and output, and ratiometric linear voltage output.
  • contacting potentiometers are used, as they provide an inexpensive way to track and measure movement, etc.
  • contacting potentiometers are devices that utilize a wiper contacting a resistive track to provide a measurement and output signal.
  • contacting elements in a potentiometer sensor will wear out over time, thereby shortening the lifespan of the device and potentially failing during critical operations.
  • contact potentiometers cannot be reliably used in high-vibration environments. A solution to the use of contacting potentiometers in sensitive applications is therefore desirable.
  • a system and/or method is provided for a rotary contactless potentiometer device, which includes an axially magnetized ring magnet configured to generate an asymmetric magnetic field directed toward a plurality of sensors, such that each sensor is within range of the asymmetric magnetic field, substantially as illustrated by and described in connection with at least one of the figures, as set forth more completely in the claims.
  • the sensors may include one or more multi-channel sensors, such as Hall Effect sensors and/or magnetoresistive sensors.
  • the sensors are mounted on one or more substrates, such as a printed circuit board (PCB).
  • PCB printed circuit board
  • each sensor channel is physically and/or electrically isolated on the substrate.
  • the sensors are arranged within range of a magnetic field, such as from a magnet rotatable about a shaft.
  • the potentiometer device is housed in a frame to reduce stray magnetic interference.
  • a contactless potentiometer device includes a plurality of sensors mounted on one or more substrates, each sensor configured to measure change in the asymmetric magnetic field and to be physically and electrically isolated from another sensor. Due to the directional application of the asymmetric magnetic field, the ring magnet can be positioned a distance from the one or more sensors, such that the one or more sensors are within range of the magnetic field from the magnet, while mitigating stray magnetic fields, limiting unwanted impact of such stray magnetic fields.
  • a contactless potentiometer device includes a plurality of sensors mounted on one or more substrates, each sensor configured to measure change in a magnetic field and to be physically and electrically isolated from another sensor, and an axially magnetized ring magnet configured to generate an asymmetric magnetic field directed toward the plurality of sensors, such that each sensor is within range of the asymmetric magnetic field.
  • the axially magnetized ring magnet comprises a plurality of magnetized segments, wherein a first segment of the plurality of magnetized segments has a first magnetic polarity different from a second magnetic polarity of a second segment.
  • the first segment is adjacent to the second segment, the first magnetic polarity being TT/2 out of phase with the second magnetic polarity.
  • the plurality of magnetized segments comprises four alternating magnetized segments.
  • the axially magnetized ring magnet comprises a first surface and a second surface opposite the first surface, the asymmetric magnetic field to provide a strong magnetic field from the first surface directed toward the plurality of sensors relative to a weak magnetic field associated with the second surface.
  • the plurality of sensors comprises a magnetic sensor including one or more of a Hall Effect sensor or a magneto resistive.
  • each of the plurality of sensors is aligned with a central magnetic axis of the asymmetric magnetic field.
  • each sensor detects a change in angle from a reference position based on a rotation of the ring magnet about the shaft.
  • the one or more substrates are one or more printed circuit boards (PCBs).
  • the two or more of the PCBs are physically separated by a predetermined distance.
  • the ring magnet is rotatable about a shaft.
  • a housing to contain the one or more sensors, the ring magnet, or the shaft, wherein rotational movement about the shaft is facilitated by one or more of ball bearings, bushings, tracks, or a rotary support structure.
  • a rotary sensing device configured to sense changes in angle in a rotary sensor including a plurality of sensors mounted on one or more substrates, each sensor configured to measure change in a magnetic field and be electrically isolated from another sensor, and an axially magnetized ring magnet configured to generate an asymmetric magnetic field directed toward the one or more sensors, such that the one or more sensors are within range of the asymmetric magnetic field from the magnet, wherein each sensor is configured to detect a change in angle from a reference position based on a rotation of the magnet.
  • each of the one or more sensors are equally spaced apart from one another and offset from the magnetic center of the ring magnet by a predetermined distance.
  • each of the one or more sensors further includes a power input to receive a DC voltage, and an output to provide a signal corresponding to the change in the asymmetric magnetic field.
  • two of the one or more Hall Effect sensors are located on a first side of the common substrate and one or more Hall Effect sensors are located on a second side of the substrate.
  • the two Hall Effect sensors located on the first side of the substrate are both equidistant from a central magnetic axis of the asymmetric magnetic field.
  • the one or more Hall Effect sensors located on the second side of the substrate is arranged on the central magnetic axis.
  • method of programming a contactless potentiometer device includes arranging a first magnetic sensor on a substrate, aligning the first magnetic sensor with an asymmetric magnetic field from an axially magnetized Halbach array corresponding to a given rotation angle of a rotatable control device, programming the first magnetic sensor with linearization data corresponding to the given rotation angle, arranging a second magnetic sensor on the substrate, aligning the second magnetic sensor with the first magnetic sensor, and programming the second magnetic sensor with linearization data corresponding to the given rotation angle.
