CN100573073C - The anglec of rotation and torque master - Google Patents
The anglec of rotation and torque master Download PDFInfo
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- CN100573073C CN100573073C CNB2006800043617A CN200680004361A CN100573073C CN 100573073 C CN100573073 C CN 100573073C CN B2006800043617 A CNB2006800043617 A CN B2006800043617A CN 200680004361 A CN200680004361 A CN 200680004361A CN 100573073 C CN100573073 C CN 100573073C
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Abstract
The invention provides a kind of anglec of rotation and torque master, it comprises: first rotary body; Be fixed on first target on first rotary body; Be fixed on first gear on first rotary body; Be used to detect first magnetic detecting element of the anglec of rotation of first rotary body; Second gear with first gearing mesh; Be fixed on second rotary body of second gear; Be arranged on the magnet on second rotary body; Be used to detect second magnetic detecting element of the anglec of rotation of second rotary body; The 3rd rotary body; Be fixed on second target on the 3rd rotary body; Be used to detect the 3rd magnetic detecting element of the anglec of rotation of the 3rd rotary body; The torsion bar that between first rotary body and the 3rd rotary body, first rotary body is connected with the 3rd rotary body; Calculate the control part of the torque of the anglec of rotation of first rotary body and torsion bar effect based on the signal of from first to the 3rd magnetic detecting element output.This pick-up unit can go out the change absolute anglec of rotation and torques with high precision/high resolution detection more.
Description
Technical field
The present invention relates to be used to detect the absolute anglec of rotation of whirligigs such as power steering gear of vehicle and the anglec of rotation and the torque master of torque.
Background technology
Figure 24 is the structural drawing that the spy opens the disclosed existing torque inductor 5001 of flat 11-194007 communique.Gear part 33 is fixed to the turning axle (not shown) that will detect the anglec of rotation by cooperating spring 34.Gear part 33 and gear part 36 engagements.Sign indicating number plate (code plate) 35 with magnetized a plurality of magnetic poles has been installed on the peripheral end face of gear part 36.Along with the rotation of turning axle, the magnetic pole that is provided with yard plate 35 moves.The number of the 37 pairs of mobile magnetic poles of detecting element that are provided with in opposite directions by the peripheral end face with gear part 36 is counted, thereby detects the anglec of rotation of turning axle.
On 2 axles by the torsion bar binding torque inductor 5001 is installed respectively, like this, when the between centers that generation causes owing to torque between 2 axles reverses, can be detected the size of the torque of effect by the anglec of rotation that compares each.
Because torque inductor 5001 is counted by the magnetic pole that the anglec of rotation that makes axle is moved and is detected the anglec of rotation, so just need reduce magnetic pole in order to improve resolving power.And sign indicating number plate 35 combines with axle by gear part 33,36, since the reason of backlash (backlash), the very difficult accuracy of detection that improves the anglec of rotation.And,, can not detect the absolute anglec of rotation though torque inductor 5001 can detect relative rotation angle.
Figure 25 is the structural drawing that the spy drives the disclosed existing torque master 5002 of 2003-98018 communique.The target 1100,1101 that kicker magnet constitutes is installed in respectively on the axle 1102,1103 that will detect the anglec of rotation.Target 1100,1101 and magnetic inductor 1104A, 1104B, 1105A, 1105B dispose in opposite directions.By utilizing magnetic inductor 1104A, 1104B, 1105A, 1105B to detect the swing offset of target 1100,1101, arithmetic processing section 1106 detects the anglec of rotation of shaft 1102,1103.When 1102,1103 on axle has acted on torque, when having anglec of rotation difference between axle 1102 and the axle 1103, the anglec of rotation of arithmetic processing section 1106 by target 1100,1101 relatively poor can detect the level of torque of effect.
At torque master 5002, target 1100,1101 rotations 1 circle, magnetic inductor 1104A, 1104B, 1105A, 1105B produce identical output, so, be difficult to detect the anglec of rotation when rotating more than 1 time.
And the target 1100,1101 that kicker magnet constitutes is because the deviation of the deviation of its material and dimensional accuracy is influential to accuracy of detection, so must high-precision processing.And, need the deflection magnet in magnetic inductor 1104A, 1104B, 1105A, the 1105B.
Summary of the invention
A kind of anglec of rotation and torque master comprise: first rotary body; Be fixed on first target on first rotary body; Be fixed on first gear on first rotary body; Be used to detect first magnetic detecting element of the anglec of rotation of first rotary body; Second gear with first gearing mesh; Be fixed on second rotary body of second gear; Be arranged on the magnet on second rotary body; Be used to detect second magnetic detecting element of the anglec of rotation of second rotary body; The 3rd rotary body; Be fixed on second target on the 3rd rotary body; Be used to detect the 3rd magnetic detecting element of the anglec of rotation of the 3rd rotary body; The torsion bar that between first rotary body and the 3rd rotary body, first rotary body is connected with the 3rd rotary body; Calculate the control part of the torque of the anglec of rotation of first rotary body and torsion bar effect based on the signal of from first to the 3rd magnetic detecting element output.
This pick-up unit can go out the change absolute anglec of rotation and torques with high precision/high resolution detection more.
Description of drawings
Fig. 1 is the absolute anglec of rotation in the first embodiment of the invention and the structural drawing of torque master.
Fig. 2 A represents the output signal of the magnetic detecting element of the pick-up unit in first embodiment.
Fig. 2 B represents the anglec of rotation of machinery of the input shaft of the pick-up unit in first embodiment and output shaft and the relation of the anglec of rotation that computing obtains.
Fig. 3 A represents the output signal of the magnetic detecting element of the pick-up unit in first embodiment.
Fig. 3 B represents the anglec of rotation of machinery of the input shaft of the pick-up unit in first embodiment and output shaft and the relation of the anglec of rotation that computing obtains.
Fig. 4 is the circuit block diagram of the pick-up unit in first embodiment.
Fig. 5 A represents the ideal value and the actual value of the absolute anglec of rotation of the rotary body of the pick-up unit in first embodiment.
Fig. 5 B represents the ideal value and the actual value of the absolute anglec of rotation of the rotary body of the pick-up unit in first embodiment.
Fig. 6 represents that the torque of the pick-up unit in first embodiment detects characteristic.
Fig. 7 represents the anglec of rotation and the absolute anglec of rotation that the pick-up unit in first embodiment obtains.
Fig. 8 represents the output signal of the magnetic detecting element of the pick-up unit in first embodiment.
Fig. 9 A is the absolute anglec of rotation in the second embodiment of the invention and the front cross-sectional view of torque master.
Fig. 9 B is the side cut away view of pick-up unit shown in Fig. 9 A.
Fig. 9 C is the sectional view of pick-up unit 9C-9C along the line shown in Fig. 9 A.
Figure 10 is the side cut away view of the pick-up unit in second embodiment.
Figure 11 A is the front view (FV) of the annular magnet of the pick-up unit in second embodiment.
Figure 11 B is the sectional view of annular magnet 11B-11B along the line shown in Figure 11 A.
Figure 12 is the sectional view of other rotary body of pick-up unit in second embodiment.
Figure 13 is the sectional view of another rotary body of pick-up unit in second embodiment.
Figure 14 is the sectional view of the another rotary body of pick-up unit in second embodiment.
Figure 15 A is the rotation angle in the third embodiment of the invention and the structural drawing of torque master.
Figure 15 B is the sectional view of pick-up unit 15B-15B along the line shown in Figure 15 A.
Figure 15 C is the sectional view of the pith of pick-up unit shown in Figure 15 A.
Figure 16 is the circuit block diagram of the pick-up unit in the 3rd embodiment.
Figure 17 A represents the output signal of the magnetic detecting element of the pick-up unit in the 3rd embodiment.
Figure 17 B represents the anglec of rotation of machinery of the input shaft of the pick-up unit in the 3rd embodiment and output shaft and the relation of the anglec of rotation that computing obtains.
Figure 18 A represents the output signal of the magnetic detecting element of the pick-up unit in the 3rd embodiment.
Figure 18 B represents the anglec of rotation of machinery of the input shaft of the pick-up unit in the 3rd embodiment and output shaft and the relation of the anglec of rotation that computing obtains.
Figure 19 A represents the output signal of the magnetic detecting element of the pick-up unit in the 3rd embodiment.
Figure 19 B represents the anglec of rotation of machinery of the input shaft of the pick-up unit in the 3rd embodiment and output shaft and the relation of the anglec of rotation that computing obtains.
Figure 20 A represents the anglec of rotation of rotary body of the pick-up unit of the 3rd embodiment.
Figure 20 B represents the anglec of rotation of rotary body of the pick-up unit of the 3rd embodiment.
Figure 20 C represents the anglec of rotation of rotary body of the pick-up unit of the 3rd embodiment.
Figure 20 D represents the anglec of rotation of rotary body of the pick-up unit of the 3rd embodiment.
