An inductive redundant torque angle sensor structure and design method thereof

Abstract

The present invention discloses an inductive redundant torque angle sensor structure and a design method thereof. The sensor structure comprises: a stator module and a rotor module, the stator module comprises a PCB board, a coil group and a chipset, a multi-layer layout plane is formed on the PCB board; the coil group comprises a coaxially distributed induction coil and an excitation coil, the coil group is arranged on the layout plane of the PCB board, and is used to cooperate with the rotor eddy current to generate an alternating magnetic field and generate an induced current, the chipset comprises at least four inductance chips arranged on the layout plane and at least two Hall chips arranged on the layout plane, and each of the inductance chips and the Hall chip pins are interconnected with the induction coil; the rotor module comprises an input end rotor and an output end rotor, and the input end rotor and the output end rotor are connected to a torsion bar. Based on the inductive redundant torque angle sensor structure provided by the present invention, the measurement precision is high, the accuracy is high, the reliability is strong, the life is long and the cost is low.

Description

Technical Field

[0001] The invention belongs to the technical field of electromagnetic induction sensing, and in particular relates to an inductive redundant torque angle sensor structure and method. Background Art

[0002] In recent years, with the rapid development of automobile automatic control systems, people have higher requirements for reducing automobile fuel consumption, compact structure, light weight, easy maintenance, etc., and have put forward more stringent performance requirements for sensor response speed, measurement accuracy, accuracy and reliability. The quality of automobile steering sensor design is directly related to the stability, safety and operability of the car.

[0003] Traditional torque angle sensors usually use direct contact to measure the torque of the rotating shaft. The disadvantage of this measurement is that long-term contact will cause wear and thus affect the measurement accuracy, low detection accuracy, poor stability; weak anti-interference ability; easily affected by external magnetic fields at the site of use, and low environmental tolerance; traditional sensors are usually powered by batteries, with a short service life and high cost; traditional winding sensors are large in size and high in cost.

[0004] Therefore, in view of the above technical problems, it is necessary to provide an improved torque sensing device.

[0005] The information disclosed in this background technology section is only intended to enhance the understanding of the overall background of the invention and should not be regarded as an acknowledgment or any form of suggestion that the information constitutes the prior art already known to a person skilled in the art. Summary of the invention

[0006] The object of the present invention is to provide an inductive redundant torque angle sensor structure and a design method thereof, which can greatly improve the reliability and adaptability of rotor torque and angle measurement.

[0007] In order to achieve the above object, a technical solution provided by a specific embodiment of the present invention is as follows:

[0008] In a first aspect, the present invention provides an inductive redundant torque angle sensor structure, which includes:

[0009] A stator module comprises a PCB board, a coil group and a chipset, wherein a multi-layer layout plane is formed on the PCB board; the coil group comprises a coaxially distributed excitation coil, an input-end induction coil and an output-end induction coil, and the coil group is arranged on the layout plane of the PCB board, and is used to cooperate with the rotor eddy current to generate a magnetic field coupled to the induction coil and generate an induced current, and the chipset comprises at least four inductance chips arranged on the layout plane and at least two Hall chips arranged on the layout plane, and each of the inductance chips and the Hall chip pins are interconnected with the induction coil;

[0010] The rotor module comprises an input-end rotor and an output-end rotor, wherein the input-end rotor and the output-end rotor are connected to a torsion bar, and the rotor module is coaxial with the stator module and maintains an installation air gap.

[0011] In one or more embodiments, the input-end rotor includes a first gear and a second gear disposed on the same plane and meshing with each other, and the first gear and the coil assembly are arranged along the same axis;

[0012] The second gear is provided with a clamping groove, in which a magnet with two pairs of poles is clamped.

[0013] In one or more embodiments, the device further comprises:

[0014] The housing comprises an upper housing and a lower housing, wherein an edge of one of the upper housing and the lower housing is provided with an abutting groove, and an edge of the other housing is provided with an abutting portion; based on the abutting groove and the abutting portion, the upper housing and the lower housing abut to form a first receiving space, and the stator module and the rotor module are arranged in the first receiving space;

[0015] A plurality of support assemblies are arranged in layers inside the housing, each support assembly is composed of a plurality of support members with the same distance along the axis direction of the coil assembly, and is used to fix various components arranged in the receiving space;

[0016] A first clamping assembly and a second clamping assembly matched with the first clamping assembly are arranged outside the shell.

