CN109283355A - Velocity sensor equipment based on angle - Google Patents
Velocity sensor equipment based on angle Download PDFInfo
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- CN109283355A CN109283355A CN201810797366.4A CN201810797366A CN109283355A CN 109283355 A CN109283355 A CN 109283355A CN 201810797366 A CN201810797366 A CN 201810797366A CN 109283355 A CN109283355 A CN 109283355A
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- angle
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- sensing signal
- magnetic field
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
- G01P3/42—Devices characterised by the use of electric or magnetic means
- G01P3/44—Devices characterised by the use of electric or magnetic means for measuring angular speed
- G01P3/48—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage
- G01P3/481—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage of pulse signals
- G01P3/487—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage of pulse signals delivered by rotating magnets
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/14—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
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- General Physics & Mathematics (AREA)
- Transmission And Conversion Of Sensor Element Output (AREA)
Abstract
A kind of sensor device is provided with magnetic field sensing element, and magnetic field sensing element is positioned in the magnetic field of magnet.Magnetic field sensing element is configured as the orientation angle between 0 ° to 360 ° in sensing magnetic field, and generates sensing signal.Electronic circuit is configured as receiving and processing the sensing signal from magnetic field sensing element, to generate the angle signal of the orientation angle in instruction magnetic field.
Description
Cross reference to related applications
The application be submitted on June 17th, 2014 application No. is the part of the U. S. application of US 14/306,442 after
Continuous application, entire contents are incorporated herein by reference.
Technical field
This application involves sensor devices and sensing system, and the method for processing sensing signal.
Background technique
In various technical fields, the rotation of axis is sensed.Various control functions may rely on the axis sensed
Rotation.For example, the rotation speed or angular speed of the axis of speed changer can be used for controlling the operation of speed changer.For example, wheel shaft
The angular speed of axis can be used for monitoring the friction of respective wheel；This is for the anti-lock braking system or electric stabilizing system possibility in vehicle
It is useful.
The known method sensed to the rotation of axis is ferromagnetic gear to be placed on axis, and detect using sensor
The tooth of gear passes through.Typically, sensor is placed at a certain distance from the rotation axis away from axis；In general, sensor is placed on
The position being radially offset from ferromagnetic gear.The output of such sensor generally corresponds to pulse mode, in pulse mode, arteries and veins
The frequency of punching changes according to rotation speed.By making the different teeth of gear that there is the size different from other teeth of gear,
Different Angle Positions can also be distinguished in the single rotary course of axis.For example, it is envisioned that it is another to be only different from a tooth
Tooth, so as to identify the Angle Position of gear.It can make more than one tooth that can identify, so that more than one Angle Position can be marked
Know, but not limited to this.
However, assessing rotation angle using such gear to need axis is actually to rotate.Sometimes, at least one is needed
A complete rotation is to determine absolute direction.Furthermore, it may be necessary to which complicated algorithm is next accurate according to the pulse mode sensed
Ground estimation rotation angle.In addition, accessible accuracy may significantly depend on the manufacture accuracy of gear and relative to tooth
The accuracy of wheel installation sensor.Further, gear (otherwise referred to as magnetic code device wheel) may need sizable
Space and may be fairly expensive.
It is therefore desirable to be able to carry out the technology of the rotation of sensitive axis in a manner of efficiently and accurately.
Summary of the invention
According to some embodiments, a kind of sensor device is provided.Sensor device may include magnet to be positioned in
Magnetic field in magnetic field sensing element, magnet is positioned on the end face of axis, and magnetic field sensing element is configured as sensing magnetic field
Orientation angle between 0 ° to 360 °, and sensing signal is generated, the sensing signal includes having 90 ° of phase shifts
First sensing signal component and the second sensing signal component.Sensor device can also include electronic circuit.Electronic circuit is matched
It is set to and receives and processes the sensing signal from magnetic field sensing element, to generate the angle signal of the orientation angle in instruction magnetic field.
According to some other embodiments, a kind of system is provided.The system may include rotatable axis and be positioned
Magnet on the end face of the axis.The system can also include the magnetic field sensing element being positioned in the magnetic field of magnet, magnetic field
Sensing element is configured as the orientation angle between 0 ° to 360 ° in sensing magnetic field, and generates sensing signal.It should
System can also include electronic circuit, and the electronic circuit is configured as receiving and processing the sensing from magnetic field sensing element
Signal, to generate the angle signal of the orientation angle in instruction magnetic field.Electronic circuit is configured as by being selected according to the angular speed of axis
Different processing method handles sensing signal.
According to other embodiments, a kind of angle method for sensing is provided.Angle method for sensing includes by magnetic-field-sensitive member
Part generates sensing signal, and sensing signal includes the first sensing signal component and the second sensing signal point each other with 90 ° of phase shifts
Amount.Angle method for sensing further includes handling sensing signal by electronic circuit, to generate the angle signal of the orientation angle in instruction magnetic field.
Different processing methods is selected to handle sensing signal by the angular speed according to axis, to generate angle signal.
