• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The invention relates to a system comprising: an encoder (1) whose magnetic track (2) has an alternation of magnetic poles North and South separated by i transitions (3) spiral Archimedes; a rotation sensor adapted to detect the periodic magnetic field emitted by said encoder by means of a plurality of sensitive elements (4), the sensitive elements (4) being distributed angularly along the magnetic track (2) forming between at least two elements sensitive (4) an angle α which is arranged so that the signals delivered by said elements are in quadrature.
    公开号:FR3055959A1
    申请号:FR1658522
    申请日:2016-09-13
    公开日:2018-03-16
    发明作者:Christophe Duret；Cecile Flammier
    申请人:NTN SNR Roulements SA；
    IPC主号:
    专利说明:

    055 959
    58522 ® FRENCH REPUBLIC
    NATIONAL INSTITUTE OF INDUSTRIAL PROPERTY © Publication number:
    (to be used only for reproduction orders)
    ©) National registration number
    COURBEVOIE © IntCI 8 : G 01 D 5/12 (2017.01)
    PATENT INVENTION APPLICATION
    A1
    ©) Date of filing: 13.09.16.(© Priority: © Applicant (s): NTN-SNR ROULEMENTS - FR. ©) Date of public availability of the request: 16.03.18 Bulletin 18/11. @ Inventor (s): DURET CHRISTOPHE and FLAMMIER CECILE. ©) List of documents cited in the preliminary search report: See the end of this booklet (© References to other related national documents: ® Holder (s): NTN-SNR ROULEMENTS. ©) Extension request (s): (© Agent (s): STRATO-IP Limited liability company.
    £> 4 / SYSTEM FOR DETERMINING AT LEAST ONE ROTATION PARAMETER OF A ROTATING MEMBER.
    FR 3 055 959 - A1 (5 /) The invention relates to a system comprising: an encoder (1), the magnetic track (2) of which alternates North and South magnetic poles separated by i spiral transitions (3) Archimedes; a rotation sensor capable of detecting the periodic magnetic field emitted by said encoder by means of several sensitive elements (4), the sensitive elements (4) being angularly distributed along the magnetic track (2) forming between at least two elements sensitive (4) an angle a which is arranged so that the signals delivered by said elements are in quadrature.

    The invention relates to a system for determining at least one parameter of rotation of a rotating member, said system comprising an encoder emitting a periodic magnetic signal as well as a rotation sensor capable of detecting said magnetic field.
    In many applications, it is desired to know in real time and with optimal quality at least one parameter of rotation of a rotating member, such as its position, its speed, its acceleration or its direction of movement.
    To do this, document WO-2006/064169 proposes the use of an encoder intended to be integral with the movable member and on which a magnetic track is formed which is capable of emitting a pseudo-sinusoidal magnetic field at reading distance a sensor comprising several sensitive elements.
    Advantageously, each sensitive element can comprise at least one pattern based on a magnetoresistive material with tunnel effect (TMR in English for Tunnel MagnetoResistance) whose resistance varies as a function of the magnetic field detected, as for example described in the document. WO-2004/083881.
    To determine a displacement parameter of the movable member as a function of the evolution of the detected magnetic field, the document WO-2006/064169 provides for a combination of the signals representative of the resistance of each of the sensitive elements in order to deliver two signals in quadrature and of the same amplitude which can be used to calculate said parameter.
    In particular, the encoder comprises an alternating succession of North and South poles defining a polar width L P = - constant along the reading radius R for a given number N PP of pairs of poles, the sensitive elements being equally spaced by a distance y to be able to deliver quadrature signals.
    In certain applications, the encoder must have a small number of pairs of poles, typically less than 6, so that its polar width L P becomes large, in particular of the order of ten millimeters.
    However, these wide poles deliver a magnetic signal whose sinusoidality is poor at a low reading air gap, requiring the sensitive elements of the magnetic track to be moved away, which goes against the amplitude of said signal and therefore its good detection. by sensitive elements.
    In addition, large poles require a thickness of the encoder which is also greater in order to preserve the sinusoidality of the magnetic signal. This is not favorable for the integration of the encoder in reduced dimensions and complicates the magnetization process because a greater thickness must be saturated magnetically.
    Also known, in particular from document DE-103 09 027, are coders whose magnetic transitions between the North and South poles extend in an Archimedes spiral, each of said spirals being distributed over said coder by successive rotation of a angle -.
    r α Npp
    The advantage of this type of encoder is that the polar width L P of each of the poles along the radius of said encoder becomes independent of the number N PP of pairs of poles, which can thus reconcile a small number of poles with an adequate positioning of the sensitive elements. relative to the sinusoidality and the amplitude of the magnetic signal to be detected.