[0017] In one or more embodiments, the first clamping assembly includes a first bridging member protruding from the housing, and a first limiting member, a second limiting member, and a first clamping member that are formed together with the first bridging member to form a second receiving space;

[0018] The first limiting member and the second limiting member are arranged opposite to each other, and the first overlapping member and the first clamping member are arranged opposite to each other;

[0019] In the second receiving space, a clamping portion is protruded from one side of the first clamping member.

[0020] In one or more embodiments, the second clamping assembly includes a third limiting member, a second bridging member, and a second clamping member;

[0021] The second clamping member is used to cooperate with the clamping portion to clamp and fix the first clamping assembly and the second clamping assembly;

[0022] The second lap joint comprises an lap joint portion, a first extending portion and a second extending portion; the lap joint portion is lapped on the first lap joint portion, connected to the second clamping member based on the first extending portion, and connected to the third limiting member based on the second extending portion.

[0023] In one or more embodiments, a plurality of the inductor chips are packaged in an inductor element;

[0024] A plurality of the Hall chips are packaged in a Hall element, and the inductor element and the Hall element are independently connected to the induction coil.

[0025] In one or more embodiments, the Hall element is arranged in a projection area of ​​the magnetic steel on the PCB board along the axis direction of the second gear.

[0026] In one or more embodiments, the inductive redundant torque angle sensor structure is provided with a through hole, which passes through the PCB board, the output rotor, the first gear and is coaxial with the coil group;

[0027] The torsion bar is arranged in the through hole and is fixedly connected to the input end rotor and the output end rotor.

[0028] In one or more embodiments, the induction coil includes an input end induction coil and an output end induction coil, and the input end induction coil is arranged on a layout plane of the PCB board close to the input end rotor side;

[0029] The output end induction coil is arranged on a layout plane of the PCB board on a side close to the output end rotor.

[0030] In a second aspect, the present invention provides a redundant torque angle sensing method, which comprises:

[0031] Passing alternating current into the excitation coil to generate a first magnetic field;

[0032] Rotate the steering gear connected to the torsion bar to drive the input-end rotor and the output-end rotor connected to the torsion bar to rotate, generate eddy currents on the surfaces of the input-end rotor and the output-end rotor to form a second magnetic field and a third magnetic field opposite to the first magnetic field, couple the first magnetic field and the second magnetic field to the input-end induction coil, couple the first magnetic field and the third magnetic field to the output-end induction coil, and generate induced currents in the input-end induction coil and the output-end induction coil;

[0033] Based on the working state of the inductive redundant torque angle sensor structure, selecting the inductor chip and the Hall chip for signal conversion;

[0034] Based on the induced current in the input-end induction coil and the output-end induction coil, the rotation angle and torque of the input-end rotor and the output-end rotor are obtained.

[0035] In one or more embodiments, the obtaining the rotation angle and torque of the input-end rotor and the output-end rotor based on the input-end induction coil and the induced current in the input-end induction coil includes:

[0036] Converting the induced current into a digital signal based on the inductor chip and the Hall chip;

[0037] The electronic controller calculates and outputs the corresponding torque and angle of the rotor based on the digital signal.

[0038] In one or more embodiments, arranging the input-end induction coil and the input-end induction coil includes:

[0039] Based on the wiring area on the PCB board, a first sine wave and a second sine wave whose phase is shifted from the first sine wave by half a period of the first sine wave are set;

[0040] Based on the coil driving equation, transform the first sine wave and the second sine wave into a polar coordinate system to generate a first trajectory;

[0041] A coil is wound in the wiring area based on a first track, a second track and a third track. The second track and the third track have the same shape as the first track. The first track, the second track and the third track have the same phase difference.

[0042] In one or more embodiments, the coil drive equation is:

[0043]

[0044] Among them, R represents the base circle radius of the input induction coil or the input induction coil, A is the amplitude of the input induction coil or the input induction coil, T is the period of the input induction coil or the input induction coil, and t is the corresponding rotor rotation angle position.

[0045] In a third aspect, the present invention provides a redundant torque angle sensing system, comprising:

[0046] A power supply module, used for passing alternating current into a preset excitation coil to generate a first magnetic field;

[0047] A rotation module is used to rotate the steering gear, driving the input-end rotor and the output-end rotor connected to the torsion bar to rotate;

[0048] A screening module, used for selecting the inductor chip and the Hall chip for signal conversion based on the working state of the inductive redundant torque angle sensor structure;

[0049] The output module is used to obtain the rotation angle and torque of the input-end rotor and the output-end rotor based on the induced current in the input-end induction coil and the output-end induction coil.