Figure 20 E represents the anglec of rotation of rotary body of the pick-up unit of the 3rd embodiment.
Figure 21 A represents the anglec of rotation of rotary body of the pick-up unit of the 3rd embodiment.
Figure 21 B represents the anglec of rotation of rotary body of the pick-up unit of the 3rd embodiment.
Figure 21 C represents the anglec of rotation of rotary body of the pick-up unit of the 3rd embodiment.
Figure 22 represents the anglec of rotation of rotary body of the pick-up unit of the 3rd embodiment.
Figure 23 represents the signal that the magnetic detecting element of the pick-up unit of the 3rd embodiment is exported.
Figure 24 is the structural drawing of the torque inductor of the existing detection anglec of rotation and torque.
Figure 25 is the structural drawing of existing torque master.
Description of reference numerals
1 rotary body (first rotary body)
1A gear (first gear)
2 input shafts
3 targets (first target)
4 rotary bodies (the 3rd rotary body)
5 output shafts
6 targets (second target)
7 torsion bars
8 rotary bodies (second rotary body)
8B gear (second gear)
9 magnets
10 magnetic detecting elements (second magnetic detecting element)
11 magnetic detecting elements (first magnetic detecting element)
12 magnetic detecting elements (the 3rd magnetic detecting element)
14 control parts
15 storeies
16 enlarging sections
The 16A detecting device
1001 rotary bodies (first rotary body)
1004 annular magnet
The 1004A annular magnet
1005 rotary bodies (the 3rd rotary body)
1007A magnetic detecting element (first magnetic detecting element)
1007B magnetic detecting element (the 3rd magnetic detecting element)
1009 gears (first gear)
1010 gears (second gear, second rotary body)
1011 magnets (first magnet)
1012 magnetic detecting elements (second magnetic detecting element)
1016 juts
1017 recesses
1018 card claw stops
1020 leaf springs
1022 torsion bars
8001 rotary bodies (first rotary body)
8002 input shafts
8003 targets (first target)
8004 rotary bodies (the 3rd rotary body)
8005 output shafts
8006 targets (second target)
8007 torsion bars
8008 gears (first gear)
8009 rotary bodies (second rotary body)
8009A gear (second gear)
8010 magnets (first magnet)
8011 magnetic detecting elements (second magnetic detecting element)
8012 rotary bodies (the 4th rotary body)
8012A gear (the 3rd gear)
8013 magnets (second magnet)
8014 magnetic detecting elements (the 4th magnetic detecting element)
8015 magnetic detecting elements (first magnetic detecting element)
8016 magnetic detecting elements (the 3rd magnetic detecting element)
8025 enlarging sections
8026 control parts
8027 storeies
8028 switches
Embodiment
(first embodiment)
Fig. 1 is the anglec of rotation of first embodiment of the invention and the structural drawing of torque master 6001.Rotary body 1 has and the input shaft 2 chimeric gear 1A that can change that are connected more.Gear 1A is fixed to rotary body 1.Target 3 is fixed on the rotary body 1.On the outside surface 3C of target 3, alternately equally spaced dispose polarity different magnetic pole 3A, 3B.Rotary body 4 has and the output shaft 5 chimeric many commentaries on classics gears that are connected.Target 6 is fixed on the rotary body 4.The outside surface 6C of target 6 goes up and alternately equally spaced disposes polarity different magnetic pole 6A, 6B.Torsion bar 7 is configured on the concentric shafts 6001A of 5 of input shaft 2 and output shafts, and is fixed to input shaft 2 and output shaft 5.That is, torsion bar 7 is connected with rotary body 4 with rotary body 1 between rotary body 1 and rotary body 4.Have the gear 8B that is meshed with the gear 1A of rotary body 1 on the rotary body 8, disposed magnet 9 on its central portion 8A.Gear 8B is fixed on the rotary body 8.Magnetic detecting element 11 is relative with the outside surface 3C of target 3.Magnetic detecting element 10 is relative with magnet 9.Magnetic detecting element 12 is relative with the outside surface 6C of target 6.Magnetic detecting element 11,10,12 is arranged on the substrate 13.The gear 1A of rotary body 1 and the gear 8B of rotary body 8 are connected, if rotary body 1 rotation, rotary body 8 just rotates with the speed based on the gear ratio of gear 1A, 8B.
At this, it is identical with the number of magnetic pole 6A, the 6B of target 6 that the number of magnetic pole 3A, the 3B of target 3 is set at.The number of magnetic pole 3A, 3B, 6A, 6B is decided by the spring constant of detected torque capacity and torsion bar 7.For example, the torque capacity detected value is ± 12Nm that when the spring constant of torsion bar 7 was 2Nm/deg, the maximum twist angle of torsion bar 7 was ± 4 degree.Magnetic pole 3A, the 3B of target 3 has 30, and magnetic pole 6A, the 6B of target 6 has 30.N utmost point magnetic pole 3A, 6A number are set at 15 respectively, and the number of S utmost point magnetic pole 3B, 6B is set at 15 respectively.In the case, adjacent pole is configured with the angle intervals of 12 degree.The maximum twist angle of torsion bar 7 is ± 4 degree, so therefore the difference of the absolute anglec of rotation of rotary body 1,4 can, can correctly not detect because the torque that acts on torsion bar 7 that magnetic pole 3A, 3B, 6A, the 6B of target 3,6 cause greater than 8 degree.
The following describes with the action of magnetoresistive element (MR element) as the pick-up unit 6001 under the situation of magnetic detecting element 11,10,12.Each magnetic detecting element is according to the magnetic field from magnetic pole and magnet, and output is corresponding to the sine wave signal and the cosine wave signal of the anglec of rotation of rotary body.Fig. 2 A represents the output signal of magnetic detecting element 11,10,12.Magnetic detecting element 11,12 is according to the magnetic field from magnetic pole 3A, 3B, 6A, 6B of following the rotation of target 3,6, for the sine wave signal in 1 magnetic pole 1 cycle of output.Therefore, magnetic detecting element 11 is exported and magnetic pole 3A, the sine wave signal in the same number of cycle of 3B corresponding to once rotating of target 3, the sine wave signal in magnetic detecting element 12 the same number of cycle of output and magnetic pole 6A, 6B corresponding to 1 rotation of target 6.These sine wave signals are enlarged in the enlarging section has predetermined amplitude, is input to the control part of microcomputer and CPU etc. again.The A/D converter of sine wave signal in control part is converted into digital signal, carries out calculation process, and control part is calculated the absolute anglec of rotation that target 3,6 is a rotary body 1,4.In other words, the target 3 with magnetic pole 3A, 3B and magnetic detecting element 11 are formed for detecting the anglec of rotation test section 201 of the anglec of rotation of rotary body 1.Similarly, the target 6 with magnetic pole 6A, 6B and magnetic detecting element 12 are formed for detecting the anglec of rotation test section 203 of the anglec of rotation of rotary body 5.Magnet 9 and magnetic detecting element 10 are formed for detecting the anglec of rotation test section 202 of the anglec of rotation of rotary body 4.Fig. 2 A represents the voltage of the sine wave signal of magnetic detecting element 11,12 outputs.Transverse axis is represented the absolute anglec of rotation of input shaft 2 and output shaft 5, and the longitudinal axis is represented the sine wave signal 24 of magnetic detecting element 11 outputs and the cosine wave signal 23 of magnetic detecting element 12 outputs.Fig. 2 B represents the mechanical rotation angle of input shaft 2 and output shaft 5, the absolute anglec of rotation that the promptly absolute anglec of rotation (transverse axis) and rotary body 1,4 obtain in the control part computing, i.e. relation between the phasing degree (longitudinal axis) of sine wave signal 23 and cosine wave signal 24.
Magnetic detecting element 10 detects the magnetic field of magnet 9 of the central part 8A configuration of rotary body 8, and output magnet 9 whenever revolves the sine wave signal and the cosine wave signal in pairing 2 cycles of turning around.These signals are carried out calculation process at control part, can calculate the absolute anglec of rotation of rotary body 8.Fig. 3 A represents the sine wave signal 124 of magnetic detecting element 10 outputs and the voltage of cosine wave signal 123.Among Fig. 3 A, transverse axis is represented the absolute anglec of rotation of input shaft 2 and output shaft 5, and the longitudinal axis is represented the sine wave signal 124 and the cosine wave signal 123 of magnetic detecting element 10 outputs.Fig. 3 B represents, the absolute anglec of rotation (transverse axis) of the machinery of input shaft 2 and output shaft 5, and the absolute anglec of rotation is the phase place (longitudinal axis) of sine wave signal 124 and cosine wave signal 123 in the computing of rotary body 8.
