WO2024251429A1 - Appareil de mesure de rotation, système de mesure de rotation, véhicule et procédé de mesure de la rotation d'une partie rotative d'un véhicule - Google Patents

Appareil de mesure de rotation, système de mesure de rotation, véhicule et procédé de mesure de la rotation d'une partie rotative d'un véhicule Download PDF

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Publication number
WO2024251429A1
WO2024251429A1 PCT/EP2024/061390 EP2024061390W WO2024251429A1 WO 2024251429 A1 WO2024251429 A1 WO 2024251429A1 EP 2024061390 W EP2024061390 W EP 2024061390W WO 2024251429 A1 WO2024251429 A1 WO 2024251429A1
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WO
WIPO (PCT)
Prior art keywords
measuring
pole
rotation
period
period information
Prior art date
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Ceased
Application number
PCT/EP2024/061390
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German (de)
English (en)
Inventor
Jörg Laages
Eckard Klotz
Stefan Nieber
Danny Drasner
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ZF CV Systems Global GmbH
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ZF CV Systems Global GmbH
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Publication of WO2024251429A1 publication Critical patent/WO2024251429A1/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
    • G01D5/24457—Failure detection
    • G01D5/24466—Comparison of the error value to a threshold
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P21/00—Testing or calibrating of apparatus or devices covered by the preceding groups
    • G01P21/02—Testing or calibrating of apparatus or devices covered by the preceding groups of speedometers
    • 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
    • G01P3/489—Digital circuits therefor
    • 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
    • G01D5/245—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 using a variable number of pulses in a train
    • G01D5/2451—Incremental encoders

Definitions

  • Rotation measuring device Rotation measuring system, vehicle and method for measuring the rotation of a rotating part of a vehicle
  • the present invention relates to a rotation measuring device, a rotation measuring system, a vehicle and a method for measuring the rotation of a rotating part of a vehicle.
  • a rotational speed or rpm of a rotating part of a vehicle is detected by means of a rotation measuring device for measuring a rotation of a rotating part.
  • the rotation measuring device can have a rotation measuring sensor and a rotary measuring body that includes a plurality of measuring features.
  • the measurement results of the rotation measuring device can be evaluated in a signal processing device.
  • a measuring feature can be designed in different ways depending on the design of the rotary measuring body.
  • the rotary measuring body can have a geometric, optical or magnetic measuring embodiment in the form of measuring features.
  • Such rotary measuring devices are generally known, particularly in the field of machines and vehicles.
  • a rotary measuring device can be used to determine the direction of rotation, rotation speed and other movement and/or position-related parameters of a rotating part, such as a shaft or a wheel.
  • a wide variety of rotary measuring sensors are known for a rotary measuring device, each of which is based on a different measuring principle, for example a magnetic, optical or inductive measuring principle.
  • a magnetic measuring principle a voltage change can be output, in particular using a Hall sensor, which is characteristic of a current position of a measuring body relative to the Hall sensor.
  • a Hall sensor advantageously enables reliable position determination regardless of the speed, especially when the rotating part is stationary or rotating relatively slowly.
  • the object is achieved by a rotation measuring device according to claim 1, by a rotation measuring system according to claim 9, by a vehicle according to claim 10 and by a method for measuring the rotation of a rotating part according to claim 11.
  • the rotation measuring device for a rotating part, preferably for a vehicle, particularly preferably for a shaft or a wheel of a vehicle.
  • the rotation measuring device comprises: a rotary measuring body which has a plurality of measurement features along a circular path of the rotary measuring body and can be fastened to the rotating part in a rotationally fixed manner, a rotary measuring sensor which is designed to detect at least one of the measurement features during a rotational movement of the rotary measuring body by interaction of the at least one measurement feature with the rotary measuring sensor and to output an output signal based on the detected interactions, and a signal processing device which is designed to detect at least one period information of at least one measurement feature based on an output signal of the rotary measuring sensor, wherein the at least one period information is based on a time interval that the at least one measurement feature requires to pass the rotary measuring sensor during the rotational movement, a memory which is designed to store previously detected period information of at least one measurement feature, in particular to store
  • a rotary measuring device with a rotary measuring sensor, a rotary measuring body, a signal processing device, a memory and a comparison unit.
  • the rotary measuring sensor is used to record measurement characteristics of the rotary measuring body when the measurement characteristics of the measuring body passes the rotary measuring sensor due to the rotary movement of the measuring body. This results in an interaction between a measurement feature and the rotary measuring sensor. This interaction or information derived from the interaction is output by the output signal of the rotary measuring sensor.
  • the signal processing device records period information of at least one measurement feature based on the output signal of the rotation measuring sensor.
  • the at least one period information is based on a time interval that the at least one measurement feature requires to pass the rotation measuring sensor during the rotational movement.
  • a memory in particular a table memory, is provided in which period information of the at least one measurement feature recorded in advance (e.g. by means of a learning process) is stored.
  • a comparison unit is provided which compares period information stored in advance in the memory with current period information of measurement features in order to record changes, in particular errors, deviations, inaccuracies and/or damage to the at least one measurement feature and/or the rotary measuring body.
  • the period information of the measuring characteristics of the measuring body previously stored in the memory can be recorded during a teach-in process and stored in the memory. This allows a calibration process to be carried out.
  • the currently recorded period information of the respective measuring characteristics can then be compared with the previously stored period information. If there is a change or deviation in the respective current period information, this is an indication that there is an error or deviation in the measuring characteristic and/or the measuring body.