Detailed description of the invention
Fig. 1 schematically shows sensor device according to an embodiment of the present disclosure；
Fig. 2 shows the block diagrams of the function for schematically showing sensor device in accordance with some embodiments；
Fig. 3 A shows the exemplary pulse mode in the signal generated by sensor device according to one embodiment；
Fig. 3 B schematically shows the ferromagnetic gear with sensor combinations, which has the pulse mode with Fig. 3 A
The substantially corresponding profile of formula；
Fig. 4 schematically shows the system according to one embodiment, which includes the change of sensor device and vehicle
The axis of fast device；
Fig. 5 schematically shows the system according to one embodiment, and which provide the wheels of sensor device and vehicle
The axis of axis；
Fig. 6 schematically shows the system according to one embodiment, and which provide sensor devices and brushless DC electricity
The axis of machine；
Fig. 7 A and Fig. 7 B show the function for schematically showing the sensor device according to some alternate embodiments
Block diagram；
Fig. 8 shows the example signal in accordance with some embodiments generated by sensor device；
Fig. 9 A and Fig. 9 B show the function for schematically showing the sensor device according to some alternate embodiments
Block diagram；
Figure 10 shows the example signal generated by sensor device according to some alternate embodiments；And
Figure 11 A and Figure 11 B show the function for schematically showing the sensor device according to some alternate embodiments
The block diagram of energy.
Although the present invention is suitable for various modifications and alternative form, its details is shown in the accompanying drawings by example
And it will be described in detail.It will be appreciated, however, that the present invention is not to limit the invention to described specific embodiment.Phase
Instead, it is intended to cover all modifications fallen into the spirit and scope of the present invention being defined by the following claims, equivalent and substitution.
Specific embodiment
Hereinafter, various embodiments will be described in detail with reference to the attached drawings.It should be noted that these embodiments are used only as example,
It should not be construed as limited to.For example, other embodiments may include less spy although embodiment has multiple features
Sign and/or alternative features.In addition, unless otherwise specifically indicated, the feature otherwise from different embodiments can be combined with each other.
Middle illustrated embodiment as follows is related to axis (axis of the speed changer of vehicle, brushless DC motor in particular
The axis of the wheel shaft of axis and vehicle) the technology that is sensed of rotation.The embodiment illustrated covers corresponding sensor device, is
System and method.
In the embodiment illustrated, the magnetic field sensing element in the magnetic field for being positioned in magnet is used.Magnet is positioned
On the end face of axis.Magnetic field sensing element is configured as the orientation angle between 0 ° to 360 ° in sensing magnetic field.Root
According to this angle, it may be possible to clearly determine the orientation in magnetic field.
Magnetic field sensing element can be based on magnetoresistance, such as giant magnetoresistance (GMR) effect, anisotropic magnetoresistance (AMR)
Effect, tunnel magneto resistance (TMR) effect or Hall effect, but not limited to this.The example embodiment of magnetic field sensing element can be with
Based on two GMR devices, the two GMR devices have in such as lower plane there are two different peak response directions, above-mentioned flat
Face longitudinal direction and rotation axis parallel with the end face of axis and perpendicular to axis.Such magnetic field sensing element can permit standard
The orientation angle in the magnetic field with following magnetized magnet really is detected, above-mentioned magnetization is oriented perpendicularly to the rotation axis of axis.
Particularly, such magnetic field sensing element can be used in a manner of similar compass, to sense the magnet to rotate together with the axis
The orientation in magnetic field.
In addition, the embodiment illustrated can use the mapping of stored porch to orientation angle.In some implementations
In example, mapping can be configurable, for example, by memory program.It is sensed according to the mapping and by magnetic field sensing element
Magnetic field orientation angle, generate the first signal, the first signal includes the pulse mode with raising and lowering porch.?
In one signal, rising edge and/or failing edge can be mapped to the predefined orientation angle sensed by magnetic field sensing element.As before
Described, the first signal can be used for simulating the pulse mode generated by the sensor module based on asymmetric gear.Such shape
First signal of formula is achieved in the compatibility with the existing sensor device dependent on such asymmetric gear.
In addition, the angular orientation sensed can be used for generating second signal, second signal is indicated between 0 ° to 360 °
The rotation angle of axis in range.In the latter case, rotation angle can be by digital value, the analogue value or pulse-width signal
To indicate.In other words, pulse-width signal can correspond to pulse width modulation values.Different operation modes can be provided for exporting
First signal or second signal.For example, first operator scheme and second operator scheme has can be set in sensor device, first
Under operation mode, sensor device export the first signal, in the second mode of operation, sensor device export second signal without
It is the first signal.Equally, sensor can export both the first signal and the second signal in another operative mode.
In some embodiments, it is also used as generating other signal by the orientation in the magnetic field of magnetic field sensing element sensing
Basis.For example, depending on the orientation angle sensed, another signal for indicating the angular speed of axis can be generated.Angular speed can be with
It is indicated by digital value, the analogue value or pulse-width signal, but not limited to this.Above-mentioned another signal can be directed to every turn of axis
With the predefined period.In other words, the repetition of the basic building block (such as pulse or half-wave or all-wave) of signal is likely to be breached
Some predefined number.As non-limiting example, every turn can have the dozens of duty cycle.The predefined period can permit
Perhaps the output of the conventional sensors equipment operated based on gear is simulated.The predefined period can correspond to the gear of simulation
The number of teeth.
Above-described embodiment is explained further with reference to the drawings.
Fig. 1 schematically shows the sensor device 200 according to one embodiment.Sensor device 200 is configured as
The rotation of sensitive axis 100, that is, orientation and/or angular speed.Therefore, hereinafter, sensor device 200 will also be referred to as and rotate
Sensor.
The axis can be one in the axis of the wheel shaft of the axis of the speed changer of vehicle or the axis of brushless DC motor or vehicle.
