Dual-channel differential sensor

Abstract

A dual-channel differential sensor may include: a first channel configured to generate a first component signal; and a second channel, independent of the first channel, configured to generate a second component signal. The sensor may include sensing circuitry configured to: acquire the first component signal and a second component signal, the first component signal having a first polarity and the second component signal having a second polarity opposite to the first polarity; determine a first cross-channel differential signal based at least in part on the first component signal and the second component signal; and provide the first cross-channel differential signal as a first output of the dual-channel differential sensor.

Description

[0001] Priority requirements

[0002] This application claims the benefit of priority to U.S. Provisional Application No. 63 / 119,169, entitled “Dual Channel Differential Sensor,” filed November 30, 2020, which is incorporated herein by reference. Technical Field

[0003] This disclosure generally relates to dual-channel differential sensors, such as sensors that generate dual-channel sinusoidal outputs. Background Technology

[0004] A dual-channel differential sensor can generate an output in response to a sensed input. For example, this output can be a differential sinusoidal signal. For instance, an external stimulus or other condition to be sensed (e.g., an electromagnetic field) can generate a sinusoidal output on two independent channels of the differential sensor. The sensor can interact with a target, and changes caused by the target can be measured at the sensor. Summary of the Invention

[0005] Various aspects and advantages of the embodiments of this disclosure will be set forth in part in the description which follows, or may be learned from the description, or may be learned by practicing the embodiments.

[0006] One example aspect of this disclosure relates to a dual-channel differential sensor. The dual-channel differential sensor may include a first channel configured to generate a first component signal. The dual-channel differential sensor may include a second channel independent of the first channel, the second channel being configured to generate a second component signal. The dual-channel differential sensor may include sensing circuitry. The sensing circuitry may be configured to acquire the first component signal and the second component signal, the first component signal having a first polarity and the second component signal having a second polarity opposite to the first polarity. The sensing circuitry may be configured to determine a first cross-channel differential signal based at least in part on the first component signal and the second component signal. The sensing circuitry may be configured to provide the first cross-channel differential signal as a first output of the dual-channel differential sensor.

[0007] Another example aspect of this disclosure relates to a method for operating a dual-channel differential sensor. The method may include: acquiring a first component signal from a first channel of the dual-channel differential sensor and a second component signal from a second channel of the dual-channel differential sensor, the first component signal having a first polarity and the second component signal having a second polarity opposite to the first polarity. The method may include: determining a first cross-channel differential signal based at least in part on the first component signal and the second component signal. The method may include: providing the first cross-channel differential signal as an output of the dual-channel differential sensor.

[0008] These and other features, aspects, and advantages of the various embodiments will be better understood by referring to the following description and the appended claims. The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments of the present disclosure and, together with the description, serve to explain the related principles. Attached Figure Description

[0009] For those skilled in the art, this specification provides a detailed description of the embodiments with reference to the accompanying drawings, in which:

[0010] Figure 1A A block diagram depicting at least a portion of an example dual-channel differential sensor according to an exemplary embodiment of the present disclosure is provided.

[0011] Figure 1B A block diagram depicting at least a portion of an example dual-channel differential sensor according to an exemplary embodiment of the present disclosure is provided.

[0012] Figure 2 A graph depicting example component signals from an example channel forming an example differential signal according to an example embodiment of the present disclosure is shown.

[0013] Figure 3 An example sensor coil according to an exemplary embodiment of this disclosure is depicted;

[0014] Figure 4 A flowchart depicts an example method for operating a dual-channel differential sensor according to an exemplary embodiment of this disclosure; and

[0015] Figure 5 A flowchart is depicted for an example method of operating a dual-channel differential sensor according to an example embodiment of the present disclosure. Detailed Implementation

[0016] Reference will now be made in detail to embodiments, one or more examples of which are illustrated in the accompanying drawings. Each example is provided by way of explanation and not limitation of this disclosure. In fact, it will be apparent to those skilled in the art that various modifications and variations can be made to these embodiments without departing from the scope of this disclosure. For example, features shown or described as part of one embodiment may be used with another embodiment to produce yet another embodiment. Therefore, aspects of this disclosure are intended to cover these modifications and variations.

[0017] The exemplary aspects of this disclosure relate to dual-channel differential sensors (hereinafter also referred to as differential sensors or sensors), such as sensors that generate dual-channel differential signals (e.g., sinusoidal outputs). As an example, the sensor may be or may include an inductive sensor, such as an inductive position sensor (e.g., a rotary position sensor), an inductive motor sensor, an inductive gearbox sensor, a magnetic encoder and / or a control system (e.g., an electronic brake booster, an electronic braking system, a steering system, a torque control system), and / or any other suitable sensor configured to generate a differential signal. For example, the sensor may generate a differential signal in response to a suitable stimulus, feature, phenomenon, and / or other target (the sensor is configured to measure such other target). As an example, the sensor may be configured to measure the position and / or motion (e.g., rotational motion of the target) of the target by measuring the interaction between the target and the sensor through electromagnetic induction.

[0018] As used herein, a “differential signal” comprises at least one pair of related component signals. These component signals can be combined (e.g., additive and / or subtractive combinations with respect to polarity) to produce a differential signal. These component signals can be electrical signals, such as analog and / or digital signals. For example, these component signals can be or may include electrical signals, such as voltage signals, current signals, etc. As an example, these component signals can be measured and / or sampled from a coil (e.g., a sine coil).

[0019] A dual-channel differential sensor may include two (or more) independent channels that transmit redundant, correlated, and / or identical information. Generally, while a sensor can operate using at least partially information from only one channel (e.g., a single channel can acquire all the information needed for the sensor's intended measurement), including two or more channels to transmit correlated, redundant, and / or other confirmatory information can provide numerous improvements to sensor functionality, such as enhanced reliability and / or robustness. For example, information from the first channel can be cross-checked against information from the second channel to verify the sensor's intended operation. As another example, including two or more channels can improve the safety of the sensor and / or the system operating based on sensor measurements. For instance, inconsistencies between multiple channels may indicate fault conditions and / or other undesirable operations (e.g., miscalibration) in a larger system (e.g., a motor). For example, inconsistencies between multiple channels (e.g., exceeding a certain tolerance) can be used to trigger alarms, troubleshooting actions, braking actions, shutdowns, etc., and the inconsistencies between multiple channels can be provided to technicians or other individuals for troubleshooting and / or repair, and / or the inconsistencies between multiple channels can be provided in other suitable ways to ensure the safe and reliable operation of the system.

[0020] Additionally and / or alternatively, differential signaling can provide improved noise margins for sensors. For example, sensors and / or systems employing sensors may include components that are sensitive to electromagnetic interference during sensor operation and / or to other forms of noise present in the environment, such as a length of wire. As an example, some sensors may be susceptible to common-mode noise. Differential signaling can help mitigate the effects of common-mode noise.

[0021] However, including differential signals and / or two or more channels can increase the wiring required to transmit the output from the sensor. For example, each differential signal may require two or more signal lines to transmit the output. If each channel generates two differential signals (e.g., sine and cosine), each channel may require four signal lines. Therefore, a dual-channel differential sensor may require eight or more signal lines to transmit all the information from these signals, wherein the eight or more signal lines are coupled to the sensor and / or otherwise included within the sensor. This increased wiring can lead to increased manufacturing, operating, and / or maintenance costs, reduced reliability (e.g., a greater risk of wire breakage, loose connections, etc.), increased sensitivity to electromagnetic interference, noise, crosstalk, etc., and / or other disadvantages. Therefore, it may be desirable to reduce the number of signal lines required to transmit information from a dual-channel differential sensor while retaining most or all of the benefits associated with dual-channel differential sensors, such as improved safety, reliability, and / or noise tolerance, especially in safety-critical applications (e.g., vehicle control).

[0022] One solution to this problem is to use only a single-ended output, which includes one component signal from each pair of component signals with a common polarity from each channel, such as only the sine+ and / or cosine+ signals. This approach reduces the total number of signal lines because it requires only four lines: one for the sine+ signal and one for the cosine+ signal from each channel. However, this approach effectively eliminates the differential characteristics of the signal. Therefore, it may be susceptible to electrical noise such as common-mode noise.