  • the measuring body can then optionally be replaced or a teach-in process can be carried out again so that the current state of the measuring body is selected as the new comparison or calibration state. This is advantageous because it can ensure that an error in or on the measuring body does not lead to an error in the detection of the rotational movement of the rotating part. Rather, existing errors can be compensated.
  • the rotational speed or rpm of the rotating part to which the measuring body is rotationally fixed can be determined precisely. Furthermore, deviations, inaccuracies and/or damage to the measuring body can be compensated for further recording of the rpm or rotational speed.
  • Changes in the at least one measuring feature and/or the rotary measuring body are generally understood to mean that there are errors, deviations, damage and/or inaccuracies in the measuring features and/or the measuring body.
  • errors can, for example, represent a wobble error, which occurs when the rotary measuring body and/or the rotating part no longer rotate about a rotation axis, but have a different rotation axis.
  • tooth errors in which a pole head is missing or damaged or in which a pole valley is at least partially blocked.
  • there can be, for example, a period error which is caused by an uneven arrangement of the pole heads or pole valleys on the pole wheel.
  • the processing effort can be reduced.
  • a (local) rotational speed or rpm of a measuring body can be determined.
  • a deviation from this "local" rotational speed or rpm can indicate damage or deviation to the measuring body and in particular to the measurement characteristic. This allows local and plausible rotational speeds or rpm due to local damage to the measuring body to be effectively recorded. If a new teaching process is then carried out and the respective periods of the measurement characteristics are stored in the memory, the effects of such inaccuracies or damage can be compensated. In other words, a local inaccuracy in the period, rotational speed or rpm is no longer considered a deviation or damage in the subsequent process, so that this deviation can be ignored.
  • Inaccuracies and/or damages in or on the measuring body can be processed in subsequent signal processing.
  • the period information may be based on the time interval or duration of the interaction between the rotation measuring sensor and a measurement feature. In other words, the duration of an interaction between the measurement feature and the rotation measuring sensor is determined. Based on the duration (i.e., the period), Period information is determined. The period information determined forms the basis for the evaluation of the measurement characteristics, i.e. the check whether there are indications of damage or impairment of measurement characteristics.
  • the period information of the measurement characteristics can represent periods of the measurement characteristics that correspond to the time intervals of an interaction between a measurement characteristic and the rotation measuring sensor. If the measurement characteristic is designed as a pole head-pole valley pairing of a pole wheel, then the period of the measurement characteristic corresponds to the time interval of the interaction of the pole head and the pole valley with the rotation measuring sensor. The period or the period information can also be determined from the output signal of the rotation measuring sensor. The period of the measurement characteristic can then correspond to the period of the output signal. Since the pole head-pole valley pairing is arranged recurringly on a measuring body (e.g. pole wheel), the output signal of the rotation measuring sensor will also have a recurring output signal.
  • a measuring body e.g. pole wheel
  • the output signal can optionally represent an output signal (voltage signal) of a Hall sensor or a signal according to the AK protocol or another protocol.
  • the period of the measurement characteristic can therefore correspond to the period of the rotation measuring sensor signal. The period of the measurement characteristic can thus be determined based on the output signals of the rotation sensor.
  • a pole wheel according to the invention can have any body, in particular with a rotationally symmetrical base body and a number of geometric features that vary the distance to a rotation measuring sensor in relation to the rotational movement.
  • the pole wheel preferably has a plurality of pole heads and pole valleys, which can be viewed as a pole head-pole valley pair.
  • a plurality of pole head-pole valley pairings are arranged one after the other on the circumference of the pole wheel, so that a pole head and a pole valley can be provided alternately.
  • the design of the pole heads and/or the pole valleys can be rectangular. Alternatively, another design such as a sinusoidal design can also be possible. However, the rectangular design of the pole heads and pole valleys can be preferred because this allows better detection by the rotation measuring sensor.
  • a measuring feature is designed as a pole head-pole valley pairing.
  • a measuring feature can also be designed from a plurality of pole head-pole valley pairings.
  • a measurement feature can also be designed only by a pole head or by a pole valley.
  • the The width of all pole heads and the width of all pole valleys along the circumference of the pole wheel must be the same.
  • individual or multiple pole heads and/or pole valleys can have a width that deviates from the standard width. This can be advantageous in order to achieve a correlation between the position of the pole heads/pole valleys and the output signal of the rotation measuring sensor. If, for example, one of the pole head-pole valley pairings is designed differently, this will be reflected in the output signal of the rotation measuring sensor, making it possible to assign the pole heads/pole valleys to the output signals of the rotation measuring sensor.
  • the measuring body can be designed as a dedicated body or unit (e.g. a magnet wheel) for rotation measurement.
  • a unit that already serves another function e.g. a gear wheel of a transmission
  • a measuring body for rotation measurement can be designed as a dedicated body or unit (e.g. a magnet wheel) for rotation measurement.
  • a unit that already serves another function e.g. a gear wheel of a transmission
  • the rotary measuring device can output a data signal with a data protocol, in particular an AK data protocol, as an output signal.
  • the period information may correspond to a period of a measurement feature that is equal to a time interval required for the at least one measurement feature to pass the rotary measuring sensor during the rotary motion.
  • the period information may correspond to a relative period of the measurement characteristic, which results from a coefficient between the measured period of the measurement characteristic and the actual period.
  • the relative period can thus represent period information that is independent of the actual speed.
