Sensor assembly and method for detecting a rotational movement of a rotatable

Abstract

The invention relates to a sensor arrangement (1) for detecting a rotational movement of a rotatable body (3) about an axis of rotation (DA), comprising at least three angle sensors (5) and at least one evaluation and control unit (10), wherein at least three angle sensors (5) each detect a mechanical rotational movement of the rotatable body (3) at a predefined transmission ratio and generate a corresponding electrical angle signal (W1, W2, W3) and output the electrical angle signal to at least one evaluation and control unit (10), the at least three angle sensors (5) having different transmission ratios, wherein the at least one evaluation and control unit (10) is designed to determine a first angle (NW1) of the rotatable body (3) having a first clear range by means of a first cursor calculation (NB1) on the basis of two of the at least three electrical angle signals (W1, W2, W3), wherein a first explicit range of the determined first angle (NW1) is greater than an explicit range of the angle signals (W1, W2) used for calculation, wherein the at least one evaluation and control unit (10) is further designed to determine a second angle (NW2) of the rotatable body (3) having a second clear range by means of a second cursor calculation (NB2) on the basis of the determined first angle (NW1) and a further electrical angle signal (W3) of the at least three electrical angle signals (W1, W2, W3), wherein the second explicit range of the determined second angle (NW2) is greater than the first explicit range of the determined first angle (NW1) and the explicit range of the further electrical angle signal (W3); the invention further relates to a method for measuring a rotational movement of a rotating body (3) that can be rotated about an axis of rotation (DA), which method can be carried out by means of such a sensor arrangement (1).

Description

Technical Field

[0001] The invention relates to a sensor arrangement for detecting a rotational movement of a rotatable body about an axis of rotation. The invention also relates to a method for detecting a rotational movement of a rotatable body about an axis of rotation, which method can be performed with the aid of such a sensor arrangement. Background Art

[0002] It is known from the prior art to calculate a clear absolute angle over several complete mechanical rotations of a shaft from at least two angle signals using vernier calculations, wherein at least one angle signal is mechanically slowed down or accelerated relative to the rotational movement of the shaft, i.e., the rotation is less than or greater than 360 degrees with one mechanical rotation of the shaft.

[0003] In known inductive torque and steering angle sensors, two inductive angle measurements are usually used for calculating the torque, and an additional, usually magnetic, angle measurement is used for calculating the steering angle, which has a clear range of more than 360 degrees, because multiple rotations of the steering wheel are to be detected. According to the prior art, the angle values ​​detected by the inductive angle measurement are passed to a controller to calculate the absolute steering angle, and there a vernier calculation is performed with the angle values ​​detected by the additional magnetic angle measurement. This presupposes a coordination of the periodicity of the additional magnetic angle measurement with the periodicity of the inductive angle measurement in order to ensure the mode of operation of the vernier calculation and to meet customer requirements for the steering angle range to be measured. This coordination of the periodicity can lead to restrictions in the inductive torque measurement, because the periodicity determined here is conducive to reducing measurement errors. In order to compensate, a gear that usually takes up a larger structural space is used for the deceleration or acceleration of the additional magnetic angle measurement.

[0004] DE 11 2016 005 661 T5 discloses an inductive torque and angle sensor for a steering mechanism, which has an input shaft, which is connected to an output shaft via a torsion bar. A first coupler is connected to the input shaft, while a second coupler is connected to the output shaft. A first and a second receiving coil, each of which has a plurality of loops wound in opposite directions, are arranged opposite to the first or second coupler, respectively, so that the first coupler is located above the first receiving coil and the second coupler is located above the second receiving coil. A switching circuit determines the angular offset between the two couplers. In addition, an angle sensor is provided, which gives the precise rotation angle of the steering wheel mechanism. In order to implement the angle sensor, a first gear is mounted on the first coupler, so that the first coupler and the first gear rotate synchronously with each other. The first gear meshes with a second gear, which is rotatably mounted relative to a circuit board on an axis parallel to the steering wheel torsion bar, but spaced apart. A coupler is mounted on the second gear and cooperates with the receiving coil of a third inductive sensor applied to the circuit board. A Hall Effect sensor or any other type of sensor, such as an inductive Hall sensor or a (G) magnetic resonance sensor may be used to determine the angle of the second gear. Summary of the invention

