Angular position encoder, calibration device and adjustment device

Abstract

The invention relates to an angular position encoder for detecting a corresponding rotational angle of a rotational movement of a shaft, to a calibration device for generating calibration data for a rotary encoder, which calibration device detects a rotational angle of a rotation of the shaft, and to an adjustment device for generating calibration data for the rotary encoder, the adjustment device is designed to generate and transmit adjustment data for the rotary encoder.

Description

Technical Field

[0001] The present invention relates to an angular position encoder for determining an angular position signal, a calibration device for generating calibration data, and an adjustment device for generating adjustment data for a rotary encoder. Background Technology

[0002] A rotary encoder is used to detect the rotational movement of a shaft and includes: a gauge with a code track fixed to the rotatable shaft; and a detection mechanism fixed at a specific angular position relative to the shaft and configured to read the gauge and / or the code track. The rotary encoder is thus able to detect the rotation angle of the motor shaft and generate a rotation angle signal to depict the rotation angle of the motor shaft and the rotational movement from which it can be derived.

[0003] For high inspection accuracy, mechanical tolerance limits must be maintained between the inspection mechanism and the rotating gauge, which require the gauge to be oriented relative to the wear of the inspection mechanism.

[0004] However, even if the gauge is oriented as precisely as possible, there will still be a slight asymmetry due to radial runout error of the shaft.

[0005] If the axis of rotation of the gauge does not correspond to the initial center of rotation of the code track formed in the gauge after it is mounted on the shaft, the possible radial runout error will lead to the eccentricity error.

[0006] The eccentricity error is inversely proportional to the distance between the detection mechanism and the rotation axis. The detection mechanism reads the code track here. Due to this inverse relationship, even a slight displacement of the rotation center, such as 25 mm, can often lead to an excessively large angular error for the application in the case of a small rotary encoder with a small diameter code track. The eccentricity error is a sinusoidal angular error and has a period length over one revolution of rotation.

[0007] Another possible radial runout error is the oscillation angle error. This oscillation angle error occurs when the gauge is not precisely perpendicular to the axis of rotation of the shaft, resulting in an axial runout deviation.

[0008] The oscillation angle error is a sinusoidal angular error and has a period length within a half-circle rotation angle range.

[0009] Eccentricity angle error and oscillation angle error are therefore low-frequency angular errors and are referred to in this invention as the first type of angular error, namely rotation angle error.

[0010] There may also be other low-frequency angular errors belonging to the first type of angular error, and these other low-frequency angular errors have a frequency that is several times, especially less than ten times, that of the eccentricity angular error.

[0011] In particular, angular errors with a frequency three times that of eccentricity can be caused by, for example, a gauge with slight deformation due to the use of a three-jaw chuck during manufacturing.

[0012] Furthermore, another type of angular error is generated, which is particularly high-frequency or has a higher signal frequency than the first type of angular error, for example, due to non-uniformity in the gauge and / or due to the measurement value detected by the detection mechanism. Here, bias, amplitude, and / or phase errors will particularly occur, whose error signal frequency is a multiple of the signal frequency of the incremental signal that is frequently encountered when the detection device reads periodically uniformly divided code tracks.

[0013] For particularly precise rotation angle signals, a combination of precise measuring instruments and highly accurate detection mechanisms must be selected, and these instruments must be precisely positioned to each other.

[0014] The precise positioning is very time-consuming and increases installation costs.

[0015] To identify the effects of different angular errors, it is known from the prior art to perform balancing using a reference encoder to generate calibration data. Based on the calibration data, the signal quality of the rotary encoder can then be inferred.

[0016] Furthermore, it is known that this calibration data is stored in the rotary encoder as adjustment data in order to actively correct the negative impact of angular errors on the rotation angle signal of the rotary encoder. Summary of the Invention

[0017] The present invention aims to overcome the disadvantages known from the prior art. In particular, the object of the present invention is to achieve the possibility of high measurement accuracy, especially during rotational motion, when measuring the rotation angle of a measuring shaft, with minimal installation costs and thus high mechanical tolerances.

[0018] The objective is achieved by an angular position encoder according to the invention. Furthermore, the objective is achieved by a calibration device according to the invention and an adjustment device according to the invention.

[0019] The angular position encoder according to the invention is configured to detect the rotation angle during rotational movement of a shaft about a first rotation axis.

