阅读说明：本技术 带有距离值确定的感应式角度传感器 (Inductive angle sensor with distance value determination ) 是由 U·奥塞勒克纳 于 2020-11-27 设计创作，主要内容包括：在此公开了带有距离值确定的感应式角度传感器。在此描述的概念涉及一种感应式角度传感器,其具有带有激励振荡回路和拾波线圈装置的定子以及相对于定子可旋转布置的、带有感应式靶标装置的转子。激励振荡回路可用交流电流激励,以便在靶标装置中感应出感应电流,并且靶标装置可以设计为响应于感应电流产生磁场,磁场继而在拾波线圈装置中产生感应信号。角度传感器还具有电路,电路设计为从感应信号中导出代表感应信号的信号强度的感应强度信号,并基于感应强度信号确定转子与定子之间的空间距离并且产生相应的距离信号。本文所述的概念还涉及用于基于感应强度信号确定定子与转子之间的空间距离的相应方法。(Disclosed herein is an inductive angle sensor with distance value determination. The concept described herein relates to an inductive angle sensor having a stator with an excitation resonant circuit and a pick-up coil arrangement and a rotor with an inductive target arrangement, which is arranged rotatably relative to the stator. The excitation tank may be energised with an alternating current so as to induce an induced current in the target device, and the target device may be designed to generate a magnetic field in response to the induced current, which in turn generates an induced signal in the pick-up coil arrangement. The angle sensor also has a circuit which is designed to derive from the induction signal an induction intensity signal which represents the signal intensity of the induction signal, and to determine the spatial distance between the rotor and the stator on the basis of the induction intensity signal and to generate a corresponding distance signal. The concepts described herein also relate to a corresponding method for determining a spatial distance between a stator and a rotor based on an induction strength signal.)

1. An inductive angle sensor (100) having:

a stator (101) having an excitation oscillation circuit (103, 104) and a pickup coil device (105);

a rotor (102) which is arranged rotatably relative to the stator (101) and has an inductive target device (106),

wherein the excitation oscillation circuit (103, 104) is excitable with an alternating current in order to induce an inductive current in the target device (106), and wherein the target device (106) is designed to generate a magnetic field (116) in response to the inductive current, which magnetic field in turn generates a magnetic field (116) at the pick-upAn inductive signal (S) is generated in the wave coil device (105)_{i_PS1}，S_{i_PS2})，

Wherein the angle sensor (100) further comprises a circuit (108), the circuit (108) being designed to:

from the induction signal (S)_{i_PS1}，S_{i_PS2}) Deriving a signal representative of said sense signal (S)_{i_PS1}，S_{i_PS2}) Signal strength of (S) is detected_i) And an

Based on the induction intensity signal (S)_i) A spatial distance (107) between the rotor (102) and the stator (101) is determined and a corresponding distance signal (204) is generated.

2. The inductive angle sensor (100) of claim 1,

wherein the circuit (108) is designed to: determining a calibrated rotation angle signal (phi ") representing a rotation angle between the stator (101) and the rotor (102)Wherein the signal (S) is based on the induction intensity_i) And determining the calibrated rotation angle signal (phi') taking into account the distance signal (204) representing the spatial distance (107) between the rotor (102) and the stator (101).

3. The inductive angle sensor (100) of claim 2,

wherein the circuit (108) is further designed to: determining an angle correction value (dphi ') on the basis of the distance signal (204) and taking the angle correction value (dphi ') into account when determining the calibrated rotation angle signal (phi ').

4. The inductive angle sensor (100) of claim 3,

wherein the circuit (108) is designed to: deciding an uncalibrated angular value (phi') determined independently of the spatial distance (107) between the rotor (102) and the stator (101), and wherein the circuit (108) is further designed to: combining the uncalibrated angle value (phi ') with the angle correction value (dphi') to determine the calibrated rotation angle signal (phi ").

5. The inductive angle sensor (100) of any one of claims 1 to 4,

wherein the induction intensity signal (S)_i) Is varied in dependence on the position of the rotor (102) relative to the stator (101), and wherein the circuit (108) is designed to reduce and/or compensate for this dependence and to determine a corresponding position-corrected induction intensity signal (S)_i＝S_{i_St_korr}) And an

Wherein the circuit (108) is further designed to: corrected induction intensity signal (S) based on said position_i＝S_{i_St_korr}) Determining the calibrated rotation angle signal (phi ").

6. The inductive angle sensor (100) of any one of claims 1 to 5,

wherein the induction intensity signal (S)_i) Is dependent on the current intensity (I) in the excitation oscillating circuit (103, 104)₁) And wherein said circuit (108) is designed to reduce and/or compensate for this dependency and to determine a corresponding current strength corrected sense strength signal (S)_{i_I1_korr}) And an

Wherein the circuit (108) is further designed to: corrected induction intensity signal (S) based on said current intensity_{i_I1_korr}) Determining the calibrated rotation angle signal (phi ").

7. The inductive angle sensor (100) of any one of claims 1 to 6,

wherein the circuit (108) is designed to: exciting the current intensity (I) in the oscillating circuit (103)₁) With said induction intensity signal (S)_i) Are placed in a relationship (S) with each other_i/I₁) And based on the relationship (S)_i/I₁) -determining the spatial distance (107) between the rotor (102) and the stator (101) and outputting as a corresponding distance signal (204).

8. The inductive angle sensor (100) of any one of claims 1 to 6,

wherein the pickup coil arrangement (105) has a first pickup coil pair (115) with a first pickup coil (115a) and a second pickup coil (115b) and a second pickup coil pair (125) with a third pickup coil (125a) and a fourth pickup coil (125b),

wherein the target device (106) has a first inductive target (106a) and a second inductive target (106b), wherein the first pickup coil pair (115) has a first spatial distance (107a) to the first inductive target (106a), and wherein the second pickup coil pair (125) has a second spatial distance (107b) to the second inductive target (106b), the second spatial distance being different from the first spatial distance (107a),

wherein the first pickup coil pair (115) generates a first pickup coil pair signal (S)_{i_PS1}，S_{i_PS2}) A first coil pair induction strength signal (S) is derived from said first pick-up coil pair signal_{i_first}) (ii) a And wherein the second pickup coil pair (125) generates a second pickup coil pair signal (S)_{i_PS3}，S_{i_PS4}) Deriving a second coil pair induction strength signal (S) from said second pick-up coil pair signal_{i_second}) And an

Wherein the circuit (108) is designed to: inducing an intensity signal (S) with the first coil pair_{i_first}) And said second coil pair induction intensity signal (S)_{i_second}) Are placed in a relationship (S) with each other_{i_first}/S_{i_second}) And based on the relationship (S)_{i_first}/S_{i_second}) -determining the spatial distance (107) between the rotor (102) and the stator (101).

9. The inductive angle sensor (100) of claim 8,

wherein the circuit (108) is designed to: generating a distance signal (204) representing the spatial distance (107) between the rotor (102) and the stator (101), and

determining a first angle correction value (dphi3') for the first pick-up coil pair (115) and a second angle correction value (dphi4') for the second pick-up coil pair (125) based on the distance signal (204), and taking into account the first angle correction value (dphi3') and the second angle correction value (dphi4') when determining the calibrated rotation angle signal (phi "),

wherein the circuit (108) is further designed to: -determining a first misalignment angle value (phi3') for the first pick-up coil pair (115) and a second misalignment angle value (phi4') for the second pick-up coil pair (125), wherein the misalignment angle values (phi3', phi4') are determined independently of the spatial distance (107) between the rotor (102) and the stator (101), respectively, and wherein the circuit (108) is further designed to: combining the first uncalibrated angle value (phi3') with the first angle correction value (dpi 3') and the second uncalibrated angle value (phi4') with the second angle correction value (dpi 4') to determine the calibrated rotation angle signal (phi ").

10. The inductive angle sensor (100) of claim 9,

wherein the circuit (108) is designed to: obtaining a first calibrated intermediate angle of rotation value (phi3 ") when combining the first uncalibrated angle value (phi3') with the first angle correction value (dpi 3'), and a second calibrated intermediate angle of rotation value (phi 4") when combining the second uncalibrated angle value (phi4') with the second angle correction value (dpi 4'), and

wherein the circuit (108) is further designed to: deciding the calibrated rotation angle signal (phi ") based on a combination of the first calibrated rotation angle intermediate value (phi 3") and the second calibrated rotation angle intermediate value (phi4 ").