[0005] The sensor assembly for detecting the rotational movement of a rotatable body about an axis of rotation having the features of independent patent claim 1 and the method for detecting the rotational movement of a rotatable body about an axis of rotation having the features of independent patent claim 13 respectively have the following advantages: the possibility of selecting the individual periodicities of the angle measurement is improved by using at least three angle signals in a cascaded vernier calculation, thereby saving installation space. In addition, compared with the simple vernier calculation known from the prior art, an increased robustness (k decimal places) is produced by the cascaded vernier calculation. As a result, embodiments of the present invention are not susceptible to angular errors and hysteresis errors. This advantageously enables the use of cost-effective magnetic circuits and mechanical gear systems.

[0006] An embodiment of the present invention provides a sensor assembly for detecting the rotational movement of a rotatable body around a rotation axis, the sensor assembly having at least three angle sensors and at least one analysis, evaluation and control unit. The at least three angle sensors respectively detect the mechanical rotational movement of the rotatable body with a predetermined transmission ratio and respectively generate corresponding electrical angle signals and output the angle signals to at least one analysis, evaluation and control unit, wherein the at least three angle sensors have different transmission ratios. Here, at least one analysis, evaluation and control unit is implemented to determine a first angle of the rotatable body with a first clear range by a first cursor calculation, the first cursor calculation is based on two electrical angle signals of the at least three electrical angle signals, wherein the first clear range of the determined first angle is greater than the clear range of the angle signal used for calculation. The at least one analysis, evaluation and control unit is further implemented to determine a second angle of the rotatable body with a second clear range by a second cursor calculation, the second cursor calculation is based on the determined first angle and another electrical angle signal of the at least three electrical angle signals, wherein the second clear range of the determined second angle is greater than the first clear range of the determined first angle and the clear range of the other electrical angle signal.

[0007] In addition, a method for detecting the rotational movement of a rotatable body around an axis of rotation is proposed, which method can be implemented with the aid of such a sensor assembly. At least three electrical angle signals with a predetermined transmission ratio are generated and evaluated based on the mechanical rotational movement of the rotatable body, wherein the at least three electrical angle signals are detected with different transmission ratios. A first angle of the rotatable body with a first clear range is determined by a first cursor calculation, the first cursor calculation being based on two angle signals of the at least three angle signals, wherein the first clear range of the determined first angle is greater than the clear range of the angle signal used for calculation. A second angle of the rotatable body with a second clear range is determined by a second cursor calculation, the second cursor calculation being based on the determined first angle and another electrical angle signal of the at least three electrical angle signals, wherein the second clear range of the determined second angle is greater than the first clear range of the determined first angle and the clear range of the other electrical angle signal.

[0008] The analysis, evaluation and control unit can currently be understood as an electrical structure group or circuit, which prepares or processes or analyzes and evaluates the detected sensor signals or measurement signals. The analysis, evaluation and control unit is preferably implemented as an ASIC module (ASIC: application-specific integrated circuit). The analysis, evaluation and control unit has at least one interface, which can be constructed according to hardware and / or software. In the case of hardware construction, the interface can be, for example, a part of the ASIC module. However, the interface can also be an independent integrated switching circuit or at least partially composed of discrete structural elements. In the case of software construction, the interface can be, for example, a software module that exists on a microcontroller in addition to other software modules.

[0009] The measures and developments listed in the dependent claims enable advantageous improvements to be made to the sensor arrangement for detecting a rotational movement of a rotatable body about an axis of rotation specified in independent patent claim 1 and to the method specified in independent patent claim 13 .

[0010] It is particularly advantageous if at least three angle sensors can each be implemented as an inductive angle sensor or a magnetic angle sensor. Thus, for example, all angle sensors can be implemented as inductive angle sensors or magnetic angle sensors. Furthermore, a combination of inductive angle sensors and magnetic angle sensors is possible. Thus, for example, two angle sensors that provide two angle signals for a first vernier calculation can be implemented as inductive angle sensors, and another angle sensor that provides another angle signal for a second vernier calculation can be implemented as a magnetic angle sensor.