Fig. 4 is the circuit block diagram of pick-up unit 6001.The sine wave signal and the cosine wave signal of magnetic detecting element 11,10,12 outputs, be input to the control part 14 of microcomputer and CPU etc., the absolute anglec of rotation and the torque of exporting input shaft 2 and output shaft 5 by calculation process by detecting device 16A and enlarging section 16.Nonvolatile memories such as EEPROM 15 are connected to control part 14.Detecting device 16A detects the output signal of magnetic detecting element 10,11,12 whether in preset range.
Fig. 5 A represents the absolute anglec of rotation (transverse axis) of machinery of input shaft 2 and output shaft 5 and the absolute anglec of rotation (longitudinal axis) of rotary body 1,4.Dotted line is represented the ideal value 24A (identical with Fig. 2 B) of the absolute anglec of rotation of rotary body 1,4, and solid line is represented the actual value 24B of the absolute anglec of rotation of rotary body 1,4.
Fig. 5 B represents the absolute anglec of rotation (transverse axis) of machinery of input shaft 2 and output shaft 5 and the absolute anglec of rotation (longitudinal axis) of rotary body 8.Dotted line is represented the ideal value 124A (identical with Fig. 3 B) of the absolute anglec of rotation of rotary body 1,4, and solid line is represented the actual value 124B of the absolute anglec of rotation of rotary body 1,4.Rotary body 8 is between 1 weeks of rotation, the angle (being 720 ° in Fig. 5 B) of rotary body 1,4 rotations be can the detected absolute anglec of rotation the upper limit.
Fig. 6 represents that the torque of pick-up unit 6001 detects characteristic.Transverse axis is represented the absolute anglec of rotation of input shaft 2 and output shaft 5, and the longitudinal axis represents to act on the torque on the torsion bar 7.If the absolute anglec of rotation of rotary body 1 is the absolute anglec of rotation of θ x, rotary body 4 is that the spring constant of θ y, torsion bar 7 is T, calculates torque by (θ x-θ y) * T.
Below, illustration is in the torque calculation method of torsion bar 7.When the input shaft 2 that interfixes, torsion bar 7 and output shaft 5 rotations, rotate with the rotary body 1 of input shaft 2 chimeric bindings.During rotary body 1 rotation, the target 3 that remains on the rotary body 1 rotates.Follow this rotation, detect from the magnetic field of magnetic pole 3A, 3B, output and the corresponding signal in magnetic field with target 3 magnetic detecting element 11 in opposite directions.14 pairs of these signals of control part carry out computing, try to achieve the absolute anglec of rotation θ x of rotary body 1.And, when input shaft 2, torsion bar 7 and output shaft 5 rotations, also rotate with the rotary body 4 of output shaft 5 chimeric bindings.During rotary body 4 rotations, the target 6 that remains on the rotary body 4 rotates.Follow this rotation, detect the magnetic field of magnetic pole 6A, 6B with target 6 magnetic detecting element 12 in opposite directions, output and the corresponding signal in magnetic field.14 pairs of these signals of control part carry out calculation process, try to achieve the absolute anglec of rotation θ y of rotary body 4.Control part 14 multiply by the spring constant T of torsion bar 7 absolute anglec of rotation θ x, θ y poor of first rotary body 1 and rotary body 4, tries to achieve torque.Because can amplify helix angle corresponding to the torque that applies on the torsion bar 7, so can increase the resolution of detected torque.
The following describes the detection method of the anglec of rotation of rotary body 1,4,8.During rotary body 1 rotation, by with the gear 8B of the meshing rotary body 8 of the gear 1A of rotary body 1, rotary body 8 rotations.If the number of teeth of the gear 1A of rotary body 1 is NA, the number of teeth of the gear 8B of rotary body 8 is NB, and rotary body 8 is with the NA/NB speed rotation doubly of rotary body 1.Usually select suitable number N of teeth A, NB, make rotary body 8 to compare low-down speed rotation with rotary body 1.
Magnetic detecting element 11 is subjected to the magnetic pole 3A that changes, the magnetic field of 3B along with the rotation of rotary body 1, exports the signal corresponding with this magnetic field.Rotary body 8 has the magnet 9 that is configured in central part 8A, is subjected to the magnetic field of the magnet 9 that changes from the rotation that is accompanied by rotary body 8 with this rotary body 8 magnetic detecting element 10 in opposite directions, and output is corresponding to the signal in this magnetic field.The output signal of magnetic detecting element 11,10 is input to control part 14, and the A/D converter internal conversion in control part 14 becomes digital signal.Control part 14 is tried to achieve the anglec of rotation that the primary position by rotary body 8 begins according to the output signal of magnetic detecting element 10, accurately detects the anglec of rotation of rotary body 1 according to the output signal of magnetic detecting element 11.Control part 14 is tried to achieve the absolute anglec of rotation roughly of rotary body 1 according to the anglec of rotation of rotary body 8, utilization is revised the absolute anglec of rotation roughly according to the anglec of rotation of the rotary body 1 that the output signal of magnetic detecting element 11 is tried to achieve, and changes the above absolute anglec of rotation thereby try to achieve 1 of rotary body 1.Fig. 7 represents the anglec of rotation and the absolute anglec of rotation of the rotary body 1 that control part 14 is calculated.Among three figure of Fig. 7, transverse axis is represented the absolute anglec of rotation of rotary body 1.And Fig. 7 represents the anglec of rotation 19 that the output signal according to magnetic detecting element 11 obtains, the absolute anglec of rotation 20 that obtains according to the output signal of magnetic detecting element 10, the actual absolute anglec of rotation 21 and the desirable absolute anglec of rotation of calculating 22.That figure of the anglec of rotation 19 that expression obtains according to the output signal of magnetic detecting element 11 compares with other figure, and the part that the absolute anglec of rotation of the rotary body 1 that transverse axis is represented is 0～60 ° has been amplified.
Then, the change of the characteristics such as gain of the change of the sensitivity by revising magnetic detecting element 10,11,12 and enlarging section 16 is described, thereby avoids the method for the absolute anglec of rotation generation error that calculates with reference to figure 1, Fig. 4 and Fig. 8.Fig. 8 represents the output signal of magnetic detecting element 10,11,12.
During rotary body 1 rotation, target 3 also rotates.Be accompanied by the rotation of target 3, the magnetic detecting element 11 suffered magnetic fields from magnetic pole 3A, 3B change.Magnetic detecting element 11 is sine wave output signal 24 and cosine wave signal 23 corresponding to this magnetic field.Fig. 8 represents sine wave signal 24 and cosine wave signal 23.These signals 16 are exaggerated and are input to control part 14 in the enlarging section.Control part 14 is tried to achieve the arc tangent signal according to sine wave signal 24 and cosine wave signal 23.But shown in Figure 8, because the change of magnetic detecting element 11 and enlarging section 16, the amplitude center 27 of sine wave signal 24 and the amplitude center 26 of cosine wave signal 23 are inequality, the precise decreasing of the arc tangent signal of trying to achieve.The sensitivity that storer 15 is preserved magnetic detecting element 10,11,12.In other words, only when switch 29 connection shown in Figure 4, becoming the sensitivity preservation mode, rotary body 1 rotation makes more than the rotary body 8 Rotate 180 degree, and the maximal value 24C of sine wave signal 24 and the maximal value 23C and the minimum value 23D of minimum value 24D and cosine wave signal 23 are saved in storer 15.Secondly, when switch 29 disconnects, enters normal mode of operation and when trying to achieve the anglec of rotation, control part 14 offset of sinusoidal ripple signals 24 and cosine wave signal 23 are revised, make the minimum value of preserving in the storer 15 distinguish consistent with the sine wave signal 24 of input and maximal value 24C, 23C and minimum value 24D, the 23D of cosine wave signal 23 with maximal value, thereby calculate the arc tangent signal, try to achieve the anglec of rotation.In other words, control part 14 is based on the sensitivity of the magnetic detecting element of preserving in the storer 15 10,11,12, and offset of sinusoidal ripple signal 24 and cosine wave signal 23 are revised, thereby calculate the arc tangent signal, try to achieve the anglec of rotation.
If maximal value 24C, the 23C of sine wave signal 24 shown in Figure 8 and cosine wave signal 23 and minimum value 24D, 23D be not in reference range 28, there is such situation: owing to reasons such as environment temperatures, the output signal of enlarging section 16 does not change, and perhaps can not get the required resolution of this signal.Detecting device 16A detects maximal value 23C, 24C and minimum value 23D, 24D whether in reference range 28.If detecting device 16A detects maximal value 23C, 24C and minimum value 23D, 24D can remove the outer signal of reference range not in reference range 28.Also can be, detecting device 16A detects the amplitude center 27,26 of sine wave signal 24 and cosine wave signal 23, thereby detects amplitude center 27,26 whether in reference range 28.If detecting device 16A detects amplitude center 27,26 not in reference range 28, can remove signal with this amplitude center.Also can be that the sine wave signal 24 of 14 pairs of magnetic detecting elements of control part, 11,10 outputs and the amplitude center 27,26 of cosine wave signal 23 compare.Revise so that amplitude center 27 is consistent with amplitude center 26 with cosine wave signal 23 by control part 14 offset of sinusoidal ripple signals 24, can avoid because the output of the rub-out signal that the flutter of magnetic detecting element 10,11,12 and enlarging section 16 causes.Control part 14 also can be calculated a plurality of mean values at the amplitude center of sine wave signal 24 and cosine wave signal 23, thereby calculates final amplitude center 26,27, can avoid wrong output with high precision more thus.And control part 14 also can be calculated mean value without maximal value 23C, 24C and minimum value 23D, 24D, can avoid wrong output with higher precision thus.