11. The inductive angle sensor (100) of any one of claims 8 to 10,

wherein the first pickup coil (115a) is arranged offset with respect to the second pickup coil (115b) such that a first pickup coil signal (S) is induced in the first pickup coil (115a)_{i_PS1}) With respect to a second pickup coil signal (S) induced in the second pickup coil (115b)_{i_PS2}) Phase shifted by 90 DEG and wherein the first coil pair induces an intensity signal (S)_{i_first}) Having said first pick-up coil signal (S)_{i_PS1}) And the second pick-up coil signal (S)_{i_PS2}) Combinations of (a) and (b).

12. Inductive angle sensor (100) according to any one of claims 8 to 11

Wherein the third pickup coil (125a) is arranged offset with respect to the fourth pickup coil (125b) such that a third pickup coil signal (S) is induced in the third pickup coil (125a)_{i_PS3}) With respect to a fourth pick-up coil signal (S) induced in said fourth pick-up coil (125b)_{i_PS4}) Phase shifted by 90 DEG and wherein said second coil pair induces a strength signal (S)_{i_second}) Having said third pick-up coil signal (S)_{i_PS3}) And the fourth pick-up coil signal (S)_{i_PS4}) Combinations of (a) and (b).

13. The inductive angle sensor (100) of any one of claims 8 to 12,

wherein the first pick-up coil pair (115) has n-fold symmetry and the second pick-up coil pair (125) has m-fold symmetry, where m is n + x, where m, n and x are integer variables,

and wherein the first inductive target (106a) has n-fold symmetry and the second inductive target (106b) has m-fold symmetry, wherein m is n + x, wherein m, n and x are integer variables.

14. A method (800) for operating an inductive angle sensor (100) having a stator (101) and a rotor (102) movable relative to the stator (101), wherein the stator (101) has an excitation tank (103, 104) and a pick-up coil arrangement (105), and wherein the rotor (102) has an inductive target arrangement (106), wherein the method (800) has the following steps:

exciting the excitation tank (103, 104) with an alternating current, thereby inducing an inductive current in the target device (106), and the target device (106) generating a magnetic field (116) in response to the inductive current, which in turn generates an inductive signal (S) in the pick-up coil arrangement (105)_{i_PS1}，S_{i_PS2})，

Determining a signal representative of said sense signal (S)_{i_PS1}，S_{i_PS2}) Signal strength of (S) is detected_i) And an

Based on the induction intensity signal (S)_i) Determining a spatial distance (107) between the rotor (102) and the stator (101).

15. Computer program having a program code for performing the method according to claim 14, when the program runs on a computer.

Technical Field

The present invention relates to an inductive angle sensor for determining a rotation angle between a stator and a rotor. Some embodiments may provide that the inductive angle sensor uses a calibrated rotation angle signal for determining the rotation angle, which calibrated rotation angle signal is determined taking into account the spatial distance between the rotor and the stator. Further embodiments relate to a corresponding method for determining a rotation angle between a stator and a rotor based on a calibrated rotation angle signal. Further embodiments relate to a computer program having a program code for performing the method.

Background

Inductive angle sensors use inductance as well as induced eddy currents and corresponding magnetic fields. Their structure differs from classical magnetic field sensors, such as hall sensors or Magnetoresistive (MR) sensors, such as AMR sensors (AMR: anisotropic magnetoresistance), TMR sensors (TMR: tunnel magnetoresistance) or GMR sensors (GMR: giant magnetoresistance).

Inductive angle sensors usually have an excitation oscillation circuit as well as an inductive target and a receiving coil, which may also be referred to as a pick-up coil. The excitation tank can be excited with an alternating voltage or an alternating current, which generates a magnetic field that in turn induces an induced current in the target. This induced current in the target in turn causes a corresponding magnetic field to be formed which generates an induced signal, such as an induced current or an induced voltage, in the pick-up coil.

The target and the pick-up coil are arranged relative to each other such that they are opposed. Furthermore, the induced signal received by the pick-up coil depends on the angle-specific position or location of the target with respect to the pick-up coil, i.e. the signal strength of the induced signal varies depending on the angle-specific position of the target with respect to the pick-up coil. This can be used to determine the rotation angle of the target relative to the pick-up coil.

Inductive angle sensors do not work precisely in certain applications. One reason for this is that the accuracy of the induced signal depends on factors such as the quality of the excitation tank, the number and geometry of the coils used, or the spatial distance between the individual coils.

The improvement in the quality of the tank circuit (and the increase in the number of components) is associated with higher costs, the spatial distance between the individual sensor components being generally invariably defined by the construction technology used, or being variable only within narrow limits.

It is therefore desirable to improve existing inductive angle sensors in such a way that they deliver accurate signals and are inexpensive to manufacture.

Disclosure of Invention

An inductive angle sensor according to the invention is therefore proposed.

The angle sensor has a stator with an excitation resonant circuit and a pick-up coil arrangement, and a rotor arranged rotatably relative to the stator with an inductive target arrangement. The excitation tank may be excited with an alternating current to induce an induced current in the target device. The target device is in turn designed to generate a magnetic field in response to the induced current, which in turn generates an induced signal in the pick-up coil device. Furthermore, the angle sensor according to the innovative concept described herein has a circuit designed to: an induction strength signal representing the signal strength of the induction signal is derived from the induction signal, and based on the induction strength signal, the spatial distance between the rotor and the stator is determined and a corresponding distance signal is generated.

Embodiments and further advantageous aspects of the inductive angle sensor are given below.

Drawings

Some embodiments are shown by way of example in the drawings and are explained below. The display is as follows:

figure 1 shows a schematic side view of an inductive angle sensor according to one embodiment,

figure 2 shows a schematic block diagram of the circuitry of an inductive angle sensor according to one embodiment,

figure 3 shows a schematic top view of an excitation tank or excitation coil and pick-up coil pair of an inductive angle sensor according to an embodiment,

figure 4 shows a schematic block diagram of the circuitry of an inductive angle sensor according to one embodiment,

figure 5 shows a schematic diagram of a stator, a rotor and a circuit of an inductive angle sensor with a pair of pick-up coils according to one embodiment,

figure 6A shows a schematic diagram of a stator, a rotor and a circuit of an inductive angle sensor with two pairs of pick-up coils according to one embodiment,

figure 6B shows a schematic side view of a stator with two pick-up coil pairs and a rotor with two inductive targets according to one embodiment,

FIG. 7 shows a schematic diagram of a stator and a circuit of an inductive angle sensor according to an embodiment, an

FIG. 8 shows a block diagram of a method according to an embodiment.

Embodiments are described in more detail below with reference to the drawings, in which elements having the same or similar functions have the same reference numerals.

The method steps shown in the block diagrams and described with reference to the block diagrams can also be carried out in a different order than shown or described. In addition, method steps relating to a particular feature of a device may be interchanged with that same feature of the device, which may apply vice versa.

Detailed Description

Fig. 1 shows a first embodiment of an inductive angle sensor 100 according to the inventive concepts described herein.

The inductive angle sensor 100 has a stator 101 and a rotor 102 arranged rotatably relative to the stator 101. The inductive angle sensor 100 is designed to determine the actual or true angle of rotation between the rotor 102 and the stator 101Actual angle of rotationAlso referred to herein as phi.

The stator 101 has an excited oscillation circuit 103. The excitation tank 103 may have at least one inductance, for example a corresponding excitation coil 104. The excitation coil 104 is electrically conductive and may have one or more turns. Excitation coil 104 may also be referred to as an excitation coil. The excitation tank 103 may optionally have an oscillator and, in addition, optionally a resistor and/or a capacitor (not shown). The stator 101 may also have a pick-up coil arrangement 105, which may also be referred to as a receiving coil arrangement.

The rotor 102, which is rotatably arranged with respect to the stator 101, may have at least one induction target device 106. The target device 106 may likewise have a coil with one or more turns or be designed as such a coil. Alternatively, the target device 106 may have a solid member, such as a stamped metal plate, or be so designed.

In principle, the excitation tank 103 or the excitation coil 104 and the pick-up coil arrangement 105 and the target arrangement 106 may be arranged along a common rotation axis 109 or perpendicularly to each other along the common rotation axis 109. The excitation coil 104, the pick-up coil arrangement 105 and the target arrangement 106 may be arranged concentrically around a common rotational axis 109. The respective diameters of the excitation coil 104 and the pick-up coil arrangement 105 and the target arrangement 106 may be different. For example, the diameter of the excitation coil 104 may be larger than the diameter of the pick-up coil arrangement 105 and/or the target arrangement 106.