  • the actual period can be determined from other measurement data in the vehicle.
  • the periods of the respective measurement characteristics recorded during one revolution of the measuring body can be averaged and can then represent the actual period.
  • the actual period can correspond to an averaged period of a measurement characteristic. If all measurement characteristics are error-free and without impairments, then the periods of all measurement characteristics should be the same.
  • the relative period can therefore represent the coefficient or the ratio of the period recorded for a measurement characteristic and the averaged period (actual period). In particular, the relative period represents rotational speed-independent period information.
  • the learning process for storing period information in the memory can be performed at a constant speed of the shaft or wheel.
  • the rotary measuring body can be designed as a pole wheel and a measuring feature can correspond to a pairing of a pole head and a pole valley.
  • the period of the measuring feature thus corresponds to the period of the pole head-pole valley pairing.
  • the measurement feature can have a pole head-pole valley pairing with a ratio of 30% to 60%, in particular 40%, pole head and 40% to 70%, in particular 60%, pole valley.
  • all pole heads have the same width.
  • all pole valleys have the same width.
  • the period information for the pole heads and the period information for the pole valleys can be evaluated separately.
  • a deviation or an error of the measuring body (eg pole wheel) such as a broken pole head or a filled pole valley can be visible as a deflection in the series of compensated periods.
  • the invention leads to a rotation measuring system, preferably for a vehicle, comprising at least one rotation measuring device according to the first aspect of the invention.
  • the invention leads to a vehicle having a rotation measuring device according to the second aspect of the invention.
  • vehicle is preferably a passenger car or a commercial vehicle.
  • a rotary measuring device or rotary measuring system can be used particularly advantageously in a vehicle, since the signal processing device improves the rotary measuring device's susceptibility to errors. This can advantageously increase the safety and reliability of the vehicle in particular.
  • the invention relates to methods for measuring the rotation of a rotating part of a vehicle by means of a rotation measuring device which has a rotary measuring body which has a plurality of measuring features along a circular path of the measuring body and is attached to the rotating part in a rotationally fixed manner and a rotation measuring sensor.
  • a rotation measuring device which has a rotary measuring body which has a plurality of measuring features along a circular path of the measuring body and is attached to the rotating part in a rotationally fixed manner and a rotation measuring sensor.
  • at least one of the measuring features was recorded during a rotational movement of the rotary measuring body by interaction of the at least one measuring feature with the rotation measuring sensor.
  • An output signal is output based on the recorded interactions.
  • At least one period information of at least one measuring feature is recorded based on an output signal of the rotation measuring sensor.
  • the at least one period information is based on a time interval that the at least one measuring feature requires to pass the rotation measuring sensor during the rotational movement.
  • Previously recorded period information of at least one measuring feature is stored in a memory. Period information previously stored in the memory is compared with current period information of at least one measurement feature in order to detect changes in the at least one measurement feature and/or the rotary measuring body.
  • a measuring feature can be designed in different ways depending on the design of the rotary measuring body.
  • the rotary measuring body can, for example, have a geometric, optical or magnetic measuring embodiment in the form of measuring features. In addition to recording a continuous measuring signal that describes the current rotational position of the rotating part, it has proven advantageous to define measuring features via characteristic, in particular reliably detectable, points on the rotary measuring body.
  • a measuring feature can be arranged at a point of a local maximum or minimum expression of the rotary measuring body, for example at a point of locally maximum or minimum magnetization or radial extension (e.g. at the maximum of a pole head or at the minimum of a pole valley) or the like.
  • a combination is also possible, so that a measuring feature is formed by each local maximum and each local minimum.
  • a measurement feature can be formed by other properties of the rotary measuring body, advantageously by the location of a local change, in particular a maximum change, - generally of a property or a transition between properties - of the rotary measuring body.
  • Such a location can be formed, for example, by a pole flank at a transition from a pole head to a pole valley, or by a transition between two magnetic poles. It should therefore be understood that one or more measuring features can be assigned to a measuring embodiment on the rotary measuring body, for example a pole head or a head-valley pairing or a magnetic pole.
  • a rotary measuring body can be implemented as a magnet wheel (target).
  • a magnet wheel target
  • a wide variety of implementation variants of this or other embodiments are possible, e.g. as a gear or perforated wheel or magnetized wheel, for example in the form of a drum, disk or the like.
  • a partial reference here to a magnet wheel as an embodiment is in no way restrictive, but is to be understood as an example to explain a general principle.
  • a measure of the current rotational speed can be derived as rotary measuring information, particularly from a time interval between successive messages - if the geometry of the rotary measuring body is known.
  • the data protocol for the signal processing device is an AK protocol or a data protocol based on the AK protocol.
  • a protocol in the form of an AK protocol is preferred, in particular in version 4.0 according to the "Requirement Specifications for Standardized Interface for Wheel Speed Sensors with Additional Information 'AK protocol'.
  • the AK protocol can represent a generic master-slave protocol.
  • the measuring features are arranged along a circular path and/or equidistantly on the rotary measuring body.