  • the method further includes replacing a rotary variable differential transformer (RVDT) with the contactless potentiometer device.
  • RVDT rotary variable differential transformer
  • the plurality of sensors comprises one or more Hall Effect sensors.
  • each of the plurality of sensors is aligned with a central magnetic axis of the magnetic field.
  • the output signal changes in proportion to a change to an input signal.
  • each sensor detects a change in angle from a reference position based on a rotation of the magnet about the shaft.
  • the one or more substrates are one or more printed circuit boards (PCBs).
  • the two or more of the PCBs are physically separated by a predetermined distance.
  • the ring magnet is rotatable about a shaft.
  • a housing to contain the one or more sensors, the magnet, or the shaft, wherein rotational movement about the shaft is facilitated by one or more of ball bearings, bushings, tracks, or a rotary support structure.
  • the housing includes a panel to provide access to the substrate, the one or more sensors, and/or the magnet.
  • the housing comprises a material to block stray magnetic fields.
  • a magnet is positioned a distance from the one or more sensors, such that the one or more sensors are within range of the magnetic field from the magnet, wherein each sensor is configured to detect a change in angle from a reference position based on a rotation of the magnet.
  • each of the one or more sensors are equally spaced apart from one another and offset from the magnetic center of magnet by a predetermined distance.
  • the magnet is a ring magnet.
  • each of the one or more sensors includes a power input to receive a DC voltage and an output to provide a signal corresponding to the change in the magnetic field.
  • two of the one or more Hall Effect sensors are located on a first side of the common substrate and one or more Hall Effect sensors are located on a second side of the substrate.
  • the two Hall Effect sensors located on the first side of the substrate are both equidistant from a central magnetic axis of the magnetic field.
  • the one or more Hall Effect sensors located on the second side of the substrate is arranged on the central magnetic axis.
  • a method of programming a contactless potentiometer device includes arranging a first magnetic sensor on a substrate, aligning the first magnetic sensor with a magnetic field corresponding to a given rotation angle of a rotatable control device, programming the first magnetic sensor with linearization data corresponding to the given rotation angle, arranging a second magnetic sensor on the substrate, aligning the second magnetic sensor with the first magnetic sensor, and programming the second magnetic sensor with linearization data corresponding to the given rotation angle.
  • the method includes replacing a rotary variable differential transformer (RVDT) with the contactless potentiometer device.
  • RVDT rotary variable differential transformer
  • FIG. 1 is a lateral view of a multi-channel sensor device, in accordance with an example embodiment of the disclosure.
  • FIG. 1 A is a perspective view of the multi-channel sensor device of FIG. 1 , in accordance with an example embodiment of the disclosure.
  • FIGS. 2A-2C illustrate schematics of multi-channel sensors, in accordance with an example embodiment of the disclosure.
  • FIG. 3 is a lateral view of another multi-channel sensor device, in accordance with an example embodiment of the disclosure.
  • FIG. 3A illustrates a schematic of a printed circuit board that includes multi channel sensors, in accordance with an example embodiment of the disclosure.
  • FIG. 4 is a lateral view of yet another multi-channel sensor device, in accordance with an example embodiment of the disclosure.
  • FIGS. 4A and 4B illustrate a schematic of a printed circuit board that includes multi-channel sensors, in accordance with an example embodiment of the disclosure.
  • FIG. 5 illustrates a schematic of a multi-channel sensor, in accordance with an example embodiment of the disclosure.
  • FIG. 6 illustrates a schematic of a control circuit to control a multi-channel sensor, in accordance with an example embodiment of the disclosure.
  • FIG. 7 illustrates an example method of programming a contactless potentiometer device comprising multi-channel sensors, in accordance with an example embodiment of the disclosure.
  • FIG. 8 is a lateral view of a multi-channel sensor device employing an asymmetric magnetic field, in accordance with an example embodiment of the disclosure.
  • FIG. 9 10 is a surface view of an axially magnetized ring magnet, in accordance with an example embodiment of the disclosure.
  • FIG. 10 is a lateral view of an axially magnetized ring magnet, in accordance with an example embodiment of the disclosure.
  • FIG. 11 is a lateral view of another multi-channel sensor device, in accordance with an example embodiment of the disclosure.
  • FIG. 12 is a lateral view of yet another multi-channel sensor device employing an asymmetric magnetic field, in accordance with an example embodiment of the disclosure.
  • x and/or y means any element of the three-element set ⁇ (x), (y), (x, y) ⁇ .
  • x, y, and/or z means any element of the seven-element set ⁇ (x), (y), (z), (x, y), (x, z), (y, z), (x, y, z) ⁇ .
  • module refers to functions that can be implemented in hardware, software, firmware, or any combination of one or more thereof.
  • example or exemplary mean serving as a non-limiting example, instance, or illustration.