In the illustrated embodiment, sensor device 200 includes that magnetic field sensing element 210 (is hereinafter also referred to as sensing
Device element) and magnet 220.Other electronic circuit 230 is provided in the illustrated embodiment.As shown, magnet 220 can be with
The dish type dipole magnet being mounted on the end face of axis 100.The magnetization (from the South Pole " S " to the arctic " N ") of magnet 220 is perpendicular to axis
100 longitudinal rotating shaft line 110 is directed.Magnetization can correspond to the magnetic field of internal action.The north and south poles of magnet 220 it
Between boundary can be directed perpendicular to magnetization.Therefore, when axis rotates as shown by arrows, the orientation in the magnetic field of magnet 220 is enclosed
Longitudinal rotating shaft line 110 around axis 100 changes (observe in Fig. 1, be distally-oriented to magnet from axis) in a counterclockwise manner.
As described above, sensor element 210 can be for example based on two GMR devices, each GMR device is perpendicular to axis
There is different peak response directions, to allow to sense arriving at 0 ° for magnetic field in the plane of 100 longitudinal rotating shaft line 110
The absolute angle of orientation in the range of 360 °.
The geometry and magnetic arrangement of magnet 220 are not particularly limited.As described above, being shown under the scene of Fig. 1
Form the disc-shaped element of magnetic dipole.The half of disk forms magnetic north N, and the other half formation magnetic south S of disk.It is magnetic
Axis (i.e. geometry connection between arctic N and South Pole S) is oriented perpendicularly to the axis of axis.Also it can be used including multiple north
The magnetic multipole element of pole and the corresponding South Pole.This can increase the sensitivity and accuracy of the orientation angle in sensing magnetic field.This
In the case of, rotation sensor is usually pre-configured with the information of the spatial form about the magnetic field generated by magnet 220.At one
In embodiment, it may be desirable to use the flat element of the axis relative to axis 100 radially.Even if not can be used too much
In the case where space, this also can permit sensing orientation.It would however also be possible to employ having compared with its radial dimension sizable
The element of thickness.As shown in the scene of Fig. 1, the radial dimension of magnet can be the radial dimension of magnitude of axis 100.But it is logical
Often, the radial dimension of magnet 200 can also be quite big or small compared with the radial dimension of axis 100.For example, in a kind of scene,
Magnetic pellet can be used as magnet 200.Magnetic pellet can be wherein magnetic pole and be located at the substantially thin of its opposite end
Long element.The elongated element that can refer to substantially one-dimensional extension.For example, magnetic pellet can be in diametrical direction by magnetic
Change.
From figure 1 it appears that the axis that sensor element 210 is positioned in axis 100 extends (dotted line institute as shown in figure 1
Show) at, and certain interval is deviated relative to magnet 220.Particularly, as shown in Figure 1, sensor element 210 can be in axis 100
It is static when rotation.
In addition, sensor device 200 may include electronic circuit 230, electronic circuit 230 is configured as according to by sensor
The orientation angle in the magnetic field that element 210 senses generates various output signals.In some embodiments, electronic circuit 230 is far from biography
Sensor component 210 is arranged, and is configured as having signal communication with sensor element 210.In some other embodiments, electricity
Sub-circuit 230 is integrated in the chip for being attached to sensor element 210.Sensor element 210 and electronic circuit 230 can also be with cloth
It sets in same semiconductor core on piece or in same chip packaging body.According to some embodiments, the one of the function of electronic circuit 230
A little embodiments are further shown by the block diagram of Fig. 2.
As shown in Fig. 2, electronic circuit 230 may include pulse pattern generator 250 and memory 260.Pulse mode hair
Raw device 250 is configurable to generate the signal PP including pulse mode.This basis is in Fig. 2 by the magnetic field indicated signal SENSE
The orientation angle sensed is realized with porch (PE) angle map in memory 260 is stored.Memory 260 can example
It is such as realized by the semiconductor memory of suitable type, such as read-only memory (ROM), programming ROM (PROM), erasable
PROM (EPROM) or flash memory.It can be used for allowing configuring using the embodiment of PROM, EPROM or the memory 260 of flash memory or very
To reconfiguring storage PE angle map in memory 260.
In the shown embodiment, PE angle map in memory 260 is stored, for each pulse of pulse mode,
Define orientation angle associated with the rising edge of pulse and orientation angle associated with the failing edge of pulse.Therefore, pulse mode
Generator 250 can operate in the following manner: orientation angle of the orientation sensed in mapping compared, and if
The orientation angle sensed passes through orientation angle corresponding with rising edge, then the value of signal PP is switched to high level, or if sensing
The orientation angle arrived passes through orientation angle corresponding with failing edge, then the value of signal PP is switched to low value.In this way it is possible to
Various pulse modes are generated, including highly asymmetric pulse mode, in asymmetric pulse mode, in the complete of axis 100
In rotary course, each pulse is different from other pulses about its duty ratio.
As further shown, electronic circuit 230 can also include absolute angle signal generator 270, be configured to make a living
At the signal AAS at the absolute orientation angle for indicating the axis 100 in the range of 0 ° to 360 °.For example, signal AAS can be by axis 100
Absolute orientation angle be expressed as the analogue value.In addition, the absolute orientation angle of axis 100 can be encoded to digital value or arteries and veins by signal AAS
Wide modulated signal.Absolute angle signal generator 270 can be exported according to the orientation angle in the magnetic field sensed by sensor element
The absolute orientation angle of axis 100, such as consider by adding the offset and/or any of installation orientation of the magnet 220 on axis 100
Other reference offset.As non-limiting example, absolute angle signal generator 270 can also execute signal conversion, for example,
It is indicated from the analog representation of signal SENSE to the number of signal AAS or pulsewidth modulation.Alternately or in addition, pulse mode is sent out
Raw device 250 can execute signal conversion.