[0023] According to an example aspect of this disclosure, a dual-channel differential sensor can be configured to reduce wiring while retaining the advantages of dual-channel differential sensors, including safety, reliability, and noise tolerance. According to an example aspect of this disclosure, the dual-channel differential sensor can be any one or more of the following: an inductive sensor, an inductive motor sensor, an inductive gearbox sensor, an inductive position sensor, a magnetic encoder, an electronic brake booster, an electronic braking system, a steering system, a torque control system, and / or any other suitable dual-channel differential sensor.

[0024] A dual-channel differential sensor may include a first channel and a second channel. The second channel may be independent of the first channel. The first channel may be configured to generate a first component signal. Additionally and / or alternatively, the second channel may be configured to generate a second component signal. The first component signal may have a first polarity, while the second component signal may have a second polarity. The second polarity may be opposite to the first polarity. As used herein, polarity may refer to the design interpretation of the signal (e.g., cross-channel differential signals conventionally labeled as positive or negative). Additionally and / or alternatively, when considering the design phase differences between multiple channels and / or multiple signals (e.g., channel phase differences and / or output phase differences), opposite polarity may refer to a phase difference of approximately 180 degrees and / or greater than approximately 90 degrees. For example, by convention, a sine signal with a first polarity may be out of phase by approximately 90 degrees with a cosine signal with the same polarity. As another example, a sine signal from the first channel may be out of phase by approximately 135 degrees with a cosine signal of the same polarity from a second channel having a channel phase offset of 45 degrees relative to the first channel. For example, due to channel phase shift, the phase shift can be greater than 90 degrees for a common polarity. As used herein, polarity is intended to represent the differential relationship between multiple signals and is not necessarily related to the polarity of the values ​​of those signals (e.g., a component signal with negative polarity may still have positive values ​​at some or all points).

[0025] According to an example aspect of this disclosure, the differential sensor can determine the cross-channel differential signal based at least in part on the first component signal and the second component signal, and provide the first cross-channel differential signal as the output of the dual-channel differential sensor. For example, the cross-channel differential signal can be formed from multiple component signals from multiple independent channels, which can provide improved robustness, security, noise margin (e.g., common-mode noise margin) and / or other advantages associated with multiple channels, while providing reduced wiring (e.g., only two signals are required instead of four).

[0026] As used herein, a “channel” refers to any suitable system, such as a signal line, circuit, coil, etc., used to transmit sufficient information to perform a desired measurement using a differential sensor. For example, in some embodiments, each channel may include one or more coils (e.g., one or more receiving coils and / or one or more transmitting coils), channel circuitry, and / or one or more signal lines configured to excite and / or measure signals (e.g., coil characteristics) at one or more coils and / or generate component signals based on the measured signals (e.g., coil characteristics), the one or more signal lines used to transmit differential signals (e.g., component signals).

[0027] In some embodiments, each channel may generate one or more component signals associated with one or more differential signals. For example, in some embodiments, a channel may generate at least one component signal for each of at least two different differential signals (e.g., a sinusoidal differential signal and a cosine differential signal). For example, a first channel may generate component signals associated with a first differential signal (e.g., a sinusoidal differential signal) and a second differential signal (e.g., a cosine differential signal). In some embodiments, a single channel may generate only one component signal from a pair of component signals associated with each differential signal. A corresponding component signal from a second channel may be used in conjunction with a component signal from a first channel to generate a cross-channel differential signal. For example, in some embodiments, a first component signal from a first channel and a second component signal from a second channel may be sinusoidal signals, and / or a first cross-channel differential signal may be a sinusoidal differential signal. For example, a sine+ signal from a first channel may be combined with a sine- signal from a second channel to generate a cross-channel sinusoidal differential signal.

[0028] For example, in some embodiments, the first channel may be configured to generate a third component signal. The third component signal may have a first polarity (e.g., the same polarity as the first component signal from the first channel). Additionally and / or alternatively, the second channel may be configured to generate a fourth component signal. The fourth component signal may have a second polarity (e.g., the same polarity as the second component signal from the second channel). The third and fourth component signals may be used to determine a second cross-channel differential signal, at least in part, based on the third and fourth component signals. (e.g., in addition to the first cross-channel differential signal) The second cross-channel differential signal may be provided as the output of a dual-channel differential sensor. For example, in some embodiments, the third and fourth component signals may be cosine signals, and / or the second cross-channel differential signal may be a cosine differential signal. For example, a cosine+ signal from the first channel may be combined with a cosine- signal from the second channel to generate a cross-channel cosine differential signal. The cross-channel cosine differential signal may be approximately 90 degrees out of phase with the cross-channel sinusoidal differential signal.

[0029] Therefore, in some embodiments, the component signal from the first channel may be a positive component signal (e.g., a sine+ signal and / or a cosine+ signal), while the component signal from the second channel may be a negative component signal (e.g., a sine- signal and / or a cosine- signal). Additionally and / or alternatively, one positive component signal and / or one negative component signal from each of the first and second channels may be used.

[0030] In some embodiments, the sensor may also be configured to determine the output angle based at least in part on the first cross-channel differential signal and the second cross-channel differential signal. For example, in some embodiments, the output angle may be the two-parameter arctangent of the first cross-channel differential signal and / or the second cross-channel differential signal. For example, in some embodiments, the output angle may be determined by arctan2(SIN). out COS out ) Determine, where SIN out It is the first cross-channel differential signal (e.g., a sinusoidal differential signal), while COS out It is the second cross-channel differential signal (e.g., a cosine differential signal).

[0031] In some embodiments, one or both channels of the first and / or second channels may include one or more coils configured to interact with a target and generate one or more coil characteristics in response to the interaction with the target. In some embodiments, the one or more coils may be or may include receiving coils and / or transmitting coils. For example, coil characteristics may be received signals measured from and / or sampled from the receiving coils, which may be generated in response to a transmitted signal at the transmitting coil. In some embodiments, the one or more coils may be or may include sinusoidal coils (e.g., sinusoidal receiving coils). For example, the shape of the coils may be designed to generate sinusoidal component signals in response to rotational motion, linear motion, and / or other desired motion of the target. In some embodiments, the one or more coils are rotated off-center about a central axis. For example, the one or more coils may be rotated off-center (e.g., between multiple channels) by channel phase differences and / or (e.g., between each differential signal in a channel) by output phase differences. In some embodiments, channel phase differences (e.g., about zero degrees, such as less than about 5 degrees) may be negligible.

[0032] Additionally and / or alternatively, one or more channels may include channel circuitry configured to generate component signals of one or more differential signals in response to one or more coil features. Channel circuitry may be provided independently for each channel. For example, the channel circuitry associated with a first channel may be located in a first integrated circuit (IC) (e.g., an application-specific integrated circuit, ASIC), while the channel circuitry associated with a second channel may be located in a second integrated circuit. The second integrated circuit may be different from the first integrated circuit (e.g., a separate IC from the first integrated circuit). For example, in some embodiments, the channel circuitry may be configured to process coil features and generate sinusoidal component signals, wherein the phase of the sinusoidal component signals corresponds to the rotational orientation and / or position of the target. For example, in some embodiments, the first and second component signals may be sinusoidal signals (e.g., sine signals), while the third and fourth component signals may be sinusoidal signals with phase shifts of the first and second component signals (e.g., cosine signals).

[0033] Additionally and / or alternatively, one or more channels may include an interface configured to provide (e.g., one of a first differential signal and a second differential signal for a first channel), or (e.g., one of a third differential signal and a fourth differential signal for a second channel), such as one or both of these component signals. For example, one or more channels may each include an interface comprising one or more signal lines configured to provide multiple pairs of signals associated with the differential signals. In some embodiments, the sensor may include an interface having signal lines and / or connectors only for the signals used (e.g., one signal per pair as described herein). In some embodiments, the sensor may include an interface having signal lines and / or connectors for each signal, and the sensor may connect only to the desired signal to reduce wiring as described herein.

[0034] In some implementations, each of the multiple channels can be configured to generate one or both component signals of two differential signals. For example, a first channel can generate one or both component signals associated with a first differential signal and a second differential signal. Additionally and / or alternatively, a second channel can generate one or both component signals associated with a third differential signal and a fourth differential signal. The third differential signal can correspond to the first differential signal. For example, the third differential signal can transmit the same, redundant, or other definitive information to the first differential signal. Additionally and / or alternatively, a fourth differential signal can correspond to the second differential signal. For example, the fourth differential signal can transmit the same, redundant, or other definitive information to the second differential signal. As an example, both the first and third differential signals can be sinusoidal outputs. Additionally and / or alternatively, both the second and fourth differential signals can be cosine outputs.

