Method for identifying target magnet orientation in magnetic position sensor

Abstract

Disclosed herein is a method for determining an orientation of a target magnet (120) in a magnetic position sensor, in particular in a magnetic position sensor having a sensor array (100) having a plurality of at least three sensor elements (105-115), the method particularly having the following steps: collecting (1100) a number of magnetic vector data; calculating (1105) vector angle data from the collected vector data and calculating (1110) a series of the collected vector data; for at least two predefined specific sets of environments, monotonizing (1115, 1120) the calculated vector angle data, i.e. By increasing or decreasing individual angle values of the calculated vector angle data; excluding (1125) at least one of the at least two predefined specific sets of environments based on the monotonized vector angle data; calculating (1135) an expected series of stages for the specific set of environments that are not excluded; an orientation of the target magnet (120) is determined (1140) using the calculated (1110) series and the calculated (1135) expected series of the collected vector data.

Description

Technical Field

[0001] The invention relates to a method for detecting the orientation of a target magnet in a magnetic position sensor, that is to say preferably in a magnetic position sensor having a sensor array. Background Art

[0002] The magnetic field position measurement system developed and sold by the applicant (hereinafter referred to as "BMP sensor") uses only axial magnets for measurement.

[0003] EP3428582B1 discloses a sensor array, here preferably involving two sensor elements. Such a sensor operates with positive and negative or aligned, axially and radially arranged magnets, the necessary linearization of the output signal depending on the magnet alignment. Here, the magnet alignment is determined by the respective signs of the axial and radial magnetic field vector components measured by the two sensor elements.

[0004] However, in certain areas of the detection area as a whole it is not possible to distinguish between different magnet arrangements based solely on the actual signs of the magnetic field vector components. The relationship between the spatial derivatives of the magnetic field components must also be properly considered, even only in short magnet movements.

[0005] However, in certain areas of the detection area, an initially unknown alignment or orientation of the magnet can be determined or identified, but only if the magnet is moved. Since the analysis algorithm in the position sensor described herein can operate both with radially arranged target magnets and with axially arranged target magnets, knowing the arrangement or orientation of the target magnet is advantageous in any case.

[0006] According to the prior art, the arrangement of the sensor elements is already preset during their production. Thus, for each sensor element, the sensitive axis of the calibration scan of the respective microchip is aligned parallel to the x-axis, y-axis or z-axis of the scanning device, i.e., for each chip, the rotation and tilt errors occurring during assembly are corrected individually.

[0007] The Δx and Δz displacement errors of a chip constructed in this way are also known or negligible and are therefore not considered in the following. It is also assumed below that sensitivity fluctuations of the sensor element have been compensated.

[0008] The above-mentioned alignment or orientation problem of the target magnet according to the prior art is also moved or transformed to the xz plane, and the moving line of the target magnet is substantially located in the xz plane and also extends parallel to the x direction, i.e. the sensitive axis. The magnetic moment of the target magnet is also aligned or arranged to be substantially parallel to the x-axis (i.e. axial alignment) or substantially parallel to the z-axis (i.e. radial alignment). Summary of the invention

[0009] Therefore, the problem underlying the present invention is to be able to automatically or autonomously detect or identify the orientation of the target magnet of the underlying BMP sensor or sensor system involved herein. Therefore, the present invention aims to enable a BMP sensor to automatically determine the axial / radial orientation of the target magnet.

[0010] The invention is based here on the insight or discovery that the target orientation can be determined autonomously by the sensor after the target magnet has been positioned in the sensor detection area, that is to say in particular even without any movement of the target magnet. However, in order to more accurately determine, identify or recognize the most likely positive or negative, radial or axial target alignment or target orientation, only a brief movement of the target magnet may be performed. It has also been recognized that the orientation of the target magnet can also be determined regardless of a rotation of the sensor array about its longitudinal axis.