  • a system and/or method is provided for a rotary contactless potentiometer device, which includes an axially magnetized ring magnet configured to generate an asymmetric magnetic field directed toward a plurality of sensors, such that each sensor is within range of the asymmetric magnetic field, substantially as illustrated by and described in connection with at least one of the figures, as set forth more completely in the claims.
  • the axially magnetized ring magnet can include a plurality of magnetized segments, with each segment having a magnetic polarity different from (e.g., orthogonal to) a magnetic polarity of an adjacent segment.
  • each segment may have a magnetic polarity TT/2 out of phase with each adjacent segment.
  • the magnetic polarity of each additional, adjacent segment is also TT/2 out of phase with the previous segment (e.g., continuing in a radial pattern).
  • the result is a ring magnet providing asymmetrical magnetic fields (e.g., as a Flalbach array).
  • an axially magnetized ring magnet is defined by a strong magnetic field on one side and a relatively weak magnetic field on the other side.
  • the magnetic field is produced by arranging segments with different polarities adjacent one another such that the resulting magnetic fields work in concert to focus the magnetic field to one side of the array (e.g., similar to a Flalbach array).
  • Producing a magnetic field in this manner has many advantages. For example, the focused magnetic field would reduce errant fields, and could reduce stray magnetic fields and electromagnetic interference (EMI).
  • metallic components such as stainless steel ball bearings) may be employed without compensating for hysteretic effects. Further, the size, dimensions, and/or geometry of the ring magnet can be optimized for a desired effect.
  • a contactless potentiometer device includes a plurality of sensors mounted on one or more substrates, each sensor configured to measure change in the asymmetric magnetic field and to be physically and electrically isolated from another sensor.
  • a conventional, four-pole, axially magnetized disc or ring magnet generates a magnetic field whose strength decreases exponentially with increasing distance from the magnet along its central axis. This characteristic makes it difficult to size a magnet which will activate three vertically stacked Flail Effect chips with varying distances to the magnet.
  • the axially magnetized ring magnet described in this disclosure is used in a multi-channel rotary Flail Effect sensor system.
  • the sensor system employs three or fewer independent printed circuit boards (PCBs), each of which are physically and/or electrically isolated sensing channel with a sensor placed on and/or about an axis of rotation. Due to the directional application of the magnetic field, the one or more sensors can be positioned a varying distance from the ring magnet , with the one or more sensors being within range of the magnetic field from the magnet (at varying field strength), while mitigating stray magnetic fields, limiting unwanted impact of such stray magnetic fields.
  • PCBs printed circuit boards
  • FIG. 1 provides an illustration of an example rotary contactless potentiometer device 10.
  • the potentiometer device 10 includes one or more sensors 12A, 12B, 12C, such as a multi-channel Hall Effect sensor.
  • the sensors 12A-12C can be mounted on one or more substrates 20, such as a printed circuit board (PCB).
  • the potentiometer device 10 in the example of FIG. 1 includes three PCBs 20A, 20B, 20C, each PCB stacked a given distance from the magnet 16.
  • the sensors 12A-12C can be arranged within range of a magnetic field, such as from a magnet 16 (e.g., a rotatable magnet).
  • the magnet 16 is a permanent magnet rotatable about a shaft 14. Rotational movement about the shaft 14 is facilitated by one or more ball bearings 24, bushings, tracks, or a rotary support structure.
  • the potentiometer device 10 can be housed in a frame or housing 18.
  • the housing 18 includes a panel 22, which provides access to the PCB 20 to allow removal and/or maintenance on the components within.
  • each PCB 20 supports a single Hall Effect sensor 12A- 12C.
  • the Hall Effect sensor on each PCB 20A-20C is arranged directly on the axis of the magnet shaft 14 and the magnetic center 26, thus reducing nonlinearities in sensor output in comparison to offset sensor placement (shown in FIGS. 3 and 4).
  • sensor 12A experiences a stronger magnetic field than sensor 12B, which experiences a stronger magnetic field than sensor 12C.
  • each sensor channel is electrically and physically isolated on an independent circuit board 20A-20C, thus reducing common-mode failures.
  • programming is provided to optimize signal fidelity from the various outputs in view of the relative strength of the magnetic field at the respective sensor.
  • FIG. 1 A provides an illustration of a perspective view of the three-channel Hall Effect sensor 10 shown in FIG. 1 .
  • the potentiometer device 10 disclosed herein improves sensor accuracy by employment of magnet 16 coupled with one or more sensors in one of several arrangements.
  • the potentiometer device 10 is configured to employ programmable calibration to linearize voltage output for each of the sensors. This also allows design scalability for more/fewer channels and a common power conditioning board to accommodate different input requirements.
  • the disclosed potentiometer device 10 provides advantages over other systems that include Hall Effect sensors in mechanical layouts, which often fail to improve system accuracy, or require use of an electronics packaging architecture, which is susceptible to common-mode failures.