[0050] Compared with the prior art, the inductive redundant torque angle sensor structure provided by the present invention uses an inductive torque detection method and is not subject to external magnetic field interference. At the same time, the internal battery is eliminated and external power supply is used instead, which prolongs the life of the sensor and reduces the cost. At the same time, due to the redundantly set inductive chip, Hall chip and detection circuit, etc., the redundant torque angle sensor provided by the present invention can realize mutual detection and redundant detection, so that the sensing device has higher stability and stronger adaptability to the environment, and at the same time greatly improves the detection accuracy of the rotor torque and angle at the input and / or output ends. In summary, the inductive redundant torque angle sensor structure provided by the present invention has the advantages of high measurement accuracy, high accuracy, strong reliability, long life and low cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0052] Figure 1 A schematic diagram of a stator module of an inductive redundant torque angle sensor structure at a viewing angle in one embodiment of the present invention;

[0053] Figure 2 A schematic diagram of a process of redundant torque angle sensing in one embodiment of the present invention;

[0054] Figure 3 It is a structural block diagram of a redundant torque angle sensing system in one embodiment of the present invention;

[0055] Figure 4 Schematic diagram of the principle of a redundant torque angle sensing method in one embodiment of the present invention;

[0056] Figure 5 It is a schematic diagram of the cross-sectional view of the structure of an inductive redundant torque angle sensor in one embodiment of the present invention;

[0057] Figure 6It is a cross-sectional view of the first clamping assembly and the second clamping assembly of the inductive redundant torque angle sensor structure in one embodiment of the present invention when they are matched;

[0058] Figure 7 It is a partially enlarged schematic diagram of the structure of an inductive redundant torque angle sensor in one embodiment of the present invention;

[0059] Figure 8 Schematic diagram of the structural housing of an inductive redundant torque angle sensor in one embodiment of the present invention. DETAILED DESCRIPTION

[0060] In order to enable those skilled in the art to better understand the technical solutions in the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0061] Unless explicitly stated otherwise, throughout the specification and claims, the term “comprise” or variations such as “include” or “comprising”, etc., will be understood to include the stated elements or components but not to exclude other elements or components.

[0062] In order to facilitate understanding of the technical solutions of the present application, the technical terms that may appear in the present invention are first explained in detail below.

[0063] PCB (Printed Circuit Board): Also known as printed circuit board, it is an important electronic component in the electronics industry, a support for electronic components, and a carrier for the electrical connection of electronic components. Because it is made using electronic printing technology, it is called a "printed" circuit board. The printed circuit board consists of an insulating base plate, connecting wires, and pads for assembling and welding electronic components. It has the dual functions of a conductive line and an insulating base plate. It can replace complex wiring and realize the electrical connection between components in the circuit.

[0064] ECU (Electronic Control Unit): also known as the electronic control unit, that is, the on-board computer, which consists of a microprocessor (MCU), memory (ROM, RAM), input / output interface (I / O), analog-to-digital converter (A / D), and large-scale integrated circuits such as shaping and driving.

[0065] The inventor of the present invention has proposed a new technical implementation idea based on the main shortcomings of the prior art and the shortcomings of the prior art: optimizing the power supply to an external power supply, which not only reduces the size of the sensor device, reduces the cost, but also increases the life of the sensor device. At the same time, redundant inductor chips and Hall chips are used, which can switch the chip to work normally after conventional damage occurs to the chip. Furthermore, based on the redundant structure, higher-precision angle torque detection can be further achieved. The sensor device is more stable, more adaptable to the environment, and can perform high-precision operations in specific scenarios.

[0066] like Figure 1 The figure shows a schematic diagram of a stator module of an inductive redundant torque angle sensor structure in an embodiment of the present invention. The stator module includes a PCB board, a coil group and a chipset, and a multi-layer layout plane is formed on the PCB board; the coil group includes a coaxially distributed induction coil 1 and an excitation coil 2, and the coil group is arranged on the layout plane of the PCB board, and is used to cooperate with the rotor eddy current to generate a magnetic field coupled to the induction coil and generate an induced current, and the chipset includes at least four inductance chips arranged on the layout plane and two Hall chips arranged on the layout plane, and each of the inductance chips and the Hall chip is connected to the induction coil 1.

[0067] It should be noted that the induction coil 1 is preferably a three-phase sinusoidal induction coil. Based on different usage scenarios, the circuit structure may also include but is not limited to a two-phase, four-phase or equal number of coil groups of sinusoidal or cosine or triangular coil configurations. The embodiment of the present invention does not limit this. Correspondingly, the input-end induction coil is arranged on a layout plane of the PCB board close to the input-end rotor side; the output-end induction coil is arranged on a layout plane of the PCB board close to the output-end rotor side.