[0011] In a method according to the invention for determining the orientation of a target magnet in a magnetic position sensor, in particular in a magnetic position sensor having a sensor array with a plurality of, preferably at least three, sensor elements, the following steps are provided according to a first aspect:

[0012] Collect a lot of magnetic vector data;

[0013] calculating vector angle data from the collected vector data, and calculating the order of the collected vector data;

[0014] For at least two predefined specific environment sets or case constellations, respectively, the calculated vector angle data is monotonized, that is, by increasing or decreasing each angle value of the calculated vector angle data;

[0015] excluding at least one of at least two predefined specific environment sets based on the monotonized vector angle data;

[0016] Calculate the expected number of levels for a specific set of environments that are not excluded;

[0017] The orientation of the target magnet is determined using the calculated order of the collected vector data and the calculated expected order.

[0018] In the method according to the invention, according to a further aspect, provision can be made for the orientation of the target magnet to be determined by comparing a similarity or correspondence between a calculated order of the collected vector data and a calculated expected order.

[0019] In the method according to the invention, according to another aspect, such a specific set of environments can be additionally specified, wherein the monotonized vector angle data do not correspond to the vector angle data calculated from the collected vector data to be excluded. It should be noted here that such vector ranges of the vector angle data correspond to the respective specific set of environments.

[0020] In the method according to the invention, according to a further aspect, provision can be made for the detected magnetic vector data to be converted into the xz plane by a rotational transformation and for the corresponding vector angle and vector length to be calculated from the data transformed in this way.

[0021] In the method according to the invention, according to a further aspect, provision can be made for determining a possible specific environment set from the corresponding vector angle data and vector length data.

[0022] In the method according to the invention, according to a further aspect, provision can be made for the calculated vector angle data to be monotonized by adding a value of + / -2π().

[0023] In the method according to the invention, according to another aspect, provision can be made for the calculated vector angle data to be shifted within the range of the currently determined specific set of circumstances, that is to say by simultaneously adding and / or subtracting 2π() to / from each angle value.

[0024] In the method according to the invention, according to another aspect, provision can be made for similarity data between the measured order and the expected order to be calculated by comparing a similarity or correspondence between the calculated order of the collected vector data and the calculated expected order when determining the orientation of the target magnet.

[0025] In the method according to the invention, according to a further aspect, provision can be made for the target magnet to be arranged relative to the sensor element according to a first set of surroundings below the arrangement line of the sensor element or according to a second set of surroundings above the arrangement line.

[0026] In the method according to the invention, according to a further aspect, eight possible specific environment sets of the target magnet can be provided, which result from the first and second environment sets and from four possible main alignments of the magnetic moments of the target magnet.

[0027] In the method according to the invention, according to a further aspect, provision can be made for the first and second sets of environments of the target magnet to be achieved by rotating the coordinate system of the position sensor about its x-axis.

[0028] In the method according to the invention, according to another aspect, it can be provided that the rotational transformation is performed by a rotation operation according to the method known per se of the principal component analysis "PCA" of the y and z components of the collected magnetic field vector, that is to say the z axis is rotated in the direction of the maximum distribution of the data points. According to the PCA method, in the present case, the z axis is rotated in the direction of the maximum variability of the output signal of the target magnet and / or in the direction of the maximum distribution of the data points. Thus, the y component of the magnetic field vector is correspondingly minimized or eliminated in the final coordinate system. The x component of the magnetic field vector is neglected here, i.e. the problem is transformed into the xz coordinate system.

[0029] In the method according to the invention, according to a further aspect, provision can be made that the ambiguity + / - 2*π() is resolved by collectively shifting the measured vector angle values ​​by a suitable integer multiple of the full angle.

[0030] The present invention also relates to a computer program product comprising a computer-readable storage medium in which a computer-readable program code is incorporated, the computer-readable program code being configured such that it implements the above-mentioned method.

[0031] The invention also relates to a device for operating a magnetic position sensor as referred to herein according to the method as described herein for determining the orientation of a target magnet.

[0032] The invention further relates to a magnetic position sensor having or comprising a device for operating it according to the method described herein, that is to say for determining the orientation of a target magnet.