    However, the prior art proposes a positioning of the sensitive elements along the radius of such an encoder, which poses a certain number of problems.
    In particular, to satisfy the compromise between sinusoidality and amplitude, the sensitive elements are arranged at an air gap distance from the magnetic track which is of the order of y. Thus, in particular in order not to risk a mechanical interaction between the fixed sensor and the rotary encoder, the pole width L P must typically be between 2 and 6 mm.
    However, to avoid the edge effects of the magnetic field delivered by the encoder, the sensitive elements must be positioned relative to the magnetic track with at least one pair of poles on each side, i.e. two L P on each side in addition to l '' radial dimensions required for the provision of sensitive elements.
    As a result, the encoder must have a significant height, in particular greater than 6.L P , height which may not be available in certain integrations.
    The invention aims to solve the problems of the prior art by proposing in particular a system for determining at least one parameter of rotation of a rotating member, in which the compromise between the periodicity and the amplitude of the detected magnetic signal can be satisfied without inducing a specific space constraint for the coder delivering said signal, and this in particular in relation to a magnetic coder with a low number of pairs of poles.
    To this end, the invention provides a system for determining at least one parameter of rotation of a rotating member, said system comprising:
    an encoder intended to be associated in rotation with the rotating member so as to move jointly with it, said encoder comprising a body on which a magnetic track is formed which is capable of emitting a periodic magnetic signal representative of the rotation of said encoder , said track having an alternation of North and South magnetic poles separated by i transitions, each of said transitions extending along an Archimedes spiral defined in polar coordinates relative to the axis of rotation by the equation p = WppLp . ( Q + Θϊ), N pp being the number of pairs of poles of the magnetic track and L P the polar width of each of the poles along the radius of said encoder, the angle θί of rotation of the i th spiral with respect to the first spiral being equal to i with i between 0 and 2.N PP -1;
    a rotation sensor capable of detecting the periodic magnetic field emitted by said encoder by means of several magnetic sensitive elements, angularly distributed along the magnetic track by forming between at least two sensitive elements an angle a which is arranged so that the signals delivered by said elements are in quadrature.
    Other features and advantages of the invention will appear in the description which follows, given with reference to the appended figures, in which FIGS. 1 and 2 are schematic representations of a determination system according respectively to one embodiment of the invention, showing in particular the arrangement of the sensitive elements relative to the encoder.
    In connection with these figures, a system for determining at least one parameter of rotation of a rotating member relative to a fixed structure is described. In particular, the parameter of the rotating member can be chosen from its position, its speed, its acceleration or its direction of movement.
    In a particular application, the system can be used in connection with the control of a brushless direct current electric motor, making it possible in particular to know the absolute angular position on a pair of motor poles of the rotor relative to the stator.
    The determination system comprises an encoder 1 intended to be integral with the rotating member so as to move jointly with it, said encoder comprising a body, in particular annular but which can also be discoidal, on which a magnetic track 2 is formed which is capable of emitting a periodic magnetic signal representative of the rotation of said encoder. In particular, the magnetic signal emitted can be sinusoidal or pseudo-sinusoidal, that is to say having at least a portion which can be approximated correctly by a sinusoid.
    Track 2 presents an alternation of North and South magnetic poles which are separated by i transitions 3, each of said transitions extending along an Archimedes spiral defined in polar coordinates (p, Θ) relative to the axis of rotation by the equation p = WppLp . (θ + θί), NPP being the number of pairs of poles of the magnetic track 2 and LP the polar width of each of the poles along the radius of said encoder, the angle θί of rotation of the i th spiral with respect to the first spiral being equal to ^ .i with i between 0 and 2.NPP-1.
    Thus, the magnetic track 2 delivers a pseudo sinusoidal magnetic signal whose spatial period is equal to λ = 2.L P. In addition, the spiral geometry of Archimedes allows in particular that the number N PP of pairs of poles of the magnetic track 2 as well as the polar width L P can be chosen independently of the radius R of the magnetic track 2.
    According to one embodiment, the encoder 1 is formed of a magnet on which the multipole magnetic track 2 is produced. In particular, the magnet can be formed from an annular matrix, for example made from a plastic or elastomer material, in which magnetic particles are dispersed, in particular ferrite or rare earth particles such as NdFeB.