[0020] The angular position encoder according to the invention includes a first gauge having a fixing mechanism configured such that the first gauge can be rigidly connected to a shaft in a fixed state, and the first gauge can rotate together with the shaft about a first rotation axis.

[0021] The angular position encoder according to the invention includes a rotary angle sensor mechanism having a mounting mechanism configured such that the rotary angle sensor mechanism can be positioned relative to a first gauge in an installed state, so as to place the rotary angle sensor mechanism and the first gauge in an effective connection.

[0022] The rotation angle sensor mechanism is configured such that the first gauge can be read and can generate at least one coarse angle signal to check the rotation angle at at least one static angular position when the first gauge rotates about a first rotation axis, and to depict it by at least one coarse angle signal.

[0023] Preferably, the rotation angle sensor mechanism is configured such that the first gauge can be read at a first angular position to generate a first coarse angle signal, and can be read at a second angular position to generate a second coarse angle signal. The first angular position and the second angular position are preferably 180° apart, so that the first gauge can be read at two opposite and / or 180° offset positions in a top view.

[0024] Particularly preferably, the rotation angle sensor mechanism is configured such that the first gauge can be read at a first angular position to generate a first coarse angle signal, and at a second angular position to generate a second coarse angle signal, and at a third angular position to generate a third coarse angle signal. The angular positions are preferably spaced 60° apart from each other, so that the first gauge can be read at angular positions of 60°, 120°, and 240° in a top view. The fixing mechanism is configured such that the first gauge can be detachably fixed at the shaft. In the fixed state, the first gauge is fixedly connected to the shaft. The first gauge and the shaft are connected to each other such that the rotational motion of the shaft is transmitted to the first gauge.

[0025] The first gauge preferably includes graduations or code tracks that can be read by a rotation angle sensor mechanism. The rotation angle sensor mechanism is configured statically and / or statically and / or relatively movable relative to the first gauge, and thus relative to the shaft. In other words, the rotation angle sensor mechanism is configured to interact with the gauge at a first angular position, where the rotation angle of the shaft can be detected. The rotation angle sensor mechanism is configured such that a coarse angle signal can be generated to depict the rotational movement of the shaft, so as to detect, in particular, angular changes of the shaft.

[0026] Advantageously, radial runout and / or wobble error of the shaft can be identified using coarse-angle signals. High precision is not required here, allowing for large installation tolerances.

[0027] The angular position encoder according to the invention includes a reference encoder having a second gauge having a connection mechanism, a bearing mechanism, and a sensor mechanism, wherein the connection mechanism is configured such that the second gauge is rotatably rigidly connected to a first gauge at least in a coupled state, such that rotational movement of the first gauge causes rotational movement of the second gauge about a second rotation axis defined by the bearing mechanism.

[0028] Additionally, the sensor mechanism is rigidly connected to the rotational angle sensor mechanism in a rotational manner, at least in the coupled state.

[0029] The sensor mechanism is configured such that, in the coupled state, the second gauge can be read and a reference precision angle signal can be generated to detect the rotation angle of the rotational motion of the second gauge and to depict it through the reference precision angle signal.

[0030] The second gauge preferably includes graduations or code tracks that can be read by a sensor mechanism. The sensor mechanism is configured to be stationary and / or statically and / or relatively movable relative to the second gauge. In other words, the sensor mechanism is configured to work in conjunction with the second gauge at a fixed angular position.

[0031] The bearing mechanism enables precise positioning of the sensor mechanism relative to the second gauge, thereby achieving a precise reference angle signal that essentially describes the rotation angle around the second rotation axis.

[0032] The connecting mechanism used enables a simple and quick transition to the coupled state. In other words, the connecting mechanism allows for simple and rapid installation.

[0033] In the coupled state, the rotation angle of the second gauge, and thus the rotation angle of the shaft, can be detected. The sensor mechanism is configured to generate a reference precision angle signal for depicting the rotational motion of the shaft about the first axis of rotation.

[0034] In the coupled state, a deviation can occur between the first and second rotation axes, which can cause a first type of angular error about the rotation angle of the axis, particularly an eccentric angle error or a wobbling angle error.

[0035] The coarse angle signal and / or the reference coarse angle signal preferably have a lower resolution than the reference fine angle signal. The coarse angle signal and / or the reference coarse angle signal and / or the reference fine angle signal are preferably digital time and value discrete signals, which indicate the corresponding rotation angle within one revolution.