The excitation resonant circuit 103, in particular the excitation coil 104, can be excited by an alternating current or an alternating voltage. In response to this alternating current or alternating voltage, the excitation coil 104 may generate a magnetic field 114, which may be directed outwards, in particular in the direction of the rotor 102. A target device 106 disposed in or on the rotor 102 is magnetically coupled to an excitation coil 104 disposed in or on the stator 101. That is, the target device 106 may receive the magnetic field 114 generated by the excitation coil 104, thereby inducing a corresponding induced current in the target device 106. The excitation coil 104 may be rotationally symmetric. Thus, an induced current flows in the target device 106, which induced current is related to the actual rotation angle of the rotor 102 relative to the stator 101Is irrelevant. The induced current induced in the target device 106 in turn causes in its own right a magnetic field 116 in the target device 106, which may be directed outwards, in particular in the direction of the stator 101. The magnetic field 116 may have a magnetic field pattern that depends on the geometry of the target device 106. That is, the generated magnetic field pattern may be fixedly coupled toThe corresponding target device 106.

The magnetic field 116 emitted from the target device 106 may be received by the pick-up coil device 105 arranged in or on the stator 101. If the rotor 102 moves relative to the stator 101, the magnetic field 116 or corresponding magnetic field pattern emanating from the target device 116 also moves relative to the stator 101. That is, when the observer rotates in synchronism with the target device 106, he does not see the change in the magnetic field. In contrast, in the stator 101, which is movable relative to the rotor 102, the change in the magnetic field can be seen at a fixed position, since the entire magnetic field pattern is also moving. Thereby, in the pickup coil device 105, an induced signal S is induced in response to the changing magnetic field 116_{i_PS1}，S_{i_PS2}Such as an induced current or an induced voltage. Two sensing signals S_{i_PS1}，S_{i_PS2}Can be derived from the corresponding sensed intensity signal S_iEmbodying the sense strength signal, in turn, from two sense signals S_{i_PS1}，S_{i_PS2}And (4) deriving. The details of this will be explained in more detail below. Induction intensity signal S_iMay depend on the strength of the received magnetic field 116.

The strength of the magnetic field 116 at the fixed position may depend on the current orientation, i.e. on the actual angle of rotation between the rotor 102 and the stator 101But not if the position moves/rotates synchronously with the rotor 102. However, when the spatial distance 107 between the rotor 102 and the stator 102 changes, the strength of the earth magnetic field 116 changes in contrast, and the signal strength changes accordingly, which can be derived from the induced strength signal S_iTo be embodied.

As shown schematically in fig. 1 and not to scale, the type of construction defines a variable spatial distance 107 between the stator 101 and the rotor 102. The spatial distance 107 may be measured between two opposing surfaces 101a, 102a of the rotor 102 and the stator 101. For example, there may be air between the rotor 102 and the stator 101, which is why the spatial distance 107 may also be referred to as an air gap (abbreviated "AG"). Alternatively, the spatial distance 107 may also be measured as an average distance between the rotor 102 and the stator 101, wherein the distance between the respective horizontally (i.e. perpendicular to the rotation axis 109) extending centre lines 101b, 102b of the rotor 102 and the stator 101 is measured. In this case, in addition to the air gap, the respective material thickness of the rotor 102 or the stator 101 must also be taken into account in the spatial distance 107.

The spatial distance 107 between the stator 101 and the rotor 102 may differ by structural definition, i.e. different inductive angle sensors of different construction types may have different spatial distances 107 between their respective rotors 102 and stators 101. Using the same construction type of angle sensor may also have different spatial distances 107 between its respective rotor 102 and stator 101 (e.g., based on assembly tolerances). The spatial distance 107 between the rotor 102 and the stator 101 may thus be unique to the angle sensor.

In addition, the pick-up coil arrangement 105 may have multiple coils and/or the target arrangement 106 may have multiple inductive targets, which in turn may have different spatial distances from each other.

However, different spatial distances 107 between the rotor 102 and the stator 101 and/or between the individual coils result in different signal strengths of the induced currents or magnetic fields 114, 116. This will determine the current actual rotation angle of the rotor 102 relative to the stator 101Resulting in inaccuracies and deviations. Thus, for example, an angle sensor with a large spatial distance 107 between the rotor 102 and the stator 101 will provide a weaker sensing signal S than a lower angle sensor_i: the angle sensor has a comparatively small spatial distance 107 between rotor 102 and stator 101. In addition, the spatial distance 107 unique to the angle sensor is typically unknown. Theoretically, for this purpose, the spatial distance 107 must be measured for each individual angle sensor 100 before it is delivered. However, in practice, this is not feasible due to the large consumption required and the high costs associated therewith.

The angle sensor 100 described herein provides a solution in this respect, namely in determining the actual angle of rotation between the rotor 102 and the stator 101The spatial distance 107 is taken into account. To this end, the angle sensor 100 can have a circuit 108 which is designed to: based on the induction intensity signal S_iA spatial distance 107, also referred to as air gap (abbreviated to "AG"), between rotor 102 and stator 101 is determined and a corresponding distance signal 204 is generated (S)_AG)。

Fig. 2 shows a schematic block diagram of a corresponding circuit 108 according to the inventive concepts described herein. The circuit 108 may have, for example, an angle calculation unit 201, a distance determination unit 202, and a calibration unit 203.

The circuitry 108 may determine the calibrated rotation angle signal 110, also referred to herein as phi "or" using, for example, the aforementioned distance signal 204The calibrated rotation angle signalIndicating the current actual angle of rotation between the stator 101 and the rotor 102However, in contrast to conventional angle sensors, the calibration rotation angle signal phi ″ may be based on the induction intensity signal S_iAnd/or determined based on the distance signal 204 (i.e., taking into account the spatial distance 107 between the rotor 102 and the stator 101). That is, the spatial distance 107 may be determined and based on the sensed intensity signal S_iDetermining the actual angle of rotationAre included together. Thus, inductive angle sensor 100 according to the inventive concepts described herein provides correction or compensation for the determinedThe rotation angle signal phi "of the spatial distance 107. This procedure is substantially comparable to calibration, so that the corresponding signal can also be referred to as the calibration rotation angle signal phi ".

The circuit 108 may also be designed to output the determined distance signal 204 to improve the reliability of the inductive angle sensor 100. For example, if the value of the distance signal 204 is too large, the signal may be unreliable and the inductive angle sensor 100 may switch to emergency operation. That is, the determination of the distance signal 204 may be used to improve the accuracy of the orientation and/or to improve the reliability of the inductive angle sensor 100.

One possibility for determining the distance signal 204 is explained in more detail below with reference to fig. 2. Can be derived from the induced signal S generated by the pick-up coil arrangement 105_{i_PS1}，S_{i_PS2}Derived induction intensity signal S_iMay be delivered to the angle calculation unit 201. The angle calculation unit 201 may be designed to be based on the induction intensity signal S_iAn uncalibrated rotation angle signal phi' representing the uncalibrated angle value is determined. The uncalibrated angle value phi' corresponds to the actual angle of rotation measured between the rotor 102 and the stator 101 with uncalibrated or coarse resolution, i.e. without taking into account the spatial distance 107 between the rotor 102 and the stator 101

Additionally, the strength signal S is induced_iMay be delivered to the distance determination unit 202. The distance determination unit 202 may be designed to determine the spatial distance 107 between the rotor 102 and the stator 101. For example, the distance determination unit 202 may be designed to determine the spatial distance 107 between the rotor 102 and the stator 101 based on the spatial distance between the pickup coil arrangement 105 and the target arrangement 106. Details of this are explained in more detail with reference to the following figures. The distance determination unit 202 may generate a distance signal 204 representing the determined spatial distance 107 between the rotor 102 and the stator 101.

The distance signal 204 output by the distance determination unit 202 may be fed to the calibration unit 203. The calibration unit 203 may be designed asAn angle correction value dphi 'is determined based on the distance signal 204 and a corresponding angle correction value signal dphi' is output. The angle correction value dphi 'indicates the measured angle of rotation phi' between the rotor 102 and the stator 101 compared to the actual angle of rotation between the rotor 102 and the stator 101Wherein the deviation is caused by the spatial distance 107 between the rotor 102 and the stator 101.