  • the rotary contactless potentiometer device 10 includes sensors having multiple wires (e.g., three or four wires), with multiple redundant channels associated with a respective sensor 12A-12C.
  • the device operates with a DC input and a DC output with ratiometric linear voltage output.
  • the potentiometer device 10 is applicable in a sidestick application to sense pilot commands corresponding to a desired angle of pitch and/or roll axes of an aircraft.
  • a sidestick or sidestick controller is an aircraft control column (or joystick) that is located on the side console of the pilot. Only one hand is required to operate the sidestick, which makes it a simple and intuitive tool to control pitch and/or roll of an aircraft.
  • aircraft controls mounted in control columns may be arranged in a center of the cockpit.
  • applications beyond aerospace, and beyond control mechanisms are considered as well.
  • the device 10 is designed to meet or exceed sidestick accuracy requirements. Furthermore, the device is designed to operate as ratiometric, such that an output signal changes in proportion to a change to an input signal (e.g., voltage).
  • an input signal e.g., voltage
  • RVDT or contacting potentiometers, with a wiper coupled with a resistive track.
  • RVDTs are more reliable than contacting potentiometers and are capable of higher resolution, they are limited by an AC input/output. This limitation inhibits the use of an RVDT as a replacement for legacy systems that employ contacting potentiometers that operate with a DC input and output. Further, RVDTs are expensive and complex to manufacture, and require complex drive signals and output decoding, compared to contacting potentiometers.
  • the disclosed rotary contactless potentiometer device 10 is designed to imitate the electrical characteristics of a contacting potentiometer, but employs contactless technology to increase performance and extend device lifespan.
  • the potentiometer device 10 has multiple redundant channels (e.g., three), each with isolated electrical outputs, which meet or exceed regulatory guidelines for sensor redundancy in a sidestick application.
  • a ring magnet may be employed, which provides higher accuracy than other types of magnets.
  • a ring magnet with sensors arranged above or below the ring magnet is more accurate due in part to improved symmetry in the magnetic field experienced by the sensors 12A-12C relative to the magnetic center 26.
  • magnets considered for substitution with the example ring magnet could be, for example, a disc magnet, a non-symmetric magnet, a four-pole magnet, to name a few.
  • Different magnet types may offer different operational outcomes, such as non-symmetric magnets or four-pole magnet could provide improved linearization and/or immunity to electromagnetic noise.
  • the potentiometer device 10 may be used as a substitute for a conventional RVDT sensor (e.g., in an aircraft sidestick application). Therefore, a potentiometer device 10 may be constructed as a retrofit device, with a package designed to fit a legacy device, as well as accept inputs (e.g., DC voltage) and provide outputs (e.g., a ratiometric DC voltage), consistent with the device being replaced.
  • the potentiometer device 10 can be designed to emulate the output signal of an RVDT/resolver. This may offer a direct substitution of channels, and/or may be implemented with configurable and/or additional circuitry.
  • the housing 18 of the device 10 is constructed to be similar to the housing of an RVDT.
  • the ring magnet 16 can be secured to the shaft 14 using one or more fasteners, such as a bolt, a custom washer, a threaded shaft end, among other solutions.
  • the PCBs 20A-C can be retained by a fastener or other means, such as an end cap 22, which can apply an axial load against the sensor housing 18.
  • each PCB is separated by one or more spacers 28 or other mounting device to ensure the PCBs and/or sensors are physically isolated.
  • the spacers 28 are of a substantially similar size, such that the distance between each PCB is approximately equal. In other examples, one or more of the spacers 28 have different sizes, such that the distance between two PCBs is different.
  • the potentiometer device 10 offers a low cost, high accuracy, and reliable alternative to other solutions, such as RVDTs, resolvers, and/or wiper potentiometers.
  • RVDTs are the most common contactless solution to the problem described in cockpit applications. They utilize a magnetic rotor in a wound and laminated stator.
  • the output signals of the potentiometer device 10 can be manipulated so the device is capable of direct replacement with legacy sensors (e.g., RVDTS). Previous solutions have failed to emulate the output signal of an RVDT or resolver, making direct replacement impractical or impossible.
  • the technology and platform may be useful in a variety of applications in aerospace, manufacturing, automotive, rotation sensing, electronic sports, virtual gaming, or transportation, to list but a few.
  • the disclosed sensing technology can be employed in joystick applications, such as large industrial equipment (e.g., construction, agriculture, etc.), gaming, or other applications that employ a rotary control.
  • Another implementation of the disclosed technology is a direct integration into an intended application (e.g. embed Hall Effect sensor(s) into a sidestick without isolated packaging but directly on a rotating component therein). This may further reduce cost, and is a solution that would be impractical with wound components (such as RVDTs/resolvers).
  • the disclosed Hall Effect sensor advantageously reduces interference from stray magnetic fields through a magnetically-shielded housing design.
  • operational power for signals within the device 10 may be limited to decrease emitted stray magnetic fields beyond the housing 18.