[0036] Furthermore, preferably, the coarse angle signal and / or the reference coarse angle signal and / or the reference fine angle signal are analog sinusoidal signals, particularly configured as a pair of sine and cosine channel partial signals, which together additionally encode orthogonal information and further process it according to methods known from the prior art, particularly through analog-to-digital conversion and angle calculation using the ATAN2 function.

[0037] The angular position encoder according to the invention also includes a correction mechanism configured such that a reference coarse angle signal can be determined from at least one coarse angle signal based on a calculation rule, the reference coarse angle signal being corrected for a first type of rotational angular error, i.e., a first angular error type. The first type of rotational angular error and / or the first angular error type is determined, in particular, by eccentricity angular error and / or oscillation angular error.

[0038] Preferably, in order to balance the eccentricity error, the calculation rule includes a correction method for reducing the eccentricity error known from EP 3 839 442B1, where phi_1 is the first coarse angle signal of the rotation angle sensor mechanism at a specific time point, and phi_grob is an auxiliary variable and / or a reference coarse angle signal for eliminating the error.

[0039] Furthermore, preferably, the rotation angle sensor mechanism is configured such that a pair of channel partial signals, particularly sine and cosine channel partial signals, are generated, wherein the channel partial signals have a phase shift relative to each other, thereby additionally encoding orthogonal information and forming a coarse angle signal.

[0040] The generation of the sine and cosine channel signals is performed, for example, within the rotation angle sensor mechanism by a first sensor unit and a second sensor unit, which are spaced apart by a sensor distance determined by their configuration and read from the first gauge. In this context, the code track formed in the first gauge and the sensor distance determined by the configuration are configured such that, with optimized spacing between the first rotation axis and the rotation angle sensor mechanism, a defined phase shift of the sine and cosine channel signals can be generated.

[0041] The coarse-angle signal encoded by the sine and cosine channels can be transformed into a digital, thus time- and value-discrete signal through analog-to-digital conversion and subsequent angle calculation using the ATAN2 function.

[0042] Preferably, in this context, the calculation rules included by the correction mechanism include determining the deviation of the measured phase difference of the sine and cosine channel portion signals relative to a defined phase shift, so as to determine, in particular by integration, a correction signal for the coarse angle signal in order to obtain a result for the reference coarse angle signal.

[0043] In a preferred improvement, the rotation angle sensor mechanism is configured such that at least one second coarse angle signal can be generated by reading the first gauge at the second angle position.

[0044] Furthermore, in this context, it is preferably proposed that the correction mechanism is configured such that the calculation rules additionally process at least one second coarse angle signal when determining the reference coarse angle signal.

[0045] In other words, the second angular position differs from the first angular position so that the first gauge can be read at the first angular position and additionally at at least one second angular position. Thus, it is preferably possible to detect the rotation angle of the shaft at two angular positions, particularly preferably at two opposing angular positions, especially at 0° and at 180°, and to depict it by first and second coarse angle signals.

[0046] Particularly preferably, the rotation angle sensor mechanism includes: a first rotation angle sensor unit for generating a first coarse angle signal; and at least one second rotation angle sensor unit for generating at least a second coarse angle signal.

[0047] Furthermore, it is particularly preferred that the rotation angle of the shaft is detected by a rotation angle sensor mechanism at three different angular positions, and particularly preferably at 0°, 60° and 120° in the top view of the first gauge, and depicted by first, second and third coarse angle signals.

[0048] Particularly preferably, the rotation angle sensor mechanism in this context includes: a first rotation angle sensor unit for generating a first coarse angle signal; a second rotation angle sensor unit for generating a second coarse angle signal; and a third rotation angle sensor unit for generating a third coarse angle signal.

[0049] In this context, the correction mechanism and / or calculation rules specifically include the following configuration, wherein phi_1 constitutes the time variation curve of the first coarse angle signal and phi_2 constitutes the time variation curve of the second coarse angle signal.

[0050] Furthermore, in the following text, phi_1 = phi1 applies to the first coarse angle signal and phi_2 = phi2 applies to the second coarse angle signal. For the reference coarse angle signal phi_grob, the following applies:

[0051]

[0052] For the first corner position of the first coarse angle signal, α_1 = 0° is applied, and for the second corner position of the second coarse angle signal, α_2 = 180° is applied.