The circuit 108 may also have a combiner 205 which is designed to combine the angle correction value signal dphi' output by the calibration unit 203 with the uncalibrated rotation angle signal output by the angle calculation unit 201. Thus, the uncorrected rotation angle signal phi' output by the angle calculation unit 201, which represents the actual rotation angle between the rotor 102 and the stator 101 with a coarse resolution, can be corrected or compensated for the determined angle correction value dphiAs a result, the combiner 205 may output a corrected or calibrated rotation angle signal phi ". The calibrated rotation angle signal phi "represents the actual rotation angle between the rotor 102 and the stator 101 with a higher or more precise resolution, i.e. taking into account the spatial distance 107 between the rotor 102 and the stator 101In other words, the calibration unit 203 may thus be designed to: the angle correction value signal dphi 'is determined on the basis of the distance signal 204 and the corresponding angle correction value dphi' is taken into account in the determination of the calibration rotation angle signal phi ″.

For this purpose, the circuit 108 may be designed to determine the angle correction value signal dphi' from the distance signal 204, for example by means of a mathematical calculation rule, for example by means of a formula or an algorithm. Alternatively or additionally, the circuit 108 may be designed to decide the angle correction value signal dphi' from the distance signal 204 by means of a look-up table. The look-up table may be populated with values that correlate particular signal strengths of the distance signal 204 to specific values for the spatial distance 107 between the rotor 102 and the stator 101.

Fig. 3 shows a schematic diagram of the excitation tank 103 or the excitation coil 104 and the pick-up coil arrangement 105 according to an embodiment. In this embodiment, the pickup coil arrangement 105 may have a pickup coil pair 115 with a first pickup coil 115a and a second pickup coil 115 b.

The pick-up coil pair 115 or the two pick-up coils 115a, 115b of the pick-up coil arrangement 105 may have n-fold symmetry or n-fold rotational symmetry. In this non-limiting example, the pick-up coil arrangement 105 may have triple symmetry, i.e. n-3. For example, rotational symmetry is referred to as a body part that remaps to itself after being rotated a defined angle (i.e., 360/n) around its center. The rotation angle may be the entire angle divided by an integer n. This integer n is a characteristic factor of n times rotational symmetry, also called "multiplicity". Accordingly, the symmetry is also referred to as n-fold or n-fold rotational symmetry (similar to "n-fold rotational symmetry" in English) or "n-fold rotational symmetry". In other words, a body part can only have n-fold symmetry when it can be rotated around an axis by 360 ° × k/n (where n and k are integer variables) and it appears to be the same after rotation. In this regard, reference is made to the German patent application with official number 102019213174.3, the content of which is incorporated herein by reference.

As further illustrated schematically and schematically in fig. 3, the two pickup coils 115a, 115b may have the same geometry and be offset from each other or rotated relative to each other about a common rotation axis 109. For example, the two pickup coils 115a, 115b may be offset from each other such that the first pickup coil 115a generates a first pickup coil signal S_{i_PS1}And the second pickup coil 115b generates a second pickup coil signal S_{i_PS2}The second pick-up coil signal being different from the first pick-up coil signal S_{i_PS1}And phase shifted with respect thereto. For example, orthogonal pickup coil signals can be used, the first pickup coil signal S_{i_PS1}With respect to the second pick-up coil signal S_{i_PS2}The phase shift is 90.

By definition, the quadrature signal is a sinusoidal signal with a phase shift of 90 °. This may be achieved, for example, by rotating one pickup coil 115a by 360/n/4 in the direction of motion relative to the other pickup coil 115 b. It is also possible to rotate the pick-up coils 115a, 115b by different angles relative to each other, so that their signals are not phase-shifted by 90 ° from each other, but by respective other angles, for example 60 ° or 45 °.

Pick-up coil signal S as described herein_{i_PS1}，S_{i_PS2}The sinusoidal curve of (a) is referred to as the travel path or rotor position (i.e. the actual angle of rotation between the rotor 102 and the stator 101)) Rather than a sinusoid as a function of time. The pick-up coil arrangement 105 may be excited with an alternating voltage and therefore oscillate millions of times per second. However, this (possibly sinusoidal) oscillation is not meant here, i.e. observing the pick-up coil signal S_{i_PS1}，S_{i_PS2}The following sections: these parts are still present after demodulation, that is to say after the time-varying part of the oscillation has been eliminated. These oscillations depend on the rotor angle (i.e. the actual angle of rotation between the rotor 102 and the stator 101))。

According to the embodiment in fig. 3, where the two pick-up coils 115a, 115b are rotated 30 ° with respect to each other, the first pick-up coil signal S_{i_PS1}May substantially follow a cosine waveform while the second pick-up coil signal S_{i_PS2}May follow substantially a sinusoidal waveform, i.e. S_{i_PS1}＝S_icos and S_{i_PS2}＝S_iAnd sin. Two pick-up coil signals S_{i_PS1}，S_{i_PS2}Can transmit an angle signal which is unique over a section of 360 DEG at least over the entire period, from which the actual angle of rotation between the stator 101 and the rotor 102 can be derivedIn this regard, reference is made to the German patent application with official number 102019213174.3, the content of which is incorporated herein by reference.

FIG. 4 shows a schematic block diagram of another non-limiting embodiment of an inductive angle sensor 100. The structure is substantially similar to the embodiment discussed above with reference to fig. 2, with elements bearing the same reference numbers having the same function.

The embodiment shown in fig. 4 may have n times symmetric pairs of pick-up coils 115. To avoid short circuits, the two separate pickup coils 115a, 115b may be arranged contactless and at least segment by segment in different planes along the common rotation axis 109, e.g. in different metallization layers within the substrate, e.g. within a PCB (PCB: printed circuit board). The two pickup coils 115a, 115b arranged in or on the stator 101 may thus have different spatial distances from the rotor 102 or from the target device 106 arranged in or on the rotor 102. This may cause a relative rotation angle between the rotor 102 and the stator 101The angular measurement of (2) is biased.

However, the example circuit 108 shown in FIG. 4 may reduce or compensate for this angular deviation and, therefore, calibrate the inductive angle sensor 100. The first pickup coil 115a, shown here as an example, may generate a first pickup coil signal S, e.g. in cosine form_{i_PS1}And the second pickup coil 115b may generate a second pickup signal S_{i_PS2}The second pickup signal is substantially 90 ° phase shifted from the first pickup signal and is therefore approximately sinusoidal, i.e. S_{i_PS1}＝S_icos and S_{i_PS2}＝S_isin。

Two pick-up coil signals S_{i_PS1}And S_{i_PS2}This phase shift between allows two pickup coil signals S based on the two pickup coils 115a, 115b_{i_PS1}And S_{i_PS2}Determines the actual rotation angle between the rotor 102 and the stator 101 univocallyThe previously discussed induced intensity signal S of the pick-up coil arrangement 105_iMay for example be provided by two pick-up coil signals S_{i_PS1}And S_{i_PS2}From two pick-up coil signals S_{i_PS1}And S_{i_PS2}Is derived from such a combination of (a). For example, the following rules may be used for possible calculations:

actual angle of rotation between rotor 102 and stator 101Is here unambiguous over at least a certain part of the full rotation of 360 deg., which in turn depends on the number of rotational symmetries of the two pick-up coils 115a, 115 b. So the actual angle of rotation between the rotor 102 and the stator 101The decision of (a) is, for example, univocal within an angular range of 360 °/n. For example, with triple symmetry, the actual angle of rotation can be unambiguously determined in the range of 120 °

As shown in fig. 4, two pickup coil signals S_{i_PS1}And S_{i_PS2}May be fed to an angle calculation unit 201 which may calculate therefrom an uncalibrated angle signal phi', i.e. without taking into account the spatial distance 107 between the rotor 102 and the stator 101.

Two pick-up coil signals S_{i_PS1}And S_{i_PS2}May also be fed to a distance determination unit 202, which may determine the spatial distance 107 between the rotor 102 and the stator 101 and output a corresponding distance signal 204.

Distance between two adjacent platesThe signal 204 may be delivered to the calibration unit 203. The calibration unit 203 can calculate a corresponding angle correction value dphi' taking into account the value of the distance signal 204, which in turn can be fed to the combiner 205. The combiner 205 may combine the uncalibrated angle value phi ' with the angle correction value dphi ' and generate therefrom a calibrated rotation angle signal phi ", e.g. phi ″ ± (dphi '). The calibration rotation angle signal phi "represents the actual rotation angle between the rotor 102 and the stator 101, taking into account the spatial distance 107 between the rotor 102 and the stator 101

Thus, the angular error may be reduced or compensated for, which results in an actual angle of rotation compared to a conventional uncalibrated angle sensorThe accuracy of (2) is obviously improved.