[0033] The present invention enables efficient and reliable automatic identification of the alignment of the target magnet involved herein, even if the sensor is displaced to the side or rotated during installation. In the BMP sensor or BMP sensor system involved herein, the present invention also enables independent identification of the alignment of the target magnet at any desired point within the sensory detection area, in particular even without any user interaction.

[0034] The invention enables the orientation of the target magnet to be determined using only a single measurement, ie in particular even when the target magnet is not moving, that is to say by means of a suitable algorithm operating as a function of the orientation. Thus, the sensor or sensor system can operate normally from the first time it is switched on.

[0035] Rapid determination of the target magnet orientation may also be used or facilitated in self-diagnostics of the BMP system, such as for automatically identifying the configuration of the BMP system.

[0036] Furthermore, the invention may also significantly reduce the costs of the basic BMP sensor system, since it enables greater distances between sensor elements and precise and reliable detection beyond the measurement limits of the basic sensor.

[0037] The invention also provides greater benefits to users of such BMP sensor systems, as it enables shorter installation times, fewer sources of failure during installation, and immediate operational readiness. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Exemplary embodiments of the invention are shown in the drawings and are explained in more detail in the following description.

[0039] In the figure:

[0040] Figure 1schematically illustrates a spatial arrangement of a magnetic position sensor having a sensor array with three sensor elements;

[0041] Figure 2 Schematically showing the yz plane of the position sensor involved in this article, using a pneumatic cylinder as an example;

[0042] Figure 3 Schematic showing the virtual magnetic sensor moving along the path near a dipole magnet. Figure 1 Movement of the lines in the xz plane shown;

[0043] Figure 4a , 4b Schematically shown in Figure 1 Isometric representation of the xz coordinate system and the position measurement arrangement in plan view shown;

[0044] Figure 5a , 5b Demonstrate possible magnetic alignment of target magnets for different application scenarios;

[0045] Figure 6 Demonstrating how the measuring arrangement of the position sensor described herein can be determined to be suitable for a particular application;

[0046] Figure 7a -f shows a dipole field suitable for the method described herein;

[0047] Figure 8a , 8b exhibit Figures 7a-7f how the configurations / sets of environments (or cases) A ​​or B shown in FIG. 1 can be excluded based on the angle ranges corresponding to the measured angles that exist after the respective configuration A or B has been monotonized;

[0048] Fig. 9 Shows the angles measured using three sensor elements and the corresponding expected measurement curves;

[0049] Fig.10 Demonstrate the determination of similarity between measurement curves based on their series;

[0050] Fig.11 A flow chart showing a method according to the invention based on a first exemplary embodiment is shown;

[0051] Fig.12 Show the use of the flow chart below Fig.13 A graphical overview of the method steps of the second exemplary embodiment shown in; and

[0052] Fig.13 A flow chart of a method according to the invention based on a second exemplary embodiment is presented. DETAILED DESCRIPTION

[0053] The position indicators referred to herein must in most cases be axially polarized. However, the orientation of the corresponding target magnet (or corresponding target object), ie whether the north or south pole points in the direction of the end of the sensor arrangement in the form of a cable, is irrelevant here.

[0054] Figure 1 The spatial arrangement of a magnetic position sensor having, for example, a linear sensor array 100 with three sensor elements 105 , 110 , 115 is schematically illustrated using an xz coordinate system spanning an xz plane.

[0055] The three sensor elements 105-115 arranged in the present case on the x-axis are at a distance d from one another. The target magnet 120 moves in the z-direction, that is to say parallel to the x-axis, at a distance z0 from the x-axis. Due to its spatial orientation, the target magnet 120 has a magnetic moment m which is parallel to the x-axis in the present case and oriented in the linear movement direction 125 of the target magnet 120. However, it should be noted that, as described below based on Figure 2 As described, this orientation may be tilted, for example due to assembly reasons. The position vector of the target magnet changes during the movement in the current coordinate system, the position vector having a corresponding length r and a corresponding angle α.