[0053] Therefore, for the reference coarse angle signal phi_grob, we get:

[0054]

[0055] When adding rotation angle signals, especially the first coarse angle signal phi_1 and the second coarse angle signal phi_2, the corresponding overflow of the signals should be considered so as not to produce unwanted jumps in the resulting signal.

[0056] For example, each coarse angle signal can be widened by adding or subtracting 360° before overflow occurs, preventing overflow during calculation, if overflow occurs before the calculation rules are applied. Alternatively, the angular velocity can be calculated separately and the corresponding angular velocities can be added and scaled. A reference coarse angle signal phi_grob can be calculated from this by considering the initial conditions of phi_1.

[0057] In this context, it should be noted that the second angular position of the second coarse angle signal can also be arbitrarily chosen, wherein the harmonic error is subsequently corrected by means of the following addition theorem and under the condition of the angular spacing including the two angular positions:

[0058]

[0059] If the rotational motion of the shaft is expressed not only by the first coarse angle signal and the second coarse angle signal, but also by the third coarse angle signal, then the following relationship applies. In this context, the rotation angle sensor mechanism is configured such that the readings of the first gauge are uniformly distributed along the circumference of the shaft.

[0060] Therefore, α_1 = 0° is applied to the first angular position of the first coarse angle signal, α_2 = 120° is applied to the second angular position of the second coarse angle signal, and α_3 = 240° is applied to the third angular position of the third coarse angle signal.

[0061] It should be noted that phi_1 = phi1, phi_2 = phi2, and phi_3 = phi3 also apply. Therefore, the reference coarse angle signal phi_grob for error elimination is applicable:

[0062]

[0063] Here, phi_1 is the first coarse angle signal, phi_2 is the second coarse angle signal, and phi_3 is the third coarse angle signal.

[0064] If the rotational motion of the shaft is detected not only by the first, second, and third coarse angle signals, but also additionally by the fourth coarse angle signal, then the following relationship applies, wherein the rotation angle sensor mechanism reads the first gauge evenly along the circumferential direction.

[0065] Therefore, α_1 = 0° is applied to the first angle position, α_2 = 180° is applied to the second angle position, α_3 = 90° is applied to the third angle position, and α_4 = 270° is applied to the fourth angle position.

[0066] It also applies to phi_1 = phi1, phi_2 = phi2, phi_3 = phi3 and phi_4 = phi4.

[0067] Therefore, the reference coarse angle signal phi_grob, which eliminates errors, is applicable:

[0068]

[0069] Here, phi_1 is the first coarse angle signal, phi_2 is the second coarse angle signal, phi_3 is the third coarse angle signal, and phi_4 is the fourth coarse angle signal.

[0070] Furthermore, preferably, constants α_2 and / or α_3 and / or α_4 are determined in terms of measurement technique, such that when the first coarse angle signal phi_1 has a zero value, the angle position phi_2 measured at that time point is used as the value for α_2 and / or phi_3 is used as the value for α_3 and / or phi_4 is used as the value for α_4. In other words, in this expression, when phi_1 is zero, phi_grob is equal to zero.

[0071] The reference coarse angle signal phi_grob, used to eliminate errors, thus essentially eliminates rotational angular errors of the first angular error type with respect to the axis. However, due to the large positional tolerance between the rotational angle sensor mechanism and the first gauge, the coarse angle signal, and therefore the reference coarse angle signal used to eliminate errors, typically has additional angular error types interfering with the rotational angular error.

[0072] The reference fine rotation angle signal phi_fein is an accurate rotation angle signal, but it typically has a first-type rotation angle error with respect to the axis.

[0073] The angular position encoder according to the invention further includes a position determination mechanism for determining and outputting a position output signal, wherein the position determination mechanism is configured such that the position output signal can be determined from a reference fine angle signal and a reference coarse angle signal according to another calculation rule. The other calculation rule therefore includes the following steps:

[0074] The error signal between the reference fine angle signal phi_fein and the reference coarse angle signal phi_grob can be determined as follows:

[0075] e = phi_fein - phi_grob.

[0076] In the error signal e, the corresponding specific errors, especially the specific errors of the first angle error type and the other angle error type, can be separated from phi_fein and / or phi_grob, especially in the frequency domain, with respect to the rotation angle about the axis.