In some embodiments, absolute angle signal generator 270 can be additionally configured to according to by sensor element 210
The orientation angle sensed generates one or more other signals.For example, expression can be generated in absolute angle signal generator 270
The signal of the angular speed of axis 100, for example, passing through the time-derivative at the absolute orientation angle for calculating axis 100.Optionally, the side of rotation
To can be encoded.In order to simulate the output signal obtained using the conventional sensors element interacted with gear, for example, absolute angle
Degree signal generator 270 can export the signal for indicating the angular speed of axis 100, so that it is directed to every turn of axis with predetermined number
Period, as non-limiting example, 12 or 20 periods.Such signal may adapt to simulation using with respective teeth
The signal that the conventional absolute angle signal generator of several gear interactions obtains.
As further shown, the electronic circuit 230 of Fig. 2 may include mode selector 280.Mode selector 280 can be with
For selecting the different operation modes of electronic circuit 230.Specifically, mode selector 280 can be used for selecting the first operation mould
Formula, in the first mode of operation, 230 output signal PP of electronic circuit is as its output signal OUT.Mode selector 280 may be used also
With for selecting second operator scheme, in the second mode of operation, the exportable signal AAS of output circuit is as its output signal
OUT.Optionally, mode selector 280 can be used for selecting third operation mode, in a third operating mode, electronic circuit 230
The other signal of output instruction rotation speed.
It is contemplated that using the various decision criterias to select certain operational modes by mode selector 280.For example, in axis
Rotation startup stage, mode selector 280 can choose second operator scheme, to mention when axis is substantially static
For the useful information of the rotation angle about axis 100, this indicates the relationship for rotating angle, and signal PP may be enough not yet
The pulse of number.After the rotation of 100 certain amount of axis, for example, after a complete rotation, or when the angle of axis 100
When speed is more than threshold value, mode selector 280 can choose first operator scheme, in the first mode of operation, can be generated defeated
Signal OUT is out to simulate the output signal usually provided by the conventional rotation sensor based on gear.
Electronic circuit 230 can also export multiple signals.For example, can be with output signal AAS, and it can be in same operation
Other signal is exported under mode.Then both orientation and rotation speed can be exported.
The example pulse mode being included in signal PP is shown in Fig. 3 A.It is assumed that the pulse mode simulation arrangements are in tooth
The output signal of rotation sensor 25 in the magnetic field of wheel 20, as shown schematically in Fig. 3 B.In the example shown, pulse mode
Including three pulses 11,12,13, each pulse has different duty ratios.Each pulse 11,12,13 corresponds to be passed with rotation
The specific tooth 21,22,23 for the gear 20 that sensor 25 is used together.In the example given, pulse 11 corresponds to the tooth of gear 20
21, pulse 12 corresponds to the tooth 22 of gear 20, and pulse 13 corresponds to the tooth 23 of gear 20.
On gear 20 shown in figure 3b, each tooth has relative to axis generally radially in tooth 21,22,23
Two edge 21A, 21B, 22A, 22B and 23A, the 23B just upwardly extended.Each pair of edge 21A, 21B, 22A, 22B and 23A, 23B
Limit Angle Position and the circumferentially extending of corresponding tooth 21,22,23.If rotating angle [alpha] during the rotation of gear 20 to increase,
Tooth 21,22,23 then passes through sensor 25.For example, sensor 25 can be Hall sensor, GMR sensor, TMR sensor
Or AMR sensor, and at least tooth 21,22,23 of gear 20 can be and be formed by ferromagnetic material.As shown in Figure 3A, such
The pulse mode of the typical output of system setting is simulated by signal PP.In the example shown, the pulse mode of Fig. 3 A exists
Rising pulses edge 11A with pulse 11 when the edge 21A of tooth 21 is by by sensor 25, and in the edge 21B of tooth 21
There is falling pulse edge 11B when will pass through sensor 25.Similarly, the pulse mode of Fig. 3 A the edge 22A of tooth 22 will be through
Rising pulses edge 12A with pulse 12 when crossing sensor 25, and have when the edge 22B of tooth 22 will pass through sensor 25
There is falling pulse edge 12B.Similarly, the pulse mode of Fig. 3 A has arteries and veins when the edge 23A of tooth 23 will pass through sensor 25
The rising pulses edge 13A of punching 13, and there is falling pulse edge 13B when the edge 23B of tooth 23 will pass through sensor 25.
The electronic circuit 230 of illustrated embodiment can be reflected by properly configuring the PE angle of storage in memory 260
It penetrates to realize simulation.For example, PE angle map can will rise arteries and veins when it is assumed that the edge 21A of tooth 21 is located at 0 ° of Angle Position
Trimming is assigned to the orientation angle for 0 ° along 11A.Similarly, if the edge 21B of tooth 21 is located at 90 ° of Angle Position, PE angle
Falling pulse edge 11B can be assigned to the orientation angle for 90 ° by mapping.For other teeth 22,23, depending on tooth 22,23
Angle Position and circumferentially extending can be assigned accordingly.In the appointment of such raising and lowering porch, it can also examine
Consider the offset between the orientation angle in magnetic field and the rotation angle of axis 100.Offset can be related to orientation angle and rotate the difference of angle
Value.Offset can be by accounting for for calibrating the predefined of PE angle map with reference to angle.
It should be appreciated that the pulse mode of Fig. 3 A will be repeated with each rotation of axis 100.In addition, in pulse mode
Pulse width and pause will change according to the rotation speed of axis 100.For example, the ratio for each revolution of pulse and pause can be with
It remains unchanged.