[0056] Then, Figure 2 2 shows how a potential problem of the present invention can be preferably represented in the xz plane. This is because, during assembly of the sensor 210 described herein, the cylindrical axis 205 of the pneumatic cylinder 200 of the position indicator described herein does not automatically fit into the Figure 2 210 is in the yz plane shown (which in the present case is identical to the plane of the paper). This is because the magnets arranged in the pistons of the pneumatic cylinders are usually axisymmetric magnets which induce magnetic fields having substantially only radial and axial components. Instead, the lateral displacement shown occurs, which is substantially equivalent to rotating the coordinate system of the sensor 210 around its x-axis (the x-axis being perpendicular to the plane of the paper).

[0057] The radial component r of the magnetic "B-field" vector is shown divided between the y and z coordinates of the sensor, which can be compensated for by transforming the detection plane of the sensor 210 to the xz plane by a corresponding counter-rotation about the x-axis.

[0058] The method according to the invention described herein is based on the following two technical considerations or key aspects.

[0059] like Figure 3 As shown, when following Figure 1As any desired line 310, 315 in the xz plane shown continues to move about the dipole magnet 300 (here involving a dipole moment existing in the xz plane), the virtual observer experiences a continuous, monotonic rotation of the magnetic field vector in direction within 2π.

[0060] Figure 3 Two corresponding virtual movement lines are shown. The three vector angles α1, α2 and α3 that can be detected here do not represent simple angles, but rather three angles that correspond to the existence of monotony, which rotate to the left or right, depending on which side of the magnet the movement occurs.

[0061] Therefore, if in Figure 1 If three vector angles α1, α2 and α3 and three vector lengths r1, r2 and r3 are measured at the positions of the three sensor elements shown and provided next to a target magnet arranged in a first orientation, it is likely that the same vector angles and vector dimensions will not be measured in different cases where the target magnet is arranged in a different orientation. As a result, it is advantageous to know which regular orientation of the dipole magnet gives the same or at least most similar ratio of the measured vector angles to the ratio of the corresponding measured dimensions. This is because such regular orientation is the most likely orientation.

[0062] As an example, Figure 4a and Figure 4b Schematic representation Figure 1 An isometric representation of the xz coordinate system 410 is shown ( Figure 4a )and Figure 1 The plane diagram of the xz coordinate system shown in Figure 4b ) in the position measurement arrangement. Here, the moving direction 415 of the target magnet 435 is Figure 5a Direction A or direction B as shown, that is, below or above the sensor array 405. Figure 4a It can be seen that the target magnet 435 moves substantially in the conventional z-direction 425 .

[0063] from Figure 4a It can also be seen that sensor array 405 is the calibration result of the industrially mass-produced sensor array 400. The arrangement of the sensor elements is preset during production so that for each sensor element the sensitive axis of the microchip is aligned parallel to the x-axis, y-axis or z-axis of the scanning device.

[0064] However, if a serious fault occurs during the production process, the alignment of the sensing active axis of each sensor chip of the sensor array 400 that has been soldered on the printed circuit board can be optionally determined, and the corresponding correction rotation transformation can be calculated. In normal operation, for each sensor chip, the corresponding correction rotation transformation is applied individually to the measured magnetic field vector. This correction produces an arrangement of the magnetic field vectors that will also be produced in the sensor array 405 with correctly aligned sensors. Thus, rotation and tilt errors that occur during assembly can be corrected individually for each chip.

[0065] from Figure 4b As can be seen, in this exemplary embodiment, the number of sensor elements of the array is Nsens, and the sensor elements are arranged along the axis corresponding to Figure 1 In this exemplary embodiment, the distance between the moving line 415 of the target magnet 435 and the arrangement line 420 of the sensor element 430 is substantially constant, and as shown in FIG. Figure 1 As shown, it corresponds to the value z0.

[0066] Figure 5a and Figure 5b Possible magnetic alignments of target magnet 500 are shown for different application scenarios.