    The determination system comprises a rotation sensor which is intended to be integral with the fixed structure, said sensor being able to detect the periodic magnetic field emitted by the encoder 1. To do this, the sensor comprises several magnetic sensitive elements 4 which are disposed at the reading gap of the magnetic field delivered by the magnetic track 2, each of the sensitive elements being able in particular to be chosen from magnetosensitive probes.
    For example, probes based on tunneling magnetoresistors (TMR), anisotropic magnetoresistors (AMR) or giant magnetoresistors (GMR) can measure a component of the magnetic field (normal or tangential to the encoder) or the rotating field (resulting from normal and tangential components).
    In particular, as described in document WO-2004/083881, each pattern forms a tunnel junction by comprising a stack of a reference magnetic layer, an insulating separation layer and a magnetic layer sensitive to the field to be detected. , the resistance of the stack being a function of the relative orientation of the magnetization of the magnetic layers.
    Advantageously, each sensitive element 4 can comprise at least one pattern based on a magnetoresistive material whose resistance varies as a function of the magnetic field, a sensitive element 4 can comprise a single pattern or a group of patterns connected in series.
    As a variant, the normal component alone of the magnetic field delivered by the encoder 1 can be measured, for example by means of Hall effect elements. The use of the normal field alone is favorable because it is more sinusoidal than the tangential field.
    To be able to determine the rotation parameter of the rotating member, the signals delivered by the sensitive elements 4 must be in quadrature, that is to say phase shifted by 90 °. In particular, by exploiting such signals in quadrature, in the sensor or in an associated computer, it is known to determine the angular position of the encoder 1, for example by direct calculation of an arctangent function, using a “Look-Up Table” (LUT) or using a CORDIC-type method.
    To do this, the sensitive elements 4 are distributed angularly along the magnetic track 2 by forming between at least two sensitive elements 4 an angle a which is arranged so that the signals delivered by said elements are in quadrature. According to the embodiments shown, the angle formed between the two sensitive elements 4 is equal to modulo -.
    α 2Npp Npp
    Thus, the circumferential distribution of the sensitive elements 4 makes it possible to overcome the effects of the edges of the magnetic field delivered by the encoder 1, making it possible to use an encoder 1 of height h limited, in particular less than
    6.L P. In particular, the sensitive elements 4 can be distributed angularly along a radius R, in particular the median radius in the figures, of the magnetic track 2 so as to be as far as possible from the edges of the encoder 1.
    In addition, by placing the sensitive elements 4 at a reading gap distance from the magnetic track 2 which is of the order of y, a good compromise is obtained between sinusoidality and amplitude of the detected signal. In particular, this optimal positioning can be obtained because the pole width L P can be between 2 and 6 mm, even with a number N PP of pairs of poles of the encoder 1 which is less than 6.
    Thus, the circumferential arrangement of the sensitive elements 4 has in particular the following advantages:
    - The distance between the two elements 4 is large enough to use discrete components (Hall 1 D probes) inexpensive and very linear;
    - the circumferential positioning tolerance of the elements 4 has little impact on the accuracy of the sensor (because the distance between them is great);
    the two elements 4 being located on the radius R in the middle of the encoder 1, they are little disturbed by the edge effects;
    - The arrangement of the sensitive elements 4 does not depend on the polar width L P ;
    - the reading radius R has very little influence on the quality of the magnetic signal.
    In relation to the figures, a system is particularly described below which is particularly suitable for driving an electric motor with four pairs of poles, said system providing the absolute position on a pair of motor poles, ie 90 ° mechanical.
    To do this, the encoder 1 comprises 4 pairs of poles (N PP = 4), the sensitive elements 4 delivering signals in quadrature on each of the pairs of poles so that the sensor or the engine control computer can determine the angular position. absolute over an angular sector of 90 °.
    In relation to FIG. 1, the sensor comprises two sensitive elements 4 forming between them an angle a of = 22.5 °. FIG. 2 represents an embodiment with three sensitive elements 4 separated two by two by an angle a of 22.5 °.
    In particular, this last embodiment allows two differential measurements of the magnetic field delivered (that of the left minus that of the center on the one hand, that of the center minus that of the right on the other hand). Thus, if the magnetic field includes a noise component coming from the outside (for example from the motor or neighboring interconnections) identical on the different sensitive elements 4, this will be subtracted from the output signal.