[0011] In an advantageous configuration of the sensor assembly, the transmission ratio of each angle sensor is not an integer multiple of the transmission ratio of another angle sensor of the at least three angle sensors. The non-integer ratio can increase the resolution or clear range of the angle measurement according to the needs of the application. The transmission ratio of each angle signal can be slowed down or accelerated according to the rotational movement of the shaft. This means that the individual periodicity of the at least three angle signals is less than or greater than the mechanical rotation of the rotatable body and therefore less than or greater than 360 degrees.

[0012] In another advantageous embodiment of the sensor assembly, at least one of the at least three electrical angle signals has a rational fraction transmission ratio for the mechanical rotational movement of the rotatable body, so that the first unambiguous range or the second unambiguous range is greater than at least one revolution of the rotatable body. As a result, rotation angles exceeding one revolution, i.e. rotation angles exceeding 360 degrees, can be determined unambiguously. Preferably, another electrical angle signal can have a rational fraction transmission ratio for the mechanical rotational movement of the rotatable body, so that a second unambiguous range of a determined second angle is greater than at least one revolution of the rotatable body.

[0013] In another advantageous embodiment of the sensor assembly, at least one evaluation and control unit can further be implemented to perform the second vernier calculation as a weighted vernier calculation and the determined first angle is weighted more highly than the other electrical angle signal. This is particularly advantageous if the third angle signal has a rational fraction transmission ratio and is mechanically decelerated. In this case, in the second vernier calculation, the weight is preferably applied almost equal to or equal to 100% to the angle determined by the first vernier calculation, while the third angle signal can only be used to calculate the number of revolutions of the rotatable body or for period correction. This makes it possible to simply compensate for hysteresis errors when the rotational movement of the rotatable body is mechanically decelerated.

[0014] In another advantageous embodiment of the sensor assembly, the transmission ratio of the individual angle sensors can be predetermined by the periodicity of the corresponding electrical angle signal. In the case of an inductive angle sensor, the periodicity can be achieved simply by the number of conductive coupling sections of the corresponding coupling device. Alternatively, the transmission ratio of the individual angle sensors can be predetermined by mechanically transmitting the rotational movement of the rotatable body to another rotatable body, so that the other rotatable body rotates at a different speed than the rotatable body. The mechanical transmission can be achieved, for example, by a simple gear transmission or by a planetary transmission.

[0015] In another advantageous configuration of the sensor assembly, at least one analysis, evaluation and control unit can be implemented to obtain an angle difference from a first electrical angle signal of a first angle sensor and a second electrical angle signal of a second angle sensor, from which an effective torque acting on a rotatable body can be obtained. Therefore, the rotatable body can be implemented as a steering shaft of a vehicle, for example. Here, the first electrical angle signal of the first angle sensor can represent the rotation angle of a first section of the steering shaft, and the second electrical angle signal of the second angle sensor can represent the rotation angle of a second section of the steering shaft, so that the torque acting on the steering shaft can be obtained. Because the torque is measured based on the first angle signal and the second angle signal, these angle signals have an angle difference related to the torque determined by the application, which should be corrected for the first cursor calculation. Depending on the selected reference, this also applies to the third electrical angle signal, so that an angle difference correction can be performed on the third electrical angle signal before the second cursor calculation. Here, at least one analysis, evaluation and control unit can be further implemented to perform an angle difference correction on the first electrical angle signal and / or the second electrical angle signal and / or the third electrical angle signal before the corresponding cursor calculation. The error correction ensures the robustness of the vernier calculation, since no "angle jumps" occur in the determined angles. In addition, the vernier calculation can be monitored with regard to functional safety (k decimal places monitoring). Error correction also enables a higher precision in the determination of the rotation angle by reference to the second angle definition.

[0016] In another advantageous configuration of the sensor assembly, the first analysis, evaluation and control unit can be implemented to perform a first vernier calculation and / or an angle difference calculation and / or an angle difference correction of the first electrical angle signal and / or the second electrical angle signal and / or the third electrical angle signal. In addition, the second analysis, evaluation and control unit can also be implemented to perform a second vernier calculation. Of course, it is also possible to use only a single analysis, evaluation and control unit in order to perform these calculations. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Exemplary embodiments of the invention are shown in the drawings and explained in more detail in the following description. In the drawings, the same reference numerals designate components or elements that perform the same or similar functions.