[0068] In an exemplary embodiment, the excitation coil 2 is a spiral wire wound multiple times on the same circumference. The excitation coil 2 is connected to an external power source for passing an alternating current into the excitation coil 2. In another embodiment, in order to obtain a better magnetic field, the excitation coil 2 can be configured as a plurality of groups of spiral coils with different radii, and each group of the spiral coils is connected in series and has the same winding direction.

[0069] The input-end rotor includes a first gear and a second gear that are arranged on the same plane and mesh with each other, and the first gear and the coil group are arranged along the same axis; a clamping groove is provided on the second gear, and the clamping groove is symmetrically centered on the axis of the second gear; two pairs of magnetic steels are clamped in the clamping groove.

[0070] The inductor chip and the Hall chip constituting the chipset are arranged on the layout plane of the PCB board. And each of the inductor chip and the Hall chip is connected to the input induction coil and / or the output induction coil. The arrangement positions of the inductor chip and the Hall chip can be flexibly adjusted based on the PCB board of actual application, and the embodiment of the present invention does not limit this. At the same time, preferably, the Hall chip is arranged in the projection area of ​​the magnetic steel on the PCB board along the direction perpendicular to the second gear.

[0071] It can be understood that, in one implementation, circuit structures such as a power supply circuit and an operational amplifier circuit are adaptively arranged on the layout plane of the stator module.

[0072] It should be noted that, in order to better utilize the layout space, in one embodiment of the present invention, multiple inductor chips can be packaged in an inductor element 5; multiple Hall chips can be packaged in a Hall element 4. The inductor element 5 and the Hall element 4 are connected to the induction coil 1 to achieve the purpose of connecting the induction coil 1 and the inductor chip, while reducing the layout difficulty and the demand for layout space on the PCB board.

[0073] The inductive redundant torque angle sensor structure is provided with a through hole, which passes through the PCB board, the output rotor, and the first gear and is coaxial with the coil group; the torsion bar is arranged in the through hole and is fixedly connected to the input end rotor and the output end rotor.

[0074] It should be noted that the device further includes a housing 6, including an upper housing 61 and a lower housing 62, and the connection method between the upper housing 61 and the lower housing 62 may include but is not limited to: snap connection, bonding, screw connection, and interference fit, etc. The embodiment of the present invention does not limit this.

[0075] In a specific embodiment of the present invention, Figure 8 The schematic diagram of the structural shell of the inductive redundant torque angle sensor is shown. An abutment groove 613 is provided on the edge of one of the upper shell 61 and the lower shell 62, and an abutment portion 612 is provided on the edge of the other; based on the abutment groove 613 and the abutment portion 612, the upper shell 61 and the lower shell 62 abut to form a first receiving space, and the stator module and the rotor module are arranged in the first receiving space; a plurality of support components are arranged in layers inside the shell, and each support component is composed of a plurality of support members 611 with the same distance along the axis direction of the coil group, which are used to fix the various components arranged in the receiving space.

[0076] It is understandable that the components inside the sensor are stacked and arranged in different planes. During the operation of the sensor, vibration caused by the working environment is inevitable, which can easily cause the displacement of internal components and lead to deviations in the measurement results, and even serious failure of the sensor device. Therefore, in order to further improve the adaptability of the sensor, the inductive redundant torque angle sensor structure provided by the present invention has support members 611 arranged in layers inside the housing based on the expected positions of the components, which are used to fix the various components inside the sensor and improve the stability of the sensor.

[0077] Specifically, the support assembly can be arranged on the upper shell 61 or the lower shell 62 or on both the upper shell 61 and the lower shell 62, and the embodiment of the present invention does not limit the number of layers of the support portion, the number of the support members 611 arranged on each layer, and the height of the support members 611. Furthermore, the support member 611 can be integrally formed with the shell, or can be bonded to the shell via an adhesive, etc.

[0078] It should be noted that in order to enable the inductive redundant torque angle sensor structure provided by the present invention to better cooperate with external equipment, a first clamping component 7 and a second clamping component 8 cooperating with the first clamping component 7 are provided outside the shell.