[0035] For example, each differential signal may include a pair of component signals. For example, a first differential signal may include a first pair of component signals. Additionally and / or alternatively, a second differential signal may include a second pair of component signals. Additionally and / or alternatively, a third differential signal may include a third pair of component signals. The third pair of component signals may correspond to the first pair of component signals. For example, in some embodiments, the third pair of component signals may be substantially the same as and / or identical to the first pair of component signals, and / or the phase-shifted first pair of component signals. Additionally and / or alternatively, a fourth differential signal may include a fourth pair of component signals. The fourth pair of component signals may correspond to the second pair of component signals. For example, in some embodiments, the fourth pair of component signals may be substantially the same as and / or identical to the second pair of component signals, and / or the phase-shifted second pair of component signals. The sensor may be configured to generate one or both component signals from each pair of component signals, and / or to make one or both component signals from each pair of component signals available for measurement. For example, in some embodiments, one component signal from each pair of component signals may be omitted from the signal generation stage, and the sensor may be configured to reduce wiring as described herein.

[0036] Each component signal in a pair of component signals may have an associated polarity. For example, the first signal in the pair of component signals may have a first polarity (e.g., positive), while the second signal in the pair of component signals may have a second polarity opposite to the first polarity (e.g., negative). These component signals may be combined (e.g., additively combined) at least in part based on their respective polarities to produce a differential signal. For example, a differential signal may be produced by subtracting a second signal with a negative polarity from a first signal with a positive polarity. This combination may be performed in the analog domain (e.g., by direct analog combination of analog component signals), and / or in the digital domain (e.g., by digital combination of digital component signals, digital samples of analog component signals), and / or in any other suitable manner. According to an exemplary aspect of this disclosure, a cross-channel differential signal may be generated by extracting multiple opposite component signals from the respective differential signals of each channel and combining these opposite component signals with respect to polarity and / or phase offset.

[0037] In some embodiments, the component signals and / or differential signals may be sinusoidal signals, such as sine and / or cosine signals. For example, in some embodiments, the first and third differential signals may both be differential sine signals, while the second and fourth differential signals may both be differential cosine signals. For example, in some embodiments, multiple pairs of component signals may include sine+, sine-, cosine+, cosine-, etc. As another example, in some embodiments, the differential signals may be or may include sine outputs and / or cosine outputs. For example, one or two channels may be configured to produce sine and cosine outputs. For example, in some embodiments, a pair of component signals may be measured from one or more coils (e.g., receiving coils) rotatably arranged about a central axis. A sine output may be measured from a first coil, and / or a cosine output may be measured from a second coil, which is rotatably arranged to be out of phase with the output, for example, the second coil is 90 degrees out of phase with the first coil. For example, the second coil may be structurally similar to and / or identical to the first coil and rotated 90 degrees about a central axis to produce a cosine output.

[0038] A dual-channel differential sensor may include sensing circuitry. For example, the sensing circuitry may be part of, and / or separate from, the channel circuitry. For instance, the sensing circuitry may be included in a package (e.g., an integrated circuit, a computing device, etc.) that connects to the dual-channel differential sensor via an interface, such as an interface including one or more signal lines. These signal lines may be pins, traces, wires, cables, and / or other suitable systems configurable for signal transmission (e.g., on an integrated circuit). According to exemplary aspects of this disclosure, the number of signal lines required to connect to a dual-channel differential sensor can be reduced while retaining the advantages associated with a dual-channel differential sensor.

[0039] The sensing circuit can be configured to acquire (e.g., receive and / or sample) component signals and generate cross-channel differential signals for a dual-channel differential sensor. For example, the sensing circuit can acquire a first component signal from a first channel and a second component signal from a second channel. The second channel can be independent of the first channel. The first component signal can have a first polarity, and / or the second component signal can have a second polarity. The second polarity can be opposite to the first polarity. Additionally and / or alternatively, the sensing circuit can acquire a third component signal with a first polarity from the first channel and a fourth component signal with a second polarity from the second channel. For example, the sensing circuit can acquire signals via an interface comprising one or more signal lines coupled to the dual-channel differential sensor (e.g., sensing circuitry, coil, etc.). In some embodiments, each of the acquired component signals can have associated signal lines, such as associated signal lines of a total of four signal lines.

[0040] In some embodiments, the aforementioned plurality of component signals may each be one of a pair of component signals of a differential signal, and the signal lines associated with the other component signals of each differential signal may be omitted from the sensor (e.g., the interface and / or the connector to the interface) to reduce the wiring required for connecting the sensing circuitry to the dual-channel differential sensor (e.g., reducing the number of signal lines) (e.g., reducing the required wiring from eight signal lines to four signal lines). Additionally and / or alternatively, omitting other signal lines may contribute to reduced costs (e.g., reduced operating and / or manufacturing costs), reduced bus width, reduced computational requirements (e.g., fewer signals need to be processed, fewer signals sampled / measured at the coil, etc.), and / or various other advantages. For example, in some embodiments, the interface may provide connectors to omitted signals that may not be connected. In some embodiments, the interface may completely omit connectors to omitted signals.

[0041] In some embodiments, each of these signals may have an associated phase. For example, the phase of the first component signal may differ from the phase of the third component signal by one channel phase difference. Additionally and / or alternatively, the phase of the second component signal may differ from the phase of the fourth component signal by that channel phase difference.

[0042] In some embodiments, both the first and second component signals can be sinusoidal component signals, such as component signals associated with a differential sinusoidal signal. Additionally and / or alternatively, the first cross-channel differential signal can be a sinusoidal differential signal (e.g., a sinusoidal output). For example, the first cross-channel differential signal can be associated with a sinusoidal signal (e.g., where zero values ​​correspond to 0 degrees and / or 180 degrees of phase) and can be calculated based on the component signals of the differential sinusoidal signal from each channel. Additionally and / or alternatively, both the third and fourth component signals can be cosine component signals, such as component signals associated with a differential cosine signal. Additionally and / or alternatively, the second cross-channel differential signal can be a cosine output. For example, the second cross-channel differential signal can be associated with a cosine signal (e.g., where zero values ​​correspond to 90 degrees and / or 270 degrees of phase) and can be calculated based on the component signals of the differential cosine signal from each channel.

[0043] Additionally and / or alternatively, the sensing circuit may be configured to determine the first cross-channel differential signal based at least in part on the first component signal and the second component signal. For example, the first component signal and the second component signal may be combined based on their respective polarities. For example, the first component signal may have a first polarity (e.g., positive), while the second component signal may have a second polarity (e.g., negative), and the second component signal may be added to the first component signal, and / or may be subtracted from the first component signal (e.g., subtracted from the first component signal based on negative polarity). In some embodiments, these signals may be adjusted to solve for a phase difference (e.g., channel phase difference) before determining the first cross-channel differential signal.

[0044] Additionally and / or alternatively, the sensing circuit may be configured to determine the second cross-channel differential signal based at least in part on the third component signal and the fourth component signal. For example, the third component signal and the fourth component signal may be combined based on their respective polarities. For example, the third component signal may have a first polarity (e.g., positive), while the fourth component signal may have a second polarity (e.g., negative), and the fourth component signal may be added to the third component signal, and / or may be subtracted from the third component signal (e.g., subtracted from the third component signal based on negative polarity). In some embodiments, these signals may be adjusted to solve for the phase difference (e.g., channel phase difference) before determining the second cross-channel differential signal.

[0045] The second cross-channel differential signal can be the cosine output of a dual-channel differential sensor. The second cross-channel differential signal can correspond to the desired output of the sensor. For example, the sensor can be configured to produce a total cosine output. For example, in some embodiments, the total cosine output can be obtained by subtracting the cosine-output of the second channel from the cosine+ output of the first channel. As an example, the second cross-channel differential signal can be calculated as: COS out =cosine1+-cosine2-, where cosine1+ is the sine and cosine component signal from the first channel, and cosine2- is the negative cosine component signal from the second channel.