[0077] This can be technically achieved by using filters, especially low-pass filters, to obtain rotation angle errors of the first angle error type.

[0078] The position output signal phi_pos is then derived from the following difference:

[0079] phi_pos=phi_fein-–e_filt,

[0080] Where e_filt is the filtered error signal e, especially the low-pass filtered error signal e, and thus is essentially a rotation angle error of the first angle error type.

[0081] Alternative filters, especially with the aid of DFT, can also obtain the frequency, amplitude, and phase of different sinusoidal rotation angle errors from the rotation angle error spectrum. This can then be transformed back by inverse DFT or by applying angle functions to obtain e_filt, thereby determining the difference between phi_fein and e_filt.

[0082] Furthermore, sensor fusion algorithms, especially Kalman filters, or observers, can also generate position output signals phi_pos from the reference fine angle signal phi_fein and the reference coarse angle signal phi_grob.

[0083] Preferably, an additional low-pass filter is applied to the position output signal before output, the additional low-pass filter removing higher frequency signal components from the position output signal because their frequencies cannot be caused by the movement of the axis.

[0084] Furthermore, in this context, it is preferable that the filtered error signal e_filt is stored, in particular, as a control point, preferably as a rotation angle-related control point, in a table, especially in a lookup table, or via a description of the error of a specific sinusoidal shape, especially with respect to the value and phase of the harmonic error of one revolution.

[0085] In this context, it should be noted that the determination of the error signal and / or the determination of the filtered error signal can be performed continuously during operation, or it can be determined in a time-constrained manner, particularly after the coupling process, in order to learn the corresponding error signal. In the case of time-constrained determination, the learned error signal is applied only after the determination. However, continuous determination can still be performed subsequently for control purposes.

[0086] The lookup table contains a fixed and / or specific number of discrete single values ​​for each full rotation. Each discrete single value thus depicts a correction value for a portion of the angular range used as a reference precision angle signal. The corresponding single value for the portion of the rotation angle range can be determined from the error signal e_filt by interpolation, particularly by the "nearest neighbor" or "nearest neighbor method" or linear interpolation.

[0087] Furthermore, preferably, the error signal e between the reference fine signal phi_fein and the reference coarse signal phi_grob for error elimination is alternatively determined by the average mean of the differences between the reference fine signal and the reference coarse signal for error elimination as follows:

[0088] e=(phi_fein--phi_grob)--mean(phi_fein--phi_grob).

[0089] Advantageously, in this conversion and / or another calculation rule, it is possible to compensate for the installation tolerances of the rotation angle sensor mechanism with respect to the various angular positions. Therefore, no negative impact occurs when the first and / or second and / or third and / or fourth angular positions do not correspond to the assumed desired angular positions of 90° and / or 180° and / or 120° and / or 240°.

[0090] Correspondingly, when applying the mean value, the static angular offsets α_2, α_3, and α_4 of the rotation angle sensor mechanism do not need to be considered when calculating phi_grob. Furthermore, it is preferably proposed that the calculation rule and / or another calculation rule include multiple levels and / or multiple steps. Particularly preferred is that the calculation rule and / or another calculation rule are constructed and / or implemented in a two-level manner.

[0091] The connection mechanism is specifically configured such that the reference encoder can be coupled flexibly and rotationally rigidly to the first gauge. Preferably, the connection mechanism includes a coupling device and a torque strut. The coupling device preferably connects the first gauge to the second gauge. The torque strut preferably connects the sensor mechanism to the housing unit and / or the rotation angle sensor mechanism. Particularly preferably, the coupling device is configured as a folding coupling device, which is rotationally rigid yet flexible, while the torque strut is rigid. Alternatively, the coupling device may be configured rigidly, while the torque strut is configured as a rotationally rigid yet flexible mechanism. More particularly preferably, the connection mechanism is detachable. Advantageously, the reference encoder and / or the first gauge can therefore be configured as separate units, which can then be coupled subsequently, particularly via a detachable coupling mechanism, particularly via a claw coupling device and / or a detachable torque strut. As a result, it is recognized within the scope of the present invention that, through the combination of an externally supported first gauge and a self-supporting second gauge, high measurement accuracy can be achieved in detecting the rotation angle during the rotational movement of a shaft by referring to coarse angle signals and fine angle signals, with minimal installation costs.