[0079] In an exemplary embodiment, if Figure 5-7 The figures are respectively a schematic diagram of the cross-sectional direction of the inductive redundant torque angle sensor structure, a cross-sectional view of the first clamping assembly 7 and the second clamping assembly 8 of the inductive redundant torque angle sensor structure when they are matched, and a partial enlarged schematic diagram of the inductive redundant torque angle sensor structure. The first clamping assembly 7 comprises: a first lap joint 71 protruding from the housing, and a first limiter 72, a second limiter 73 and a first clamping member 74 that form a second receiving space together with the first lap joint 71; the first limiter 72 and the second limiter 73 are arranged opposite to each other, and the first lap joint 71 and the first clamping member 74 are arranged opposite to each other; in the second receiving space, a clamping portion 741 is protruding from one side of the first clamping member 74. The second clamping assembly 8 includes: a third limiting member 82, a second lap joint member 81 and a second clamping member 83; the second clamping member 83 is used to cooperate with the clamping portion 741 to clamp and fix the first clamping assembly 7 and the second clamping assembly 8; the second lap joint member 81 includes: a lap joint portion 811, a first extension portion 812 and a second extension portion 813; the lap joint portion 811 is overlapped on the first lap joint member 71, and is connected to the second clamping member 83 based on the first extension portion 812, and is connected to the third limiting member 82 based on the second extension portion 813.

[0080] The first snap-fit ​​assembly 7 cooperates with the second snap-fit ​​assembly 8 to enable the sensor to be stably connected to other external devices. The first snap-fit ​​assembly 7 cooperates with the second snap-fit ​​assembly 8 to form one or more connecting devices with the external device, which are adaptively adjusted according to the actual usage scenario.

[0081] It should also be noted that in order to adapt to various installation environments, the various components of the sensor device can be adaptively adjusted. For example, the number of cycles of the rotors at the input and output ends of the sensor device can be configured based on the usage scenario, and the number of rotor cycles can be 6, 7, 8, etc.; the rotor material of the sensor device can be variable, including but not limited to stainless steel, alumina, and brass; the housing of the sensor device is preferably made of PBT, GF, and POM materials, and can also be replaced by non-metallic materials such as PPS and PEEK.

[0082] like Figure 2 FIG. 1 is a flow chart of redundant torque angle sensing in an embodiment of the present invention. The redundant torque angle sensing method specifically includes the following steps:

[0083] S201: passing alternating current into the excitation coil to generate an alternating magnetic field;

[0084] It can be known from Abe's loop law that in a steady magnetic field, the line integral of the magnetic induction intensity along any closed path is equal to the algebraic sum of the currents enclosed by the closed path multiplied by the magnetic permeability. That is, in the area enclosed by a closed curve, the integral of the magnetic field loop is equal to the total current passing through the area. And from Faraday's law of electromagnetic induction, it can be known that a conductor placed in a changing magnetic flux will generate an electromotive force. This electromotive force is called an induced electromotive force or an induced electromotive force. If the conductor is closed into a loop, the electromotive force will drive electrons to flow and form an induced current. Therefore, combining the two, it can be concluded that when the current in the coil changes, a change in the magnetic field will occur, thereby generating an induced electromotive force in the coil. Furthermore, passing the alternating current through the coil will generate the corresponding alternating magnetic field.

[0085] Furthermore, in a specific embodiment of the present invention, an alternating current is passed through the excitation coil of the inductive redundant torque angle sensor structure through an external power supply, and an alternating magnetic field distribution is generated in the space around the excitation coil. The magnetic field gradually weakens as the distance increases, and the magnetic induction intensity inside the space surrounded by the excitation coil is the strongest. When the rotor at the input end rotates, the force transmission at the output end through the torsion bar is also driven, and the magnetic flux change on the surface of the metal rotor in the direction perpendicular to the magnetic flux lines in the magnetic field generates an eddy current-shaped induced current, and the periodic change of the current generates a new alternating magnetic field. The induced magnetic field generated by the metal rotor and the magnetic field generated by the excitation coil are feedback coupled to the induction coil. Since the direction of the new magnetic field is opposite to the direction of the magnetic field generated by the excitation coil, the coupling will affect the change of the magnetic flux in the induction coil placed in the magnetic field and output a current signal.

[0086] It should be noted that the alternating current can be any type of alternating current, which is not limited in the embodiments of the present invention. For example, if a sinusoidal alternating current is passed through the excitation coil, a corresponding sinusoidal alternating magnetic field will be generated in the space around the coil; if a cosine alternating current is passed through the excitation coil, a corresponding cosine alternating magnetic field will be generated in the space around the coil.

[0087] S202: rotating the steering gear connected to the torsion bar, driving the input-end rotor and the output-end rotor connected to the torsion bar to rotate;

[0088] It should be noted that the torsion bar refers to a mechanical device used to convert input torque and / or torque into output torque and / or torque. The torsion bar consists of a shaft fixed in the middle and two arms connected to the two ends of the shaft. When a force acts on one of the arms of the torsion bar, the torsion bar will transfer the force to the other arm, forming a new torque and / or torque.