[0046] Additionally and / or alternatively, the sensing circuit may be configured to provide a first cross-channel differential signal as a first output of the dual-channel differential sensor, and / or provide a second cross-channel differential signal as a second output of the dual-channel differential sensor. For example, the sensor may include an external interface configured to be excited by the first cross-channel differential signal and / or the second cross-channel differential signal, such that these signals can be provided to an external device capable of reading them.

[0047] Additionally and / or alternatively, the sensing circuit may perform a safety check to verify the expected operation of the sensor and / or one or more systems coupled to it (e.g., motor, gearbox, control system, encoder, etc.). For example, the sensing circuit may perform a safety check to verify that the sensor is operating correctly and / or that the operating conditions of one or more systems are safe and / or accurate. The operation of the sensor and / or one or more systems may be adjusted based on the safety check. For example, the operation of the system may be stopped based on the safety check, or an alarm may be issued based on the safety check.

[0048] For example, to perform a security check, the sensing circuit may determine the first channel angle based at least in part on a first component signal and a third component signal. For example, these two component signals may both originate from the same channel (e.g., the first channel) and / or have the same polarity (e.g., positive). For example, in some embodiments, these two signals may include a sine+ signal and a cosine+ signal from the first channel. In some embodiments, the first channel angle may be a two-parameter arctangent (e.g., atan2) function. For example, the first channel angle may be determined by atan2(sine+, cosine+).

[0049] Additionally and / or alternatively, the sensing circuit may determine the second channel angle based at least in part on the second component signal and the fourth component signal. For example, both signals may originate from the same channel (e.g., the second channel) and / or have the same polarity (e.g., negative). For example, in some embodiments, the two signals may include a sine-signal and a cosine-signal from the second channel. In some embodiments, the second channel angle may be a two-parameter arctangent (e.g., atan2) function. For example, the second channel angle may be determined by atan2(sine-, cosine-).

[0050] Additionally and / or alternatively, the sensing circuit may determine the cross-channel angle difference based at least in part on the first channel angle and the second channel angle. For example, in some embodiments, the sensing circuit may subtract the second channel angle from the first channel angle to determine the cross-channel angle difference. Additionally and / or alternatively, in some embodiments, the sensing circuit may also determine that the cross-channel angle difference is within a cross-channel relevant tolerance range. For example, this cross-channel relevant tolerance range may be or may include a threshold (e.g., an amplitude threshold), a minimum value, and / or a maximum value. For example, in some embodiments, determining that the cross-channel angle difference is within the cross-channel relevant tolerance range may include determining that the amplitude of the cross-channel angle difference is less than a relevant tolerance threshold, such as a relevant tolerance threshold δ.

[0051] In some embodiments, in response to determining that the cross-channel angle difference is within the cross-channel relevant tolerance range, the sensor may be considered to be under normal operating conditions. For example, measurement results may be obtained from the sensor, and / or calibration control actions related to sensor calibration operations may not be performed. In some embodiments, in response to determining that the cross-channel angle difference is not within the cross-channel relevant tolerance range, the sensing circuit may initiate and / or otherwise perform one or more calibration control actions to correct the operation of the sensor, and / or otherwise adjust the operation of one or more systems coupled to the sensor, and / or the sensor being configured to monitor the status of the one or more systems. For example, in some cases, in response to determining that the cross-channel angle difference is not within the cross-channel relevant tolerance range, the calibration control action may be or may include marking, alarming, fault-solving, braking, shutdown, and / or other suitable calibration control actions to ensure safe and reliable operation of the system.

[0052] As an example, in one implementation, a dual-channel differential sensor can generate sinusoidal and cosine differential signals in a first channel comprising a sine 1+ (sine1+) signal, a sine 1- (sine1-) signal, a cosine 1+ (cosine1+) signal, and a cosine 1- (cosine1-) signal. Additionally and / or alternatively, a second channel can generate a sine 2+ (sine2+) signal, a sine 2- (sine2-) signal, a cosine 2+ (cosine2+) signal, and a cosine 2- (cosine2-) signal. Signal lines associated with the sine 1+, cosine 1+, sine 2-, and cosine 2- signals may be included. Additionally and / or alternatively, the signal lines associated with sine 1-, cosine 1-, sine 2+, and cosine 2+ can be omitted from the sensor to reduce wiring. Additionally and / or alternatively, the measurement point or other circuitry for measuring the signal with the omitted signal line may be omitted, so that the signal with the omitted signal line does not require any dedicated component at the sensor and can exist simply as a convention. The total sinusoidal output of the sensor can be calculated as: SIN out =sine1+-sine2-. Additionally and / or alternatively, the total cosine output of the sensor can be calculated as: COS out =cosine1+-cosine2-. Angle compensation may be included in this calculation if necessary. Additionally and / or alternatively, the angle between these signals can be calculated as: atan2(SIN) out COS out For example, this angle can resist the effects of common-mode noise.

[0053] These signals can also be used to perform security checks. For example, the first channel angle between two signals can be calculated as: angle1 + (angle1+) = atan2(sine1+, cosine1+). The second channel angle between two signals can be calculated as: angle2 + (angle2+) = atan2(sine2-, cosine2-). The second channel angle can be subtracted from the first channel angle to obtain the cross-channel angle difference. diff (angle diff = angle1 + - angle2 -. The cross-channel angle difference can be checked to be within the cross-channel relevant angle range (e.g., having an amplitude less than a safety threshold (e.g., δ)). If the cross-channel angle difference is outside the cross-channel relevant angle range (e.g., having an amplitude greater than and / or equal to the safety threshold), the sensor may operate under unexpected performance, and various safety measures (e.g., implementing corrective control actions) can be performed based on the results of the safety check.

[0054] In practice, without departing from the exemplary aspects of this disclosure, slight differences may be observed between multiple channels (e.g., between the first and third component signals and / or between the second and fourth component signals), for example, due to variations in sensor design, manufacturing, etc. For instance, the coils generating the first and third component signals may be offset (e.g., rotated offset) due to limited space on a circuit board or other substrate, thereby introducing a known channel phase difference between the first and third component signals. Similarly, the coils generating the second and fourth component signals may be offset (e.g., rotated offset), thereby introducing a known channel phase difference (e.g., the same channel phase difference as between the first and third component signals) between the second and fourth component signals. As an example, a dual-channel component sensor can be implemented using two channels of coaxially positioned sinusoidal coils. Due to interference between coils, space constraints, etc., the coil associated with each channel may be offset by a known phase difference, for example, approximately 45 degrees. In some embodiments, the sensor may be designed (e.g., using a multilayer printed circuit board (PCB)) such that there is no channel phase difference, and / or the sensor may be designed to at least partially compensate for the channel phase difference (e.g., having a channel phase difference of less than about 45 degrees (e.g., less than about 15 degrees)).

[0055] Additionally and / or alternatively, variations such as manufacturing variations, power supply differences, and noise can introduce small amplitude differences between multiple channels, such that the first channel may have a first amplitude (e.g., the amplitude shared by the first and second differential signals), while the second channel may have a second amplitude (e.g., the amplitude shared by the third and fourth differential signals). For example, due to manufacturing variations, power supply differences, noise, etc., the performance (e.g., gain) of the circuitry associated with the first channel (e.g., an application-specific integrated circuit (ASIC)) may differ slightly from the performance of the circuitry associated with the second channel (e.g., an ASIC), which may result in amplitude variations. As another example, tuning algorithms (e.g., automatic gain stabilization algorithms) may converge on different solutions for different circuits. Therefore, in some embodiments, the first and second amplitudes may be expected to be the same, but in practice, small (e.g., less than about 10%) variations may still exist.

[0056] Therefore, in some embodiments, channel phase compensation can be applied to measurement results from the sensor. For example, channel phase compensation can be applied to the output angle to correct for phase differences between the first and second channels. For example, in some embodiments, determining the output angle between the first cross-channel differential signal and the second cross-channel differential signal can include applying channel phase correction to the output angle.

[0057] Channel phase correction can be based at least in part on channel phase difference. For example, in some embodiments, channel phase correction can be applied to correct channel phase difference. Additionally and / or alternatively, in some embodiments, channel phase correction can be based at least in part on the amplitude of the first channel and the amplitude of the second channel. For example, in some embodiments, small variations between the first and second channels may result in small differences in the amplitude of each channel.