And, utilize storer 15 to be kept at the output signal of magnetic detecting element 11,10 in any precalculated position of rotary body 1, control part 14 can detect the absolute anglec of rotation that begins from this precalculated position.With signal wire 31, be used to indicate the signal of the output signal of magnetic detecting element 11,10 by precalculated position shown in Figure 4 decision, do not carry out mechanically actuated and just can determine the precalculated position in this precalculated position to control part 14 transmissions.Like this, control part reads in this signal for more than 14 time to test or to send with serial signal, under the situation of the rub-out signal of sneaking into noise etc., also can remove rub-out signal.The precalculated position decision by switching input and output, can be used common terminal with signal wire 31 with output signal line 32.
(second embodiment)
Fig. 9 A and Fig. 9 B are the anglec of rotation of second embodiment of the invention and the front cross-sectional view and the side cut away view of torque master 6002.Fig. 9 C is that pick-up unit 6002 shown in Fig. 9 A is along the sectional view of line 9C-9C.Figure 10 is the side cut away view of pick-up unit 6002.Figure 11 A represents annular magnet 4,4A and magnetic detecting element 7A, 7B.Figure 11 B is annular magnet 4 shown in Figure 11 A, 4A and magnetic detecting element 7A, the 7B sectional view along line 11B-11B.
Hollow tubular rotary body 1001 that the nonmagnetic substance of metal or resin etc. constitutes, that form through hole 1001A remains on the inside surface of bearing 1003A with rotating freely, and this bearing 1003A is fixed on the body 1002 that forms with aluminium injection moulding etc.Rotary body 1001 has from the outstanding teat 1001B of lateral surface.Fixing the magnet 1004 of ring-type on the teat 1001B.Shown in Figure 11 A, annular magnet 1004 has with rotary body 1001 and meets at right angles and magnetized in a circumferential direction a plurality of magnetic pole 1004C, 1004D.Form coaxially and have the rotary body 1005 of the hollow tubular of through hole 1005A, utilize bearing 1003B fixing on the body 1002 and can be kept with rotating freely with rotary body 1001.Identical with rotary body 1001, rotary body 1005 has teat 1005B.Fixing on the teat 1005B and annular magnet 4 annular magnet 1004A identical, that have a plurality of magnetic poles.Rotary body 1001 and rotary body 1005 can rotate independently of each other.Insert torsion bar 1022 in through hole 1001A, the 1005A of rotary body 1001,1005.Torsion bar 1022 rotates with the steering interlock of vehicle.
The following describes the action of the pick-up unit 6002 of said structure.
When the torsion bar 1022 with the rotation of steering interlock rotated, the input shaft 1022A of torsion bar 1022 went up fixing rotary body 1001 and also rotates.Along with the rotation of rotary body 1001, that magnetic detecting element 1007A is subjected to, magnetic pole 1004C, the changes of magnetic field of 1004D from the annular magnet 1004 that is fixed on rotary body 1001.In other words, the magnetic field that magnetic detecting element 1007A is subjected to correspondingly changes with the anglec of rotation of the input shaft 1022A of torsion bar 1022.Magnetic detecting element 1007A output can detect the anglec of rotation of torsion bar 1022 like this, and then detect the anglec of rotation of steering corresponding to the signal in this magnetic field.
When torsion bar 1022 rotations, the output shaft 1022B of torsion bar 1022 goes up fixing rotary body 1005 and also rotates.Along with the rotation of rotary body 1005, that magnetic detecting element 1007B is subjected to, come on the self-rotating body 1005 magnetic field of a plurality of magnetic poles of fixing annular magnet 1004A to change.In other words, the anglec of rotation of the output shaft 1022B of the magnetic field that is subjected to of magnetic detecting element 1007B and torsion bar 1022 correspondingly changes.Magnetic detecting element 1007B exports and the corresponding signal in this magnetic field, thereby can detect the anglec of rotation of the output shaft 1022B of torsion bar 1022.In other words, have magnetic pole 1004C, 1004D annular magnet 1004 and magnetic detecting element 1007A, form the anglec of rotation test section 1201 of the anglec of rotation that is used to detect rotary body 1005.Equally, has the anglec of rotation test section 1203 that the annular magnet 1004A of a plurality of magnetic poles and magnetic detecting element 1007B form the anglec of rotation that is used to detect rotary body 1001.Rotary magnet 1011 and magnetic detecting element 1012 are formed for the anglec of rotation test section 1202 of the anglec of rotation of detection of gear 1010.
Acted on the torsion bar 1022 under the situation of torque, torsion bar 1022 reverses.The detected anglec of rotation of magnetic detecting element 1007A and the detected anglec of rotation of magnetic detecting element 1007B poor, to reverse spiral angle proportional with torsion bar 1022, so can detect the torque of effect on the torsion bar 1022 according to the difference of the anglec of rotation.
The rotation of torsion bar 1022 is delivered to gear 1010 by gear 1009 with the preset deceleration ratio.By selecting suitable reduction gear ratio, even change under the situation of (generally being 4～6 commentaries on classics) more than 1 in torsion bar 1022 rotations, the rotation of the rotary magnet 1011 that is provided with on the gear 1010 also is no more than 1 to be changeed.Utilize magnetic detecting element 1012 to detect the anglec of rotation of rotary magnet 1011, can detect 1 of torsion bar 1022 and rotary body 1001,1005 changes the above absolute anglec of rotation.The reduction gear train that gear 1009 and gear 1010 constitute is made of worm gear or pinion gear, can constitute the big gear transmission chain of small-sized reduction gear ratio, so, to compare with using spur gear or planetary situation, the structure of pick-up unit 6001 can be compacter succinct.In other words, the simple structure of pick-up unit 6002 usefulness just can detect the absolute anglec of rotation of the torque and the rotation of torsion bar 1022.
Figure 12 is the sectional view of other rotary body 2005 that is used to replace the rotary body 1005 of second embodiment.Annular magnet 1004,1004A generally are installed to rotary body 1001,1005 shown in Figure 11 B with the bonding/usual way of fitting etc., have the problem that how to guarantee precision and produce man-hour.Rotary body shown in Figure 12 2005 is made of resin material.Rotary body 2005 utilizes resin material to embed to be shaped with annular magnet 1004A and obtains.The method can improve the installation accuracy of annular magnet 1004A, reduces assembling man-hour and components number.
Figure 13 is the sectional view of another kind of rotary body 3005 that is used to replace the rotary body 1005 of second embodiment.Worm gear 1009 is formed by the elastic resin of polyoxyethylene methylene (POM) resin etc.Gear 1009, with the chimeric barrel surface of rotary body 3005 on be provided with jut 1016.Rotary body 3005 is provided with recess 1017 on the surface that engages with gear 1009.The jut 1016 of gear 1009 is chimeric with recess 1017 elasticity of rotary body 3005, and gear 1009 can simply and reliably be fixed to rotary body 3005.
Figure 14 is the sectional view of another rotary body 4005 that is used to replace the rotary body 1005 of second embodiment.Rotary body 4005 is formed by resin material.The teat 4005B of rotary body 4005 is provided with a plurality of card claw stops 1018, and annular magnet 1004A utilizes card claw stop 1018 and is fixed to teat 4005B.Utilize this structure, saved bonding/these numerous and diverse technologies of fitting of annular magnet 1004A, when having reduced the worker of pick-up unit 6002.
If use worm gear as gear 1009, produce pinion gear, i.e. thrust on the direction of the turning axle of gear 1010 by rotation.Because this thrust, if the separation of engagement takes place, the running accuracy of gear 1010 will descend.For fear of the decline of precision, as shown in figure 10, the axle of gear 1010 is provided with concave part 1019.The opening 1021 of the roughly U word shape of fixing leaf spring 1020 is chimeric with concave part 1019 on the body 1002.Leaf spring 1020 is created in the stable elastic force on the direction of principal axis of gear 1010, make gear 1010 can with gear 1009 butt always.Like this, just can improve the accuracy of detection of the rotation of 1012 pairs of rotary bodies 1005 of magnetic detecting element.
