WO2010133546A1 - Procédé et système permettant de déterminer la position angulaire d'un élément rotatif, et palier à roulement comprenant un tel système - Google Patents

Procédé et système permettant de déterminer la position angulaire d'un élément rotatif, et palier à roulement comprenant un tel système Download PDF

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Publication number
WO2010133546A1
WO2010133546A1 PCT/EP2010/056732 EP2010056732W WO2010133546A1 WO 2010133546 A1 WO2010133546 A1 WO 2010133546A1 EP 2010056732 W EP2010056732 W EP 2010056732W WO 2010133546 A1 WO2010133546 A1 WO 2010133546A1
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WO
WIPO (PCT)
Prior art keywords
sensors
sensor
faulty
issued
equal
Prior art date
Application number
PCT/EP2010/056732
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English (en)
Inventor
Stéphane MOISY
Alexis Gatesoupe
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Aktiebolaget Skf
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Publication date
Application filed by Aktiebolaget Skf filed Critical Aktiebolaget Skf
Priority to EP10720909A priority Critical patent/EP2433098A1/fr
Publication of WO2010133546A1 publication Critical patent/WO2010133546A1/fr

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
    • G01D5/24471—Error correction
    • G01D5/24476—Signal processing
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D3/00—Indicating or recording apparatus with provision for the special purposes referred to in the subgroups
    • G01D3/08—Indicating or recording apparatus with provision for the special purposes referred to in the subgroups with provision for safeguarding the apparatus, e.g. against abnormal operation, against breakdown
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
    • G01D5/142—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices
    • G01D5/145—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices influenced by the relative movement between the Hall device and magnetic fields
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
    • G01D5/24457—Failure detection
    • G01D5/24461—Failure detection by redundancy or plausibility
    • 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
    • G01D2205/00—Indexing scheme relating to details of means for transferring or converting the output of a sensing member
    • G01D2205/80—Manufacturing details of magnetic targets for magnetic encoders