[0058] For example, in some embodiments, determining the output angle between the first cross-channel differential signal and the second cross-channel differential signal may include determining the amplitude of the first channel and determining the amplitude of the second channel. For example, the amplitude of a channel may be determined by measuring the amplitude of the channel (e.g., the maximum amplitude) over one or more periods (e.g., a complete period) of the component signals. For example, the amplitude of a channel may correspond to the amplitude of a component signal (e.g., one of a pair of component signals), and / or the amplitude of a differential signal (e.g., after combining the pair of component signals), and / or the amplitude of any other suitable signal associated with the channel (e.g., an intermediate signal).

[0059] Additionally and / or alternatively, in some embodiments, determining the output angle may include determining channel phase correction based at least in part on the amplitude of the first channel, the amplitude of the second channel, and the phase difference. For example, in some embodiments, determining the angle offset may be based on the following formula:

[0060]

[0061] Where Δθ is the channel phase correction. It is the channel (e.g., physical) phase difference, where A is the amplitude of the first channel and B is the amplitude of the second channel.

[0062] Additionally and / or alternatively, in some embodiments, determining the output angle may include applying channel phase correction to the output angle. For example, channel phase correction may be combined with the output angle (e.g., added to the output angle), such as adding channel phase correction to the output angle and / or subtracting channel phase correction from the output angle.

[0063] The exemplary aspects of this disclosure can provide numerous technical effects and benefits. For example, according to the exemplary aspects of this disclosure, a dual-channel differential sensor can be configured to reduce wiring while maintaining the advantages of a dual-channel differential sensor, including security, reliability, and noise tolerance. For example, acquiring signals from a sensor as described herein (e.g., a sine+ and cosine+ signal from the first channel, and a sine- and cosine- signal from the second channel) may require only half the number of signal lines compared to acquiring four complete differential signals. Additionally and / or alternatively, acquiring sensor measurements as described herein can provide low-noise measurements (robust to noise, e.g., common-mode noise) while achieving signal line reduction. For example, signals as described herein can (e.g., between signals of opposite polarities) maintain differential characteristics that provide resistance to the effects of common-mode noise. Additionally and / or alternatively, using signals from two channels can provide improved security and reliability while achieving signal line reduction. For example, using signals from two channels can provide a security check between signals from the two channels, which is robust to operational changes.

[0064] With reference to the accompanying drawings, exemplary aspects of this disclosure will now be discussed in more detail with respect to exemplary embodiments thereof.

[0065] Figure 1AA block diagram depicting at least a portion of an example dual-channel differential sensor 100 according to an exemplary embodiment of the present disclosure is provided. The differential sensor 100 may include a first channel 110 and / or a second channel 130. The first channel 110 may include a first channel circuit 112. The first channel circuit 112 may be configured to process signals associated with sensor measurement results and generate a first differential signal 120 and / or a second differential signal 125.

[0066] The first differential signal 120 may include a first component signal 122 and a second component signal 124. In some embodiments, the first differential signal 120 may be or may include a differential sine curve output. For example, the first component signal 122 may be a sine curve signal, while the second component signal 124 may be a sine curve signal having the opposite polarity to the first component signal 122. For example, in some embodiments, the first component signal 122 and the second component signal 124 may be 180 degrees out of phase. As an example, the first component signal 122 may be a sine + signal, while the second component signal 124 may be a sine - signal.

[0067] Additionally and / or alternatively, in some embodiments, the second differential signal 125 may be or may include a differential sine wave output. For example, the second differential signal 125 may include a first component signal 126 and a second component signal 128. For example, the first component signal 126 may be a sine wave signal, while the second component signal 128 may be a sine wave signal having the opposite polarity to the first component signal 126. For example, in some embodiments, the first component signal 126 and the second component signal 128 may be 180 degrees out of phase. Additionally and / or alternatively, the first component signals 122 and 126 and / or the second component signals 124 and 128 may have a known phase difference, such as an output phase difference. As an example, the second differential signal 125 may be configured as a cosine output. As an example, the first component signal 126 may be a cosine+ signal, while the second component signal 128 may be a cosine- signal. Therefore, the cosine signal of the second differential signal 125 may have a 90-degree phase difference with the sine signal of the first differential signal 120. For example, many systems can operate based on sine and cosine measurements from sensors (e.g., inductive rotation sensors).

[0068] Additionally and / or alternatively, in some embodiments, the first channel 110 may include a receiving coil 114 and / or a transmitting coil 116. For example, the first channel circuitry 112 may be configured to excite the transmitting coil 116. The excited transmitting coil 116 may generate an electromagnetic field that interacts with the target 105. This electromagnetic field may also interact with the receiving coil 114 and / or be influenced by the target 105. For example, the electromagnetic field may induce a received signal (e.g., an induced current) in the receiving coil 114. The first channel circuitry 112 may measure, sample, and / or process the received signal to generate differential signals 120 and 125. As an example, refer to Figure 3 The transmitting coil 116 and the receiving coil 114 are discussed. Other suitable arrangements of the receiving coil 114 and the transmitting coil 116, and / or other suitable sensor arrangements (e.g., magnetic encoders) may be employed according to exemplary aspects of this disclosure.

[0069] Additionally and / or alternatively, the differential sensor 100 may include a second channel 130. The second channel 130 may include a second channel circuit 132. The second channel circuit 132 may be configured to process signals related to sensor measurement results and generate a third differential signal 140 and / or a fourth differential signal 145.

[0070] The third differential signal 140 may include a first component signal 142 and a second component signal 144. In some embodiments, the third differential signal 140 may be or may include a differential curve sine output. For example, the first component signal 142 may be a sine curve signal, while the second component signal 144 may be a sine curve signal with the opposite polarity to the first component signal 142. For example, in some embodiments, the first component signal 142 and the second component signal 144 may be 180 degrees out of phase. As an example, the first component signal 142 may be a sine + signal, while the second component signal 144 may be a sine - signal.

[0071] Additionally and / or alternatively, in some embodiments, the fourth differential signal 145 may be or may include a differential sine wave output. For example, the fourth differential signal 145 may include a first component signal 146 and a second component signal 148. For example, the first component signal 146 may be a sine wave signal, while the second component signal 148 may be a sine wave signal having the opposite polarity to the first component signal 146. For example, in some embodiments, the first component signal 146 and the second component signal 148 may be 180 degrees out of phase. Additionally and / or alternatively, the first component signals 142 and 146 and / or the second component signals 144 and 148 may have a known phase difference, such as an output phase difference. As an example, the fourth differential signal 145 may be configured as a cosine output. As an example, the first component signal 146 may be a cosine+ signal, while the second component signal 148 may be a cosine- signal. Therefore, the cosine signal of the fourth differential signal 145 may have a 90-degree phase difference with the sine signal of the third differential signal 140. For example, many systems can operate based on sine and cosine measurements from sensors (e.g., inductive rotation sensors).

[0072] The first differential signal 120 and the third differential signal 140 can be correlated such that the first differential signal 120 corresponds to the third differential signal 140. For example, the third differential signal 140 can transmit the same, redundant, or other specific information to the first differential signal 120. For example, in some embodiments, a pair of component signals 122 and 124 can be nearly identical and / or identical to a pair of component signals 142 and 144 (e.g., a phase-shifted pair of component signals 142 and 144).

[0073] Additionally and / or alternatively, the second differential signal 125 and the fourth differential signal 145 may be correlated such that the second differential signal 125 corresponds to the fourth differential signal 145. For example, the fourth differential signal 145 may transmit the same, redundant, or other specific information to the second differential signal 125. For example, in some embodiments, a pair of component signals 126 and 128 may be substantially the same and / or identical to a pair of component signals 146 and 148 (e.g., a phase-shifted pair of component signals 146 and 148).

[0074] The first channel 110 and / or the second channel 130 may be coupled to the sensing circuit 150. For example, the sensing circuit 150 may be configured to acquire, for example, Figure 1AThe component signals 122, 126, 144, and 148 are shown. Other suitable signals for any of the differential signals 120, 125, 140, and 145, according to an exemplary aspect of this disclosure. Sensing circuitry 150 can be configured to process measurements from sensor 100. For example, sensing circuitry 150 can acquire cross-channel differential signals and / or perform security checks. Sensing circuitry 150 can be separate from and / or integrated into sensor 100.