  • Fig. 1 shows a schematic representation of a rotation measuring device according to one aspect of the invention
  • Fig. 2 shows a perspective view of a rotation measuring device according to one aspect of the invention
  • Fig. 3 shows a perspective view of a rotary measuring body designed as a crown wheel
  • Fig.4A shows a schematic representation of a measuring body and a rotation measuring sensor
  • Fig. 4B shows an internal voltage in a rotary measuring sensor when detecting measurement features
  • Fig. 5 shows a graph illustrating an internal voltage and an output signal of a rotation sensor
  • Fig. 6 shows a graph with a representation of measured periods of pole teeth and pole valleys
  • Fig. 7 shows a graph showing relative periods of pole teeth and pole valleys
  • Fig. 8 shows a graph with a representation of measured periods during acceleration of the measuring body
  • Fig. 9 shows a graph with a representation of determined frequencies of the measurement features during acceleration of the measuring body
  • Fig. 10 shows a graph with a representation of periods stored in a memory during an acceleration of the measuring body
  • Fig. 11 shows a graph showing relative errors for periods stored in a memory
  • Fig. 12 shows a graph showing a cluster of period information of pole teeth and pole valleys
  • Fig. 13 shows a graph showing a correlation between detected periods and periods stored in the memory
  • Fig. 14 shows a graph with a representation of a cluster of period factors of pole teeth or pole valleys
  • Fig. 15 shows a graph showing a correlation of period information of pole teeth
  • Fig. 16 shows a flow chart of a method for measuring rotation of a rotating part of a vehicle
  • Fig. 17 shows a schematically illustrated preferred embodiment of a vehicle according to an aspect of the invention.
  • Fig. 1 shows a schematically illustrated embodiment of a rotation measuring system 300 with a rotation measuring device 200.
  • the rotation measuring device 200 has a rotation measuring sensor 220 and a rotary measuring body 240.
  • the rotation measuring sensor 220 here has a measured value pickup 221, which is optionally designed as a Hall sensor 222.
  • the Hall sensor 222 can be aligned with the rotary measuring body 240, for example a magnet wheel.
  • the rotary measuring body 240 is connected in a rotationally rigid manner to a rotating part 1100, for example a wheel 540 of a vehicle 1000, in order to detect its rotational movement R.
  • the known mode of operation of a Hall sensor 222 is described in simplified form in such a way that, depending on the presence of a measuring feature 250 in the measuring field of the Hall sensor 222, an induced measuring voltage is provided as an internal sensor output signal 200b by the Hall sensor 222.
  • the sensor 221 can, for example, be an optical or magnetic sensor as an alternative to the Hall sensor. Alternatively, another measuring method can also be used.
  • the measuring features 250 move past the rotary measuring sensor 220. This results in an interaction WW between the rotary measuring sensor 220 and the measuring features 250, which can be detected by the rotary measuring sensor 220.
  • a pole head 256 rotates on a pole wheel, as a preferred embodiment of the rotary measuring body, past the rotary measuring sensor 220, a higher measuring voltage is provided than when a pole valley 258 moves past the rotary measuring sensor 220, although this assignment may also differ, for example depending on the orientation of the Hall sensor 222.
  • Other properties, mainly of the sensor, may also be taken into account, for example, in particular a selection of the Hall elements of the Hall sensor 222.
  • a pole head 256 and a subsequent pole valley 258 together form a head-valley pairing 254.
  • a pole head-pole valley pairing 254 forms a measurement feature 250.
  • the time interval required for the measurement feature to pass the rotation sensor 220 corresponds to the period of the measurement feature.
  • a different assignment is possible, for example in that a pair of pole flanks 259 forms a measurement feature 250.
  • a measurement feature 250 would result within a head-valley pairing 254, which has at least two pole flanks 259.
  • a pole head 256 or a pole valley 258 can also be used as the measurement feature 250.
  • the rotation measuring device 200 further comprises an electronic signal processing device 260.
  • the signal processing device 260 can be integrated in the rotation measuring sensor 220 and connected to the measured value sensor 221.
  • the signal processing device 260 can also be formed in other electronic components.
  • the signal processing device 260 can be formed, for example, as a hardware or software module in a higher-level, in particular central, electronic control device 700, for example a vehicle control unit ECU.
  • the signal processing unit 260 has an output signal 260a that can be output to an electronic control device 700.
  • the signal processing unit 260 can further comprise a comparison unit 262 and optionally a memory 261.
  • the comparison unit 262 and the memory 261 can also be implemented outside or independently of the signal processing unit 260.
  • the memory 261 serves to store previously recorded period information of at least one measurement feature. This can optionally be period information of at least one measurement feature recorded by means of a learning process.
  • the comparison unit 262 serves to compare the period information recorded and stored in the memory 261 in advance with current period information of the measurement features in order to record changes, in particular deviations, inaccuracies and/or damage, with regard to the at least one measurement feature and/or the rotary measuring body.
  • the Hall sensor 222 has an internal output signal 220b, which represents an output signal of the Hall sensor 222, which is arranged in the rotation measuring sensor 220.
  • the rotation measuring sensor 220 in turn has an output signal 220a.
  • the rotary measuring device 200 further comprises a rotary measuring body 240, which is shown here only in part and in a rolled-out state, in which the - actually circular arc-shaped course - of alternating pole heads 256 and pole valleys 258 is shown here running straight.
  • the rotary measuring body 240 can be designed as a pole wheel 242 with a plurality of measuring features 250, wherein the measuring features 250 are each designed as a head-valley pairing 254.
  • One pole head 256 and an adjacent pole valley 258 together form a head-valley pairing 254.
  • Fig. 2 shows a perspective view of a rotary measuring device 200 according to the second aspect of the invention.
  • the rotary measuring body 240 is designed as a magnet wheel 242 in the form of a spur gear 244, which has a plurality of measuring features 250, which are designed as a head-valley pairing 254 and are arranged equidistantly along a circular path 248 on the magnet wheel 242.