  • a magnet can be arranged between two boards, such that one or more magnetic sensors are located above the magnet, and one or more magnetic sensors are located below the magnet. Thus, each of the magnetic sensors above and below the magnet would experience a magnetic field of the same strength.
  • FIGS. 2A, 2B and 2C illustrate three physically and electrically isolated magnetic sensor circuits that emulate a traditional potentiometer (e.g., a contact potentiometer).
  • each magnetic sensor circuit corresponds to one of the sensors 12A-12C.
  • Each sensor includes a programming access point 48A-48C, which can be used to program and/or calibrate the sensor with respect to the magnetic center 26.
  • the magnetic sensor circuit 50A-50C includes components to respond to and/or measure changes in the magnetic field from magnet 16. Those changes are output to a circuit and/or controller via three electrically isolated channels, for example.
  • the magnetic sensor circuit 50A-50C may also include a writable memory, to be programmed with linearization data corresponding to a given rotation angle (e.g., a reference or null position) of a rotatable control device, such as following a calibration process.
  • a given rotation angle e.g., a reference or null position
  • each multi-channel sensor has an independent differential output 44A-44C with respect to 46A-46C, with an independent differential input 40A-40C with respect to 42A-42C having a bias of about 6.0 VDC or 30.0 VDC.
  • the output is a ratiometric output having a scale factor within a configurable range.
  • Each Hall Effect sensor 12A-12C is designed to draw a limited amount of power (e.g., 5-15 mA per sensor channel) in an effort to minimize input current and/or stray magnetic field emissions.
  • potentiometer circuits e.g., sensors
  • FIGS. 2A-2C three potentiometer circuits (e.g., sensors) are illustrated in FIGS. 2A-2C, as few as one potentiometer circuit or more than three potentiometer circuits may be employed in the design of the rotary potentiometer device disclosed herein.
  • FIG. 3 provides an illustration of another example rotary contactless potentiometer device 10.
  • the potentiometer device 10 includes one or more sensors 12A, 12B, 12C, such as a multi-channel Hall Effect sensor.
  • the sensors 12A-12C can be mounted on a substrate 20, such as a printed circuit board (PCB).
  • the sensors 12A- 12C can be arranged within range of a magnetic field, such as from a magnet 16 (e.g., a rotatable magnet).
  • the magnet 16 is a permanent magnet rotatable about a shaft 14. Rotational movement about the shaft 14 is facilitated by one or more bushings or ball bearings 24.
  • the potentiometer device 10 can be housed in a frame or housing 18.
  • the housing 18 includes a panel 22, which provides access to the PCB 20 to allow removal and/or maintenance on the components within.
  • the potentiometer device 10 uses a magnet 16 on dual bearing supports (facilitated by ball bearings 24).
  • the example arrangement shown in FIG. 3A employs three electrically isolated Hall Effect sensors 12A-12C arranged on PCB 20.
  • the Hall Effect sensors can be spaced 120 degrees apart from one another and offset from the magnetic center of magnet 16 by a predetermined distance.
  • the arrangement can be informed by the size of the Hall Effect sensors 12A-12C, the size of the housing 18, a particular application (e.g., as an airplane sidestick), among others.
  • each sensor output may experience nonlinearities.
  • nonlinearities in Hall Effect sensor output may become apparent when placing the sensor circuit offset from the magnet center 26.
  • nonlinearities can largely be programmed out using software; however, some electronics packaging schemes allow higher accuracy than others.
  • the sensors are programmed using a linearization process, which aligns each sensor channel of sensors 12A-12C electrically based on relative position to magnetic axis 26, thereby avoiding the need for manual adjustment required by conventional technology, which can be inaccurate, time consuming, and subject to error.
  • FIG. 4 provides an illustration of another example rotary contactless potentiometer device 10, where one or more sensors 12A-12C are arranged on a first side of PCB 20, and one or more sensors 12A-12C are arranged on a second side of the PCB 20 opposite the first side.
  • the sensors are offset by 180 degrees about the magnetic center 26.
  • a third sensor 12C can be mounted on the second side, directly aligned with the magnetic center 26.
  • the arrangement of sensors illustrated in FIG. 4A is designed to experience limited nonlinearities, due to the sensors being arranged closer to the magnetic center 26, and one sensor arranged directly on the center of the magnet rotation.
  • the output signal from the Flail Effect sensors is used to modulate the incoming input voltage so as to provide a ratiometric output over a wider input range than an unmodulated signal (e.g., approximately 4.5V to 30V).
  • the expanded range allows the contactless rotary potentiometer sensor to be used in pot-replacement applications operating from a variety of voltage rails, such as 10V, 12V, or 24V (e.g., common in industrial applications), and from 28V (e.g., common in aerospace applications).
  • the operating stroke of the device (e.g., in response to movement of the shaft) is approximately +/- 100 degrees from a null position, but can have a greater or smaller range depending on the application or desired performance.