[0075] For example, in some embodiments, the sensing circuit 150 may be or may include a microcontroller and / or other suitable circuitry. In some embodiments, the sensing circuit may be configured to sample (e.g., digitally sample) the component signals 122, 126, 144, and 148, and / or perform angle calculations on the output. In these embodiments, and / or when the angle and phase differences between channels are close to or exactly zero, the angles may be averaged to remove noise. As another example, the sensor 100 may include (e.g., in the sensing circuit 150) a differential input stage that allows direct acquisition of measurements of analog signals and / or direct computation of analog signals. For example, the differential input stage may perform analog computations to directly calculate the values ​​of the differential signals across channels. This can provide improved noise removal characteristics.

[0076] Figure 1B A block diagram depicting at least a portion of an example dual-channel differential sensor 160 according to an exemplary embodiment of the present disclosure is provided. The sensor 160 is similar to... Figure 1A The sensor 100, but the signal lines associated with the omitted signals are omitted from the sensor (e.g., Figure 1A Signal lines 124, 128, 142, and 146). Therefore, although Figure 1A An embodiment is depicted where the omitted signals are present (e.g., generated by channel circuits 112, 132) and are simply not connected, but Figure 1B An embodiment is depicted in which the omitted signal is completely removed from the sensor and channel circuits 112 and 132 generate only four component signals. According to exemplary aspects of this disclosure, in addition to and / or replacing any other suitable variations, Figure 1A and Figure 1B Both configurations described in the text can be adopted.

[0077] Figure 2A graph 200 depicts example component signals from an example channel forming an example differential signal according to an example embodiment of the present disclosure. For example, component signals 202 and 204 are associated with a first differential signal 210. For example, the first component signal 202 may have a first polarity (e.g., positive), while the second component signal 204 may have a second polarity (e.g., negative). The second component signal 204 can be subtracted from the first component signal 202 to produce the first differential signal 210. For example, the first differential signal 210 may be a sine output. Additionally and / or alternatively, component signals 206 and 208 are associated with a second differential signal 212. For example, the first component signal 206 may have a first polarity (e.g., positive), while the second component signal 208 may have a second polarity (e.g., negative). The second component signal 208 can be subtracted from the first component signal 206 to produce the second differential signal 212. For example, the second differential signal 212 may be a cosine output.

[0078] Figure 3 An example sensor coil (also referred to as a coil) 300 according to an exemplary embodiment of the present disclosure is depicted. For example, the coil 300 may be disposed on a substrate, such as traces formed on a printed circuit board (PCB), flexible printed circuit board, and / or other suitable substrate. For example, in some embodiments, the coil 300 is formed on a multilayer substrate (e.g., a double-layer PCB). For example, each layer of the multilayer substrate may include one or more coils 300. Additionally and / or alternatively, the coil 300 may be cut from a sheet of metal, formed from wound or bent wires, or other wound or bent conductive filaments, and / or formed in any suitable manner according to an exemplary aspect of the present disclosure. The coils 300 (e.g., transmitting coil 310 and / or receiving coils 302 to 308) may be arranged about a central axis 315. In some embodiments, the receiving coils 302 to 308 may be configured to generate a pair of component signals. For example, according to an exemplary aspect of the present disclosure, each of the receiving coils 302 to 308 may be measured at two points to generate a pair of component signals, only one of which may be utilized at the sensing circuitry. Additional and / or alternative grounds may be used to measure the receiving coils 302 to 308 at only a single point.

[0079] Coil 300 may include a transmitting coil 310. The transmitting coil 310 may be excited (e.g., excited by a channel circuit) to generate an electromagnetic field. For example, the transmitting coil may be excited by any suitable electrical signal (e.g., a voltage signal, a current signal, etc.) and / or a constant signal and / or a time-varying signal. The electromagnetic field generated by the transmitting coil may interact with the environment of the sensor (e.g., a target) and may be altered by elements in the environment (e.g., the target). For example, the target may be configured to generate an edge field that attenuates and / or enhances the electromagnetic field in a specific region. As an example, the target may include a rotating target that rotates (e.g., coaxially with a central axis 315) to change the electromagnetic field according to the target's rotational position.

[0080] Additionally and / or alternatively, coil 300 may include receiving coils 302, 304, 306, and 308. The first receiving coil 302 may be configured to generate a first differential signal. For example, the received signal (e.g., induced current) may be an electromagnetic field induced in the first receiving coil 302, such as an electromagnetic field from the transmitting coil 310, an electromagnetic field induced by a target present in the coil environment, and / or an electromagnetic field from any other suitable source. Channel circuitry may sample and / or measure the first receiving coil 302 to generate a pair of component signals associated with the first differential signal from the first receiving coil 302. Similarly, the second receiving coil 304 may be configured to generate a second differential signal. For example, channel circuitry (e.g., associated with the same channel as the first receiving coil 302) may sample and / or measure the second receiving coil 304 to generate a pair of component signals associated with the second differential signal from the second receiving coil 304. For example, the first receiving coil 302 and the second receiving coil 304 may form a single channel. Figure 3 As shown, the first receiving coil 302 and the second receiving coil 304 are sinusoidal coils configured to generate a sinusoidal differential signal. Additionally and / or alternatively, such as... Figure 3 As shown, the second receiving coil 304 is rotated 90 degrees relative to the first receiving coil 302. Therefore, the first receiving coil 302 can be configured to generate a sine output, while the second receiving coil 304 can be configured to generate a cosine output.

[0081] Similarly, the third receiving coil 306 can be configured to generate a third differential signal, and the fourth receiving coil 308 can be configured to generate a fourth differential signal. For example, the third receiving coil 306 and / or the fourth receiving coil 308 can be sampled and / or measured by a channel circuit associated with a channel different from that of the first receiving coil 302 and / or the second receiving coil 304. For example, in some embodiments, the first receiving coil 302 and / or the second receiving coil 304 can be disposed on a first layer of a multilayer substrate, while the third receiving coil 306 and / or the fourth receiving coil 308 can be disposed on a second layer of the multilayer substrate. Figure 3 As shown, the third receiving coil 306 and / or the fourth receiving coil 308 have a channel phase offset of 45 degrees relative to the first receiving coil 302 and / or the second receiving coil 304, rotating about the central axis 315. This channel phase offset may be implemented due to space constraints of the substrate containing the coils 300, interference considerations between the coils 300, etc. In some embodiments, the coils 300 may alternatively have a channel phase offset of less than about 45 degrees (e.g., less than about 15 degrees). As another example, in some embodiments, the coils 300 may have a channel phase offset of 0 degrees.

[0082] Figure 4 A flowchart depicts an example method 400 for operating a dual-channel differential sensor according to an example embodiment of this disclosure. Although Figure 4 The steps performed in a specific order are described for illustrative and explanatory purposes, but the method of this disclosure is not limited to the specific order or arrangement described. The steps of method 400 may be omitted, rearranged, combined, and / or modified in various ways without departing from the scope of this disclosure.

[0083] For example, method 400 may include, at 402, acquiring a first component signal from a first channel and a second component signal from a second channel. The second channel may be independent of the first channel. The first component signal may have a first polarity, and / or the second component signal may have a second polarity. The second polarity may be opposite to the first polarity. Additionally and / or alternatively, method 400 may include, at 404, acquiring a third component signal with a first polarity from the first channel and a fourth component signal with a second polarity from the second channel. For example, the sensing circuit may acquire signals via an interface comprising one or more signal lines coupled to a dual-channel differential sensor (e.g., sensing circuitry, coil, etc.). In some embodiments, each of the acquired component signals may have associated signal lines, such as associated signal lines of a total of four signal lines.

[0084] In some embodiments, the aforementioned multiple component signals may each be one of a pair of component signals of a differential signal, and the signal lines associated with the other component signals of each differential signal may be omitted from the sensor (e.g., the interface and / or the connector to the interface) to reduce the wiring required for the interface between the sensing circuit and the dual-channel differential sensor (e.g., reducing the number of signal lines) (e.g., reducing the required wiring from eight signal lines to four signal lines). Additionally and / or alternatively, omitting other signal lines may contribute to reduced costs (e.g., reduced operating and / or manufacturing costs), reduced bus width, reduced computational requirements (e.g., fewer signals need to be processed, fewer signals sampled / measured at the coil, etc.), and / or various other advantages. For example, in some embodiments, the interface may provide connectors to omitted signals that may not be connected. In some embodiments, the interface may completely omit connectors to omitted signals.