(the 3rd embodiment)
Figure 15 A is the rotation angle of the 3rd embodiment and the structural drawing of torque master 6003.Figure 15 B is that pick-up unit 6003 shown in Figure 15 A is along the sectional view of line 15B-15B.Figure 15 C is the sectional view of the pith of pick-up unit 6003.Rotary body 8001 and 8002 chimeric connections of input shaft can rotate change more.Keep, be fixed on the outside surface 8003C of target 8003 of rotary body 8001, identical with pick-up unit shown in Figure 1 6001, alternately equally spaced disposing the different a plurality of magnetic poles of polarity.Rotary body 8004 is fitted to output shaft 8005, can rotate change more.Keep, be fixed on the outside surface 8006B of the target 8006 on the rotary body 8004, identical with pick-up unit shown in Figure 1, alternately equally spaced disposing the different a plurality of magnetic poles of polarity.Torsion bar 8007 is configured on the concentric shafts 6003A between input shaft 8002 and the output shaft 8005, and is fixed on input shaft 8002 and the output shaft 8005.Gear 8008 is fixed on the rotary body 8001.Be fixed on the rotary body 8009 with the gear 8009A of the gearing mesh of gear 8008.Magnet 8010 is configured in the central portion 8009B of rotary body 8009.Magnetic detecting element 8011 and magnet 8010 are subjected to the magnetic field from magnet 8010 in opposite directions, and output and the corresponding signal in this magnetic field.The gear 8012A that is meshed with the gear 8009A of rotary body 8009 is fixed on the rotary body 8012.Magnet 8013 is configured in the central portion 8012B of rotary body 8012.Magnetic detecting element 8014 and magnet 8013 are subjected to the magnetic field from magnet 8013 in opposite directions, and output and the corresponding signal in this magnetic field.Magnetic detecting element 8015 can with a plurality of magnetic pole opposites of target 8003, be subjected to magnetic field from these magnetic poles, and output and the corresponding signal in this magnetic field.A plurality of magnetic pole opposites of magnetic detecting element 8016 and target 8006 are subjected to the magnetic field from these magnetic poles, and output and the corresponding signal in this magnetic field.Magnetic detecting element 8015,8016 is installed on the substrate 8017.Magnetic detecting element 8011,8014 is configured on the substrate 8018.
At this, it is identical with the number of a plurality of magnetic poles of target 8006 that the number of a plurality of magnetic poles of target 8003 is set at.The number of magnetic pole, the spring constant of torque capacity that is used to detect or torsion bar 8007 determines.For example, torque capacity is ± 8Nm that when the spring constant of torsion bar 8007 was 2Nm/deg, the maximum twist angle of torsion bar 8007 was exactly ± 4 degree.The number of the magnetic pole of target 8003 is set at 30 (the N utmost point: 15, the S utmost point: 15), and the number of the magnetic pole of target 8006 is set at 30 (the N utmost point: 15, the S utmost point: 15).In the case, adjacent pole is configured with the angle intervals of 12 degree.Because the maximum twist angle of torsion bar 8007 is ± 4 degree so the difference of the absolute anglec of rotation of rotary body 8001,8004 can not surpass 8 degree, correctly to measure the torque of effect on the torsion bar 8007 so can utilize a plurality of magnetic poles of target 8003,8006.
The following describes and use of the action of magnetic resistance (MR) element as the pick-up unit 6003 under the situation of magnetic detecting element 8015,8016,8011,8014.Figure 16 is the circuit block diagram of pick-up unit 6003.Each magnetic detecting element, based on magnetic field from magnetic pole or magnet, sine wave output signal and cosine wave signal corresponding to the anglec of rotation of rotary body.If magnetic detecting element 8015,8016 detects the magnetic field of a plurality of magnetic poles of the target 8003,8006 of rotation, just output is exported the sine wave signal and the cosine wave signal in the cycle each commentaries on classics, number of magnet poles of rotary body 8001,8004 corresponding to the sine wave and the cosine wave signal in 1 cycle of a magnetic pole.These signals are enlarged at amplifier 8025 has predetermined amplitude, and is input to the control part 8026 of microcomputer or CPU etc.The A/D converter of signal in control part 8026 of input converts digital signal to, 8026 pairs of digital signals of control part are carried out calculation process, calculate the rotation of target 8003,8006, i.e. the absolute anglec of rotation of rotary body 8001,8004, and by output signal line 8030 outputs.Figure 17 A represents the absolute anglec of rotation (transverse axis) of rotary body 8001,8004, and, the sine wave signal 8019 and the cosine wave signal 8020 (longitudinal axis) of magnetic detecting element 8015,8016 outputs.Figure 17 B represents the absolute anglec of rotation (transverse axis) of rotary body 8001,8004, and, the absolute anglec of rotation (longitudinal axis) that control part 8026 computings of rotary body 8001,8004 obtain, the i.e. phase place of sine wave signal 8019 and cosine wave signal 8020.
The gear 8009A of rotary body 8009 and gear 8008 link.During rotary body 8008 rotation, rotary body 8009 multiply by the rotational speed that the gear ratio with gear 8009A and gear 8008 obtains with the rotational speed of rotary body 8008 and is rotated.
Magnetic detecting element 8011 is subjected to the magnetic field from the magnet 8010 of the central part 8009B that is configured in rotary body 8009, exports the sine wave signal 8019 and the cosine wave signal 8020 in 1 cycle corresponding with magnet 8010 rotations 0.5 phase inversion corresponding to this magnetic field.Control part 8026 carries out calculation process to these signals, calculates the absolute anglec of rotation of rotary body 8009.Figure 18 A represents the absolute anglec of rotation (transverse axis) of rotary body 8001 and the sine wave signal 8021 and the cosine wave signal 8022 (longitudinal axis) of magnetic detecting element 8011 outputs.Figure 18 B represents the anglec of rotation (longitudinal axis) that the computing of the absolute anglec of rotation (transverse axis) of rotary body 8001 and rotary body 8009 obtains, is the phase place of sine wave signal 8021 and cosine wave signal 8022.
Magnetic detecting element 8014 is subjected to the magnetic field from the magnet 8013 of the central part 8012B that is configured in rotary body 8012, exports the sine wave signal and the cosine wave signal in 1 cycle corresponding with magnet 8013 rotations 0.5 phase inversion corresponding to this magnetic field.Control part 8026 carries out calculation process to these signals, calculates the absolute anglec of rotation of rotary body 8012.Figure 19 A represents the absolute anglec of rotation (transverse axis) and the sine wave signal 8023 of magnetic detecting element 8014 outputs and the voltage (longitudinal axis) of cosine wave signal 8024 of rotary body 8001.Figure 19 B represents the absolute anglec of rotation (longitudinal axis) that the computing of the absolute anglec of rotation (transverse axis) of rotary body 8001 and rotary body 8012 obtains, is the phase place of sine wave signal 8023 and cosine wave signal 8024.
Figure 20 A represents the absolute anglec of rotation (transverse axis) of rotary body 8001 and the anglec of rotation (transverse axis) of rotary body 8009.Figure 20 B represents the absolute anglec of rotation (transverse axis) of rotary body 8001 and the anglec of rotation (longitudinal axis) of rotary body 8012.Because the number of teeth of the gear 8009A of rotary body 8009 is different with the number of teeth of the gear 8012A of rotary body 8012, so different with the cycle of corresponding rotary body 8009 of the absolute anglec of rotation of rotary body 8001 and rotary body 8012.Figure 20 C represents poor (longitudinal axis) of the anglec of rotation of the absolute anglec of rotation (transverse axis) of rotary body 8001 and rotary body 8009 and rotary body 8012.Figure 20 D represents the absolute anglec of rotation (transverse axis) of rotary body 8001 and the anglec of rotation that is obtained by the output signal of magnetic detecting element 8015.Figure 20 E represents and the absolute anglec of rotation (transverse axis) of the chimeric rotary body 8004 of output shaft 8005 and the anglec of rotation that obtained by the ripple signal of magnetic detecting element 8016 outputs.
Figure 21 A represents that to Figure 21 C the error of the anglec of rotation of rotary body 8009,8012 is to the influence of the absolute anglec of rotation of rotary body 8001.Figure 21 A represents the absolute anglec of rotation (transverse axis) of rotary body 8001 and the anglec of rotation (longitudinal axis) of rotary body 8009.Figure 21 B represents poor (longitudinal axis) of the anglec of rotation of the rotary body 8001 absolute anglecs of rotation (transverse axis) and rotary body 8009 and rotary body 8012.Figure 21 C represents the absolute anglec of rotation (transverse axis) of rotary body 8001 and the anglec of rotation (longitudinal axis) of the rotary body 8001 that obtained by the sine wave signal 8019 and the cosine wave signal 8020 of magnetic detecting element 8015 output, the i.e. phase place of sine wave signal 8019 and cosine wave signal 8020.Figure 22 represents that the torque of pick-up unit 6003 detects characteristic.Transverse axis is represented the absolute anglec of rotation of input shaft 8002 and output shaft 8005, and the longitudinal axis represents to act on the torque of torsion bar 8017.If the absolute anglec of rotation θ y of the absolute anglec of rotation θ x of rotary body 8001, rotary body 8004, the spring constant T of torsion bar 8007 can utilize (θ x-θ y) * T to calculate torque.