[0018] Figure 1 A schematic block diagram shows a first exemplary embodiment of a sensor arrangement according to the invention for detecting a rotational movement of a rotating body rotatable about an axis of rotation.

[0019] Figure 2 A schematic block diagram shows a second exemplary embodiment of a sensor arrangement according to the invention for detecting a rotational movement of a rotating body rotatable about an axis of rotation.

[0020] Figure 3 Shown for Figure 1 or Figure 2 Schematic block diagram of a first evaluation and control unit of a sensor assembly according to the invention.

[0021] Figure 4 A schematic flow chart of an exemplary embodiment of a method according to the invention for detecting a rotational movement of a rotating body rotatable about an axis of rotation is shown. DETAILED DESCRIPTION

[0022] As from Figures 1 to 3It can be seen that according to the illustrated embodiment of the sensor assembly 1, 1A, 1B for detecting the rotational movement of the rotatable body 3 around the rotation axis DA, the sensor assembly comprises at least three angle sensors 5, 5A, 5B, 5C and at least one evaluation and control unit 10, 10A, 10B. The at least three angle sensors 5, 5A, 5B, 5C respectively detect the mechanical rotational movement of the rotatable body 3 with a predetermined transmission ratio and generate corresponding electrical angle signals W1, W2, W3, and output these angle signals to at least one evaluation and control unit 10, 10A, 10B, wherein the at least three angle sensors 5, 5A, 5B, 5C have different transmission ratios. The at least one evaluation and control unit 10, 10A, 10B determines the first angle NW1 of the rotatable body 3 with a first clear range by a first vernier calculation NB1, which is based on two electrical angle signals W1, W2 of the at least three electrical angle signals W1, W2, W3. The first unambiguous range of the determined first angle NW1 is greater than the unambiguous range of the angle signals W1, W2 used for the calculation. In addition, at least one evaluation and control unit 10, 10A, 10B determines a second angle NW2 of the rotatable body 3 with a second unambiguous range by a second vernier calculation NB2, which is based on the determined first angle NW1 and another electrical angle signal W3 of the at least three electrical angle signals W1, W2, W3. The second unambiguous range of the determined second angle NW2 is greater than the first unambiguous range of the determined first angle NW1 and the unambiguous range of the other electrical angle signal W3.

[0023] As from Figure 1 and Figure 2It can also be seen that the illustrated embodiments of the sensor assembly 1, 1A, 1B respectively include three angle sensors 5A, 5B, 5C, two analysis, evaluation and control units 10A, 10B and a controller 7, 7A, 7B. In the illustrated embodiment, the first angle sensor 5A implemented as an inductive angle sensor provides a first electrical angle signal W1, the second angle sensor 5B also implemented as an angle sensor provides a second electrical angle signal W2, and the third angle sensor 5C implemented as a magnetic angle sensor provides a third electrical angle signal W3. In the illustrated embodiment, the two electrical angle signals W1, W2 of the two inductive angle sensors 5A, 5B are used for a first vernier calculation NB1 to determine a first angle NW1, which is performed by the first analysis, evaluation and control unit 10A. In the illustrated embodiment, the third electrical angle signal W3 of the third magnetic angle sensor 5C uses the determined first angle NW1 for a second vernier calculation NB2 to determine a second angle NW2, which is performed by the second analysis, evaluation and control unit 10B. The transmission ratios of the three angle sensors 5A, 5B, 5C are selected such that the transmission ratio of each angle sensor 5A, 5B, 5C is not an integer multiple of the transmission ratio of another angle sensor 5A, 5B, 5C of the three angle sensors 5A, 5B, 5C. In addition, the transmission ratios of the two inductive angle sensors 5A, 5B are respectively predetermined by the periodicity of the corresponding electrical angle signals W1, W2. The transmission ratio of the third magnetic angle sensor 5C is predetermined by mechanically transmitting the rotational movement of the rotatable body 3 to another rotatable body (not shown in detail), so that the other rotatable body rotates at a different speed than the rotatable body 3.

[0024] At least one of the three electrical angle signals W1, W2, W3 has a rational fraction transmission ratio for the mechanical rotational movement of the rotatable body 3, so that the first well-defined range or the second well-defined range is greater than a revolution of the rotatable body 3. In the illustrated embodiment, the third electrical angle signal W3 of the third magnetic angle sensor 5C has a rational fraction transmission ratio for the mechanical rotational movement of the rotatable body 3, so that the second well-defined range of the determined second angle NW2 is greater than at least one revolution of the rotatable body 3.