Definitions

  • the invention relates to a method of determining the angular position of a rotary element, such as a ring of a ball bearing, or the equivalent.
  • WO-A-2007/077389 discloses using Hall effect sensors regularly distributed around a magnetic ring to supply sinusoidal type electric signals that enable the angular position of a rotary element to be determined.
  • a number of Hall effect sensors that is greater than three, thus making it possible to combine the signals supplied by the respective cells for the purpose of determining the angular position of the rotary element.
  • Increasing the number of cells in such a system significantly increases the risk that one of the cells will be faulty, thus making the system non-operational. In other words, when one of the Hall effect cells is out of operation, the detector system breaks down and can no longer perform its function.
  • the invention seeks more particularly to remedy by proposing a method of determining the angular position of a rotary element that enables the failure of a sensor, such as a Hall effect sensor, to be accommodated.
  • the invention relates to a method of determining the angular position of a rotary element rotating relative to a non-rotary element, wherein a magnetic ring is used that is constrained to rotate with the rotary element and that is provided with P pairs of poles, where P is greater than or equal to one, and N sensors each suitable for issuing an electric signal representative of a magnetic field, with N greater than or equal to two.
  • the method comprises the steps consisting in: a) verifying each of the signals issued by the sensors, and determining whether at least one of the sensors is faulty; b) if at least one sensor is determined as being faulty during step a) , counting the number of sensors that are faulty; c) if the number of faulty sensors is equal to one, calculating a replacement signal equivalent to the electric signal that would normally be issued by the faulty sensor; and d) using the replacement signal calculated in step c) as a replacement for the electric signal that would normally be issued by the faulty sensor in order to calculate a signal representative of the angular position of the rotary element relative to the non- rotary element.
  • the method is characterized in that it includes an additional step that is implemented if no sensor is considered as being faulty during step a) , the additional step consisting in e) storing in a memory a value corresponding to the sum of the signals issued by the sensors; and in that, during step c) , the replacement signal is calculated as being equal to the difference between the sum of the electric signals delivered by the set of sensors prior to detecting failure of the sensor and the sum of the electric signals issued by the other sensors after detecting failure of the sensor.
  • a degraded mode of operation is provided when one of the sensors is faulty, with the signal that would normally have been issued by that sensor being replaced with a calculated replacement signal.
  • the invention thus enables the system for determining the angular position of a rotary element to continue to be used, even though one of its sensors is no longer functioning or is no longer functioning correctly.
  • such a method may incorporate one or more of the following characteristics:
  • step c) the replacement signal is calculated at an instant t 1 using the equation: where, for i lying in the range 1 to N:
  • O i is the offset from zero of the electric signal issued by a sensor C 1 ;
  • a s is equal to - with a equal to b equal to A 1 cos ⁇ i , and A i equal to the amplitude of the electric signal issued by a sensor
  • the replacement signal is calculated at an instant ti using the equation: where, for lying in the range 1 to N:
  • O 1 is equal to the offset relative to zero of the electric signal issued by a sensor C 1 ; and • U i (t 1 ) is the electric signal issued by the sensor C i at the instant t 1 .
  • a sensor is considered as being faulty if the electric signal issued by said sensor crosses a threshold value, upwards or downwards, and/or if the electricity consumption of said sensor varies in predetermined manner.
  • the invention also provides a system for determining the angular position of a rotary element that is rotary relative to a non-rotary element by implementing a method as described above, the system comprising a magnetic ring constrained to rotate with the rotary element and provided with P pair(s) of poles, where P is greater than or equal to one, N sensors each suitable for issuing an electric signal representative of a magnetic field, with N greater than or equal to two, and a processor unit for processing signals issued by the various sensors.
  • the system is characterized in that said processor unit is suitable for calculating a replacement signal for a faulty sensor by calculating the difference between the sum of the electric signals delivered by the set of sensors before detecting failure of one of the sensors and the sum of the electric signals issued by the other sensors after detecting the failure of said sensor, and for using said replacement signal instead of the electric signal that would normally have been issued by the faulty sensor, in order to calculate a signal representative of the angular position of the rotary element relative to the non-rotary element.
  • the sensors used are Hall effect cells .
  • the invention provides a rolling bearing comprising a stationary ring and a rotary ring, together with a detector system as mentioned above.
  • Figure 1 is a diagram showing the principle of a system in accordance with the invention implementing a method in accordance with the invention
  • Figure 2 is a block diagram of the method in accordance with the invention.
  • Figure 3 is a fragmentary schematic showing the principle of a second system in accordance with the invention.
  • the system 2 shown in Figure 1 comprises a magnetic ring 4 having two poles, namely a north pole N and a south pole S.
  • the ring 4 rotates about an axis X 4 perpendicular to the plane of Figure 1.
  • Five Hall effect cells C i to C 5 are regularly distributed around the axis X 4 and around the ring 4, and each of them delivers an analog electric signal in the form of a voltage that varies as a function of time, which signal is delivered to a processor unit 8.
  • the voltage delivered by sensor C i is written U i (t) .
  • the signals U i (t) are conditioned and combined using an approach analogous to that mentioned in WO-A-2007/077389 , the content of which is incorporated in the present application by reference, in order to create two signals at a phase difference of 90° electrical, enabling the angular position of the ring 4 relative to a stationary structure supporting the cells C i to be calculated.