    Due to the good sinusoidality of the signal at a reading air gap of the order of y, the system can deliver the absolute angular position on a pair of motor poles of the rotor to the motor control computer precisely. which allows in particular:
    - better performance, especially at start-up, for example the time to reach the speed or position setpoint;
    - smoother operation, without torque jump in steady state;
    - lower energy consumption;
    - a lower operating temperature;
    - higher maximum torque.
    权利要求:
    Claims (9)
    [1" id="c-fr-0001]
    1. System for determining at least one parameter of rotation of a rotating member, said system comprising:
    - an encoder (1) intended to be associated in rotation with the rotating member so as to move jointly with it, said encoder comprising a body on which a magnetic track (2) is formed which is capable of emitting a periodic magnetic signal representative of the rotation of said encoder, said track having an alternation of North and South magnetic poles separated by i transitions (3), each of said transitions extending along an Archimedes spiral defined in polar coordinates with respect to the axis of rotation by the equation p = WppLp . (θ + θί), N PP
    7Γ being the number of pairs of poles of the magnetic track (2) and L P the polar width of each of the poles along the radius of said encoder, the angle θί of rotation of the i th spiral relative to the first spiral being equal to ^ .i with i between 0 and 2.N PP -1;
    - a rotation sensor capable of detecting the periodic magnetic field emitted by said encoder by means of several magnetic sensitive elements (4);
    said system being characterized in that the sensitive elements (4) are angularly distributed along the magnetic track (2) by forming between at least two sensitive elements (4) an angle a which is arranged so that the signals delivered by said elements are in quadrature.
    [2" id="c-fr-0002]
    2. Determination system according to claim 1, characterized in that the angle formed between the two sensitive elements is equal to modulo -.
    σ 2Npp Npp
    [3" id="c-fr-0003]
    3. Determination system according to one of claims 1 or 2, characterized in that the sensitive elements (4) are angularly distributed along a radius R of the magnetic track (2).
    [4" id="c-fr-0004]
    4. Determination system according to claim 3, characterized in that the sensitive elements (4) are angularly distributed along the median radius R of the magnetic track (2).
    [5" id="c-fr-0005]
    5 5. Determination system according to any one of claims 1 to 4, characterized in that the sensor comprises two sensitive elements (4).
    [6" id="c-fr-0006]
    6. Determination system according to any one of claims 1 to 5, characterized in that the encoder (1) has a height which is less than 6.L P.
    [7" id="c-fr-0007]
    7. Determination system according to any one of claims 1 to 6, characterized in that the sensitive elements (4) are arranged at a reading gap distance from the magnetic strip (2) which is of the order of y.
    15
    [8" id="c-fr-0008]
    8. Determination system according to any one of claims 1 to 7, characterized in that the number N PP of pairs of poles of the coder (1) is less than 6.
    [9" id="c-fr-0009]
    9. Determination system according to any one of claims 1 to 8,
    20 characterized in that the polar width L P of the encoder (1) is between 2 and 6 mm.
    National registration number
    FA 828728 FR 1658522
    EPO FORM 1503 12.99 (P04C14)
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    法律状态:
    2017-09-28| PLFP| Fee payment|Year of fee payment: 2 |
    2018-03-16| PLSC| Publication of the preliminary search report|Effective date: 20180316 |
    2018-09-24| PLFP| Fee payment|Year of fee payment: 3 |
    2019-09-26| PLFP| Fee payment|Year of fee payment: 4 |
    2020-09-14| PLFP| Fee payment|Year of fee payment: 5 |
    2021-09-21| PLFP| Fee payment|Year of fee payment: 6 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1658522A|FR3055959B1|2016-09-13|2016-09-13|SYSTEM FOR DETERMINING AT LEAST ONE PARAMETER OF ROTATION OF A ROTATING ORGAN|FR1658522A| FR3055959B1|2016-09-13|2016-09-13|SYSTEM FOR DETERMINING AT LEAST ONE PARAMETER OF ROTATION OF A ROTATING ORGAN|
    PCT/FR2017/052431| WO2018051011A1|2016-09-13|2017-09-12|System for determining at least one rotation parameter of a rotating member|
    CN201780056123.9A| CN110023720B|2016-09-13|2017-09-12|System for determining at least one rotation parameter of a rotating member|
    JP2019513950A| JP2019526808A|2016-09-13|2017-09-12|Determination system for determining at least one rotation parameter of a rotating member|
    US16/332,172| US10969252B2|2016-09-13|2017-09-12|System for determining at least one rotation parameter of a rotating member|
    EP17784347.1A| EP3513149A1|2016-09-13|2017-09-12|System for determining at least one rotation parameter of a rotating member|
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