Fig. 7 A and Fig. 7 B show block diagram, these block diagrams show some alternate embodiments of the function of electronic circuit 230,
Including the method based on threshold value, for the blurred signal information around compensating non-linear peak pulse duration and minimum and maximum point.
As shown, sensor element 210 senses the rotation of target (for example, axis 100 in Fig. 1), and generate the first sensing signal
Component X and the second sensing signal component Y, as shown in block 702.Then, the first sensing signal component X and the second sensing signal component
Y prepares including the analog correction and optimization function before being converted to digital signal and converting for rotating angle extraction
For the figure adjustment and optimization function after digital signal.Correction and optimization function can include but is not limited to can be in analog domain
Or filtering, self calibration and the temperature-compensating handled in numeric field.For example, the first sensing signal component X and the second sensing signal point
Amount Y can be fed respectively in analog correction block 703 be then fed into A/D conversion block 704 to be filtered and self calibration
In, and be then fed into figure adjustment block 706 for temperature-compensating.It should be appreciated that these correct and optimize function
Sequence and selection are not limited to examples presented above.On the contrary, any applicable sequence and selection of correction and optimization function are all suitable
For this application.It is also understood that be concurrently processing (for example, as shown in Figure 7 A by individual block handle X and Y), according to
(for example, X and Y are handled by shared functional block one by one as shown in Figure 7 B) is handled secondaryly, is still handled in combination
(for example, some functional blocks are shared, and other functional blocks are individual) the first sensing signal component X and the second sensing signal
Component Y can be varied depending on the application.Similarly, associated to 9B and Figure 11 A to 11B with Fig. 9 A as non-limiting example
The first sensing signal component X and the second sensing signal component Y correction and optimization processing show in the corresponding drawings, still
It is possible similar to other alternate embodiments discussed above.
As example shown in Fig. 8, it as a result can be (normalized) sine curve Vx (cos α) 802 Hes of voltage amplitude
Cosine curve Vy (sin α) 804.Sensing signal generated corresponds to the orientation in the magnetic field between 0 ° to 360 °
Angle.Angle [alpha] is the rotation angle in magnetic field, i.e., the rotation angle of target to be sensed.As shown in figure 8, Angle Position is converted by signal
Algorithmic block 708 is extracted from one of signal component (for example, second sensing signal component Vy (sin α)) 804.For example, for each
The sinusoidal signal of a quarter generates a pulse or a series of pulses 806.Sine basic function leads to the non-of pulse generated
Linear peak pulse duration.Compensated threshold value is stored in look-up table or algorithm based on threshold value, to generate correct range value, with
Just it realizes the pulse width of linearisation and extracts correct phase value.Look-up table can be stored in and be integrated in electronic circuit
In memory in 230, such as read-only memory (ROM), programming ROM (PROM), erasable PROM (EPROM) or flash memory.
It can be used for allowing to configure or even reconfigure using the embodiment of PROM, EPROM or the memory of flash memory and be stored in storage
Look-up table in device.As inventor is understood, velocity information is not especially close to the smallest point of signal and maximum point.
In order to solve this problem, 90 ° of another signal component will be phase-shifted relative to above-mentioned signal component (for example, the first sensing is believed
Number component Vx (cos α)) it 802 is added with signal interpretation.This provides correct velocity information for entire rotation.Using available
Sinusoidal and cosine data can be applied and simply provide specific angle information based on the algorithm of threshold value.
Angle information can be used for formation speed pulse signal (such as 710 institute of generation block of the velocity pulse in Fig. 7 A, 7B
Show), absolute angle information, directional information and/or acceleration information (being not shown in Fig. 7 A, 7B).For example, in some embodiments
In, can by addition predetermined reference offset, exported according to the orientation angle in the magnetic field sensed by sensor element instruction to
The absolute orientation angle of the absolute angle of the target of sensing.Absolute orientation angle can be generated as the analogue value, or can be encoded
For digital value or pulse-width signal.
Method based on threshold value provides the flexibility of the accuracy for extracting different stage.For example, can by
Big quantization step is selected during high speed operation and selects lesser quantization step at lower speeds dynamically to control speed
The accuracy of sensing.Linear search tabular value provides equidistant speed pulse signal.
Fig. 9 A and Fig. 9 B show block diagram, these block diagrams show some alternate embodiments of the function of electronic circuit 230,
The method based on CORDIC including calculating correct Angle Position for using arc tangent function.
As shown in fig. 9 a and fig. 9b, sensor element 210 senses the rotation of target (for example, axis 100 in Fig. 1), and
The first sensing signal component X and the second sensing signal component Y are generated, as shown in block 702.First sensing signal component X and second
Sensing signal component Y is fed in A/D conversion block 704, and is subsequently fed to temperature-compensating, filtering and/or self calibration
In block 706.First sensing signal component X and the second sensing signal component Y are then fed into CORDIC block 902, to extract
Angle information signal.Then angle information signal can be fed in some other process blocks, such as formation speed
The generation block 710 of pulse signal and the velocity pulse of absolute angle information, directional information and/or acceleration information.As figure
Example shown in 10, the first sensing signal component X and the second sensing signal component Y, which can be, has electricity relative to rotation angle [alpha]
The sine and cosine curve Vx (cos α) and Vy (sin α) of 90 ° of phase shifts of pressure amplitude degree.
As shown in Figure 10, chart 120 is shown by the sensor as target to be sensed (for example, axis 100 shown in FIG. 1)
" ideal " the output signal Vx (COS) 122 and Vy (SIN) 124 that element 210 provides.As shown in the chart at 130, output signal
Vx (COS) 122 and Vy (SIN) 124 respectively indicates the X and Y-component for indicating the vector 132 of Angle Position of target to be sensed.