[0067] from Figure 5a It can be seen that the magnetic moment of the target magnet 500 can be aligned with one of the main alignments a, b, c or d here, that is, corresponding to the above Figure 5a The magnetization directions a, b, c or d shown in FIG. 5 are shown. With respect to the sensor element 505 shown, the target magnet 500 can be arranged in the environment set A or the case constellation A, respectively. Figure 4a The sensor element 430 is shown below the arrangement line 420. Alternatively, according to the environment set B, the target magnet 500 can be arranged above the arrangement line 420.

[0068] Figure 5b All eight application scenarios or corresponding sets of environments for the target magnet 510 considered here are shown, in each case only one of these application scenarios is applicable. These eight scenarios are the result of possible combinations of two sets of environments A and B, and from four possible primary alignments a, b, c or d of the magnetic moment of the target magnet 500.

[0069] Figure 6 It is demonstrated how a measuring arrangement of the position sensor described here can be determined which is suitable for a particular application.

[0070] therefore, Figure 5aThe two application scenarios or two environment sets A or B shown in the figure can only be realized by rotating the coordinate system of the sensor around the x-axis. Figure 1 This is also possible, i.e. any other target object, i.e. any corresponding positioning vector, must be rotated in the yz plane. In particular, the vector of the magnetic flux density must also be rotated correspondingly around the x-axis.

[0071] Figure 6 On the left are shown six measurement points generated during the magnetic measurement, and on the right are shown the corresponding six measurement points after the rotation is completed. The corresponding, suitable rotation or rotation operation can be determined using the known method of "principal component analysis" (PCA) of the y and z components of the collected magnetic field vector.

[0072] It should be mentioned that due to the ambiguity of the rotation angle of the rotation transformation + / -π(), the rotation transformation essentially transforms the collected flow density vector into the xz plane, so both the A arrangement and the B arrangement can be generated. Therefore, the further steps of the algorithm for determining the orientation and the algorithm for evaluating the position of the target magnet according to the present invention can work with the transformed flow density vector. This has a technical effect or advantage, that is, the orientation to be determined and the transformed vector remain consistent with each other. On the other hand, if the rotation angle with the smallest absolute value among the effective rotation angles of the rotation transformation is used, the resulting A or B situation also remains consistent with the basic physical situation.

[0073] Figures 7a-7f Shows a dipole field suitable for use in the methods described herein.

[0074] therefore, Figure 7a and Figure 7b shows that above a dipole magnet ( Figure 7a ) and below ( Figure 7b ) of the measurable B vector, which is the angle with Figure 1 The normalized scan or longitudinal position xsens for a constant z value z0 is shown as a function of the value. The values ​​correspond here to the respective observed distances relative to the center position of the target magnet. The different curves shown here correspond to different alignments or orientations of the target magnet.

[0075] Figure 7c and Figure 7d The above vector angles are shown without rotation, and the ambiguity + / -2*π() is resolved by collectively shifting the measured vector angle values ​​by an appropriate integer multiple of the full angle. The monotonicity of the continuous vector angle curve corresponds to the fact that the vector angle has been based on Figure 2The observation described is that when moving along a constant z-path (= z0 in the present case) above or below a target magnet located below it, the observer will observe a monotonic rotation of the B vector in the corresponding direction. For alignments of types b, c, and d shown here, the allowed values ​​of the vector angle relative to alignment a range from (-π, +π), but with limits less than the values ​​π / 2, π, and 3π / 2.

[0076] Figure 7e and Figure 7f shows the magnitude of the magnetic vector B, that is, along Figure 1 The x-axis scans shown in are normalized to their respective maximum values, also at a constant distance z0.

[0077] Figure 8a and Figure 8b The angles of the magnetic field B measured by the three sensor elements and the corresponding measurement curves are shown, Figure 1 As shown. With Nsens sensor elements, this type of magnetic field sensor supplies a series of measured current density vectors {Bxj,0,Bzj}j=1...Nsens. Figure 7a and Figure 7b As shown, the flow density vector is converted into a corresponding vector angle, for example by applying the arctan2 function.

[0078] Since the vector angle itself necessarily has values ​​between +π() and -π(), the monotonicity of the above-mentioned vector angle values ​​can be achieved by adding 2*π() to the corresponding angle value or subtracting 2*π() from the corresponding angle value. This addition or subtraction is performed here until the monotonicity according to the respectively relevant application case is achieved, i.e. from Aa to Bd. If the number of sensors Nsens is 3, the first and third sensor values ​​are affected by the monotonic method.