  • the rotary measuring body 240 is in particular connected in a rotationally rigid manner to a rotating part 1100 (not shown here) in order to measure a rotational movement R of the rotary measuring body 240 - and thus of the rotating part 1100.
  • a pole wheel 242 in the sense of the invention comprises any body with a particularly rotationally symmetrical base body and a number of geometric features which vary the distance to a rotation measuring sensor 220 in relation to the rotational movement R. For the purpose of measurement, it is particularly sufficient if a pole head is rectangular.
  • the rotation measuring sensor 220 comprises a measuring sensor 221 in the form of a Hall sensor 222. In the preferred embodiment shown here, the rotation measuring sensor 220 optionally comprises the signal processing device 260.
  • the measuring body can also be designed as a gear, e.g. of the transmission.
  • the gear can fulfill a primary function in the transmission and be used secondarily as a measuring body for measuring rotation.
  • Fig. 3 shows a perspective view of a rotary measuring body designed as a crown wheel.
  • the measuring body 240 can also be designed as a crown wheel 246 with pole heads 256 formed in the axial direction.
  • Fig. 4A shows a schematic representation of a measuring body and a rotation measuring sensor
  • Fig. 4B shows an internal voltage in a rotation measuring sensor when detecting measurement features.
  • the rotation measuring sensor can assume different positions relative to the measuring body.
  • the relationship between the design of the measuring body 240 is shown, for example in the form of a pole wheel 242.
  • the pole wheel 242 has a plurality of pole head-pole valley pairings 254, each of which has a pole head 256 and a pole valley 258.
  • Hall sensors 222 are shown as rotation measuring sensors 220. Furthermore, an interaction WW between the Hall sensors 222 and the pole wheel 242 is shown. These interactions WW can represent the magnetic flux density of the Hall sensors 222, which interact with the pole head 256 and the pole valley 258. The interaction between the Hall sensor 222 and the pole head 256 can be different than that between the Hall sensor 222 and the pole valley. This is illustrated by the interaction lines WW. In the area of the pole heads 256, the magnetic flux lines are parallel or concentrated through the pole head, which leads to a higher magnetic flux density. In the area of the pole valleys 258, the magnetic flux lines are spaced apart or expanded (i.e. not grouped but separated from each other), which leads to a lower flux density. A medium magnetic flux density occurs at the pole flank because the Hall sensor 222 interacts with both the pole head 256 and the pole valley 258.
  • Fig. 4B shows a possible output signal 220b of a Hall sensor 222.
  • the output signal 220b can represent an output voltage of the Hall sensor 222 and is dependent on the position of the pole wheel with respect to a Hall sensor 222.
  • the internal output signal 220b of the Hall sensor In the area of the pole head 256, the internal output signal 220b of the Hall sensor is higher than an average value and can optionally be maximum here, and in the area of the pole valley 258, the internal output signal 220b of the Hall sensor 222 is smaller than an average value and can optionally be minimum.
  • the amount of the output signal 220b of the Hall sensor 222 can be greatest (maximum) in the area of the pole head 256 and smallest (minimal) in the area of the pole valley 258.
  • the magnitude of the output signal 220b of the Hall sensor 222 can correspond to the mean value.
  • the slope of the output signal 220b of the Hall sensor 222 can approach zero.
  • the slope of the output signal 220b of the Hall sensor can also approach zero.
  • the magnitude of the slope of the output signal 220b of the Hall sensor 222 can be maximum. In other words, the output voltage 220b of a Hall sensor 222 is maximum when the Hall sensor 220 is in the area of the pole head 256.
  • the output voltage 220b of the Hall sensor 222 is minimal.
  • the Y-axis shown in Fig. 4B can represent a relatively shifted axis.
  • the output signal 220b of a Hall sensor 222 results in a periodic signal depending on the pole head-pole valley pairing along the pole wheel. After one revolution of the pole wheel, an interaction between the Hall sensor 222 and a first pole head-pole valley pairing is then again detected.
  • a period of a measurement feature can be determined, for example in the form of a pole head-pole valley pairing 254.
  • the period of the output signal 220b of the Hall sensor 222 can be determined, for example, by detecting the relative zero crossings of the output signal 220b of the Hall sensor 222.
  • Fig. 5 shows a graph to illustrate an internal voltage and an output signal of a rotation measuring sensor.
  • Fig. 5 both the internal output voltage 220b of a Hall sensor 222 of Fig. 4A as part of the rotation measuring sensor 220 and an output signal 220a of the rotation measuring sensor 220 are shown.
  • the output signal 220b of a Hall sensor 222 can correspond to an output voltage of the Hall sensor 222. As shown in Fig.
  • the output voltage of the output signal 220b of the Hall sensor 222 is maximum and the slope of the output signal 220b approaches zero in the area of a pole head 256 and the output voltage of the output signal 220b of the Hall sensor 222 is minimum and the slope of the output signal 220b approaches zero in the area of a pole valley 258.
  • a (zero crossing) interval t represents the time period between two zero crossings of the output voltage 220b or two
  • the interval t1 represents a period of time during which the Hall sensor 222 passes the pole head 256 and a maximum voltage is present at the Hall sensor 222.
  • the interval t2 represents a period of time during which the Hall sensor 222 passes the pole valley 258 and a minimum voltage is present at the output of the Hall sensor 222.