CORDIC block 902 is calculated and is generated using Volder algorithm (also referred to as CORDIC (coordinate rotation digital computer) algorithm)
Angle information signal, the Angle Position of angle information signal designation target to be sensed.
Method based on CORDIC can effectively realize on ASIC grades, and offer is more steady and more high accuracy
Angle and/or speed sensitive.By using the method based on CORDIC, a kind of dynamic accuracy control can also be provided: for
High speed operation only provides rough angle information, and when compared with low velocity, more data are transmitted so as to the realization of higher resolution ratio
Angle information.
Figure 11 A and Figure 11 B show block diagram, and some substitutions that these block diagrams show the function of electronic circuit 230 are implemented
Example, including for using based on the combination of the function of threshold value and CORDIC function the advanced dynamic control for calculating correct Angle Position
Method processed.For example, at fair speed range using simple look-up table detect simplify process and improve speed, and compared with
High angular accuracy is realized at lower speed range using CORDIC operation.
Electronic circuit 230 may include dynamic controller.Dynamic controller can be used for according to angle variable rate, to be sensed
Target speed or security function and other standards select different processing methods.When meeting preset standard, dynamic
Controller can operate in the first pattern and using above disclosed in Fig. 9 A, Fig. 9 B and Figure 10 based on the method for CORDIC
Handle sensing signal, and when being unsatisfactory for preset standard, dynamic controller can be switched to second mode and using above
It is disclosed in figures 7 and 8 that sensing signal is handled based on the method for threshold value.For example, when the speed sensed is less than predetermined threshold
When, the method based on CORDIC can be used to handle sensing signal in dynamic controller, thus realize higher resolution as a result,
And when the speed sensed is greater than predetermined threshold, dynamic controller can be switched to using handling sense based on the method for threshold value
Signal is surveyed, to realize compared with low-latency.As another example, when security function needs to revolve with bigger sensing speed measurement
When gyration, the method based on threshold value is can be used to handle sensing signal in dynamic controller.When security function is needed with higher
Resolution measurement rotate angle when, dynamic controller can also use the method based on CORDIC to handle sensing signal.
In alternative embodiments, rotation can be measured using the method based on threshold value and based on the method for CORDIC simultaneously
Angle.The first rotation angle can be compared and (method based on threshold value can be used and based on CORDIC's in the second rotation angle
Method substantially simultaneously measures the first rotation angle and the second rotation angle) to carry out reasonability safety inspection: for example, if the
One rotation angle and second rotation angle between difference within a predetermined range, it may be considered that measurement be reliable.Otherwise, such as
The difference that fruit first rotates between angle and the second rotation angle is fallen outside a predetermined range, then can be with marked erroneous.Some
In alternate embodiment, a method in the method based on threshold value or the method based on CORDIC can be used for reasonability and examine safely
It looks into.In these alternate embodiments, measured rotation angle can with it is substantially simultaneously measuring but from another measurement source
The Additional rotation angle degree of measurement compares.Then, measured rotation angle can be compared with Additional rotation angle degree to generate
Comparison result, comparison result can be evaluated to determine the reliability of measured rotation angle.In some embodiments, it uses
Method based on threshold value, the rotation angle substantially simultaneously measured based on the method for CORDIC and/or other measurement sources are processed,
To generate the rotation angle through adjusting for further processing.In the case where no marginal testing or in measured rotation
The rotation angle through adjusting is generated after the marginal testing of gyration.Rotation angle through adjusting can be by measured
Rotation angle averagely calculates.Rotation angle through adjusting can also be by selectively omitting the rotation angles of some measurements
It spends (for example, the rotation angle for omitting the measurement fallen outside a predetermined range) and the rotation angle of remaining measurement is carried out flat
Calculate.Average computation both can be carried out equably, can also by for measurement rotation angle assign different weights come
It executes.Electronic circuit 230 can also include for selecting different operation modes (such as output speed pulse signal, absolute angle
Information, directional information and/or acceleration information) mode selector.
Advanced dynamic control method combines the spy of the method based on threshold value and the method based on CORDIC disclosed above
Sign, and in addition increase the flexibility switched between the two methods.Similar to described above, sensor element 210
The rotation of target (for example, axis 100 in Fig. 1) is sensed, and generates the sensing letter of the first sensing signal component X and second
Number component Y, as shown in block 702.First sensing signal component X and the second sensing signal component Y are fed to A/D conversion block 704
In, and be subsequently fed in temperature-compensating, filtering and/or self calibration block 706.During low-speed handing, the first sensing letter
Number component X and the second sensing signal component Y is then fed into CORDIC block 902, to extract angle information signal, so that can
With the higher achievable resolution ratio for using CORDIC to realize.However for higher speed, the first sensing signal component X and
Second sensing signal component Y is fed in signal transfer algorithm block 708, to extract angle information signal, so that simple and fast
The low latency response of the algorithm based on threshold value of speed becomes advantage.Which signal path decision to be used is by last in Figure 11
Shown in speed related protocol block 1102 handle.In addition, the chip concept can require to provide additional redundancy for functional safety.Example
Such as, while using high accuracy CORDIC angle information, can be used for closing based on the signal path compared with low accuracy threshold value
Rationality inspection.