In other words, it can be said that the circuit 108 can be designed to calculate the actual rotation angle first in the angle calculation unit 201And outputs a corresponding uncalibrated rotation angle signal phi'. In the distance determination unit 202, the spatial distance 107 between the rotor 102 and the stator 101 may be estimated and a corresponding distance signal 204 output. In the calibration unit 203, the estimated distance values 204 may be linked to the respective angle errors, for example by means of mathematical calibration calculation rules and/or calibration tables. The angle error may be output as an angle correction signal dphi'. The angle correction signal dphi' may be a function of the distance value 204, i.e. dphi ═ f (distance value).

As mentioned at the outset, the spatial distance 107 between the rotor 102 and the stator 101 may be determined based on the spatial distance between the pickup coil arrangement 105 and the target arrangement 106. This can be done in different ways and methods according to the innovative concepts described herein. Some non-limiting examples of this will be explained in more detail below.

Fig. 5 shows a schematic block diagram for influencing factors in the determination of the rotational angle between the rotor 102 and the stator 101 as a whole, wherein only a system with two pickup coils 115a, 115b is shown here, and wherein the system provides an uncorrected rotational angle signal phi'. The two pickup coils 115a, 115b of the pickup coil pair 115 may be arranged offset from each other as discussed above with reference to fig. 3, and the orthogonal pickup coil signals S_{i_PS1}，S_{i_PS2}Generating inductive pick-up coil signals S, e.g. in sine and cosine form_{i_PS1}＝S_icos and S_{i_PS2}＝S_iAnd sin. S that can be derived therefrom, as described above_iThe pick-up coil signals S may be derived from the two sinusoidal and cosine-shaped pick-up coil signals S of the pick-up coil pair 115_{i_PS1}The combination of Sicos and Si _ PS2 Sisin is determined, wherein for example in the case of orthogonal signals:

here, pickup coil signals S induced in the pickup coils 115a, 115b_{i_PS1}＝S_icos and S_{i_PS2}＝S_iThe signal strength of sin may depend on a number of factors. From the induction intensity signal S_iThe signal strength of the representation may depend, for example, on the actual angle of rotation between the rotor 102 and the stator 101I.e. on the actual relative position or orientation between the rotor 102 and the stator 101. For example, the sense signal S_iMay vary with the position of the rotor 102 relative to the stator 101.

If two pick-up coil signals S_{i_PS1}＝S_icos and S_{i_PS2}＝S_isin are perfectly orthogonal to each other and therefore have an ideal sine or cosine waveform, the intensity signal S is induced according to the above formula_iWill rotate with respect toIs irrelevant. However, if they deviate slightly from the ideal sinusoidal shape-in practice mostly-the induced intensity signals S_iRelative to the rotor position (actual rotation angle between the rotor 102 and the stator 101)) Only approximately constant, i.e. S_iMay have a slight fluctuation. These fluctuations are desirably kept small in order to sense the intensity signal S_iReflecting only the spatial distance 107 and, as far as possible, not the rotor positionFor this purpose, two pick-up coil signals S may be used_{i_PS1}＝S_icos and S_{i_PS2}＝S_isin is multiplied by weighting factors which in turn are suitable functions of the angle phi' (i.e. a rough estimate of the actual rotation angle).

This means that the above equation [2 ] can be replaced]From two pick-up coil signals S_{i_PS1}＝S_icos and S_{i_PS2}＝S_isin deriving or determining signal strength or sense strength signal S representative thereof_iAs follows:

accordingly, for example, the pick-up coil signal S_{i_PS1}＝S_icos and S_{i_PS2}＝S_isin may first be multiplied by the appropriate weighting factors c (phi ') and s (phi'). The intermediate results may then be squared, then summed, and then the root may be extracted.

In addition, the signal strength or induction strength signal S_iCan depend on the current I flowing through the excitation tank 103 or the excitation coil 104₁. The excitation oscillating circuit 103 may, for example, have an oscillator 501 for generating a supply current I, for example in the form of an alternating signal_supply. Furthermore, the excitation tank 103 may haveThere is a capacitance C1. The excitation coil 104 is shown as an inductance L₁. The supply current I can be known_supplyThe size of (2). However, the current I reaching the exciting coil 104₁In particular, depends on the quality of the resonant circuit 103 and may therefore deviate from the supply current I in an unknown manner_supply. Sensing signal S_iCan also follow the current I flowing through the excitation coil 104₁Or may also be reduced with the current I flowing through the excitation coil 104₁Is increased.

Signal strength or sense signal S_iBut also on the spatial distance 107 between the rotor 102 and the stator 101. For example, signal strength or sense strength signal S_iMay decrease monotonically with increasing spatial distance 107.

Thus, there may be essentially three signals S that affect the signal strength or the induced strength_iI.e. the current I through the excitation tank 103 or through the excitation coil 104, relative to the current I of the stator 101, the current I of the rotor 102₁And a spatial distance 107 between the pick-up coil arrangement 105 and the target arrangement 106. These three factors may initially be unknown.

In order to be able to take into account the spatial distance 107 between the rotor 102 and the stator 101 when determining the calibration rotation angle signal phi ″, according to one embodiment, the electrical circuit 108 described herein may be designed to reduce or compensate for the angular dependence of the position definition, i.e. the dependence on the actual position between the rotor 102 and the stator 101. According to another embodiment, the circuit 108 may be designed to reduce or compensate for the current I through the excitation coil 104₁The dependence of (c).

An embodiment may provide that the angular dependence of the position definition is reduced or compensated for as follows:

pickup coil signals S generated in the pickup coils 115a, 115b_{i_PS1}And S_{i_PS2}May vary with the actual angle of rotation between the rotor 102 and the stator 101, substantially in the form of a sine or cosine wave.

Pick-up coil signal S_{i_PS1}And S_{i_PS2}Can be used forSubstantially orthogonal to each other, i.e. phase shifted by 90 deg. from each other.

The circuit 108 can thus be designed, for example, to determine the induction-strength signal S as follows_i：

ο S_i＝(c(phi')*Vcos²+s(phi')*Vsin²)^aFor example: c-s-1 and a-1/2 or 1 (where Vcos is the voltage induced in the first pickup coil 115a and Vsin is the voltage induced in the second pickup coil 115 b);

o or: s_i＝cc(phi')*|Vcos|+ss(phi')*|Vsin|；

The calculation can be done before or after demodulation from the carrier frequency to baseband, where this can be simplified after demodulation;

the function c (phi '), s (phi'), cc (phi '), ss (phi') can be determined by measuring the voltages Vcos and Vsin for a given pickup coil 115a, 115b and the belonging target device 106. The circuit 108 may be designed to use the functions c (phi '), S (phi'), cc (phi '), ss (phi'), to subsequently calculate the sensed intensity signal S_iAnd make the induction intensity signal S_iIs minimized (e.g., by expanding the function c (phi '), s (phi '), cc (phi '), ss (phi '), in a power series or fourier series with phi '), and then determining the sequence coefficients using a mathematical optimization method).

In this case, the induction intensity signal S generated in this way_iCorrecting the induction intensity signal S corresponding to the angular position_{i_St_korr}In which the angular dependence of the position definition, i.e. S, is reduced or compensated_i＝S_{i_St_korr}. In other words, the pick-up coil signal S is based on at least two phase shifts_{i_PS1}＝S_icos and S_{i_PS2}＝S_isin (e.g. using a formula or table) from which the sense intensity signal S can be derived_iWherein the induction intensity signal S_iCorrected induction intensity signal S corresponding to angular position_{i_St_korr}。

According to such embodiments, the circuit 108 may thus be designed to correct (e.g., reduce or compensate for) the sense-strength signal S_iFor rotor 102 relative to stator 101The angular dependence of the current position and the corresponding position-corrected induction intensity signal S_{i_St_korr}I.e. S_i＝S_{i_St_korr}. The circuit 108 may also be configured to correct the sense strength signal S using position_i＝S_{i_St_korr}Performing signal processing, and correcting the induction intensity signal S based on the position_i＝S_{i_St_korr}And determines the calibrated rotation angle signal phi "using the concepts described herein. For example, the position may be corrected for the induction intensity signal S_i＝S_{i_St_korr}As an input signal to the angle calculation unit 201 and/or the distance determination unit 202 (fig. 2 and 4).

The reduction or compensation involving the pick-up coil signal S_{i_PS1}And S_{i_PS2}They are therefore not position corrected. That is, the pick-up coils 115a, 115b provide a pick-up coil signal S_{i_PS1}And S_{i_PS2}Which follows the rotor rotational positionBut very significantly-this is their primary task. Now it is possible to pick up the coil signals S from these_{i_PS1}And S_{i_PS2}Middle derived induction intensity signal S_iAimed at interacting with the pick-up coil signal S_{i_PS1}And S_{i_PS2}The induction intensity signal is obviously weaker and significantly depends on the rotation position of the rotor compared with the induction intensity signalBut is changed.