[0085] In some embodiments, each of these signals may have an associated phase. For example, the phase of the first component signal may differ from the phase of the third component signal by one channel phase difference. Additionally and / or alternatively, the phase of the second component signal may differ from the phase of the fourth component signal by that channel phase difference.

[0086] In some embodiments, both the first and second component signals can be sinusoidal component signals, such as component signals associated with a differential sinusoidal signal. Additionally and / or alternatively, the first cross-channel differential signal can be a sinusoidal differential signal (e.g., a sinusoidal output). For example, the first cross-channel differential signal can be associated with a sinusoidal signal (e.g., where zero values ​​correspond to 0 degrees and / or 180 degrees of phase) and can be calculated based on the component signals of the differential sinusoidal signal from each channel. Additionally and / or alternatively, both the third and fourth component signals can be cosine component signals, such as component signals associated with a differential cosine signal. Additionally and / or alternatively, the second cross-channel differential signal can be a cosine output. For example, the second cross-channel differential signal can be associated with a cosine signal (e.g., where zero values ​​correspond to 90 degrees and / or 270 degrees of phase) and can be calculated based on the component signals of the differential cosine signal from each channel.

[0087] Additionally and / or alternatively, method 400 may include, at 406, determining a first cross-channel differential signal based at least in part on a first component signal and a second component signal. For example, the first component signal and the second component signal may be combined based on their respective polarities. For example, the first component signal may have a first polarity (e.g., positive), while the second component signal may have a second polarity (e.g., negative), and the second component signal may be added to the first component signal, and / or may be subtracted from the first component signal (e.g., subtracted from the first component signal based on negative polarity). In some embodiments, these signals may be adjusted to solve for a phase difference (e.g., channel phase difference) before determining the first cross-channel differential signal.

[0088] Additionally and / or alternatively, method 400 may include, at 408, determining a second cross-channel differential signal based at least in part on the third component signal and the fourth component signal. For example, the third component signal and the fourth component signal may be combined based on their respective polarities. For example, the third component signal may have a first polarity (e.g., positive), while the fourth component signal may have a second polarity (e.g., negative), and the fourth component signal may be added to the third component signal and / or subtracted from the third component signal (e.g., subtracting the fourth component signal from the third component signal based on negative polarity). In some embodiments, these signals may be adjusted to solve for a phase difference (e.g., channel phase difference) before determining the second cross-channel differential signal.

[0089] The second cross-channel differential signal can be the cosine output of a dual-channel differential sensor. The second cross-channel differential signal can correspond to the desired output of the sensor. For example, the sensor can be configured to produce a total cosine output. For example, in some embodiments, the total cosine output can be obtained by subtracting the cosine-output of the second channel from the cosine+ output of the first channel. As an example, the second cross-channel differential signal can be calculated as: COS out =cosine1+-cosine2-, where cosine1+ is the sine and cosine component signal from the first channel, and cosine2- is the negative cosine component signal from the second channel.

[0090] Additionally and / or alternatively, method 400 may include, at 410, providing a first cross-channel differential signal as a first output of the dual-channel differential sensor. Additionally and / or alternatively, method 400 may include, at 412, providing a second cross-channel differential signal as a second output of the dual-channel differential sensor. For example, the sensor may include an external interface configured to be excited by the first cross-channel differential signal and / or the second cross-channel differential signal, such that these signals can be provided to an external device capable of reading these signals.

[0091] In some embodiments, channel phase compensation can be applied to measurement results from a sensor. For example, channel phase compensation can be applied to the output angle to correct for phase differences between a first channel and a second channel. For example, in some embodiments, determining the output angle between a first cross-channel differential signal and a second cross-channel differential signal may include applying channel phase correction to the output angle.

[0092] Channel phase correction can be based at least in part on channel phase difference. For example, in some embodiments, channel phase correction can be applied to correct channel phase difference. Additionally and / or alternatively, in some embodiments, channel phase correction can be based at least in part on the amplitude of the first channel and the amplitude of the second channel. For example, in some embodiments, small variations between the first and second channels may result in small differences in the amplitude of each channel.

[0093] For example, in some embodiments, determining the output angle between the first cross-channel differential signal and the second cross-channel differential signal may include determining the amplitude of the first channel and determining the amplitude of the second channel. For example, the amplitude of a channel may be determined by measuring the amplitude of the channel (e.g., the maximum amplitude) over one or more periods (e.g., a complete period) of the component signals. For example, the amplitude of a channel may correspond to the amplitude of a component signal (e.g., one of a pair of component signals), and / or the amplitude of a differential signal (e.g., after combining the pair of component signals), and / or the amplitude of any other suitable signal associated with the channel (e.g., an intermediate signal).

[0094] Additionally and / or alternatively, in some embodiments, determining the output angle may include determining channel phase correction based at least in part on the amplitude of the first channel, the amplitude of the second channel, and the phase difference. For example, in some embodiments, determining the angle offset may be based on the following formula:

[0095]

[0096] Where Δθ is the channel phase correction. It is the channel phase difference, where A is the amplitude of the first channel and B is the amplitude of the second channel.

[0097] Additionally and / or alternatively, in some embodiments, determining the output angle may include applying a channel phase correction to the output angle. For example, the channel phase correction may be combined with the output angle (e.g., added to the output angle), such as adding the channel phase correction to the output angle and / or subtracting the channel phase correction from the output angle.

[0098] Figure 5 A flowchart depicts an example method 500 for operating a dual-channel differential sensor according to an example embodiment of this disclosure. Although Figure 5 The steps performed in a specific order are described for illustrative and explanatory purposes, but the method disclosed herein is not limited to the specific order or arrangement described. The steps of method 500 may be omitted, rearranged, combined, and / or modified in various ways without departing from the scope of this disclosure.

[0099] For example, a sensor (e.g., a sensing circuit) can implement the steps of method 500 as a safety check to verify the desired operation of the sensor and / or one or more systems coupled to the sensor (e.g., a motor, gearbox, control system, encoder, etc.). For example, the sensing circuit can implement method 500 (e.g., a safety check) to verify that the sensor is operating correctly and / or that the operating conditions of one or more systems are safe and / or accurate. The operation of the sensor and / or one or more systems can be adjusted based on the safety check. For example, the operation of the system can be stopped based on the safety check, an alarm can be issued based on the safety check, etc.

[0100] Method 500 may include, at 502, acquiring a first component signal and a third component signal from a first channel, and a second component signal and a fourth component signal from a second channel. The second channel may be independent of the first channel. The first component signal may have a first polarity, and / or the second component signal may have a second polarity. The second polarity may be opposite to the first polarity. The third component signal may have a first polarity. The fourth component signal may have a second polarity. For example, the sensing circuit may acquire signals via an interface including one or more signal lines coupled to a dual-channel differential sensor (e.g., sensing circuitry, coil, etc.). In some embodiments, each of the acquired component signals may have associated signal lines, such as associated signal lines of a total of four signal lines.

[0101] Method 500 may include, at 504, determining a first channel angle based at least in part on a first component signal and a third component signal. For example, both component signals may originate from the same channel (e.g., the first channel) and / or have the same polarity (e.g., positive). For example, in some embodiments, the two signals may include a sine+ signal and a cosine+ signal from the first channel. In some embodiments, the first channel angle may be a two-parameter arctangent (e.g., atan2) function. For example, the first channel angle may be determined by atan2(sine+, cosine+).

[0102] Additionally and / or alternatively, method 500 may include, at 506, determining the second channel angle based at least in part on the second component signal and the fourth component signal. For example, both signals may originate from the same channel (e.g., the second channel) and / or have the same polarity (e.g., negative). For example, in some embodiments, the two signals may include a sine- signal and a cosine- signal from the second channel. In some embodiments, the second channel angle may be a two-parameter arctangent (e.g., atan2) function. For example, the second channel angle may be determined by atan2(sine-, cosine-).