In fig. 4 it is shown that the speed changer 400 of the form of gear-box.Input shaft 401 (is not shown by the engine of vehicle in Fig. 4
It drives out).Show speed changer output wheel 420.There are three axis 100-1,100-2,100-3 for the tool of speed changer 400.Three axis 100-
1, each of 100-2,100-3 are on its end face equipped with magnet 220.Shell 410 rotatably accommodates axis 100-1,100-
2,100-3.Axis at least partially in being rotated in shell.In other words, shell 410 does not revolve together with axis 100-1,100-2,100-3
Turn, but surrounds the end of axis 100-1,100-2,100-3.Corresponding bearing can be provided.With 220 phase of corresponding three magnets
Associated magnetic sensor element 210 is attached to shell 410.Although Fig. 4 shows every in axis 100-1,100-2,100-3
Magnet 220 on a end face, but magnet can be not limited to be arranged on only some axis.Specifically, 210 quilt of sensor element
The axis for being located in corresponding axis 100-1,100-2,100-3 for deviating certain interval relative to magnet 220 extends (in Fig. 4
It is shown by dashed lines) at.Sensor element 210 can extend against the axis of corresponding axis 100-1,100-2,100-3 to be shifted.It is logical
Technology as described above is crossed, can determine the orientation and/or rotation speed of axis 100-1,100-2,100-3.
In fig. 5 it is shown that including the system 500 of the axis 100 of wheel shaft.The end face of axis 100 is provided with magnet 220.Axis 100
End face and wheel shaft wheel bearing 502 it is opposite.Axis 100 is rotatably connected to the pedestal 501 between end face and wheel bearing 502
On.Sensor element 210 is further illustrated in Fig. 5, is positioned in the axis extended spot of axis 100 and relative to magnet
200 offset certain intervals.Sensor element 210 does not rotate together with axis 100.By technology as described above, axis can be determined
100 orientation and/or rotation speed.
Fig. 6 is gone to, brushless DC motor unit or assembly 600 is shown.The motor 601 of component can be attached to axis 100.Magnetic
Body 220 is positioned in the endface of axis.Between sensor element 210 is positioned in the axis extended spot of axis 100, and offset is certain
Gap.By technology as described above, the orientation and/or rotation speed of axis 100 can be determined.
The controller (being not shown in Fig. 6) of brushless DC motor component 600 can continuously switch the phase of electric winding, to protect
Hold the rotation of motor 601.Switching can in response to axis 100 orientation and occur.Magnetic field is determined by using sensor element 210
Orientation angle between 0 ° to 360 °, can determine the orientation angle of axis 100.This is realized to brushless DC motor 601
Accurately control.
From the above it can be seen that these technologies can reduce when sensitive axis 100, the orientation of 100-1,100-2,100-3
Complexity, required space and cost.In the scene of Fig. 4, space more significantly less than conventional transmission can be needed, wherein magnetic
Body 220 is placed on one or more end faces of the axis 100-1 to 100-3 of speed changer 400.It specifically, can when using gear
It can need to occupy additional space on axis 100-1 to 100-3 to install gear.In general, gear (as shown in Figure 3B) is limited to about
The minimum diameter of 7cm.In general, when near such gear using conventional magnetic field sensor, in order to make magnetic field sensor
Closer to gear, larger sensor tower is needed.Additional cost is generated, and system complexity usually increases.In addition, always
Need to reduce the size of speed changer 400.When using system as described above, complexity and required space can reduce.
In addition, magnet 220 is attached to the end face of the axis 100 of wheel shaft in the scene of Fig. 5, compared with conventional solution,
Realize substantially reducing for space and cost.Specifically, in the conventional system, gear is generally proximal to the arrangement of wheel bearing 502.It is logical
Often, this will affect overall system dimensions, such as increased construction space.Therefore, complexity and cost further increase.Conventional system
Respective sensor in system is positioned further towards the braking system for including brake disc, caliper and brake block；This would generally lead
Cause hot environment.The accuracy in sensing orientation may be decreased, and the abrasion that may cause electronic equipment increases.
It should be appreciated that above-mentioned concept and embodiment are easy to carry out various modifications.For example, can simulate and various gear profiles
Corresponding various pulse modes.Such simulation can also be extended to not only simulate Angle Position and the extension of tooth, but also
Other features of gear tooth profile, the radial dimension of such as tooth or the gradient of tooth edge can be simulated.In addition, rotation sensor can be with
Use other kinds of sensor device or other kinds of magnet, such as more complicated multi-pole magnet.
Claims (20)
1. a kind of sensor device, comprising:
Magnetic field sensing element will be positioned in the magnetic field of magnet, and the magnet is positioned on the end face of axis, and the magnetic field is quick
Sensing unit is configured as sensing the orientation angle between 0 ° to 360 ° in the magnetic field, and generates sensing signal,
The sensing signal includes the first sensing signal component and the second sensing signal component with 90 ° of phase shifts；And
Electronic circuit is configured as receiving and processing the sensing signal from the magnetic field sensing element, is referred to generating
Show the angle signal of the orientation angle in the magnetic field.
2. sensor device according to claim 1, wherein the electronic circuit includes:
Pairs of A/D conversion block, wherein the first A/D conversion block in the pairs of A/D conversion block is configured as described
The digitlization of one sensing signal component, and the 2nd A/D conversion block in the pairs of A/D conversion block is configured as described the
The digitlization of two sensing signal components；
Filtering and self calibration block are configured as before or after the digitlization to the first sensing signal component and described
Second sensing signal component is filtered and calibrates；
Memory, stores look-up table or the algorithm based on threshold value, and the look-up table or the algorithm based on threshold value include through mending
The threshold value repaid, it is relevant just with the first sensing signal component and the second sensing signal component that generate to be digitized
True range value, to realize linearisation pulse width and extract the angle signal with correct phase value；And
Speed pulse generator is configured as receiving and processing the angle signal, to generate the angular speed for indicating the axis
Pulse.