The following describes the torque calculation method that acts on torsion bar 8007.When the input shaft 8002 that interfixes, torsion bar 8007 and output shaft 8005 rotations, the rotary body 8001 chimeric with input shaft 8002 also can rotate.During rotary body 8001 rotations, the target 8003 that is fixed on rotary body 8001 also can rotate.Be accompanied by this rotation, with magnetic detecting element 8015 outputs of a plurality of magnetic pole opposites of target 8003 with from the corresponding signal in the magnetic field of magnetic pole.8026 pairs of these signals of control part carry out the anglec of rotation that calculation process obtains rotary body 8001.When input shaft 8002, torsion bar 8007 and output shaft 8005 rotations, the rotary body 8004 chimeric with output shaft 8005 also rotates.During rotary body 8004 rotations, the target 8006 that is fixed on the rotary body 8004 also rotates.Because this rotation, with the magnetic detecting element 8016 of a plurality of magnetic pole opposites of target 8006 can export with from the corresponding signal in the magnetic field of magnetic pole.Control part 8026 carries out the anglec of rotation that calculation process obtains rotary body 8004 to this signal.Control part 8026 calculates the anglec of rotation poor of rotary body 8001,8004, and the spring constant that multiply by torsion bar 8007 by the difference with this anglec of rotation calculates torque.Figure 20 D represents the anglec of rotation 8034 of the rotary body 8001 that control part 8026 is calculated according to the output signal of magnetic detecting element 8015.Figure 20 E represents the anglec of rotation 8035 of the rotary body 8004 that control part 8026 is calculated according to the output signal of magnetic detecting element 8016.As described above, torque shown in Figure 22 is tried to achieve by the difference of the anglec of rotation 8034,8035.
The following describes the method for the absolute anglec of rotation that detects each rotary body.
When being fixed on gear 8008 rotation of rotary body 8001, by with gear 8008 meshed gears 8009A, rotary body 8009 also rotates.Simultaneously, by with the gear 8009A meshed gears 8012A of rotary body 8009, rotary body 8012 also rotates.According to the number N of teeth B of number N of teeth A, the gear 8009A of gear 8008 and the number N of teeth C of gear 8012A, rotary body 8009 is with the NA/NB speed rotation doubly of rotary body 8008, and rotary body 8012 is with the NA/NC speed rotation doubly of rotary body 8008.By selecting suitable number N of teeth A, NB, NC, just can obtain the absolute anglec of rotation of rotary body 8001 according to the difference of the anglec of rotation of rotary body 8009 and rotary body 8012.
When rotary body 8009 rotation, the magnetic detecting element 8011 with the magnet 8010 of the central part 8009B that is configured in rotary body 8009 disposes in opposite directions detects the magnetic field from magnet 8010.When rotary body 8012 rotations, magnet 8013 magnetic detecting element 8014 in opposite directions with the central part 8012B that is configured in rotary body 8012 detects the magnetic field from magnet 8013.The output signal of magnetic detecting element 8011 and magnetic detecting element 8014 is imported into control part 8026, utilizes the A/D converters in the control part 8026 and converts digital signal to, carries out calculation process.Control part 8026, the anglec of rotation of the rotary body 8009,8012 of calculating according to the signal of magnetic detecting element 8011,8014 output is calculated the absolute anglec of rotation of many commentaries on classics roughly of rotary body 8001 according to the difference of these anglecs of rotation.Control part 8026 is calculated the anglec of rotation of rotary body 8009 according to the output signal of magnetic detecting element 8011, the anglec of rotation that utilization is obtained by the anglec of rotation of rotary body 8009, the absolute anglec of rotation roughly to rotary body 8001 is revised, thereby calculates the absolute anglec of rotation of many commentaries on classics of rotary body 8001 accurately.Figure 20 A represents the anglec of rotation 8031 of the rotary body 8009 that the output signal by magnetic detecting element 8011 obtains.Figure 20 B represents the anglec of rotation 8032 of the rotary body 8012 that the output signal by magnetic detecting element 8014 obtains.Figure 20 C represent the rotary body 8009,8012 that the output signal by magnetic detecting element 8011,8014 obtains the anglec of rotation differ from 8033.
The following describes the method that high Precision Detection more goes out the anglec of rotation of rotary body.
Figure 21 B represents the difference 8033 of the anglec of rotation of the rotary body 8009,8012 that the output signal by magnetic detecting element 8011,8014 obtains.Comprised the error that machine error, element or circuit cause in the detected anglec of rotation of rotary body 8009,8012, detected error 8036 so also comprise in the difference 8033 of the anglec of rotation of rotary body 8009,8012.The absolute anglec of rotation of the rotary body 8001 of calculating according to the difference 8033 that comprises the anglec of rotation that detects error 8036 just comprises and detects error 8037.When the sensing range of the absolute anglec of rotation of rotary body 8001 increased, the slope of the difference 8033 of the absolute anglec of rotation diminished, so the influence of the detection of the absolute anglec of rotation of the 8036 pairs of rotary bodies 8001 of detection error that comprise in the difference 8033 of the anglec of rotation becomes greatly.If the detection error 8037 of the absolute anglec of rotation of rotary body 8001 is littler than the sense cycle 8041 of the anglec of rotation of rotary body 8001, just can decide the position of the sense cycle 8041 in the sensing range of the absolute anglec of rotation of rotary body 8001 according to the difference 8033 of the anglec of rotation.In pick-up unit 6003, just be necessary to make the sensing range of difference 8033 of the anglec of rotation of rotary body 8009,8012 narrower, to detect error 8037 very little thereby make.The detection error 8037 of the absolute anglec of rotation of rotary body 8001 is set at also littler than the sense cycle 8038 of the anglec of rotation of rotary body 8009, just can be according to the position of the sense cycle 8038 in the sensing range of the absolute anglec of rotation of the difference 8033 decision rotary bodies 8001 of the absolute anglec of rotation.The rotating range of magnetic detecting element 8011 detected rotary bodies 8001 is little, and the slope of the absolute anglec of rotation 8031 is big.So, with the detection error 8040 of the absolute anglec of rotation of the detection error 8039 corresponding rotary bodies 8001 of the anglec of rotation of rotary body 8009, can be also littler than the sense cycle 8041 of the absolute anglec of rotation of rotary body 8001.Like this, utilize the absolute anglec of rotation 8031 can determine the position of the absolute anglec of rotation 8034 in the sensing range of the absolute anglec of rotation of rotary body 8001, under the constant situation of the sensing range of the difference 8033 of the absolute anglec of rotation, can detect the anglec of rotation of rotary body 8001 accurately.
Then, utilize Figure 15, Figure 17 A, Figure 17 B, Figure 20 A～Figure 20 E to illustrate, constantly compare, thereby detect the unusual method of pick-up unit 6003 by the absolute anglec of rotation with rotary body 8001,8004.
Among Figure 15, during rotary body 8001 rotations, rotary body 8004 also rotates by torsion bar 8007.Because effect is not torque more than or equal to predetermined torque capacity on the torsion bar 8007, if the unusual of machinery or circuit occur so the difference of the absolute anglec of rotation of rotary body 8001 and rotary body 8004, just can be judged as pick-up unit 6003 more than or equal to predetermined value.During rotary body 8001 rotations, target 8003 also rotates.During target 8003 rotations, the magnetic field from a plurality of magnetic poles fixing on the target 8003 that magnetic detecting element 8015 is subjected to changes.Magnetic detecting element 8015 is exported corresponding sine wave signal 8019 in magnetic field and cosine wave signal 8020 therewith.Figure 17 A represents the absolute anglec of rotation (transverse axis) of sine wave signal 8019 and cosine wave signal 8020 (longitudinal axis) and rotary body 8001.These signals are imported in the control part 8026 by amplifier 8025, and control part 8026 is calculated the arc tangent signal according to sine wave signal 8019 and cosine wave signal 8020, try to achieve the absolute anglec of rotation of rotary body 8001.
During rotary body 8004 rotations, target 8006 also rotates.Along with the rotation of target 8006, the magnetic field from a plurality of magnetic poles fixing on the target 8006 that magnetic detecting element 8016 is subjected to changes.Magnetic detecting element 8016 is exported the corresponding sine wave signal 8019 of variation and the cosine wave signal 8020 in magnetic field therewith.These signals are imported into control part 8026 by amplifier 8025, and control part 8026 is calculated the arc tangent signal according to sine wave signal 8019 and cosine wave signal 8020, try to achieve the absolute anglec of rotation of rotary body 8004.Among Figure 20 D and Figure 20 E, if the initial point unanimity of the absolute anglec of rotation 8034,8035, as long as device 6003 does not take place unusually, the absolute anglec of rotation 8034 of rotary body 8001 and the absolute anglec of rotation 8035 of rotary body 8004 poor just is not more than predetermined value.