[0092] According to the present invention, despite the presence of large mechanical tolerances, it is possible to identify and correct asymmetries in the rotational motion of the shaft, thereby enabling the identification and correction of the effects of particularly different angular errors, especially the effects of radial runout error and / or oscillation angle error.

[0093] In order to accurately detect the rotation angle of the shaft's rotational motion, a reference position signal is additionally used.

[0094] Advantageous improvements of the invention are described in the dependent claims. All combinations of at least two features disclosed in the specification, claims, and / or drawings fall within the scope of the invention.

[0095] In a preferred design, the fixing mechanism is configured as a chuck for fixing the first gauge to the shaft or a clamp for fixing the first gauge to the shaft, and / or the chuck or clamp is self-centering, and / or the chuck or clamp can be operated automatically, especially pneumatically or electrically, by means of the included servo mechanism.

[0096] Advantageously, this also simplifies the installation of the first gauge onto the shaft.

[0097] The fixing mechanism preferably includes a detachable mechanical shaft adapter, which enables the fixing mechanism to work together with different shafts.

[0098] Furthermore, it is preferably proposed that the mounting mechanism and / or fixing mechanism be configured such that the radial and axial spacing between the first gauge and the rotation angle sensor mechanism can be affected and / or fixed. In this context, an adjustment mechanism is preferably provided so as to orient the rotation angle sensor mechanism with respect to the fixed first gauge.

[0099] The adjustment mechanism is particularly preferably constructed by the combined action of a mechanical stop and a spring mechanism. This is especially helpful if the first gauge can be detached and thus constituted as a separate unit.

[0100] The mounting mechanism is preferably configured as a flange for working in conjunction with a flange housing provided by a housing component surrounding the shaft.

[0101] The mounting mechanism includes a preferably detachable mechanical adapter element that enables the mounting mechanism to work in conjunction with different housing components.

[0102] The mounting mechanism is particularly preferably configured as a locating pin that works in conjunction with a pin receiving portion provided by a housing component surrounding the shaft.

[0103] Furthermore, it is preferable that the mounting mechanism includes a track, wherein the track orients the rotation angle sensor mechanism and the shaft, and in particular the housing surrounding the shaft, so as to position them relative to each other.

[0104] Furthermore, the first measuring instrument is configured as a magnetic measuring instrument, and the rotation angle sensor mechanism is configured as at least one magnetic field sensitive sensor, particularly as at least one AMR and / or TMR sensor.

[0105] Furthermore, it should be noted that the rotation angle sensor mechanism includes at least one AMR or TMR sensor, and / or the first rotation angle sensor unit and / or the second rotation angle sensor unit and / or the third rotation angle sensor unit and / or the fourth rotation angle sensor unit are respectively composed of AMR or TMR sensors.

[0106] In the preferred implementation, the first measuring instrument is also configured as a magnetic measuring instrument having multiple magnetic poles.

[0107] In this context, it is advantageous that the optimized air gap, specifically the radial spacing between the first gauge and at least one AMR and / or TMR sensor, essentially corresponds to half the pole width of the magnetic gauge. This magnetic implementation is particularly assembly-tolerant, thus being insensitive to radial spacing and / or also enabling relatively large, maximum permissible radial spacings, since pole widths of several millimeters, such as 2 mm or 5 mm, are possible. Therefore, a radial spacing of 2.5 mm + / - 2 mm can be achieved with a 5 mm pole width, and large mechanical tolerances can be realized.

[0108] Furthermore, it is also advantageous in this context that the axial assembly tolerances—and thus the maximum permissible radial spacing—are directly extended by the width of the first gauge, particularly by being able to be determined, for example, for a 20 mm magnetic pole rotor width, and thus specified during production.

[0109] In summary, the rotation angle sensor mechanism allows for particularly large mechanical tolerances through the implementation of at least one MAR and / or TMR sensor, thereby enabling rapid or inaccurate insertion of the first gauge and thus inaccurate relative positioning between the first gauge and the rotation angle sensor mechanism.

[0110] Furthermore, the present invention also includes a calibration device for generating calibration data for a rotary encoder. A rotary encoder to be calibrated using the calibration device according to the invention includes its own gauge and a detection mechanism for reading the gauge, the gauge being fixed to the shaft. The detection mechanism is configured to generate a rotation angle signal, hereinafter referred to as a rotation angle input signal, to depict the rotation angle of the shaft in rotational motion about a first rotation axis.