  • the period T corresponds to a time interval Z between three consecutive zero crossings or two undershoots or overshoots of the limit value n, n+1, n+2.
  • the period T can be composed of the intervals t1 and t2.
  • the output signal 220a of the rotation measuring sensor can correspond to a data signal based on an AK protocol or another data protocol.
  • This data signal represents a data signal with multiple pulses.
  • the first (higher) pulse can, for example, signal a zero crossing.
  • the period of a pole head-pole valley pairing 254, i.e. a measurement feature 250 can also be determined based on the data signal of the rotation measuring sensor 220.
  • a rotation measuring sensor based on a Hall sensor 222 was described.
  • the rotation measuring sensor and the rotation measuring device can also be based on other measuring concepts such as an optical measuring concept, an electrical measuring concept or another magnetic measuring concept.
  • it must only be ensured that measurement features 250 of a rotary measuring body 240 can be recorded and that period information of the measurement features 250 can be evaluated in order to be able to draw conclusions about the functionality of the rotary measuring body 240. In particular, based on the period information, it should be determined whether there are any damages or irregularities in the measurement features 250 of the rotary measuring body 240.
  • the periods or period information for all or essentially all measurement features 250 of the rotary measuring body 240 can be determined.
  • errors F, damage or impairments of individual measurement characteristics 250 can be determined.
  • a wobble error FT occurs in particular when the rotary measuring body and/or the rotating part no longer rotate around a rotation axis, but have a different rotation axis.
  • a tooth error of the rotary measuring body or the pole wheel can occur if a pole head is damaged or missing or if a pole valley is at least partially filled.
  • Fig. 6 shows a graph for representing measured periods of pole teeth and pole valleys.
  • Fig. 6 shows period information PI for pole heads 256 and pole valleys 258 of a pole wheel 242. From Fig. 6, the period information PI and in particular the local periods TL for the pole heads 256 and for the pole valleys 258 can be represented.
  • the local periods TL then correspond to the periods of the pole heads 256 (i.e. the interval t1) and the periods of the pole valleys 258 (i.e. the interval t2).
  • the upper values of the measurement series represent the local period TL for the pole heads 256 and the lower values of the measurement series represent the local periods for the pole valleys 258.
  • a pole wheel 242 is assumed with a pole head-pole valley pairing distribution of 40% pole head 256 and 60% pole valley 258.
  • Fig. 7 shows a graph with a representation of relative periods of pole teeth and pole valleys.
  • Fig. 7 shows a representation of period information PI related to a number N of periods T.
  • Fig. 7 shows the local relative periods TLR.
  • the relative periods of the measurement feature correspond to a coefficient between the measured period of the measurement feature and the actual period, which results from the current rotational speed.
  • the periods of the respective measurement features 250 recorded during one revolution of the measuring body can be averaged and the actual period can then be determined from this according to the current rotational speed.
  • the actual period can correspond to an averaged period of a measurement feature.
  • the relative period can therefore be the coefficient or represent the ratio of the period recorded for a measurement characteristic and the averaged period (actual period).
  • the relative period can thus represent a deviation of a period of a measurement characteristic from the expected averaged period.
  • the relative period can represent a standardized and speed-independent value.
  • the relative period for a measurement characteristic stored in the table (memory 261) and the currently determined relative period for the same measurement characteristic can therefore be compared. If the comparison using the comparison unit 262 results in a deviation, this can indicate a change in the measurement characteristic.
  • the determined position information PI can then be stored in the memory 261 in order to subsequently be used for comparison with current period information PI by means of the comparison unit.
  • the period information PI for all measurement features 250 e.g. pole head-pole valley pairings 254
  • Fig. 8 shows a graph with a representation of measured periods when the measuring body is accelerated.
  • period information PI in particular local periods
  • N the period of the respective pole head-pole valley pairings 254 decreases during acceleration.
  • Fig. 8 also shows that even when the rotary measuring body 240 is accelerated, the period information (upper measurement series) for a pole head 256 can be distinguished from the period information (lower measurement series) for a pole valley 258. Due to the distortion of the period information due to the acceleration, the values from Fig.
  • Fig. 9 shows a graph with a representation of determined frequencies of the measurement characteristics when the measuring body is accelerated.
  • frequencies FR of the respective pole head-pole valley pairing are shown.
  • the frequency values represent the reciprocal values of the periods.
  • the frequencies FRK of the pole heads 256 and the frequencies FRT of the pole valleys 258 are shown.
  • the period information associated with the pole head 256 can be distinguished from the period information associated with the pole valley 258.
  • the averaged values are also shown using a straight line FRKL for the frequencies FRKL of the pole heads 256 and a straight line FRTL for the frequencies FRT of the pole valleys 258.
  • the frequencies of the period information from Fig. 8 are shown.
  • the straight lines FRKL, FRTL with an offset and a gradient can be determined from the frequency values of the respective periods. These can be used to compensate for the acceleration of the vehicle speed or the rotation of the rotating part 1100.
  • Linear regression can be performed based on all frequencies (i.e. the frequencies of the pole heads and the frequencies of the pole valleys). Linear regression can be formed based on averaged values of the frequencies, i.e. linear regression is formed based on local averaged frequencies. The local averaged frequencies can be used to calculate the local frequencies. Based on a determined frequency compensation function, the local frequencies of all measurement features can be determined. A local period can be determined from a local frequency.
  • the linear regression can be carried out separately for the periods of the pole heads and for the pole valleys.