[0089] In one embodiment of the present invention, the input end rotor and the output end rotor are connected to the input end and the output end of the torsion bar, respectively. The steering gear is connected to the input end rotor, and the steering gear rotates to synchronously drive the input end rotor to rotate. The force generated by the rotation is transmitted to the output end side based on the torsion bar, thereby driving the output end rotor to rotate.

[0090] S203: Based on the working state of the inductive redundant torque angle sensor structure, selecting the inductor chip and the Hall chip for signal conversion;

[0091] In an exemplary embodiment of the present invention, the inductive chip and the Hall chip for signal conversion are selected based on the working state of the inductive redundant torque angle sensor structure, including: if the inductive redundant torque angle sensor structure is in a torque sensing state, then the inductive chip connected to the input inductive coil and the output inductive coil and in a non-fault state is selected; if the inductive redundant torque angle sensor structure is in an angle sensing state or an angle torque sensing state, then the inductive chip and the Hall chip connected to the input inductive coil and the output inductive coil and in a non-fault state are selected.

[0092] It should be noted that before selecting the inductor chip and the Hall chip for signal conversion, it is also necessary to obtain whether each of the inductor chips and the Hall chip in the inductive redundant torque angle sensor structure is in a faulty state, so that the inductor chip and the Hall chip in a faulty state cannot be selected during subsequent testing.

[0093] It should also be noted that, since the inductor chip and the Hall chip are both connected to the induction coils at the input and output ends, the selected induction chips and / or Hall chips connected to the input induction coil and the output induction coil and not at fault can be one or more. That is, one inductor chip and / or Hall chip can be selected, and the input induction coil and the output induction coil are simultaneously connected to the inductor chip and / or Hall chip; or two inductor chips and / or Hall chips can be selected, and the input induction coil and the output induction coil are respectively connected to the two inductor chips and / or Hall chips.

[0094] It is understandable that if there is no selectable inductor chip or Hall chip during the test, an alarm signal is reported.

[0095] S204: Based on the induced current in the input-end induction coil and the output-end induction coil, the rotation angle and torque of the input-end rotor and the output-end rotor are obtained.

[0096] In an exemplary embodiment, Figure 4 The figure is a schematic diagram of the principle of the redundant torque angle sensing method of the present invention. The rotation angle and torque of the input end rotor and the output end rotor are obtained based on the induced current in the input end induction coil and the output end induction coil, including: converting the induced current into a digital signal based on the inductor chip and the Hall chip; and the electronic controller calculates and outputs the torque and angle corresponding to the rotor based on the digital signal.

[0097] It should also be noted that, in another embodiment of the present invention, the inductive redundant torque angle sensor structure also provides a mutual detection method to further detect torque and angle in scenarios with high precision requirements.

[0098] In the implementation, based on the working state of the inductive redundant torque angle sensor structure, multiple inductor chips and / or Hall chips in a non-fault state are selected. Among the selected inductor chips and / or Hall chips, there are at least two inductor chips and / or Hall chips connected to the input end induction coil, and can be used to perform signal conversion on the induced current in the input end induction coil; there are at least two inductor chips and / or Hall chips connected to the output end coil, and can be used to perform signal conversion on the induced current in the input and output end induction coils.

[0099] Then, the electronic controller calculates and outputs the converted digital signals of the multiple input and output ends as torques and angles corresponding to the multiple rotors. Compare the multiple input end rotor torques, output end rotor torques, input end rotor angles, and output end rotor angles to see if they are the same, and output the same quantities.

[0100] It should be noted that the number of redundant test paths for increasing the test accuracy can be set by the user terminal. It is understandable that the more redundant paths involved in the test, the greater the calculation pressure, but the higher the accuracy of the output result.

[0101] It should also be noted that if the test results of multiple groups of redundant test paths are inconsistent for the same measurement to be measured, the proportion distribution of the multiple groups of test results is determined. The test results with a proportion exceeding 50% are output as the output quantity. If there is no test result with a proportion exceeding 50%, an alarm signal is sent.

[0102] For example, the redundant test results for the output rotor angle at a certain moment are [60°, 60°, 57°, 60°]. Since the output test results of each group are different, they cannot be output directly. At this time, the proportional distribution of multiple groups of test results is calculated, where 60° accounts for 3 / 4 and 57° accounts for 1 / 4. At the same time, because 3 / 4 is greater than 50%, 60° is output as the output rotor angle at this moment.