Another embodiment may provide that the circuit 108 is designed to reduce or compensate for the current I through the excitation coil 104 as follows₁Dependence of (a):

a) the circuit 108 may, for example, be designed to measure the current I flowing through the excitation coil 104, for example by means of an ammeter₁And then the current I is caused to flow₁The measured values of (a) flow into the signal processing, and/or

b) The circuit 108 may, for example, be configured to be based on the supply current I_supplyTo estimate the current I flowing through the excitation coil 104₁(e.g. whenWhen the Q factor of the excited tank is known) and form a relation S_i/I₁And/or

c) The inductive angle sensor 100 may have, for example, two pickup coil pairs 115, 125, each having an associated inductive target 106a, 106b, wherein each pickup coil pair 115, 125 may have a different spatial distance from the corresponding target arrangement 106a, 106 b. As described above, the first pickup coil pair 115 may have two separate pickup coils 115a, 115 b. Each pick-up coil 115a, 115b generates its own pick-up coil signal S_{i_PS1}，S_{i_PS2}. Thus, two pickup coil signals S_{i_PS1}，S_{i_PS2}May be combined into a first pick-up coil pair signal. From the first pick-up coil pair signal S_{i_PS1}，S_{i_PS2}And can be according to the above formula [2 ]]Or [3 ]]Deducing the induction intensity signal S of the first coil pair_{i_first}This corresponds to the induced signal S generated in the first pickup coil pair 115a_{i_PS1}，S_{i_PS2}The signal strength of (c). The second pick-up coil pair 125 may have two separate pick-up coils 125a, 125 b. Each pick-up coil 125a, 125b generates its own pick-up coil signal S_{i_PS3}，S_{i_PS4}. Two pick-up coil signals S_{i_PS3}，S_{i_PS4}The signals may be combined into a second pick-up coil pair accordingly. From the second pick-up coil pair signal S_{i_PS3}，S_{i_PS4}Then again according to the above formula [2 ]]Or [3 ]]Deducing the induction intensity signal S of the second coil pair_{i_second}This corresponds to the induced signal S generated in the second pickup coil pair 125a_{i_PS3}，S_{i_PS4}The signal strength of (c). The circuit 108 may be designed to couple the first coil to the induced strength signal S_{i_first}Induction intensity signal S with second coil pair_{i_second}Put in a relationship, e.g. according to S_{i_first}/S_{i_second}。

In this case, the induction intensity signal S generated in this way_iThe induction intensity signal S is corrected corresponding to the current intensity_{i_I1_korr}Wherein, the signal is compared with the original induction intensity signal S_iIn contrast, reduce or compensateFor the current intensity I in the exciting coil 104₁The dependence of (c).

According to such embodiments, the circuit 108 may thus be designed to reduce and/or compensate for the current strength I in the excitation coil 104₁And determining a corresponding current strength corrected induction strength signal S_{i_I1_korr}. The circuit 108 may also be designed to correct the sensed intensity signal S using the amperage_{i_I1_korr}Instead of uncorrected sense-strength signal S_iFor further signal processing and correcting the sensed intensity signal S based on the current intensity_{i_I1_korr}The calibrated rotation angle signal phi "is determined. For example, the current intensity may be corrected to the induction intensity signal S_{i_I1_korr}As input signals in the angle calculation unit 201 and/or the distance determination unit 202 (fig. 2 and 4).

As mentioned above in point b), in one embodiment, the circuit 108 may be designed to be based on the supply current I_supplyTo estimate the current I flowing through the excitation coil 104₁. As explained further above, the induction intensity signal S_iIn particular dependent on current intensity I₁And the spatial distance 107 between the rotor 102 and the stator 101. To determine the initially unknown spatial distance 107 between the rotor 102 and the stator 101, the circuit 108 may be designed to estimate the current strength I₁And the measured induction intensity signal S_iPlaced in a relationship with each other, e.g. according to S_i/I₁. Thus, the relationship S_i/I₁May be a measure of the spatial distance 107 between the rotor 102 and the stator 101.

In an alternative embodiment, as described above, in point c), the spatial distance 107 between the rotor 102 and the stator 101 may also be determined by means of two pickup coil pairs 115, 125. Fig. 6A shows a schematic block diagram of an embodiment of an inductive angle sensor 100 with two pickup coil pairs 115, 125 for determining the spatial distance 107 between the rotor 102 and the stator 101.

Thus, the pickup coil arrangement 105 may have, for example, a first pickup coil pair 115 and a second pickup coil pair 125. The first pickup coil pair 115 may substantially correspond to the pickup coil pair 115 discussed previously and have, for example, a first pickup coil 115a and a second pickup coil 115 b.

According to conceivable embodiments, the number of first and second pickup coil pairs 115, 125 and the number of their respective targets 106a, 106b may be different. For example, the pickup coils 115a, 115 of the first pickup coil pair 115 may have a number n times (e.g. n-3), and the pickup coils 125a, 125b of the second pickup coil pair 125 may have a number m times, where m is n + x (e.g. m is 4).

Thus, for example, in the non-limiting embodiment shown in fig. 6A, the first target 106A, the first pick-up coil 115a and the second pick-up coil 115b may have a number of n-3, the second target 106b, the third pick-up coil 125a and the fourth pick-up coil 125b may have a number of m-4, i.e. L3, Lcos3, Lsin3 are triplets and L4, Lcos4, Lsin4 are quadruplets. As a result, the triple first target 106a (L3) does not couple a signal to the quadruple second pick-up coil pair 125(Lcos4, Lsin 4). In contrast, the quadruple second target 106b (L4) is not coupled into the triple first pick-up coil pair 115(Lcos3, Lsin 3). Thereby, the different signal strengths (Lcos3, Lsin3 and Lcos4, Lsin4) in the different pairs of pickup coils 115, 126 can be determined particularly easily, whereby the spatial distance 107 between the rotor 102 and the stator 101 can be determined.

It may be advantageous here to: at least two pick-up coil pairs 115, 125(L3cos, L3sin, L4cos, L4sin) and optionally also one or two targets 106a, 106(L3, L4) are non-directional. A coil or target is said to be unoriented if the uniform, time-varying magnetic field does not induce any signal in the coil or target. For further details regarding the non-oriented embodiment, reference is made herein to the German patent application with official number 102019213174.3, the contents of which are incorporated herein by reference.

The first and second pickup coils 115a, 115b of the first pickup coil pair 115 may be relatively rotated so that a first pickup coil signal S is induced in the first pickup coil 115a_{i_PS1}Substantially with the second pick-up coil induced in the second pick-up coil 115bSignal S_{i_PS2}Orthogonal, e.g. according to S_{i_PS1}＝S_icos and S_{i_PS2}＝S_iAnd sin. Accordingly, the first pickup coil signal S induced in the first pickup coil 115a_{i_PS1}May have, for example, a cosine waveform and is therefore also denoted by c3 in fig. 6A. The second pickup coil signal S induced in the second pickup coil 115b_{i_PS2}May for example have a sinusoidal waveform and is therefore also indicated by s3 in fig. 6A.

As described above, the first and second pickup coil signals S induced in the two single coils 115a, 115b of the first pickup coil pair 115_{i_PS1}And S_{i_PS2}May provide a first coil pair induced strength signal S_{i_first}Representing the pickup coil signal S induced in the first pickup coil pair 115_{i_PS1}And S_{i_PS2}The signal strength of both. If two pick-up coil signals S_{i_PS1}And S_{i_PS2}Is a quadrature signal, the coil signals S may be picked up, e.g. from two pick-up coils, e.g. according to the following formula_{i_PS1}And S_{i_PS2}The induction intensity signal S of the first coil pair is calculated_{i_first}：

OrIt may be similarly applied to the second pickup coil pair 125, which may have a third pickup coil 125a and a fourth pickup coil 125 b. The third and fourth pickup coils 125a, 125b of the second pickup coil pair 125 may be relatively rotated such that a third pickup coil signal S is induced in the third pickup coil 125a_{i_PS3}Substantially in parallel with the fourth pick-up coil signal S induced in the fourth pick-up coil 125b_{i_PS4}Are orthogonal. The third pickup coil signal S induced in the third pickup coil 125a_{i_PS3}May for example have a cosine waveform and is therefore also indicated by c4 in fig. 6A. The fourth pickup coil signal S induced in the fourth pickup coil 125b_{i_PS4}May for example haveThe sinusoidal waveform, and is therefore also denoted by s4 in fig. 2.