[0079] from Figure 8a and Figure 8b It can also be seen that in this exemplary embodiment with Nsens=3, the three corresponding angle values ​​obtained from the measurement can be monotonized in ascending and descending order. However, one of the two results here must include a value whose difference is greater than 2*π(). This is because such a result indicates that the assumption of monotonicity is not met and the target magnet is obviously not arranged to correspond to the corresponding case A or B (such as Figures 7a-7f shown). Figure 8a displays three decreasing angle values, and Figure 8b Again, the corresponding values ​​are shown to be monotonically increasing.

[0080] Based on such a triplet (three sensor elements are considered here), the form or series or shape of such a measurement curve thus corresponds to an ordered triplet of three absolute values ​​of the magnetic B vector, which correspond to three sensor elements if Nsens=3.

[0081] Again based on the example of three sensor elements, Fig. 9 For example, the measurement angle 900 is shown, that is, together with the corresponding expected measurement curve. After monotonization, in the present case, four cases are directly excluded, and only four cases remain ( Figures 7a-7f Aa-Ad or Ba-Bd) in is examined more closely to determine the most likely alignment of the target magnet.

[0082] For each possible alignment from a to d, the three angle values ​​900 shown here are shifted by an integer multiple of 2*π(). Thus, the alignment is adjusted to the limit of the continuous vector angle curve, that is, the normalized scan position relative to the given alignment, so as to maintain its monotonicity. In the present case, alignments for which such adjustment is not possible are likewise excluded from further examination.

[0083] The corresponding monotonically and displaced angle values ​​lie on the corresponding measurement curve. The normalized absolute value for each scanning or sensor element corresponding to the determined normalized scanning position value is determined from the normalized overscan position curve, which curve thus corresponds to the actual inspection situation. The determined, i.e. correspondingly arranged triplets of normalized absolute values ​​905, 910, 915 are then regarded as the "expected curve shape" for such a measurement curve.

[0084] Fig.10 An example of a method for determining the similarity between the above-mentioned measurement curves, i.e. the similarity in their shape or series, is shown. For simplicity, the measurement curves shown here are also composed in each case only of Figure 1 The diagram shown consists of three measuring points detected by the three sensor elements (see open and filled circle symbols).

[0085] In the method shown schematically only, the measured curve order is compared with the expected curve order for a non-excluded alignment (as just described). It is assumed here that the expected curve form or curve shape corresponding to the actual alignment is most similar to the corresponding measured curve form. However, this assumption is made even though an exact correspondence cannot be expected due to non-idealities of the target magnet and possible minor misalignments compared to a conventional alignment.

[0086] Since the height of the measured curve form depends on the strength and distance of the target magnet, when normalizing the expected curve form, the measured curve form must first be brought to the same scale. As a result, the measured and expected curve shapes are individually normalized, for example by dividing their values ​​by their maximum value, or by the square root of the sum of their values, or by their average value, or by another perceptible size that characterizes their scalar size scale. As a result, a normalized measured curve form and a normalized expected curve form are obtained.

[0087] The similarity of the two standardized curve forms is characterized by their difference, i.e. the smaller the difference, the greater the similarity between the curve forms. The difference can be calculated by adding the absolute values ​​of the differences between the individual elements of the standardized measured curve form and the standardized expected curve form, or by calculating the square root from the sum of the squares of these differences. However, other mathematical formulas for characterizing the difference between the curve forms are also conceivable.

[0088] Then, Fig.10 The example shown shows the three standardized measurements as hollow dots, and the standardized expected values ​​or corresponding patterns as solid dots for Bb-type alignment. The case where the standardized expected pattern is not shown is excluded here. The standardized measurement pattern is repeated for visual comparison. The connecting lines are used only as visual orientation aids.

[0089] Fig.11 The described method is presented based on a first exemplary embodiment.