  • the arrangement of sensors, selection of sensor type, and/or calibration process results in a low error rate during deployment (e.g., between +/-0.1% and +/- 0.9% full-scale error at a null position; between +/- 1 .0% and +/- 3.0% full-scale error at extreme positions).
  • the potentiometer device 10 and the associated multi channel sensors are configured to operate in a temperature range of approximately -40 C to approximately +70 C, although the range of suitable operating temperatures may be expanded based on material type, sensor selection, or other engineering principles.
  • FIG. 5 illustrates a schematic of an example circuit to implement the contactless potentiometer device disclosed herein.
  • magnetic circuit 50A includes a Flail Effect sensor integrated circuit 52A, which can be in some examples used to replace an existing potentiometer (such as a contacting potentiometer).
  • the voltage input 40A and 42A, the POT wiper 44A and the POT reference output 46A are arranged such that the magnetic circuit 50A can be connected to existing potentiometer inputs and generate a potentiometer output in a straightforward swap of parts.
  • a multi-stage filter/buffer 54A and a mid-point buffer 56A ensure an applicable output voltage.
  • the output impedance can be configured to be similar to an existing potentiometer output, and may also provide noise filtering.
  • FIG. 6 illustrates an application schematic of a control system 60 using a potentiometer device, in accordance with an example embodiment of the disclosure.
  • the control system 60 may include control circuitry 62, which may further include a processor 64 operable to receive input signals from the one or more sensor(s) 12A-12C. These and other inputs can be received via one or more interfaces 70, including a wired and/or wireless network interface 72.
  • signals may be received via one or more communications transceivers 76, such as one or more dedicated receiver circuits 78 and/or transmitter circuits 80.
  • Power conversion circuitry 74 may be employed to scale up or scale down input or output signals for processing or transmission, etc.
  • circuitry associated with control system 60 is configured to receive signals from a conventional POT wiper output and/or reference inputs, and is similarly equipped to receive signals from the Hall Effect sensors 12A-12C as disclosed herein. Accordingly, the control system 60 is configured to interface with the contactless potentiometer device(s) disclosed herein without the need to modify, add to, and/or upgrade circuity for such highly sensitive and highly reliable Hall Effect sensors.
  • a memory 66 may store instructions 68, which may include algorithms to perform programming and/or calibration techniques, monitor and analyze signals from sensor outputs, and/or transmit data and/or commands based on incoming signals.
  • FIG. 7 illustrates an example method 90 of programming a contactless potentiometer device (e.g., device 10) to align each sensor (e.g., sensors 12A-12C) electrically and thereby to provide output within a desired accuracy band.
  • a first magnetic sensor e.g., a Hall Effect sensor
  • a substrate e.g., PCB 20A- 20C
  • An output of the first magnetic sensor is compared with an encoder output, which provides a shaft angle.
  • the first magnetic sensor is aligned with a magnetic field (e.g., from magnet 26) corresponding to a given rotation angle of a rotatable control device (e.g., a rotatable shaft 14 of a sidestick application).
  • a rotatable control device e.g., a rotatable shaft 14 of a sidestick application.
  • the sensor can be rotated to a given point using the encoder stand, and this point can be written into memory on circuitry of the respective sensor as a linearization point.
  • the first magnetic sensor is programed with the linearization data corresponding to the given rotation angle (e.g., stored in a memory of the magnetic sensor circuit).
  • the sensor channels are individually programmed with a particular linearization scheme (e.g., a linearization scheme provided in a programming GUI).
  • a second channel of a second magnetic sensor can be electrically aligned to the first channel.
  • a second magnetic sensor e.g., a Hall Effect sensor
  • An output of the second magnetic sensor is compared with one or both of the encoder output (corresponding to shaft angle) or linearization data from the first magnetic sensor in block 100.
  • the second magnetic sensor is aligned with the magnetic field. This can be accomplished by rotating the shaft angle to the electrical zero, and programming this as the electrical zero of the second magnetic sensor channel.
  • the second magnetic sensor is programmed with linearization data corresponding to the given rotation angle relative to the second magnetic sensor’s position and/or the linearization data of the first magnetic sensor in block 104.
  • the contactless potentiometer device can be used to replace a rotary variable differential transformer (RVDT) in block 106.
  • the method can be performed for another (e.g., a third) sensor or more if so desired, providing redundancy. Moreover, this process can be automated, thereby eliminating the need to manually align sensor channels to electrical zero.
  • FIG. 8 is a lateral view of an example rotary contactless potentiometer device 110. Where applicable, common reference numerals, such as those used in FIGS. 1 -4B, have been employed.
  • the potentiometer device 110 includes a magnet 116 (e.g., a rotatable, axially magnetized ring magnet) rotatable about a shaft 14.