Next, illustrate, by the anglec of rotation of continuous relatively rotary body 8001 and rotary body 8009, to detect the unusual method of pick-up unit 6003 with Figure 15, Figure 17 A, Figure 17 B, Figure 18 A, Figure 18 B, Figure 20 A～Figure 20 E.
Among Figure 15, during rotary body 8001 rotations, target 8003 also rotates.The number of fixing a plurality of magnetic poles is under 30 the situation on the target 8003, shown in Figure 17 A and Figure 17 B, and rotary body 8001 every rotations 12 degree, the variation of (electrical angle 180 degree) just took place for 1 cycle in sine wave signal 8019 and cosine wave signal 8020.In other words, in 12 cycles of spending of rotary body 8001, just obtain the absolute anglec of rotation.If rotary body 8001 rotations, gear 8008 also rotates, and 8008 meshed gears 8009A also rotate with gear, and the rotary body 8009 that is fixed with gear 8009A also rotates.When the gear ratio of gear 8009A and gear 8008 is 1/3, shown in Figure 18 A and Figure 18 B, rotary body 8001 every rotation 60 degree, (electrical angle 180 degree) took place for 1 cycle for sine wave signal 8021 and cosine wave signal 8022 changes.Among Figure 20 A and Figure 20 D, if the initial point unanimity of the absolute anglec of rotation 8031,8034, and slope to the absolute anglec of rotation 8031 and the absolute anglec of rotation 8034, with the anglec of rotation in 1 cycle than (12: 60=1: 5) revise, the absolute anglec of rotation 8034 of rotary body 8001 is poor with the anglec of rotation 8031 of rotary body 8009, as long as pick-up unit 6003 does not take place unusually, be below the set value.
Then, the change by the sensitivity that suppresses magnetic detecting element 8011,8014,8015,8016 and enlarging section 8025 is described, with the method for the generation of the detection error that prevents the anglec of rotation.
Among Figure 15, during rotary body 8001 rotations, target 8003 also rotates.Along with the rotation of target 8003, the magnetic field from a plurality of magnetic poles fixing on the target 8003 that magnetic detecting element 8015 is subjected to changes.Magnetic detecting element 8015 is exported corresponding sine wave signal 8019 in magnetic field and cosine wave signal 8020 therewith.
Sine wave signal 8019 and cosine wave signal 8020 are imported into control part 8026 by amplifier 8025, and control part 8026 is calculated the arc tangent signal according to sine wave signal 8019 and cosine wave signal 8020.Figure 23 represents the sine wave signal 8042 and the cosine wave signal 8043 of magnetic detecting element 8011,8014,8015,8016 outputs.As shown in figure 23, the amplitude 8044 of sine wave signal 8042 and the amplitude 8045 of cosine wave signal 8043 are owing to the change of the sensitivity of magnetic detecting element or enlarging section dissimilates the precise decreasing of the arc tangent signal of calculating.Only when switch 8028 connections shown in Figure 16 enter the sensitivity preservation mode, more than rotary body 8001,8004 rotations 12 degree, calculate the amplitude 8044,8045 of sine wave signal 8042 and cosine wave signal 8043, i.e. sensitivity is saved in the nonvolatile memories 8027 such as EEPROM.Equally, be used to detect the sine wave signal 8042 of magnetic detecting element 8016 outputs of the absolute anglec of rotation of rotary body 8004 and the amplitude 8044,8045 (sensitivity) of cosine wave signal 8043, be saved in the storer 8027.When calculating the absolute anglec of rotation of rotary body 8001,8004, switch 8028 disconnects.Control part 8026 is revised according to amplitude (sensitivity) offset of sinusoidal ripple signal 8043 and the cosine wave signal 8042 preserved in the storer 8027, make that the maximal value of sine wave signal 8043 is consistent with the maximal value of cosine wave signal 8042, and the minimum value of sine wave signal 8043 is consistent with the minimum value of cosine wave signal 8042, thereby calculate the arc tangent signal, try to achieve the anglec of rotation of rotary body 8001,8004.
Equally, switch 8028 is connected, when pick-up unit 6003 is set at the sensitivity preservation mode, control part 8026 makes rotary body 8001 rotations, make that rotary body 8009,8012 can be more than the Rotate 180 degree, thereby calculate the amplitude (sensitivity) of sine wave signal 8021,8023 shown in Figure 18 A, Figure 19 A and cosine wave signal 8022,8024, and be saved in storer 8027.Control part 8026 is according to the sensitivity of preserving in the storer 8027, offset of sinusoidal ripple signal 8043 and cosine wave signal 8042 are revised, make sine wave signal 8043 consistent with the maximal value of cosine wave signal 8042, and sine wave signal 8043 is consistent with the minimum value of cosine wave signal 8042, thereby calculate the arc tangent signal, try to achieve the anglec of rotation of rotary body 8009,8012.
Among Figure 23, when the maximal value of the output signal of magnetic detecting element 8015,8016,8011,8014, minimum value are not in reference range 8046, just may perhaps can not get necessary resolution because signals such as temperature characterisitic do not change.The maximal value of detecting device 8025A by detecting sine wave signal and cosine wave signal, minimum value whether in reference range 8046, thereby can prevent the output of rub-out signal.Control part 8026 is by comparing the amplitude center 8048 of the sine wave signal 8042 of magnetic detecting element 8015,8016,8011,8014 output and the amplitude center 8047 of cosine wave signal, thereby can prevent the output of rub-out signal.In the case, control part 8026 calculates repeatedly the mean value at the amplitude center of the sine wave signal of input and cosine wave signal, perhaps calculate maximal value, the sine wave signal the minimum value and cosine wave signal mean value separately, thereby can prevent the output of rub-out signal with high precision more except that sine wave signal and cosine wave signal.
And, storer 8027 is kept at the output signal of magnetic detecting element 8015,8016,8011,8014 in any precalculated position or the anglec of rotation of calculating according to these signals, like this, control part 8026 can detect the absolute anglec of rotation that is begun by its precalculated position.And, not acting on the torsion bar 8007 under the state of torque, the output signal of magnetic detecting element 8015,8016,8011,8014 or the anglec of rotation of calculating according to these signals are stored in the storer 8027, can set the initial point that detects torque like this.Send with signal wire 8029 by precalculated position shown in Figure 16 decision and to be used to represent the signal of magnetic detecting element 8015,8016,8011,8014 output signals, do not carry out mechanical action like this and just can determine the precalculated position in its precalculated position.At this moment, control part reads this signal for more than 14 time and tests, and perhaps sends with serial signal, can remove rub-out signal under the situation of sneaking into rub-out signals such as noise thus.Yet the precalculated position decision also can be used common terminal by switching input and output with output signal line 8030 with signal wire 8029.
The industrial utilization possibility
Checkout gear of the present invention can reach with the absolute anglec of rotation that high accuracy/high resolution detection goes out to turn to more Torque can be used for detecting the absolute anglec of rotation of vehicle power steering gear etc. and the device of torque.
Claims (19)
1, a kind of anglec of rotation and torque master comprise:
First rotary body;
First target, it is fixed on described first rotary body, and has uniformly-spaced a plurality of magnetic poles of configuration;
First gear, it is fixed on described first rotary body;
First magnetic detecting element, described a plurality of magnetic pole opposites of itself and described first target are used to detect the anglec of rotation of described first rotary body;
Second gear, itself and described first gearing mesh;
Second rotary body, it is fixed with described second gear, and rotates with the speed that is lower than described first rotary body with described first rotary body;
First magnet, it is arranged on described second rotary body;
Second magnetic detecting element, itself and described first magnet are used to detect the anglec of rotation of described second rotary body in opposite directions;
The 3rd rotary body;
Second target, it is fixed on described the 3rd rotary body, and has uniformly-spaced a plurality of magnetic poles of configuration;
The 3rd magnetic detecting element, described a plurality of magnetic pole opposites of itself and described second target are used to detect the anglec of rotation of described the 3rd rotary body;
Torsion bar, it and is connected with described the 3rd rotary body with described first rotary body between described first rotary body and described the 3rd rotary body;
The 3rd gear, itself and described second gearing mesh;
The 4th rotary body, it is fixed with described the 3rd gear, and is rotated with the rotational speed that is different from described second rotary body;
Second magnet, it is arranged on described the 4th rotary body;
The 4th magnetic detecting element, itself and described second magnet are used to detect the anglec of rotation of described the 4th rotary body in opposite directions; And,
Control part, it is based on the signal of described first magnetic detecting element, described second magnetic detecting element, described the 3rd magnetic detecting element and the output of described the 4th magnetic detecting element, calculates the anglec of rotation of described first rotary body and acts on torque on the described torsion bar.