[0025] In the exemplary embodiment shown, the first evaluation and control unit 10A performs the second vernier calculation NB2 as a weighted vernier calculation, wherein the determined first angle NW1 is weighted more highly than the third electrical angle signal W3 .

[0026] In the embodiment shown, the rotatable body 3 is implemented as a steering shaft 3A of a vehicle. The steering shaft 3A has a torsion region TB shown in dashed lines. Here, a steering wheel (not shown in detail) is connected to a first section IN or input side of the steering shaft 3A arranged above the torsion region TB. A steering gear (not shown in detail) connected to the wheel is connected to a second section OUT or output side of the steering shaft 3A arranged below the torsion region TB. As shown in FIG. Figure 3 It can be further seen that the first analysis, evaluation and control unit 10A determines the angle difference DW from the first electrical angle signal W1 of the inductive first angle sensor 5A (which detects the rotation angle of the first section IN of the steering shaft 3A) and the second electrical angle signal W2 of the second angle sensor 5B (which detects the rotation angle of the second section OUT of the steering shaft 3A) in the calculation block 12, from which the effective torque acting on the rotatable body 3 implemented as the steering shaft 3A can be determined. In addition, the first analysis, evaluation and control unit 10A performs an angle difference correction of the first electrical angle signal W1 in the correction block 14 before the first vernier calculation NB1.

[0027] As from Figure 1 It can further be seen in FIG. 1 that the illustrated first embodiment of the sensor arrangement 1A has a first embodiment of a controller 7A, in which two evaluation and control units 10A, 10B are arranged. As a result, two vernier calculations NB1, NB2 can be performed in the controller 7A.

[0028] As from Figure 2 It can be further seen in FIG. 1 that the second exemplary embodiment of the sensor arrangement 1B has a second exemplary embodiment of the controller 7B, in which only the second evaluation and control unit 10B is arranged. The first evaluation and control unit 10A is arranged outside the controller 7B in the vicinity of the two inductive angle sensors 5A, 5B.

[0029] As from Figure 4As can be seen in the figure, the illustrated embodiment of the method 100 according to the invention for detecting the rotational movement of a rotatable body 3 about an axis of rotation DA (the method can be implemented by means of one of the above-mentioned sensor assemblies 1, 1A, 1B) comprises a step S100, in which at least three electrical angle signals W1, W2, W3 with a predetermined transmission ratio are generated and evaluated based on the mechanical rotational movement of the rotatable body 3, wherein at least three electrical angle signals W1, W2, W3 with different transmission ratios are detected. In a step S130, a first angle NW1 with a first well-defined range of the rotatable body 3 is determined by a first vernier calculation NB1, which is based on two angle signals W1, W2 of the at least three angle signals W1, W2, W3, wherein the first well-defined range of the determined first angle NW1 is greater than the well-defined range of the angle signals W1, W2 used for the calculation. In step S140, a second angle NW2 of the rotatable body 3 having a second clear range is determined by a second vernier calculation NB2, the second vernier calculation being based on the determined first angle NW1 and another angle signal W3 of the at least three angle signals W1, W2, W3. Here, the second clear range of the determined second angle NW2 is greater than the first clear range of the determined first angle NW1 and the clear range of the other electrical angle signal W3.

[0030] If, in an optional step S110 shown in dashed lines after step S100, an angle difference DW is determined from the first electrical angle signal W1 and the second electrical angle signal W2, from which the effective torque acting on the rotatable body 3 can be determined, then another optional step S120 shown in dashed lines is inserted before the first cursor calculation NB1 in step S130. Here, in step S120, an angle difference correction of the first electrical angle signal W1 and / or the second electrical angle signal W2 is performed before the first cursor calculation NB1 in step S130. In general, the electrical angle signals W1, W2 with the calculated angle difference DW are corrected by addition or subtraction taking into account the respective transmission ratios. Depending on whether the first angle signal W1 or the second angle signal W2 is corrected, the first section IN or the input side or the second section OUT or the output side is obtained as an angle reference for calculating the second angle NW2. In addition, the correction can be performed in a weighted manner so that a virtual reference for the second angle NW2 is formed between the first section IN or the input side and the second section OUT or the output side. This can be achieved, for example, by averaging, which corresponds to a correction of half the angular difference. Depending on the selection of the angular reference for the second angle NW2 , an angular difference correction is also performed with the third electrical angle signal W3 .