  • the different sizes of the periods (e.g. pole head 40% and pole valley 60%) of a pole head-pole valley pairing relative to the size of the pole wheel must be taken into account. This can be done by a suitable weighting. For example, each coefficient can be multiplied by the relative size of the pole head or pole valley.
  • the weighted coefficients of the linear regression for the pole heads and for the pole valleys can be combined to obtain a relative period weighting coefficient PWKS. If the weighted coefficients If the linear regression coefficients for the polar heads and for the polar valleys are treated separately, then relative period weighting coefficients can be obtained.
  • Fig. 10 shows a graph with a representation of periods stored in a memory during an acceleration of the measuring body.
  • Fig. 10 shows a comparison of the relative periods that have been determined from different calculation methods during an acceleration.
  • the acceleration is at least partially constant.
  • various period information PI is shown for the pole heads and the pole valleys, which were recorded during an acceleration of the rotating part 1100.
  • This period information PI can be stored in the memory 261.
  • the period information contains relative local periods TLR and relative period weighting coefficient sums PWKS.
  • Fig. 11 shows a graph showing relative errors in stored periods.
  • Fig. 11 shows the relative errors for different methods for determining the period information.
  • Fig. 11 shows the error when using local values PFL of the period information.
  • the errors are approximately 5%.
  • period information PMR based on mean values is shown, which has an error of between 0.9% and 0.2%.
  • the periods can have a hyperbolic behavior, so that the changes become smaller with increasing speed, which also leads to a reduction in errors.
  • the data can be compared with the actual measurement characteristics in order to obtain an association between the measurement characteristics and the stored period information. This is described below.
  • Fig. 12 shows a graph with a representation of a cluster of period information of pole teeth and pole valleys.
  • Fig. 12 shows the stored period factors PF and the determined relative periods TR for the pole heads (top row) and for the pole valleys (bottom row).
  • a phase shift PV can exist between the values of the period factors PF and the relative periods TR.
  • Fig. 12 shows an example of a phase shift PV.
  • the phase shift PV means that the period factors cannot be directly compared with the stored relative periods TR. First, an offset or the phase shift PV should be determined.
  • Fig. 13 shows a graph showing a correlation between recorded periods and periods stored in memory (e.g. a table memory).
  • a correlation between the measured period factors PF and the stored relative periods TR is determined. This can be done by calculating the square of the determination coefficient, which can be between 0 and +1, where 0 indicates no linear dependence and +1 indicates an exact match.
  • the determination coefficient is essentially 0.96 but at exactly one point 1 , i.e. there appears to be an exact match between a determined relative period and a stored pole factor PF. However, since the difference is only 0.04, it is possible that this was caused by noise, for example.
  • Fig. 14 shows a graph with a representation of a cluster of period factors of pole teeth and pole valleys.
  • the pole head-pole valley pairings can be evenly distributed over the circumference of the pole wheel 242. This also means that the ratio between the width of the pole heads and the pole valleys is even as long as there are no errors. This can be advantageous with regard to the effects of random deviations such as noise.
  • Fig. 14 shows a comparison of the measured period factors PFM with the period factors for the pole heads and for the pole valleys. As expected, two clusters result, namely pole heads at the bottom left and pole valleys at the top right. This makes it possible to determine for each measurement and for each entry in the memory 261 whether this is a pole head or a pole valley.
  • the pole valleys can, for example, be one and a half times as wide as the pole heads. This results in two separate accumulation points of the periods forming.
  • Fig. 15 shows a graph with a representation of a correlation of period information of pole teeth. While in Fig. 12 the determination coefficients for pole heads and pole valleys have been determined, in Fig. 15 only the determination coefficients for the pole heads are determined. As can be seen in Fig. 15, this results in a more precise correlation, namely a correlation of 1, and for the other cases a correlation coefficient of less than 0.1 (compared to 0.96) results. Fig. 15 thus makes it clear that a clearer result is obtained when the pole head periods and pole valley periods are processed separately.
  • Fig. 16 shows a flow chart of a method for measuring the rotation of a rotating part of a vehicle.
  • a rotation measurement of a rotating part 1100 of a vehicle 1000 is carried out by means of a rotation measuring device 200, which has a rotary measuring body 240, which has a plurality of measuring features 250 along a circular path 248 of the measuring body 250 and can be fastened to the rotating part 1100 in a rotationally fixed manner and has a rotation measuring sensor 220.
  • step S1 at least one of the measuring features 250 is detected during a rotational movement R of the rotary measuring body 240 by interaction WW of the at least one measuring feature 250 with the rotation measuring sensor 220.
  • an output takes place an output signal (220a) on the basis of the detected interactions (WW).
  • step S3 at least one period information TI of at least one measurement feature 250 is detected based on an output signal 220a of the rotation measuring sensor 220, wherein the at least one period information TI is based on a time interval Z that the at least one measurement feature 250 requires to pass the rotation measuring sensor 220 during the rotational movement R.
  • step S4 period information TI of at least one measurement feature 250 detected by means of a learning process is pre-stored in a memory 261.
  • step S5 period information TI pre-stored in the memory 261 is compared with period information TI of current measurement features 250 in order to detect deviations, inaccuracies and/or damage to the at least one measurement feature 250.
  • the above rotation measurement sequence can optionally be carried out twice.
  • a first teach-in process can be carried out to fill the memory 261 (e.g. a magnet wheel table) with values. No comparison takes place in this process step.