[0103] Additionally and / or alternatively, method 500 may include, at 508, determining the cross-channel angle difference based at least in part on the first channel angle and the second channel degree. For example, in some embodiments, the sensing circuit may subtract the second channel angle from the first channel angle to determine the cross-channel angle difference. Additionally and / or alternatively, in some embodiments, method 500 may further include, at 510, determining that the cross-channel angle difference is within a cross-channel relevant tolerance range. For example, the cross-channel relevant tolerance range may be or may include a threshold (e.g., an amplitude threshold), a minimum value, and / or a maximum value. For example, in some embodiments, determining that the cross-channel angle difference is within the cross-channel relevant tolerance range may include determining that the amplitude of the cross-channel angle difference is less than a relevant tolerance threshold, such as a relevant tolerance threshold δ.

[0104] In some embodiments, in response to determining that the cross-channel angle difference is within the cross-channel relevant tolerance range, the sensor may be considered to be under normal operating conditions. For example, measurement results may be obtained from the sensor, and / or calibration control actions related to the calibration operation of the sensor may not be performed. Additionally and / or alternatively, method 500 may include, at 512, determining that the cross-channel angle difference is not within the cross-channel relevant tolerance range. Method 500 may also include, at 514, in response to determining that the cross-channel angle difference is not within the cross-channel relevant tolerance range, performing one or more calibration control actions to correct the operation of the sensor, and / or otherwise adjust the operation of one or more systems coupled to the sensor and / or the sensor being configured to monitor the condition of the one or more systems. For example, in some cases, in response to determining that the cross-channel angle difference is not within the cross-channel relevant tolerance range, the calibration control action may be or may include an alarm, fault resolution action, braking action, shutdown, and / or other suitable calibration control action to ensure safe and reliable operation of the system.

[0105] For example, one exemplary embodiment of this disclosure may include a dual-channel differential sensor. The dual-channel differential sensor may include: a first channel, a first channel circuit, and a first interface; the first channel includes one or more first receiving coils configured to generate one or more first coil features in response to interaction with a target; the first channel circuit is configured to generate a first sine component signal and a first cosine component signal in response to the one or more first coil features, the first sine component signal and the first cosine component signal having a first polarity; the first interface is configured to provide the first sine component signal and the first cosine component signal. Alternatively, the dual-channel differential sensor may include: a second channel, a second channel circuit independent of the first channel circuit, and a second interface; the second channel includes one or more second receiving coils configured to generate one or more second coil features in response to interaction with a target; the second channel circuit is configured to generate a second sine component signal and a second cosine component signal in response to the one or more second coil features, the second sine component signal and the second cosine component signal having a second polarity opposite to the first polarity; the second interface is configured to provide the second sine component signal and the second cosine component signal. Additionally, the dual-channel differential sensor may include a sensing circuit configured to: acquire a first sine component signal, a first cosine component signal, a second sine component signal, and a second cosine component signal; determine a cross-channel sinusoidal differential signal based at least in part on the first sine component signal and the second sine component signal; determine a cross-channel cosine differential signal based at least in part on the first cosine component signal and the second cosine component signal; determine an output angle based at least in part on the two-parameter arctangent of the cross-channel sinusoidal differential signal and the cross-channel cosine differential signal; and provide the cross-channel sinusoidal differential signal, the cross-channel cosine differential signal, and the output angle as the output of the dual-channel differential sensor.

[0106] As used herein, “about” is used with respect to the stated value to mean within 20% of the stated value.

[0107] Although the subject matter has been described in detail with reference to specific exemplary embodiments, it should be understood that those skilled in the art, upon understanding the foregoing, can readily make changes, modifications, and equivalents to these embodiments. Therefore, the scope of this disclosure is by way of example rather than limitation, and the disclosure does not exclude such modifications, variations, and / or additions to the subject matter that would be obvious to those skilled in the art.

Claims

1. A dual-channel differential sensor, comprising: A first channel is configured to generate a first component signal, and the first channel is configured to generate a third component signal having a first polarity; A second channel, independent of the first channel, is configured to generate a second component signal and a fourth component signal having a second polarity. The sensing circuit is configured to: Acquire the first component signal and the second component signal, wherein the first component signal has the first polarity, and the second component signal has the second polarity, the second polarity being opposite to the first polarity; The first cross-channel differential signal is determined at least in part based on the first component signal and the second component signal; The first cross-channel differential signal is provided as the first output of the dual-channel differential sensor; Obtain the third component signal and the fourth component signal; The second cross-channel differential signal is determined at least in part based on the third component signal and the fourth component signal; as well as The second cross-channel differential signal is provided as the second output of the dual-channel differential sensor.

2. The dual-channel differential sensor according to claim 1, wherein, The first component signal and the second component signal are sinusoidal signals, and the third component signal and the fourth component signal are sinusoidal signals that are phase-shifted relative to the first component signal and the second component signal.

3. The dual-channel differential sensor according to claim 1, wherein, The sensing circuit is also configured to determine the output angle based on the first cross-channel differential signal and the second cross-channel differential signal.

4. The dual-channel differential sensor according to claim 3, wherein, The output angle is based on the two-parameter arctangent of the first cross-channel differential signal and the second cross-channel differential signal.

5. The dual-channel differential sensor according to claim 3, wherein, The phase of the first channel is offset from the phase of the second channel by one channel phase difference, and determining the output angle includes: Determine the amplitude of the first channel; Determine the amplitude of the second channel; and The amplitude of the first channel, the amplitude of the second channel, and the channel phase difference are used to determine the channel phase correction; The channel phase correction is applied to the output angle.

6. The dual-channel differential sensor according to claim 5, wherein, The channel phase correction is determined based on the following formula: Δθ=(φ / 2)·((AB) / (A+B)) Wherein, Δθ is the channel phase correction, φ is the channel phase difference, A is the amplitude of the first channel, and B is the amplitude of the second channel.

7. The dual-channel differential sensor according to claim 1, wherein, The sensing circuit is further configured to: The first channel angle is determined based on the first component signal and the third component signal; The second channel angle is determined based on the second component signal and the fourth component signal; The cross-channel angle difference is determined based on the first channel angle and the second channel angle; It is determined that the cross-channel angle difference is not within the relevant cross-channel tolerance range; as well as In response to determining that the cross-channel angle difference is not within the cross-channel relevant tolerance range, one or more correction control actions are performed.

8. The dual-channel differential sensor according to claim 1, wherein, At least one of the first channel or the second channel includes: One or more coils, the one or more coils being configured to interact with a target and to generate one or more coil features in response to the interaction with the target; Channel circuitry, the channel circuitry being configured to generate one or more component signals in response to the one or more coil characteristics; and An interface configured to provide the one or more component signals.

9. The dual-channel differential sensor according to claim 8, wherein, The one or more coils include a receiving coil and a transmitting coil.

10. The dual-channel differential sensor according to claim 8, wherein, The channel circuit associated with the first channel is disposed in a first integrated circuit, while the channel circuit associated with the second channel is disposed in a second integrated circuit, which is different from the first integrated circuit.

11. The dual-channel differential sensor according to claim 1, wherein, The dual-channel differential sensor includes one or more of the following: an inductive motor sensor, an inductive gearbox sensor, an inductive position sensor, a magnetic encoder, an electronic brake booster, an electronic braking system, a steering system, or a torque control system.

12. A method for operating a dual-channel differential sensor, the method comprising: Acquire a first component signal from a first channel of a dual-channel differential sensor and a second component signal from a second channel of the dual-channel differential sensor, wherein the second channel is independent of the first channel, the first component signal has a first polarity and the second component signal has a second polarity, the second polarity being opposite to the first polarity; Acquire a third component signal from the first channel of the dual-channel differential sensor and a fourth component signal from the second channel of the dual-channel differential sensor, wherein the third component signal has the first polarity and the fourth component signal has the second polarity; The first cross-channel differential signal is determined at least in part based on the first component signal and the second component signal; The first cross-channel differential signal is provided as the output of the dual-channel differential sensor; The second cross-channel differential signal is determined at least in part based on the third component signal and the fourth component signal; as well as The second cross-channel differential signal is provided as the output of the dual-channel differential sensor.

13. The method of claim 12, further comprising: The first channel angle is determined based on the first component signal and the third component signal; The second channel angle is determined based on the second component signal and the fourth component signal; The cross-channel angle difference is determined based on the first channel angle and the second channel angle; It is determined that the cross-channel angle difference is not within the relevant cross-channel tolerance range; as well as In response to determining that the cross-channel angle difference is not within the cross-channel relevant tolerance range, one or more correction control actions are performed.

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