[0031] In the illustrated embodiment, the second electrical angle signal W2 constitutes an angle reference for the first vernier calculation NB1. Therefore, an angle difference correction of the first electrical angle signal W1 is performed in step S120. Depending on the selected angle reference and the arrangement of the third angle sensor 5C, an angle difference correction of the third electrical angle signal W3 is additionally performed before the vernier calculations NB1 and NB2 in step S120. In the illustrated embodiment, no angle difference correction of the third electrical angle signal W3 is performed because the third electrical angle signal W3, like the second electrical angle signal W2 constituting the angle reference for the first vernier calculation NB1, represents the rotation angle of the second section OUT or the output side of the steering shaft 3A. If the first electrical angle signal W1 constitutes an angle reference for the first vernier calculation NB1, an angle difference correction is performed on the second electrical angle signal W2 and the third electrical angle signal W3, respectively, in step S120. Of course, the angle difference correction of the third electrical angle signal W3 can alternatively be performed in another step, not shown, between the first vernier calculation in step S130 and the second vernier calculation in step S140.

[0032] In the illustrated embodiment of the method 100 according to the invention, in step S100, three electrical angle signals W1, W2, W3 with a predetermined transmission ratio are generated and evaluated based on the mechanical rotational movement of the rotatable body 3. In step S130, a first angle NW1 of the rotatable body 3 with a first well-defined range is determined by a first cursor calculation NB1 based on the first electrical angle signal W1 and the second electrical angle signal W2. In step S140, a second angle NW2 of the rotatable body 3 with a second well-defined range is determined by a second cursor calculation NB2 based on the determined first angle NW1 and the third electrical angle signal W3.

[0033] Since the third angle signal W3 has a transmission ratio of a rational fraction and is mechanically decelerated, the second vernier calculation NB2 is performed as a weighted vernier calculation. Here, when determining the second angle NW2, the determined first angle NW1 is weighted more highly than the third angle signal W3, since the third angle signal W3 is only used to calculate the rotation of the rotatable body implemented as the steering shaft 3A. As a result, multiple rotations of the steering wheel can be detected by the determined second angle NW2 representing the absolute rotation angle of the rotatable body 3.

Claims

1. A sensor assembly (1) for detecting the rotational movement of a rotatable body (3) around a rotation axis (DA), comprising at least three angle sensors (5) and at least one analysis, evaluation and control unit (10), wherein the at least three angle sensors (5) respectively detect the mechanical rotational movement of the rotatable body (3) with a predetermined transmission ratio and generate corresponding electrical angle signals (W1, W2, W3) and output them to the at least one analysis, evaluation and control unit (10), wherein the at least three angle sensors (5) have different transmission ratios, and wherein the at least one analysis, evaluation and control unit (10) is implemented to determine the rotational movement of the rotatable body (3) by a first cursor calculation (NB1) based on two electrical angle signals (W1, W2) of the at least three electrical angle signals (W1, W2, W3). A first angle (NW1) of the rotatable body (3) having a first clear range, wherein the first clear range of the determined first angle (NW1) is larger than the clear range of the angle signals (W1, W2) used for calculation, wherein the at least one analysis, evaluation and control unit (10) is further implemented to determine a second angle (NW2) of the rotatable body (3) having a second clear range by a second cursor calculation (NB2) based on the determined first angle (NW1) and another electrical angle signal (W3) of the at least three electrical angle signals (W1, W2, W3), wherein the second clear range of the determined second angle (NW2) is larger than the first clear range of the determined first angle (NW1) and the clear range of the other electrical angle signal (W3).

2. The sensor assembly (1) according to claim 1, characterized in that The at least three angle sensors (5) are each implemented as an inductive angle sensor or a magnetic angle sensor.

3. The sensor assembly (1) according to claim 1 or 2, characterized in that The transmission ratio of each angle sensor (5) is not an integer multiple of the transmission ratio of another angle sensor (5) of the at least three angle sensors (5).