[0103] It should be noted that the method also includes arranging the input-end induction coil and the output-end induction coil, specifically, based on the wiring area, setting a first sine wave and a second sine wave whose phase is offset from the first sine wave by half the period of the first sine wave; based on the coil driving equation, transforming the first sine wave and the second sine wave into a polar coordinate system to generate a first trajectory; based on the first trajectory, the second trajectory, and the third trajectory, winding the coil in the wiring area, the second trajectory and the third trajectory having the same shape as the first trajectory, and the first trajectory, the second trajectory, and the third trajectory having the same phase difference.

[0104] In an exemplary embodiment, the coil drive equation is:

[0105]

[0106] Among them, R represents the base circle radius of the input induction coil or the output induction coil, A is the amplitude of the input induction coil or the output induction coil, T is the period of the input induction coil or the output induction coil, and t is the corresponding rotor rotation angle position.

[0107] Please refer to Figure 3 As shown, based on the same inventive concept as the aforementioned redundant torque angle sensing method, a redundant torque angle sensing system 300 is provided in one embodiment of the present invention, which includes a power supply module 301, a rotation module 302, a screening module 303 and an output module 304.

[0108] Specifically, the power supply module 301 is used to pass alternating current into the excitation coil to generate an alternating magnetic field; the rotation module 302 is used to rotate the steering gear connected to the torsion bar, driving the input end rotor and the output end rotor connected to the torsion bar to rotate; the screening module 303 is used to select the inductor chip and the Hall chip for signal conversion based on the working state of the inductive redundant torque angle sensor structure; the output module 304 is used to obtain the rotation angle and torque of the input end rotor and the output end rotor based on the induced current in the input end induction coil and the output end induction coil.

[0109] It should be noted that the output module 304 is also used to convert the induced current into a digital signal based on the inductor chip and the Hall chip; the electronic controller calculates and outputs the corresponding torque and angle of the rotor based on the digital signal.

[0110] It should also be noted that the redundant torque angle sensing system 300 also includes a coil layout module, which is used to set a first sine wave and a second sine wave whose phase is offset from the first sine wave by half the period of the first sine wave based on a wiring area; based on a coil driving equation, transform the first sine wave and the second sine wave into a polar coordinate system to generate a first trajectory; based on the first trajectory, the second trajectory, and the third trajectory, the coil is wound in the wiring area, the second trajectory and the third trajectory have the same shape as the first trajectory, and the first trajectory, the second trajectory, and the third trajectory have the same phase difference.

[0111] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

[0112] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. An inductive redundant torque angle sensor structure, characterized in that: include: A stator module comprises a PCB board, a coil group and a chipset, wherein a multi-layer layout plane is formed on the PCB board; the coil group comprises a coaxially distributed excitation coil, an input-end induction coil and an output-end induction coil, the coil group is arranged on the layout plane of the PCB board, the input-end induction coil is arranged on the layout plane of the PCB board close to the input-end rotor side; the output-end induction coil is arranged on the layout plane of the PCB board close to the output-end rotor side, and is used to cooperate with the rotor eddy current to generate a magnetic field coupled to the induction coil and generate an induced current, the chipset comprises at least four inductance chips arranged on the layout plane and two Hall chips arranged on the layout plane, each of the inductance chips and the Hall chip pins are interconnected with the induction coil, and a plurality of the inductance chips are packaged in an inductance element; A plurality of the Hall chips are packaged in a Hall element, the inductor element and the Hall element are independently connected to the induction coil, and the Hall element is arranged in a projection area of ​​the magnetic steel on the PCB board along the axis direction of the second gear; The rotor module comprises an input-end rotor and an output-end rotor, wherein the input-end rotor and the output-end rotor are connected to a torsion bar, and the rotor module is coaxial with the stator module and maintains an installation air gap; The housing comprises an upper housing and a lower housing, wherein an edge of one of the upper housing and the lower housing is provided with an abutting groove, and an edge of the other housing is provided with an abutting portion; based on the abutting groove and the abutting portion, the upper housing and the lower housing are abutted to form a first receiving space, and the stator module and the rotor module are arranged in the first receiving space; a plurality of support assemblies are arranged in layers inside the housing, and each support assembly is composed of a plurality of support members with the same distance along the axis direction of the coil group, and is used to fix various components arranged in the receiving space; a first clamping assembly and a second clamping assembly matched with the first clamping assembly are arranged outside the housing; The first clamping assembly comprises a first bridging piece protruding from the housing, and a first limiting piece, a second limiting piece and a first clamping piece that together with the first bridging piece form a second receiving space; the first limiting piece and the second limiting piece are arranged opposite to each other, and the first bridging piece and the first clamping piece are arranged opposite to each other; in the second receiving space, a clamping portion is protruding from one side of the first clamping piece; The second clamping assembly includes a third limiting member, a second overlapping member and a second clamping member; the second clamping member is used to cooperate with the clamping portion to clamp and fix the first clamping assembly and the second clamping assembly; the second overlapping member includes a overlapping portion, a first extending portion and a second extending portion; the overlapping portion overlaps the first overlapping member, and is connected to the second clamping member based on the first extending portion, and is connected to the third limiting member based on the second extending portion.