3. sensor device according to claim 1, wherein the electronic circuit includes:
Pairs of A/D conversion block is configured as the first sensing signal component and the second sensing signal component number
Change；
Filtering and self calibration block, are configured as to the first sensing signal component and second sensing signal being digitized
Component is filtered and calibrates；
Processor is configured as receiving the first sensing signal component and the second sensing signal component being digitized,
And the method based on CORDIC of execution is to calculate the angle signal of the orientation angle for indicating the magnetic field；And
Speed pulse generator is configured as receiving and processing the angle signal, to generate the angular speed for indicating the axis
Pulse.
4. sensor device according to claim 1, wherein the electronic circuit includes:
Dynamic controller is configured as operating in the first pattern when the angular speed of the axis is greater than predetermined threshold, works as place
When the first mode, the dynamic controller is configured as calculating the angle signal based on thresholding algorithm.
5. sensor device according to claim 1,
Wherein the dynamic controller is configured as: when the angular speed is less than or equal to the predetermined threshold, with the second mould
Formula operation, and using the sensing signal is handled based on the method for CORDIC, to calculate the angle signal.
6. sensor device according to claim 4,
Wherein the dynamic controller is configured as: when the angular speed is reduced to less than or equal to the value of the predetermined threshold
When, it operates in a second mode, and using the sensing signal is handled based on the method for CORDIC, to calculate the angle letter
Number.
7. sensor device according to claim 6,
Wherein the algorithm based on threshold value and the method based on CORDIC, which are used simultaneously in, obtains pairs of rotation angle,
The pairs of rotation angle is compared to generate comparison result, wherein the comparison result is evaluated to determine measured rotation
The reliability of gyration.
8. sensor device according to claim 1, wherein the electronic circuit includes:
Mode selector, for selecting different operation modes, including based on the angle signal come output speed pulse signal,
It is one or more in absolute angle information, directional information and acceleration information.
9. sensor device according to claim 1, wherein the electronic circuit is integrated in the chips, the chip quilt
It is attached to the magnetic field sensing element.
10. a kind of system, comprising:
Rotatable axis；
Magnet is positioned on the end face of the axis；
Magnetic field sensing element is positioned in the magnetic field of the magnet, and the magnetic field sensing element is configured as sensing the magnetic
The orientation angle between 0 ° to 360 ° of field, and generate sensing signal；And
Electronic circuit is configured as receiving and processing the sensing signal from the magnetic field sensing element, is referred to generating
Show the angle signal of the orientation angle in the magnetic field；
Wherein the electronic circuit is configured as by selecting different processing methods to handle according to the angular speed of the axis
State sensing signal.
11. system according to claim 9,
Wherein the electronic circuit is configured as: when the angular speed of the axis and predetermined threshold have the first relationship, being made
The sensing signal is handled based on the algorithm of threshold value with comprising compensated threshold value, to generate and first sensing signal
Component and the relevant correct range value of the second sensing signal component, to calculate the angle signal.
12. system according to claim 9,
Wherein the electronic circuit is configured as: being different from first relationship when the angular speed and the predetermined threshold have
The second relationship when, using the sensing signal is handled based on the method for CORDIC, to calculate the angle signal.
13. system according to claim 10,
Wherein the electronic circuit is configured to: using the method based on threshold value and the side based on CORDIC
Method rotates angle based on the first rotation angle and described second to determine the first rotation angle and the second rotation angle
Comparison carry out marked erroneous.
14. system according to claim 9, further comprises:
Memory is configured as the mapping at storage pulse edge to orientation angle；And
Electronic circuit is configured as: according to the sensing signal and the porch of storage to the mapping of orientation angle, being generated
Signal including the pulse mode with rising pulses edge and falling pulse edge.
15. sensor device according to claim 9, wherein the electronic circuit is integrated in the chips, the chip
It is attached to the magnetic field sensing element.
16. a kind of angle method for sensing, comprising:
Sensing signal is generated, the sensing signal includes the first sensing signal component and the second sensing each other with 90 ° of phase shifts
Signal component；
Processing method is selected based on angular velocity of rotation；And
The sensing signal is handled, according to selected processing method to generate the angle letter for the orientation angle for indicating the magnetic field
Number.
17. angle method for sensing according to claim 16,
Wherein sensing signal generated includes the sine curve and cosine curve of voltage amplitude, and sensing signal generated
2 π radians correspond to the magnetic field the orientation angle between 0 ° to 360 °.
18. angle method for sensing according to claim 16,
Wherein when the angular speed of the axis is greater than predetermined threshold, the calculation based on threshold value comprising compensated threshold value is used
Method handles the sensing signal, to the first sensing signal component and the second sensing signal component relevant to generate
Correct range value, to extract the angle signal；
Wherein when the angular speed is less than the predetermined threshold, believed using the sensing is handled based on the method for CORDIC
Number, to calculate the angle signal.
19. angle method for sensing according to claim 18 further comprises the reliable of the measured angle signal of inspection
Property the step of, the first measurement angle signal and the second measurement angle signal, first measurement angle are used the step of the inspection
Degree signal is determined using the algorithm based on threshold value, and the second measurement angle signal is using described based on CORDIC
Method determine.
20. angle method for sensing according to claim 19, further comprises:
By the way that predetermined reference offset is handled angle signal generated with angle signal phase Calais, to generate absolute angle
Signal.
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| US15/655,443 | 2017-07-20 | ||
| US15/655,443 US11125768B2 (en) | 2014-06-17 | 2017-07-20 | Angle based speed sensor device |
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| DE102018117459A1 (en) | 2019-01-24 |
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