2, the anglec of rotation according to claim 1 and torque master, wherein,
The number of described a plurality of magnetic poles of described first target is identical with the number of described a plurality of magnetic poles of described second target.
3, the anglec of rotation according to claim 1 and torque master, wherein,
The described anglec of rotation of described first rotary body is the above absolute anglec of rotation of 1 commentaries on classics.
4, the anglec of rotation according to claim 1 and torque master also comprise,
Storer, it stores at least one the sensitivity in described first magnetic detecting element, described second magnetic detecting element and described the 3rd magnetic detecting element,
Described control part is according to the described sensitivity of described memory stores, signal to described at least one output in described first magnetic detecting element, described second magnetic detecting element and described the 3rd magnetic detecting element is revised, and calculates the described torque that acts on the described torsion bar.
5, the anglec of rotation according to claim 4 and torque master also comprise:
Whether the signal that detects described at least one output in described first magnetic detecting element, described second magnetic detecting element and described the 3rd magnetic detecting element detecting device in reference range.
6, the anglec of rotation according to claim 4 and torque master also comprise:
Detect the amplitude center detecting device in reference range whether of the signal of described at least one output in described first magnetic detecting element, described second magnetic detecting element and described the 3rd magnetic detecting element.
7, the anglec of rotation according to claim 4 and torque master, wherein,
Described control part is repeatedly imported the described signal of described at least one output in described first magnetic detecting element, described second magnetic detecting element and described the 3rd magnetic detecting element, and, calculate described at least one the described sensitivity in described first magnetic detecting element, described second magnetic detecting element and described the 3rd magnetic detecting element based on described signal.
8, the anglec of rotation according to claim 1 and torque master, wherein,
The signal of corresponding described first magnetic detecting element in precalculated position of described control part storage and described first rotary body, and, calculate the absolute anglec of rotation that begins from the described precalculated position of described first rotary body based on the signal of at least one output in described first magnetic detecting element and described second magnetic detecting element.
9, the anglec of rotation according to claim 1 and torque master, wherein,
Described first gear is a worm gear.
10, the anglec of rotation according to claim 9 and torque master also comprise:
Make the leaf spring of described first gear and the described second gear butt.
11, the anglec of rotation according to claim 1 and torque master, wherein,
Described first rotary body and described second rotary body are formed by resin material,
Described first target is first annular magnet that embeds shaping in described first rotary body,
Described second target is to embed second annular magnet that is shaped in described second rotary body.
12, the anglec of rotation according to claim 1 and torque master, wherein,
On the outer peripheral face of described first rotary body, be provided with recess,
Described first gear has the teat chimeric with the described recess of described first rotary body.
13, the anglec of rotation according to claim 1 and torque master, wherein,
Described first target is the annular magnet that embeds shaping in described first rotary body,
Described first rotary body has the card claw stop that is used for fixing described annular magnet.
14, the anglec of rotation according to claim 1 and torque master, wherein,
Described control part is based on the signal of described second magnetic detecting element and the output of described the 4th magnetic detecting element, calculate the anglec of rotation of described second rotary body and the anglec of rotation of described the 4th rotary body, and calculate the anglec of rotation of described first rotary body according to the difference of the described anglec of rotation of the described anglec of rotation of the described anglec of rotation of the described anglec of rotation of described second rotary body, described the 4th rotary body and described second rotary body and described the 4th rotary body.
15, the anglec of rotation according to claim 14 and torque master, wherein,
Described control part,
Signal based on described second magnetic detecting element and the output of described the 4th magnetic detecting element, calculate the anglec of rotation of described second rotary body and the anglec of rotation of described the 4th rotary body, the anglec of rotation based on described first rotary body of calculated signals of described first magnetic detecting element output
Based on the described anglec of rotation that calculates of poor and described first rotary body of the described anglec of rotation of the described anglec of rotation of the described anglec of rotation of the described anglec of rotation of described second rotary body, described the 4th rotary body, described second rotary body and described the 4th rotary body, calculate 1 of described first rotary body and change the above anglec of rotation.
16, the anglec of rotation according to claim 1 and torque master also comprise:
Storer, it stores at least 1 sensitivity in described first magnetic detecting element, described second magnetic detecting element, described the 3rd magnetic detecting element and described the 4th magnetic detecting element,
Described control part is according to the described sensitivity of described memory stores, signal to described at least 1 output in described first magnetic detecting element, described second magnetic detecting element, described the 3rd magnetic detecting element and described the 4th magnetic detecting element is revised, and calculates the described torque that acts on described torsion bar.
17, the anglec of rotation according to claim 1 and torque master also comprise:
Whether the signal that detects at least 1 output in described first magnetic detecting element, described second magnetic detecting element, described the 3rd magnetic detecting element and described the 4th magnetic detecting element detecting device in reference range.
18, the anglec of rotation according to claim 1 and torque master also comprise:
Detect the amplitude center detecting device in reference range whether of the signal of at least 1 output in described first magnetic detecting element, described second magnetic detecting element, described the 3rd magnetic detecting element and described the 4th magnetic detecting element.
19, the anglec of rotation according to claim 1 and torque master, wherein,
The signal of corresponding described first magnetic detecting element in precalculated position of described control part storage and described first rotary body, and, calculate the absolute anglec of rotation that begins from the described precalculated position of described first rotary body based on the signal of at least 1 output in described first magnetic detecting element, described second magnetic detecting element and described the 4th magnetic detecting element.
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP034024/2005 | 2005-02-10 | ||
| JP2005034024A JP2006220529A (en) | 2005-02-10 | 2005-02-10 | Detection device for absolute angle of rotation and torque |
| JP052810/2005 | 2005-02-28 | ||
| JP090893/2005 | 2005-03-28 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101115981A CN101115981A (en) | 2008-01-30 |
| CN100573073C true CN100573073C (en) | 2009-12-23 |
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| Application Number | Title | Priority Date | Filing Date |
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| CNB2006800043617A Expired - Fee Related CN100573073C (en) | 2005-02-10 | 2006-02-06 | The anglec of rotation and torque master |
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| Country | Link |
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| JP (1) | JP2006220529A (en) |
| CN (1) | CN100573073C (en) |
Families Citing this family (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2919385B1 (en) * | 2007-07-24 | 2009-10-09 | Moving Magnet Tech Mmt | NON-CONTACT MAGNETIC SENSOR WITH ABSOLUTE MULTITOUR POSITION WITH THROUGH SHAFT |
| JP5071407B2 (en) * | 2009-02-17 | 2012-11-14 | 日本精工株式会社 | Torque sensor and electric power steering apparatus using the same |
| JP5193110B2 (en) * | 2009-03-31 | 2013-05-08 | 日立電線株式会社 | Torque index sensor |
| JP5434850B2 (en) * | 2010-08-19 | 2014-03-05 | Ｔｄｋ株式会社 | Rotation angle / torque sensor |
| JP5545121B2 (en) * | 2010-08-19 | 2014-07-09 | Ｔｄｋ株式会社 | Rotation angle / torque sensor |
| CN103764484A (en) * | 2011-08-24 | 2014-04-30 | 大陆-特韦斯贸易合伙股份公司及两合公司 | Combined steering torque-steering angle sensor |
| CN103947087B (en) * | 2011-11-22 | 2017-08-25 | 株式会社美姿把 | Wiper motor |
| DE102012200239A1 (en) * | 2012-01-10 | 2013-07-11 | Robert Bosch Gmbh | sensor arrangement |
| KR101359347B1 (en) | 2012-07-04 | 2014-02-10 | 이광남 | Torque sensor for steering system using an absolute phase angle detection |
| JP2014019264A (en) * | 2012-07-17 | 2014-02-03 | Hitachi Automotive Systems Steering Ltd | Power steering device |
| TWI489089B (en) * | 2013-10-07 | 2015-06-21 | Hiwin Mikrosystem Corp | Absolute angle analysis device |
| US11125583B2 (en) | 2016-09-23 | 2021-09-21 | Suzhou Littelfuse Ovs Co., Ltd. | Integrated dual rotary position sensor |
| US10969257B2 (en) * | 2016-09-23 | 2021-04-06 | Hamlin Electronics (Suzhou) Co. Ltd. | Rotary position sensor with dual magnet arrangement |
| JP2018096782A (en) * | 2016-12-12 | 2018-06-21 | 日本精工株式会社 | Angle detector, relative angle detector, torque sensor, electrically-driven power steering device, and vehicle |
-
2005
- 2005-02-10 JP JP2005034024A patent/JP2006220529A/en not_active Withdrawn
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2006
- 2006-02-06 CN CNB2006800043617A patent/CN100573073C/en not_active Expired - Fee Related
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| Publication number | Publication date |
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| JP2006220529A (en) | 2006-08-24 |
| CN101115981A (en) | 2008-01-30 |
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