  • the example magnet 116 is a permanent magnet configured to generate an asymmetric magnetic field directed toward one or more sensors 12A, 12B, 12C (e.g., multi-channel Hall Effect sensors, magnetoresistive sensors, etc.), which are positioned within range of the asymmetric magnetic field from the magnet 116.
  • the axially magnetized ring magnet 116 includes a plurality of magnetized segments 118 with varying magnetic polarity 120, wherein a first segment 118A has a first magnetic polarity different from a second magnetic polarity of a second segment 118B. A third segment 118C has a third magnetic polarity different from a fourth magnetic polarity of a fourth segment 118D.
  • each segment has a magnetic polarity which is TT/2 out of phase with a magnetic polarity of an adjacent segment, as represented by arrows 120.
  • the magnet 116 includes a first surface 112 and a second surface 108 opposite the first surface 112, such that the asymmetric magnetic field provides a strong magnetic field from the first surface 112 concentrated toward the sensors 12A, 12B, 12C, relative to a weak magnetic field associated with the second surface 108.
  • the magnet 116 may have 6, 8, 10, fewer or more segments with different polarities.
  • additional magnetic segments, and/or different magnetic fields associated with those segments may adjust the strength of the magnetic field, and/or the resolution of the potentiometer device 110.
  • the magnet 116 is coupled to the shaft 14 which rotates on-axis about the magnetic center 26, along with one or more sensors 12A, 12B, 12C, each of which are physically, electrically and/or mechanically isolated on a respective printed circuit board (PCB) 20A, 20B, 20C, at varying distances from the magnet 116.
  • PCB printed circuit board
  • Each sensor 12A, 12B, 12C detects a change in angle from a reference position based on a rotation of the magnet 116 about the shaft 14.
  • Rotational movement about the shaft 14 is facilitated by one or more ball bearings 24, bushings, tracks, or a rotary support structure.
  • conventional sensors employing magnetic fields are limited to the use of nonmagnetic bushings (e.g., bronze) in a rotor assembly, due to the observation that ferromagnetic materials near the magnet (e.g. ball bearings constructed from stainless steel) induce a hysteresis error in sensor output.
  • ferromagnetic materials near the magnet e.g. ball bearings constructed from stainless steel
  • a reduced magnetic field on the non-sensing side 108 of the device such that the hysteresis error is reduced to an inconsequential value.
  • the potentiometer device 110 can be housed in a frame or housing 18 to reduce stray magnetic interference.
  • the housing 18 includes a panel 22, which provides access to the PCBs 20 to allow removal and/or maintenance on the components within.
  • FIG. 9 is a surface view of the magnet 116.
  • the magnet 116 features eight axially magnetized segments, with a repeating series of four segments 118A-D provided on each of two half-circles of the full ring.
  • magnetic polarity 120A-D corresponding to a respective axially magnetized segments 118A-D is provided in an alternating pattern, with each magnetic pole oriented orthogonal to each adjacent magnetic pole.
  • the magnetic pole of each segment is oriented differently (not necessarily orthogonal) from that of an adjacent segment.
  • the magnetic pole of each magnetized segment effectively cancels a magnetic field 122A-B on one side 108 of the magnet 116, while the sum of the individual magnetic fields work together to enhance the strength of the magnetic field 122A-B on the opposite side 112, as shown in FIG. 10.
  • This allows for the potentiometer device 110 to fit within a package having a distinct size sensor housing (e.g., approximately 1 inch outer diameter), while providing an enhanced magnetic field strength for a multi-channel sensor device of sufficient strength to operate controls.
  • the magnetized segments can be electrical conductors (e.g., such as printed on a PCB) arranged in a manner to induce a magnetic field on a single surface of the magnet.
  • the conductors may take the form of coiled wires (e.g., windings), arranged in a pattern such that the coiled wires produce an asymmetric magnetic field in response to an electric current.
  • the coiled wires may be arranged to substantially cancel a magnetic field on one surface of the magnet, while concentrating the magnetic field on the opposite surface.
  • the asymmetric magnetic field is directed toward a target (e.g., a sensor), whereas the magnetic field on the opposing side is substantially zero.
  • the residual magnetic component of the opposite surface is a relatively weak magnetic field, as it is impractical to completely eliminate a magnetic field on the second surface.
  • FIG. 11 is a lateral view of a potentiometer device 110, similar to the potentiometer device 10 illustrated in FIG. 3, however, employing an asymmetric magnetic field.
  • the potentiometer device 110 uses a rotatable, axially magnetized ring magnet 116 on dual bearing supports (facilitated by ball bearings 24).
  • the example arrangement shown in FIG. 11 employs three electrically isolated Flail Effect sensors 12A-12C arranged on a single PCB 20. As shown, each of the sensors 12A-12C are equally spaced apart from one another and offset from the magnetic center 26 of the magnet 116 by a predetermined distance.
  • the Flail Effect sensors can be spaced 120 degrees apart from one another and offset from the magnetic center of magnet 16 by a predetermined distance.