2. The inductive redundant torque angle sensor structure according to claim 1 is characterized in that: The input-end rotor comprises a first gear and a second gear arranged on the same plane and meshing with each other, and the first gear and the coil group are arranged along the same axis; The second gear is provided with a clamping groove, in which a magnetic steel with two pairs of poles is clamped.

3. The inductive redundant torque angle sensor structure according to claim 1 is characterized in that: The inductive redundant torque angle sensor structure is provided with a through hole, which passes through the PCB board, the output rotor, the first gear and is coaxial with the coil group; The torsion bar is arranged in the through hole and is fixedly connected to the input end rotor and the output end rotor.

4. The inductive redundant torque angle sensor structure according to claim 1, characterized in that: The induction coil comprises an input end induction coil and an output end induction coil, and the input end induction coil is arranged on a layout plane of the PCB board close to the input end rotor side; The output end induction coil is arranged on a layout plane of the PCB board on a side close to the output end rotor.

5. A redundant torque angle sensing method, applied to the inductive redundant torque angle sensor structure as described in any one of claims 1 to 4, characterized in that: include: Passing alternating current into the excitation coil to generate a first magnetic field; Rotate the steering gear connected to the torsion bar to drive the input-end rotor and the output-end rotor connected to the torsion bar to rotate, generate eddy currents on the surfaces of the input-end rotor and the output-end rotor to form a second magnetic field and a third magnetic field opposite to the first magnetic field, couple the first magnetic field and the second magnetic field to the input-end induction coil, couple the first magnetic field and the third magnetic field to the output-end induction coil, and generate induced currents in the input-end induction coil and the output-end induction coil; Based on the working state of the inductive redundant torque angle sensor structure, selecting the inductor chip and the Hall chip for signal conversion; Based on the induced current in the input-end induction coil and the output-end induction coil, the rotation angle and torque of the input-end rotor and the output-end rotor are obtained.

6. The redundant torque angle sensing method according to claim 5, characterized in that: Based on the input-end induction coil and the induced current in the input-end induction coil, the rotation angle and torque of the input-end rotor and the output-end rotor are obtained, including: Converting the induced current into a digital signal based on the inductor chip and the Hall chip; The electronic controller calculates and outputs the corresponding torque and angle of the rotor based on the digital signal.

7. The redundant torque angle sensing method according to claim 5, characterized in that: Arranging the input-end induction coil and the input-end induction coil comprises: Based on the wiring area on the PCB board, a first sine wave and a second sine wave whose phase is shifted from the first sine wave by half a period of the first sine wave are set; Based on the coil driving equation, transform the first sine wave and the second sine wave into a polar coordinate system to generate a first trajectory; A coil is wound in the wiring area based on a first track, a second track and a third track. The second track and the third track have the same shape as the first track. The first track, the second track and the third track have the same phase difference.

8. The redundant torque angle sensing method according to claim 5, characterized in that: The driving equation of the coil is: ； Wherein, R represents the base circle radius of the input induction coil or the input induction coil, A is the amplitude of the input induction coil or the input induction coil, T is the period of the input induction coil or the input induction coil, t is the corresponding rotor rotation angle position, is the function of the position of the rotor's induction coil on the x-axis as a function of the angle, It is a function of the position of the rotor's induction coil in the y-axis direction as a function of the angle; the x-axis and y-axis are preset coordinate systems in the plane where the coil is located.

9. A redundant torque angle sensing system, applied to the redundant torque angle sensing method according to any one of claims 5 to 8, characterized in that: include: A power supply module, used for passing alternating current into the excitation coil to generate a first magnetic field; A rotation module, used for rotating the steering gear connected to the torsion bar, driving the input-end rotor and the output-end rotor connected to the torsion bar to rotate; A screening module, used for selecting an inductor chip and a Hall chip for signal conversion based on the working state of the inductive redundant torque angle sensor structure; The output module is used to obtain the rotation angle and torque of the input-end rotor and the output-end rotor based on the induced current in the input-end induction coil and the output-end induction coil.

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