  • the memory 261 is initially only filled with data.
  • This step can then be repeated continuously during operation in order to determine the current comparison data and carry out the comparison.
  • the measured value can optionally be standardized to the relative period or period factor.
  • period information can be stored, for example, as the period factors.
  • the period information acquired during operation can represent relative periods. But both period information can be based on the same mathematical construct, and can be generated at different times.
  • Fig. 17 shows a highly schematic view of a vehicle 1000 with a rotation measuring system 300 with a number of four rotation measuring devices 200 according to the second aspect of the invention.
  • the vehicle 1000 can, as shown here, be designed as a passenger car 1002. In other embodiments, the vehicle 1000 can be designed differently, for example as a commercial vehicle 1004.
  • the vehicle has two axles 530, namely a front axle 532 and a rear axle 534.
  • the rear axle 534 is driven by a drive 1102 via a drive shaft 1104 and a differential 1106.
  • Two wheels 540 are attached to each axle 530.
  • a first wheel 540.1 with a first rotation measuring device 200.1 and a second wheel 540.2 with a second rotation measuring device 200.2 are arranged on the front axle 532, and a third wheel 540.3 with a third rotation measuring device 200.3 and a fourth wheel 540.4 with a fourth rotation measuring device 200.4 are arranged on the rear axle 534.
  • the respective wheel 540 thus represents the rotating part 1100 for the associated rotation measuring device 200.
  • the first rotation measuring device 200.1 is connected to an electronic control device 700 in the form of a vehicle control unit 702 by means of a first rotation measuring signal line 710.1.
  • the remaining rotation measuring devices 200.2, 200.3, 200.4 are each connected to the electronic control device 700 via a rotation measuring signal line 710.2, 710.3, 710.4.
  • the rotary measuring system has an electronic control unit (ECU) which is implemented in a particularly advantageous manner within the framework of a computing and data processing device.
  • the signal processing device and/or the electronic control unit (ECU) can advantageously be a microcontroller; for example, an ASIC component (application-specific integrated circuit, ASIC, also custom chip).

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
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Abstract

L'invention concerne un appareil de mesure de rotation (200) et un procédé de mesure de la rotation d'une partie rotative (1100) d'un véhicule (1000) au moyen de l'appareil de mesure de rotation (200). L'invention comprend : - un dispositif de traitement de signal (260) qui est conçu pour enregistrer au moins un élément d'informations de durée (TI) d'au moins une caractéristique mesurée (250) sur la base d'un signal de sortie (220a) du capteur de mesure de rotation (220), ledit élément d'informations de durée (TI) étant basé sur un intervalle de temps (Z) requis pour que ladite caractéristique mesurée (250) dépasse le capteur de mesure de rotation (220) pendant le mouvement de rotation (R); - un moyen de mémoire (261) qui est conçu pour stocker des éléments d'informations de durée (TI) précédemment enregistrés de ladite caractéristique mesurée (250); et - une unité de comparaison (262) qui est conçue pour comparer des éléments d'informations de durée (TI) préalablement stockés dans le moyen de mémoire (261) à des informations de durée (TI) actuelles d'au moins une caractéristique mesurée (250) afin d'enregistrer des changements dans ladite caractéristique mesurée (250) et/ou le corps de mesure de rotation (240).
PCT/EP2024/061390 2023-06-06 2024-04-25 Appareil de mesure de rotation, système de mesure de rotation, véhicule et procédé de mesure de la rotation d'une partie rotative d'un véhicule Ceased WO2024251429A1 (fr)

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DE102023114888.5A DE102023114888A1 (de) 2023-06-06 2023-06-06 Drehmesseinrichtung, Drehmesssystem, Fahrzeug und Verfahren zur Drehmessung eines rotierenden Teils eines Fahrzeugs

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DE102009024020A1 (de) * 2008-06-26 2010-01-07 Infineon Technologies Ag Dreherfassungsverfahren und -system
FR2988848A1 (fr) * 2012-03-28 2013-10-04 Renault Sa Perfectionnement de la mesure de vitesse de rotation d'une roue
US20150369635A1 (en) * 2014-06-20 2015-12-24 Infineon Technologies Ag Rotary speed sensor
DE102015222863A1 (de) * 2015-11-19 2017-05-24 Volkswagen Aktiengesellschaft Verfahren zum Ermitteln einer Drehgeschwindigkeit einer sich rotierenden Welle

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DE102007030432B4 (de) * 2007-06-29 2023-03-16 Continental Automotive Technologies GmbH Verfahren zur Drehrichtungserkennung eines Encoders
DE102021123244A1 (de) * 2021-09-08 2023-03-09 Zf Cv Systems Global Gmbh Signalverarbeitungsvorrichtung, Drehmesseinrichtung, Drehmesssystem und Fahrzeug

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Publication number Priority date Publication date Assignee Title
DE102009024020A1 (de) * 2008-06-26 2010-01-07 Infineon Technologies Ag Dreherfassungsverfahren und -system
FR2988848A1 (fr) * 2012-03-28 2013-10-04 Renault Sa Perfectionnement de la mesure de vitesse de rotation d'une roue
US20150369635A1 (en) * 2014-06-20 2015-12-24 Infineon Technologies Ag Rotary speed sensor
DE102015222863A1 (de) * 2015-11-19 2017-05-24 Volkswagen Aktiengesellschaft Verfahren zum Ermitteln einer Drehgeschwindigkeit einer sich rotierenden Welle

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