  • the arrangement can be informed by the size of the Flail Effect sensors 12A-12C, the size of the housing 18, a particular application (e.g., as an airplane sidestick), among other considerations.
  • FIG. 12 is a lateral view of yet another potentiometer device 110, similar to the potentiometer device 10 illustrated in FIG. 4, however, employing an asymmetric magnetic field.
  • the sensors 12A and 12B are arranged on a first side of PCB 20, and the sensor 12C is arranged on a second side of the PCB 20 opposite the first side.
  • the sensors 12A and 12B are offset by 180 degrees about the magnetic center 26.
  • the third sensor 12C is mounted on the second side, directly aligned with the magnetic center 26.
  • the arrangement of sensors illustrated in FIG. 12 is designed to experience limited nonlinearities, due to the sensors being arranged closer to the magnetic center 26, and one sensor arranged directly on the center of the magnet rotation.
  • sensor 12A is mounted on the first side of PCB 20, while sensors 12B and 12C are mounted on the second side of PCB 20.
  • the magnet may take a different common or non-uniform geometry.
  • the magnet and/or sensors may be moved in one or more of six degrees of freedom, indicating a range of movements of an input device.
  • Hall Effect sensors Although several examples and/or embodiments are described with respect to Hall Effect sensors, the principles and/or advantages disclosed herein can employ technologies that are not limited to a particular type of sensor. For example, a magnetoresistive sensor and/or other types of contactless sensors may be employed. Further, although each of the plural (e.g., three) sensors of the disclosed examples are described as Hall Effect sensors, in some examples one or more of the plurality of sensors may be a first type of sensor, and another one or more of the plurality of sensors may be of a second type.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Condensed Matter Physics & Semiconductors (AREA)
  • Transmission And Conversion Of Sensor Element Output (AREA)
  • Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)

Abstract

L'invention concerne des procédés et des systèmes pour un dispositif potentiomètre sans contact rotatif, qui comprend un ou plusieurs capteurs, un aimant annulaire aimanté axialement conçu pour générer un champ magnétique asymétrique dirigé vers une pluralité de capteurs, tels qu'un capteur à effet Hall, chaque capteur se trouvant à la portée du champ magnétique asymétrique. Les capteurs sont montés sur un ou plusieurs substrats, tels qu'une carte de circuit imprimé (PCB). Dans certains exemples, chaque canal de capteur est physiquement et/ou électriquement isolé sur le substrat. Les capteurs sont agencés à la portée d'un champ magnétique, par exemple celui émanant d'un aimant pouvant tourner autour d'un arbre. Le dispositif potentiomètre est logé dans un cadre pour réduire les interférences magnétiques parasites.
PCT/US2022/030477 2021-06-22 2022-05-23 Dispositif capteur magnétique multicanaux WO2022271375A1 (fr)

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US17/353,940 US20210310827A1 (en) 2019-12-27 2021-06-22 Multi-channel magnetic sensor device
US17/353,940 2021-06-22

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CN118066990A (zh) * 2024-04-22 2024-05-24 贵州航天控制技术有限公司 一种多通道角度检测装置

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US20020190709A1 (en) * 2001-02-28 2002-12-19 Bvr Aero Precision Corporation Methods and apparatus for sensing angular position and speed of a rotatable shaft utilizing linearized annular magnet and commutated ratiometric hall sensors
US20090315547A1 (en) * 2005-12-19 2009-12-24 Sari Abwa Magnetic Field Sensor Arrangement and Method for Non-Contact Measurement of a Magnetic Field
US20140077922A1 (en) * 2012-09-14 2014-03-20 Nidec Servo Corporation Contactless potentiometer
US20150226581A1 (en) * 2012-08-23 2015-08-13 Melexis Technologies Nv Arrangement, Method and Sensor for Measuring an Absolute Angular Position Using a Multi-Pole Magnet
US20180087889A1 (en) * 2016-09-28 2018-03-29 Infineon Technologies Ag Magnetic angle sensor device and method of operation
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US5038570A (en) * 1988-01-11 1991-08-13 U.S. Philips Corporation Piston engine and cryo-cooler provided with such a piston engine
US20020190709A1 (en) * 2001-02-28 2002-12-19 Bvr Aero Precision Corporation Methods and apparatus for sensing angular position and speed of a rotatable shaft utilizing linearized annular magnet and commutated ratiometric hall sensors
US20090315547A1 (en) * 2005-12-19 2009-12-24 Sari Abwa Magnetic Field Sensor Arrangement and Method for Non-Contact Measurement of a Magnetic Field
US20150226581A1 (en) * 2012-08-23 2015-08-13 Melexis Technologies Nv Arrangement, Method and Sensor for Measuring an Absolute Angular Position Using a Multi-Pole Magnet
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CN118066990A (zh) * 2024-04-22 2024-05-24 贵州航天控制技术有限公司 一种多通道角度检测装置

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