As described above, the third and third pickup coil signals S induced in the two single coils 125a, 125b of the second pickup coil pair 125_{i_PS3}And S_{i_PS4}May provide a second coil pair induction strength signal S_{i_second}Representing the pickup coil signal S induced in the second pickup coil pair 125_{i_PS3}And S_{i_PS4}The signal strength of both. If two pick-up coil signals S_{i_PS3}And S_{i_PS4}Is a quadrature signal, the coil signals S may be picked up, e.g. from two pick-up coils, e.g. according to the following formula_{i_PS3}And S_{i_PS4}Calculating the second coil pair induction intensity signal S_{i_second}：

OrSince the entire pick-up coil arrangement 105 in this non-limiting embodiment may have two pick-up coil pairs 115, 125 as described above, the strength signal S may be induced by the first coil pair_{i_first}And a second coil pair induction intensity signal S_{i_second}To form an induced intensity signal S_i. I.e. the first coil pair induction intensity signal S_{i_first}Indicating the strength of induction in the first pick-up coil pair 115, the second coil pair induction signal S_{i_second}Represents the induction intensity in the second pickup coil pair 125, and the induction intensity signal S_iIndicating the strength of induction of the entire pick-up coil arrangement 105.

The circuit 108 of the embodiment of the inductive angle sensor 100 shown in fig. 6A is now for example designed to induce an intensity signal S in two of the above-mentioned pairs of coils of the first and second pickup coil pairs 115, 125_{i_first}And S_{i_second}Placed in a relationship with each other, e.g. with S_{i_first}/S_{i_second}In the form of (1). Relation S_{i_first}/S_{i_second}Depends monotonically on the rotor 102 andthe spatial distance 107 between the stators 101, and is a measure for this spatial distance 107 ("AG") between the rotor 102 and the stators 101:

S_{i_first}/S_{i_secon}-1～1/AG。

it can thus be based on the two coil pair induced strength signals S of the respective pick-up coil pair 115, 125_{i_first}And S_{i_second}Or on the basis of an induction intensity signal S induced in the pick-up coil arrangement 105_iTo determine the spatial distance 107 between the rotor 102 and the stator 101.

One advantage here is that the strength signal S is induced by the two coil pairs forming the first and second pick-up coil pairs 115, 125_{i_first}And S_{i_second}The spatial distance 107 can be determined from the relationship between the current I flowing through the excitation oscillating circuit 103 or through the excitation coil 104₁Is irrelevant. Another advantage may be carrier frequency independence.

Further, the first pair of pickup coils 115 may have n times symmetry and the second pair of pickup coils 125 may have m times symmetry, e.g., m ═ n + x, where m, n, and x are each integer variables.

The target device 106 disposed in or on the rotor 102 may have a first inductive target 106a and a second inductive target 106 b. The first sensing target 106a may have n-fold symmetry and the second sensing target 106b may have m-fold symmetry, e.g., m ═ n + x, where m, n, and x are integer variables, respectively.

Thus, a first inductive target 106a with n-fold symmetry may be designed for transmitting signals with a first pick-up coil pair 115, which may also have n-fold symmetry. Conversely, a second inductive target 106b with m-fold symmetry may be designed for transmitting signals with a second pick-up coil pair 125, which may also have m-fold symmetry. Therefore, interference between the first and second pickup coil pairs 115, 125 can be reduced or prevented. In this connection, reference is again made to the German patent application with official number 102019213174.3 for details relating thereto, the content of which is incorporated herein by reference.

As can be seen in fig. 6B, the two pairs of pickup coils 115, 125 arranged in or on the stator 101 and the two belonging inductive targets 106a, 106B arranged in or on the rotor 102 may be arranged along the common rotation axis 109 such that the first pair of pickup coils 115 has a first spatial distance 107a, "AG" from the respective first inductive target 106 a; and the second pick-up coil pair 125 has a second spatial distance 107b, "AG" from the corresponding second inductive target 106 b.

For example, first spatial distance 107a may be less than second spatial distance 107 b. As described above, the coil pair induced strength signals S belonging to the respective pickup coil pairs 115, 125_{i_first}Or S_{i_second}In particular, the spatial distance 107 of the rotor 102 relative to the stator 101 can be relied upon. Thus, in the case mentioned here by way of example only, the first coil pair induction strength signal S belonging to the first pickup coil pair 115 is due to the smaller distance 107a_{i_first}May be larger than the second coil pair induction strength signal S belonging to the second pickup coil pair 125_{i_second}Of the amplitude of (c).

According to a conceivable embodiment, the inductive angle sensor 100 can be designed such that two coil pairs induce an intensity signal S_{i_first}Or S_{i_second}There is a clearly measurable difference in their respective amplitudes-if it is too small, this can in practice result in inaccurate estimates of the spatial distance 107 between the rotor 102 and the stator 101 due to noise and other real error terms. On the other hand, two coil pairs induce intensity signal S_{i_first}And S_{i_second}Should not differ too much from each other as this may lead to noise problems for weaker signals. Therefore, a compromise is sought that may exist in practice for signal strength ratios between 1.1 and 3 (e.g., between 1.5 and 2).

The distance between the two pairs of pickup coils 115, 125 arranged in or on the stator 101 is always known here, since they can be mounted at a predetermined distance from one another, for example. Also, the distance between the two inductive targets 106a, 106b arranged in or on the rotor 102 can always be known. Therefore, the temperature of the molten metal is controlled,the remaining variable is the spatial distance 107 between the rotor 102 and the stator 101, wherein, as mentioned above, may for example be based on the two coil pair induced strength signals S of the respective pick-up coil pair 115, 125_{i_first}And S_{i_second}The relationship between them determines the variable.

Fig. 7 illustrates another embodiment of a circuit 108 for an inductive angle sensor 100 in accordance with the inventive concepts described herein. With this structure, it is possible to provide the angle sensor 100 with high accuracy in determining the actual rotation angle between the rotor 102 and the stator 101Is more accurate than the traditional angle sensor. For this purpose, this embodiment may use the so-called vernier (Nonius) principle, which will be explained in detail below with reference to fig. 7.

First, the stator 101 here also has, similarly to the embodiment shown in fig. 6A, a pick-up coil arrangement 105 with a plurality of pick-up coils 115a, 115b, 125a, 125b and, correspondingly, a plurality of inductive targets (not shown). The pickup coil device 105 has a first pickup coil pair 115 and a second pickup coil pair 125. The first pickup coil pair 115 has a first pickup coil 115a and a second pickup coil 115 b. The second pickup coil pair 125 has a third pickup coil 125a and a fourth pickup coil 125 b. The pick-up coils 115a, 115b of the first pair of pick-up coils 115 may have n-fold symmetry, e.g. n-3, and the pick-up coils 125a, 125b of the second pair of pick-up coils 125 may have m-fold symmetry, e.g. m-4.

A first pickup coil signal S is induced in the first pickup coil 115a_{i_PS1}A second pickup coil signal S is induced in the second pickup coil 115b_{i_PS2}A third pickup coil signal S is induced in the third pickup coil 125a_{i_PS3}And a fourth pickup coil signal S is induced in the fourth pickup coil 125b_{i_PS4}。

The first signal processing unit 701 of the circuit 108 may be designed to combine the first and second pickup coil signals S_{i_PS1}And S_{i_PS2}And thereby produces a first pickup coil pair 115First coil pair induction intensity signal S_{i_first}. A further signal processing unit 702 of the circuit 108 may be designed to combine the third and fourth pickup coil signals S_{i_PS3}And S_{i_PS4}And thereby generates a second coil pair induction strength signal S of the second pickup coil pair 125_{i_second}。

The further signal processing unit 703 of the circuit 108 may be designed to couple the two coil pairs with the induced intensity signal S_{i_first}And S_{i_second}Are placed in a relationship with each other. As described above, the strength signal S is induced by the two coil pairs_{i_first}And S_{i_second}Is monotonically dependent on the spatial distance 107 (or air gap- "AG") between the rotor 102 and the stator 101, so that this spatial distance 107 ("AG") can be determined in the further signal processing unit 704 from the relation S_{i_first}/S_{i_second}Is determined.

The determined spatial distance 107 between the rotor 102 and the stator 101 may be further processed in the form of a corresponding distance signal 204 and used in a further signal processing unit 705 for determining a first angle correction value dphi3' for the first pickup coil pair 115 on the basis thereof. The determined spatial distance 107 (or distance signal 204) may also be used in the further signal processing unit 706 for determining a second angle correction value dphi4' for the second pickup coil pair 125 on the basis thereof.