  • the ring 4 may be mounted on the rotary ring of a ball bearing, while the cells C i are supported by a stationary portion of the bearing, e.g. its non- rotary ring. To clarify the drawing, the above-mentioned bearing portions are not shown in Figure 1.
  • the signals U i (t) are sent to the unit 8 at a frequency that is a function of the speed of rotation expected of the ring 4, e.g. once every 1 to
  • the angular position of the ring 4 about the axis X 4 may be identified by an angle ⁇ between a straight line D 4 passing via the two interfaces between the north and south poles of the ring 4, and a straight line D z that is drawn vertically in Figure 1 and that intersects the axis X 4 .
  • This angle ⁇ varies as a function of time, and its value as a function of time is written ⁇ (t) .
  • the unit 8 is designed to issue an electric signal that varies as a function of time and that is representative of the instantaneous value of the angle ⁇ .
  • the value of this signal as a function of time is written T(t) .
  • the unit 8 comprises a module 82 for conditioning the signals U i (t) and a module 84 for calculating the value of the signal T(t) as a function of time.
  • the calculation performed by the module 84 is based on the signals as conditioned in the module 82.
  • the module 82 serves to transform the analog signals constituted by the voltages U i (t) into digital signals that are suitable for processing by a computer incorporated in the module 84.
  • N is a natural integer greater than or equal to three, the system being shown in part in Figure 3.
  • N is equal to five.
  • the number of pairs of poles of the magnetic ring of the system shown in Figure 3 is written P.
  • the number P is equal to one.
  • the various signals U i (t) are verified in a first step 101 in order to determine whether one or more of the sensors C 1 of the system is/are faulty. This verification step 101 may be performed by monitoring the sum of the voltages U i (t) coming from the various sensors C 1 .
  • this sum may be considered as being substantially constant, ignoring tolerances.
  • a high threshold value and a low threshold value e.g. respectively equal to the normal value +5% and to the normal value -5%.
  • the system is considered as operating normally, i.e. without any of the sensors C i being faulty, providing the sum S(t) of the voltages U i (t) delivered by the sensors C i for lying in the range 1 to N remains between the high and low threshold values .
  • a step 102 it is determined whether all of the signals U i (t) are correct. If they are, the method moves on to a step 103 in which the value of the sum S(t) is stored in a memory for subsequent use as a basis for comparison. Here likewise, the method moves on to a step 104 in which the signals U i (t) are conditioned in the module 82, and then the value of the signal T(t) is determined in a step 105 within the module 84 by calculating its sine and its cosine. This corresponds to the system 2 operating without fault.
  • the various sensors have angular positions about the axis X 4 that satisfy the relationship: where i_ is a natural integer in the range 1 to N, k is a relative integer, and C is a real constant.
  • step 106 When at least one of the sensors C i is detected in step 102 as being faulty, additional verification is performed in step 106 to determine the number of faulty sensors .
  • This number of faulty sensors is determined by verifying the operation of each sensor, by comparing the value of its output signal with the threshold values or by monitoring the electricity consumption of the sensor. When a sensor is completely out of operation, it delivers a zero output voltage and no longer consumes any electricity. In other types of breakdown, it may deliver an output voltage that is well above the value that it delivers in normal operation. It is possible in step 106 to count the number of sensors C i that are faulty. If this number is greater than or equal to two, then the method moves on to a step 107 in which the processor unit 8 delivers an error message, possibly together with a warning signal. Under such circumstances, the system 2 as a whole is considered as being incapable of performing its function.
  • the method moves on to a step 108 in which a replacement signal U drep (t 1 ) is created for use in the module 84 as a replacement for the signal U ⁇ t 1 ) from the faulty sensor C d .
  • Each signal U i (t 1 ) for lying in the range 1 to N may be expressed in the form: where is defined as above, CO is equal to the angular frequency, and O 1 is equal to the offset of the signal U i (t 1 ) relative to the value zero, this offset being equal to 2.5 volts for example for a Hall effect sensor, while A 1 is the sinusoidal amplitude of the signal U i (t) about the value 0, .
  • S(t) of the voltages from the N sensors of the device 2 is expressed as follows:
  • each cell delivers a signal of identical amplitude A i .
  • the unit 8 calculates a posteriori a replacement signal U drep (t 1 ) that varies as a function of time and that has the value: where S(t) is known since it has previously been stored in memory in step 103.
  • U drep (t 1 ) may be expressed as follows:
  • the cells C i are verified by the module 86, as explained with reference to steps 101, 102, and 106, and the value S(t) is stored by said module in a memory 88, during normal operation of the system 2.
  • the values of the sum S(t) stored in the memory 88 correspond to the values of
  • the memory 88 may store the prerecorded values in analog form, e.g. using resistances, or in digital form. When only one sensors C d is found to be faulty in
  • a virtual cell C' d is created by the module 86 during step 108, by accessing the memory 88 in which prerecorded values for the above-mentioned sum S(t) are stored, and by calculating the virtual output signal for each instant t 1 when the sensor C d is faulty, as explained above.
  • the signals to are supplied to the modules 82 and 84 so that they can function normally, implementing steps 104 and 105.
  • the module 84 can calculate, at each instant t 1# the value of the signal T 1 U 1 ) on the basis of the conditioned signals supplied by the module 82, including the signal
  • the invention thus makes it possible to create a signal that corresponds to the signal that would have been issued by the faulty sensor C d at an instant t 1 had it not been faulty, with this being based on the signals issued by the other sensors and on the sum S(t) of said signals, as previously determined at a time when the sensor was functioning correctly.
  • the replacement signal may be calculated in analog or digital manner during step 108.
  • the subtraction operation may be performed by analog means or by a microcomputer.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Signal Processing (AREA)
  • Transmission And Conversion Of Sensor Element Output (AREA)