[0090] First, in this exemplary embodiment, for example, three B vectors (i.e., data triplet 1, 2, 3) are measured 1100. On the one hand, corresponding vector angle data are then calculated 1105 from the vector data thus present. On the other hand, the corresponding said mode or series of the collected vector data is calculated 1110.

[0091] Then, on the one hand, the vector angle data calculated in step 1105 are monotonized 1115 for the specific environment set A or case constellation A, that is to say in this example by correspondingly increasing the individual angle values ​​of the data triples involved. On the other hand, these vector angle data are monotonized 1120 for the specific environment set B, that is to say again by correspondingly increasing some angle values ​​of the individual values ​​of the data triples involved.

[0092] Based on the data monotonized in the two steps 1115 and 1120, one of the two specific environment sets A and B is then excluded 1125. Then, those specific environment sets in which the monotonic vector angle data do not correspond to the measured curve are also excluded 1130. Then, for the remaining specific environment sets, i.e. for those environment sets that have not been excluded, the expected curve form or the corresponding point triplet in the current case is calculated 1135.

[0093] Finally, based on the measured curve form calculated in step 1110 and the expected curve form calculated in step 1135 , a particular set of environments of target magnet orientations for which the measured curve form and the expected curve form have a maximum correspondence or similarity is determined 1140 .

[0094] Fig.12 and Fig.13 The described method is presented in more detail based on a second exemplary embodiment. The method is again used to find out which spatial alignment or orientation of a correctly arranged dipole magnet (in the position measuring system or position sensor referred to here) produces a pattern (or shape) that is most similar to the measured pattern or measured shape of the measuring point.

[0095] Fig.13 A method for autonomously or automatically determining the orientation of a target magnet as described herein (according to a second exemplary embodiment) using a flowchart of a process routine is shown, wherein the method steps are Fig.12 There are also corresponding figure marks in the figure.

[0096] First, in this exemplary embodiment, the three B vectors (1, 2, 3) are measured 1300, including performing the transformation or rotation transfer of the underlying problem to the xz plane. The corresponding, measured vector angles and vector lengths are calculated 1305 from the data transformed in this manner. The eight specific cases of magnitude A and B and alternatives a, b, c and d are determined 1310 from the vector data thus presented.

[0097] A number of process steps are then executed in the form of a program loop 1312 .

[0098] In a first process step 1315, the existing vector angles are monotonized by reducing or increasing in the above-described manner. The monotonization is performed based on the currently existing values ​​Aa to Bd, that is to say by adding the value + / -2π() to the existing values ​​on the left and / or right as described above.

[0099] Then, it is checked 1320 whether the first process step 1315 was successful, ie whether the monotonization has delivered a usable result. If not, the determined specific situation is characterized 1345 as "defective".

[0100] However, if the first process step 1315 is successful, the process continues using the existing data in a second process step 1325, in which the existing vector angles are shifted to the range of the currently determined specific environment set (or case constellation) a, b, c, or d by simultaneously adding 2π() to each angle value and / or subtracting 2π() from each angle value.

[0101] Then, it is checked 1330 again whether the second process step 1325 is also successful, i.e. whether shifting the existing vector angle to the range of the currently determined specific environment set a, b, c or d has delivered a usable result. If not, the determined specific situation is again characterized 1345 as "defective".

[0102] However, if the second process step 1325 is also successful, the process continues with the existing data in a third process step 1335, in which a more accurate quantity for the specific set of circumstances currently existing according to the above-mentioned expected curve shape is called for the existing vector angle. This call is performed either directly based on a standardized quantity compared with a predefined relationship of the vector angle, or by determining the above-mentioned standardized measurement position of the sensor element.

[0103] Then, in a fourth process step 1340, similarity data between the measured curve shape or the dot pattern and the expected curve shape / dot pattern are calculated as described above.

[0104] Then, the described program loop 1312 is repeated and the process returns to the previous program step 1360, or ends 1355, that is, if all possible sets of specific circumstances have been processed in the described manner. After the program loop 1312 ends 1355, first the specific situation declared as "defective" is excluded 1365.