The first combiner 706 may be designed to combine the first angle correction value dphi3 'with a first uncorrected angle value phi3' for the first pickup coil pair 115, which is determined irrespective of the spatial distance 107 between the rotor 102 and the stator 101. According to the innovative concept described herein, a first calibrated rotation angle value phi3 "for the first pickup coil pair 115 is derived therefrom. Since the first calibrated rotation angle value phi3 "only applies to the first pickup coil pair 115, but not to the entire pickup coil 105, the first calibrated rotation angle value phi 3" may also be referred to as the first calibrated rotation angle intermediate value phi3 ".

The second combiner 707 may be configured to combine the second angle correction value dphi4 'with a second misalignment angle value phi4' of the second pickup coil pair 125, which is also determined irrespective of the spatial distance 107 between the rotor 102 and the stator 101. According to the innovative concept described herein, a second calibration rotation angle value phi4 "for the second pickup coil pair 125 is derived therefrom. Since the second calibration rotation angle value phi4 "applies only to the second pickup coil pair 125, but not to the entire pickup coil 105, the second calibration rotation angle value phi 4" may also be referred to as a second calibration rotation angle intermediate value phi4 ".

The further signal processing unit 708 can be designed to combine the first calibration rotation angle intermediate value phi3 "and the second calibration rotation angle intermediate value phi 4" and generate a calibration rotation angle value phi ". The calibrated rotation angle value phi "can thus be applied to the entire pick-up coil arrangement 105. The combination of these two calibrated intermediate rotation angle values phi3 "and phi 4" may provide more accurate results than embodiments where the two calibrated intermediate rotation angle values phi3 "and phi 4" are not combined with each other.

For example, the signal processing unit 108 may combine the two calibrated rotation angle intermediate values phi3 ″ and phi4 ″ according to the vernier principle. According to the vernier principle, one of the two calibrated rotation angle intermediate values phi3 'and phi4' can be used as the actual rotation angle between the rotor 102 and the stator 101And the other of the two calibration rotation angle intermediate values phi3 "and phi 4" may be used as a finer division of the standard. This vernier principle is also known from vernier calipers. For more details on the vernier principle for the inductive angle sensor 100, reference is once again made here to the german patent application with official number 102019213174.3, the content of which is incorporated herein by reference.

FIG. 8 illustrates a method for determining an angle of rotation between a stator 101 and a rotor 102 according to concepts described hereinSchematic block diagram of method 800. To perform the method 800, the stator 101 has the aforementioned excitation tank 103 or excitation coil 104 and pickup coil arrangement 105, and the rotor 102 has the aforementioned inductive target arrangement 106.

In step 801, the oscillating exciter circuit 103 is excited with an alternating current to induce an induced current in the target device 106, and the target device 106 generates a magnetic field 116 in response to the induced current, which in turn generates an induced signal S in the pick-up coil device 105_{i_PS1}，S_{i_PS2}。

In step 802, a representative sense signal S is determined, as described above_{i_PS1}，S_{i_PS2}Signal strength of (2) induction strength signal S_i。

In step 803, based on the sensing strength signal S_iTo determine the spatial distance 107 between the rotor 102 and the stator 101.

In summary, it can thus be said that the concepts described herein relate in particular to a method 800 and a corresponding inductive angle sensor 100, wherein the spatial distance 107 between the stator 101 and the rotor 102 is based on the induction intensity signal S_iTo be determined. This determined spatial distance 107 can be used for further signal processing, for example for determining the angle of rotation between the stator 101 and the rotor 102

The inductive angle sensor 100 may have, for example, an excitation coil 104, pickup coils 115a, 115b, 125a, 125b, and inductive targets 106a, 106 b. Furthermore, the inductive angle sensor 100 may have at least one coil pair signal S designed to determine what is induced in the pickup coil pair 115 (e.g., sine and cosine coils)_{i_PS1}，S_{i_PS2}The signal strength of (1). The signal strength can be derived from the sensed strength signal S_iOr S_{i_first}(i.e., S)_i＝S_{i_first}) Indicating that the signal S can be generated by each coil pair_{i_PS1}，S_{i_PS2}To determine the sensed intensity signal. The inductive angle sensor 100 may also have a signal strength designed such that it isS_iWith the current I flowing through the exciting coil 104₁Is determined by the signal strength of the device. Alternatively or additionally, the inductive angle sensor 100 may have a signal strength S designed such that it is_i＝S_{i_first}Signal strength S with the second pickup coil pair 125_{i_second}An associated device. The inductive angle sensor 100 may further have a circuit 108 which is designed to determine, for example, estimate, the spatial distance 107 between the rotor 102 and the stator 101 and to generate a corresponding distance signal 204. The circuit 108 may also be designed to decide the angle correction value dphi' on the basis of the distance signal 204. The circuit 108 may also have a combiner 205 which is designed to combine the coarse angle value phi 'of the pick-up coil pair 115, which is determined without taking into account the spatial distance 107, with the angle correction value dphi', and thus to obtain a calibrated rotation angle signal phi "for combination. This may also be referred to as an automatic calibration method for the inductive angle sensor 100.

The embodiments described above are merely examples of the principles described herein, it being understood that modifications and variations in the arrangements and details described herein will be apparent to others skilled in the art. Accordingly, it is intended that the concepts described herein be limited only by the scope of the appended patent claims and not by the description herein with reference to the exemplary embodiments and the specific details presented herein.

Although some aspects have been described in connection with an apparatus, it goes without saying that these aspects also represent a description of a corresponding method, and therefore a block or component of an apparatus should also be understood as a corresponding method step or as a feature of a method step. Similarly, aspects that have been described in connection with or as method steps also represent a description of details or features of the respective module or the respective device.

Some or all of the method steps may be performed by (or using) hardware devices, such as microprocessors, programmable computers, or electronic circuits. In some embodiments, some or more of the most important processing steps may be performed by such a device.

Given specific implementation requirements, embodiments of the concepts described herein may be implemented in hardware or software or at least partially in hardware or at least partially in software. The implementation can be performed using a digital storage medium, such as a floppy disk, a DVD, a BluRay disk, a CD, a ROM, a PROM, an EPROM, an EEPROM or FLASH memory, a hard disk or any other magnetic or optical memory on which electronically readable control signals are stored which cooperate with a programmable computer system or which are capable of cooperating to perform a corresponding method. Accordingly, the digital storage medium may be computer-readable.

Some embodiments according to the concepts described herein therefore comprise a data carrier with electronically readable control signals capable of cooperating with a programmable computer system in a manner that performs one of the methods described herein.

In general, embodiments of the concepts described herein can be implemented as a computer program product having a program code for performing one of these methods efficiently when the computer program product runs on a computer.

The program code may also be stored on a machine-readable carrier, for example.

Other embodiments include a computer program for performing one of the methods described herein, wherein the computer program is stored on a machine readable carrier. In other words, an embodiment of the method described herein is thus a computer program having a program code for performing one of the methods described herein when the computer program runs on a computer.

Thus, another embodiment of the method described herein is a data carrier (or digital storage medium or computer readable medium) having recorded thereon a computer program for performing one of the methods described herein. The data carrier or digital storage medium or computer readable medium is typically tangible and/or non-transitory.

Thus, another embodiment of the methods described herein is a data stream or a series of signals representing a computer program for performing one of the methods described herein. The data stream or series of signals may for example be arranged to be transmitted via a data communication connection, for example via the internet.

Another embodiment includes a processing device, such as a computer or programmable logic component, configured or adapted to perform one of the methods described herein.

Another embodiment comprises a computer having installed thereon a computer program for performing one of the methods described herein.

Another embodiment according to the concepts described herein comprises an apparatus or system designed to transmit a computer program for performing at least one of the methods described herein to a receiver. The transmission may be performed, for example, electronically or optically. The receiver may be, for example, a computer, a mobile device, a storage device, or the like. The apparatus or system may for example comprise a file server for transmitting the computer program to the receiver.

In some embodiments, programmable logic components (e.g., field programmable gate arrays, FPGAs) may be used to perform some or all of the functions of the methods described herein. In some embodiments, a field programmable gate array may cooperate with a microprocessor to perform one of the methods described herein. Generally, in some embodiments, the method is performed from any hardware device aspect. The hardware means may be general purpose hardware, such as a Computer Processor (CPU), or may be method specific hardware, such as an ASIC.