Abstract

Selon l'invention, un anneau magnétique est utilisé; il est contraint à tourner avec un élément rotatif qui est doté de paires de pôles, et de capteurs, chacun étant conçu pour émettre un signal électrique (U1(t)... UN(t)) qui est représentatif d'un champ magnétique. Le procédé consiste à vérifier (101, 102) chacun des signaux émis par les capteurs et à déterminer si au moins un des capteurs est défectueux. Si au moins un capteur est déterminé comme étant défectueux, le nombre de capteurs défectueux est compté (106). Si le nombre de capteurs défectueux est égal à 1, un signal de remplacement (Udrep(t1)) est calculé (108), le signal étant équivalent au signal électrique qui aurait normalement été émis par le capteur défectueux, et le signal de remplacement calculé précédemment (Udrep(t1)) est utilisé à la place du signal électrique normalement émis par le capteur défectueux dans le but de calculer (105) un signal (T(t1)) qui est représentatif de la position angulaire d'un élément rotatif par rapport à l'élément non rotatif. Le signal de remplacement est calculé en tant que la différence entre la somme précédemment mémorisée (S(t)) des signaux électriques tels que délivrés par l'ensemble de capteurs (Ci) avant la détection de la défaillance du capteur (Cd), et la somme des signaux électriques tels qu'émis par les autres capteurs après la détection de la défaillance dudit capteur.
PCT/EP2010/056732 2009-05-18 2010-05-17 Procédé et système permettant de déterminer la position angulaire d'un élément rotatif, et palier à roulement comprenant un tel système WO2010133546A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP10720909A EP2433098A1 (fr) 2009-05-18 2010-05-17 Procédé et système permettant de déterminer la position angulaire d'un élément rotatif, et palier à roulement comprenant un tel système

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR0953276A FR2945626B1 (fr) 2009-05-18 2009-05-18 Procede et systeme de determination de la position angulaire d'un element tournant et roulement comprenant un tel systeme
FR0953276 2009-05-18

Publications (1)

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WO2010133546A1 true WO2010133546A1 (fr) 2010-11-25

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EP (1) EP2433098A1 (fr)
FR (1) FR2945626B1 (fr)
WO (1) WO2010133546A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2012025777A1 (fr) * 2010-08-24 2012-03-01 Aktiebolaget Skf Procédé et système pour déterminer la position angulaire d'un élément rotatif, et palier comprenant un tel système

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6019086A (en) * 1998-05-28 2000-02-01 Cummins Engine Co. Inc. Redundant sensor apparatus for determining engine speed and timing values
FR2859276A1 (fr) * 2003-08-29 2005-03-04 Denso Corp Dispositif de determination de position angulaire a detecteur d'anomalie de fonctionnement
FR2861458A1 (fr) * 2003-10-22 2005-04-29 Skf Ab Systeme de mesure de rotation haute resolution, et roulement equipe d'un tel systeme.
US20050189938A1 (en) * 2003-10-22 2005-09-01 Schley William R. Through-wall position sensor

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6019086A (en) * 1998-05-28 2000-02-01 Cummins Engine Co. Inc. Redundant sensor apparatus for determining engine speed and timing values
FR2859276A1 (fr) * 2003-08-29 2005-03-04 Denso Corp Dispositif de determination de position angulaire a detecteur d'anomalie de fonctionnement
FR2861458A1 (fr) * 2003-10-22 2005-04-29 Skf Ab Systeme de mesure de rotation haute resolution, et roulement equipe d'un tel systeme.
US20050189938A1 (en) * 2003-10-22 2005-09-01 Schley William R. Through-wall position sensor

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2012025777A1 (fr) * 2010-08-24 2012-03-01 Aktiebolaget Skf Procédé et système pour déterminer la position angulaire d'un élément rotatif, et palier comprenant un tel système

Also Published As

Publication number Publication date
FR2945626A1 (fr) 2010-11-19
FR2945626B1 (fr) 2011-07-22
EP2433098A1 (fr) 2012-03-28

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