[0105] Then, search 1370 for those specific environment sets that were not excluded in the previous step and that have given the maximum corresponding value during the described similarity check. Finally, the specific environment set found as described, i.e. A or B, or a, b, c or d, is output 1375 as a focusing magnet orientation or arrangement.

Claims

1. A method for determining the orientation of a target magnet (120) in a magnetic position sensor, in particular in a magnetic position sensor having a sensor array (100) having a plurality of at least three sensor elements (105-115), characterized in that Follow these steps: Collecting (1100) a plurality of magnetic vector data; calculating (1105) vector angle data from the collected vector data, and calculating (1110) a degree of the collected vector data; For at least two predefined specific environment sets, monotonizing (1115, 1120) the calculated vector angle data, that is, by increasing or decreasing each angle value of the calculated vector angle data; excluding (1125) at least one of the at least two predefined sets of specific environments based on the monotonized vector angle data; Calculating (1135) the expected number of levels for a particular set of environments not excluded; The orientation of the target magnet (120) is determined (1140) using the calculated (1110) order of collected vector data and the calculated (1135) expected order.

2. The method according to claim 1, characterized in that The orientation of the target magnet (120) is determined (1140) by comparing similarity or correspondence between the measured (1110) order of collected vector data and the calculated (1135) expected order.

3. The method according to claim 1 or 2, characterized in that Furthermore, such a specific set of environments in which the monotonic vector angle data does not correspond to the vector angle data calculated from the collected vector data is excluded (1130).

4. The method according to any one of the preceding claims, characterized in that The collected (1100) magnetic vector data is converted to the xz plane by a rotational transformation, and the corresponding vector angle and vector length are calculated (1305) from the data transformed in this manner.

5. The method according to claim 4, characterized in that A possible specific environment set is determined (1310) based on the corresponding vector angle data and vector length data.

6. The method according to any one of the preceding claims, characterized in that The calculated vector angle data is monotonized (1115, 1120) by adding a value of + / -2π().

7. The method according to claim 6, characterized in that The calculated vector angle data is shifted to within the range of the particular set of circumstances currently determined, that is, by simultaneously adding and / or subtracting 2π() to / from each angle value.

8. The method according to any one of claims 2 to 7, characterized in that When determining (1140) the orientation of the target magnet (120), similarity data between the measured order and the expected order is calculated by comparing the similarity or correspondence between the calculated (1110) order of the collected vector data and the calculated (1135) expected order.

9. The method according to any one of the preceding claims, characterized in that The target magnet (500) is arranged relative to the sensor element (505) according to a first set of environments below the arrangement line (420) of the sensor element (430) or according to a second set of environments above the arrangement line (420).

10. The method according to claim 9, characterized in that Eight possible specific sets of environments for the target magnet (500), the sets of environments resulting from the first and second sets of environments and from four possible primary alignments of the magnetic moments of the target magnet (500).

11. The method according to claim 10, characterized in that The first and second sets of environments of the target magnet (500) are achieved by rotating the coordinate system of the position sensor about its x-axis.

12. The method according to any one of claims 4 to 11, characterized in that The rotational transformation is performed by a rotation operation according to the principal component analysis "PCA" method of the y and z components of the collected magnetic field vectors, the z axis being rotated in the direction of maximum variability of the output signal of the target magnet and / or in the direction of maximum spread of data points.

13. The method according to claim 12, characterized in that The ambiguity + / - 2*π() is resolved by collectively shifting the measured vector angle values ​​by an appropriate integer multiple of the full angle.

14. A computer program product comprising a computer-readable storage medium having incorporated therein a computer-readable program code, the computer-readable program code being configured such that it implements the method according to any one of the preceding claims.

15. An apparatus for operating a magnetic position sensor according to a method as claimed in any one of claims 1 to 13 for determining the orientation of a target magnet (120).

16. A magnetic position sensor, characterized in that Device for operating a position sensor according to the method as claimed in any one of claims 1 to 13, that is to say for determining the orientation of a target magnet (120).

Images