4. The sensor assembly (1) according to any one of claims 1 to 3, characterized in that At least one of the at least three electrical angle signals (W1, W2, W3) has a rational fraction transmission ratio for the mechanical rotational movement of the rotatable body (3), so that the first well-defined range or the second well-defined range is greater than a revolution of the at least one rotatable body (3).

5. The sensor assembly (1) according to claim 4, characterized in that The further electrical angle signal (W3) has a rational fraction transmission ratio for the mechanical rotational movement of the rotatable body (3), so that the second unambiguous range of the determined second angle (NW2) is greater than a revolution of the at least one rotatable body (3).

6. The sensor assembly (1) according to any one of claims 1 to 5, characterized in that The at least one evaluation and control unit (10) is further designed to carry out the second vernier calculation as a weighted vernier calculation, and the determined first angle (NW1) is weighted more highly than the further electrical angle signal (W3).

7. The sensor assembly (1) according to any one of claims 1 to 6, characterized in that The transmission ratio of each angle sensor (5) can be predetermined by the periodicity of the corresponding electrical angle signal (W1, W2, W3).

8. The sensor assembly (1) according to any one of claims 1 to 7, characterized in that By mechanically transmitting the rotational movement of the rotatable body (3) to another rotatable body, a transmission ratio of each angle sensor (5) can be predefined so that the other rotatable body rotates at a different rotation speed than the rotatable body (3).

9. The sensor assembly (1) according to any one of claims 1 to 7, characterized in that The at least one evaluation and control unit (10) is implemented to determine an angle difference (DW) from a first electrical angle signal (W1) of a first angle sensor (5A) and a second electrical angle signal (W2) of a second angle sensor (5B), from which an effective torque acting on the rotatable body (3) can be determined.

10. The sensor assembly (1) according to claim 9, characterized in that The at least one analysis, evaluation and control unit (10) is further implemented to perform an angle difference correction of the first electrical angle signal (W1) and / or the second electrical angle signal (W2) and / or the third electrical angle signal (W3) before the corresponding cursor calculation (NB1, NB2).

11. The sensor assembly (1) according to any one of claims 1 to 10, characterized in that The first analysis, evaluation and control unit (10A) is implemented to perform the first cursor calculation (NB1) and / or the angle difference calculation and / or the angle difference correction of the first electrical angle signal (W1) and / or the second electrical angle signal (W2) and / or the third electrical angle signal (W3).

12. The sensor assembly (1) according to any one of claims 1 to 11, characterized in that The second evaluation and control unit (10B) is designed to carry out the second vernier calculation (NB2).

13. A method (100) for detecting the rotational movement of a rotatable body (3) around an axis of rotation (DA), the method being executable by means of a sensor assembly (1) according to any one of claims 1 to 12, wherein at least three electrical angle signals (W1, W2, W3) having a predetermined transmission ratio are generated and evaluated based on the mechanical rotational movement of the rotatable body (3), wherein the at least three electrical angle signals (W1, W2, W3) are detected with different transmission ratios, wherein the rotation of the rotatable body (3) is determined by a first cursor calculation (NB1) based on two electrical angle signals (W1, W2) of the at least three electrical angle signals (W1, W2, W3). , a first angle (NW1) having a first well-defined range, wherein the first well-defined range of the determined first angle (NW1) is larger than the well-defined range of the angle signals (W1, W2) used for calculation, wherein a second angle (NW2) of the rotatable body (3) having a second well-defined range is determined by a second cursor calculation (NB2) based on the determined first angle (NW1) and another electrical angle signal (W3) of the at least three electrical angle signals (W1, W2, W3), wherein the second well-defined range of the determined second angle (NW2) is larger than the first well-defined range of the determined first angle (NW1) and the well-defined range of the another electrical angle signal (W3).

14. The method (100) according to claim 13, characterized in that: An angle difference (DW) is determined from a first electrical angle signal (W1) and a second electrical angle signal (W2), from which an effective torque acting on the rotatable body (3) can be determined.

15. The method (100) according to claim 14, characterized in that: An angle difference correction of the first electrical angle signal (W1) and / or the second electrical angle signal (W2) and / or the third electrical angle signal (W3) is performed before the corresponding vernier calculation (NB1, NB2).

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