[0111] The calibration device according to the invention includes a first measuring instrument having a fixing mechanism configured such that the first measuring instrument can be rigidly connected to an axis in a fixed state, and the first measuring instrument can be rotated about a first rotation axis.

[0112] Furthermore, the calibration device according to the invention includes a calibration device having a mounting mechanism. The mounting mechanism is configured such that the rotation angle sensor mechanism can be positioned relative to the first gauge in the mounted state, so as to place the rotation angle sensor mechanism and the first gauge in an effective connection.

[0113] According to the present invention, the rotation angle sensor mechanism is configured such that the first gauge can be read at at least one angular position to generate at least one coarse angle signal. The coarse angle signal describes the time-varying curve of the rotational motion of the first gauge, thereby constituting the rotational motion of the shaft about a first rotation axis.

[0114] Furthermore, the calibration device according to the invention includes a reference encoder having a second gauge, a connection mechanism, a bearing mechanism, and a sensor mechanism.

[0115] According to the invention, the connecting mechanism is configured such that the second gauge is rotatably rigidly connected to the first gauge, at least in the coupled state. In this context, rotatably rigidly connected means that rotational movement of the first gauge causes rotational movement of the second gauge about a second axis of rotation, defined by a bearing mechanism.

[0116] According to the invention, the sensor mechanism is configured to read the second gauge. The rotational rigidity of the first and second gauges in the coupled state causes the rotational motion of the shaft about the first rotation axis to be detected by the sensor mechanism by reading the second gauge. The rotational motion of the shaft can therefore be depicted by reference to a precise angle signal.

[0117] The angular position encoder according to the invention also includes a correction mechanism configured such that a reference coarse angle signal can be determined from at least one coarse angle signal based on a calculation rule. This reference coarse angle signal is corrected for a first type of rotational angular error, i.e., a first angular error type. The first type of rotational angular error and / or the first angular error type is determined, in particular, by eccentricity angular error and / or oscillation angular error.

[0118] Regarding the determination of the reference coarse signal, the implementation scheme of the angular position encoder is referenced, and the implementation scheme is therefore also applicable without limitation to the calibration device and / or the adjustment device according to the invention.

[0119] Furthermore, the calibration device according to the invention includes a communication mechanism that can be connected to a rotary encoder in a signalal manner to receive at least one rotation angle input signal.

[0120] The calibration apparatus according to the invention further includes a calibration mechanism configured such that calibration data can be determined from a rotation angle input signal phi_in, at least one reference coarse angle signal phi_grob, and a reference fine angle signal phi_fein.

[0121] The calibration mechanism is configured according to a preferred improvement such that an intermediate reference angle signal phi_ref can be generated from the reference coarse angle signal phi_grob and the reference fine angle signal phi_fein, wherein in this context, reference is made to an embodiment for determining the position output signal phi_pos and the filtered error signal e_filt of the angular position encoder according to the invention. The intermediate reference angle signal phi_ref here corresponds to the position output signal phi_pos and is derived from the difference between them:

[0122] phi_ref=phi_fein-–e_filt,

[0123] Where e_filt is the filtered, especially low-pass filtered, error signal e = phi_fein -–

[0124] phi_grob, thus essentially a rotational angle error of the first angle error type.

[0125] In this improved scheme, the calibration data k is obtained by the difference between the rotation angle input signal phi_in and the intermediate reference angle signal phi_ref:

[0126] k = phi_in - phi_ref,

[0127] It should be noted that the order of the calculation steps can be changed.

[0128] The connection mechanism according to the invention—and thus with respect to the angular position encoder according to the invention and / or the calibration device according to the invention and / or the adjustment device according to the invention—is configured such that the reference encoder can be flexibly and rotationally rigidly coupled to the first gauge.

[0129] In a preferred embodiment, the connection mechanism includes a coupling device and a torque strut. The coupling device preferably connects the first gauge to the second gauge. The torque strut preferably connects the sensor mechanism to the housing unit and / or the rotation angle sensor mechanism.

[0130] In the first embodiment, the coupling device is configured to be both rotatably and flexibly arranged, and the torque strut is configured to be rigidly arranged.

[0131] In an alternative implementation variant, the coupling device is rigidly configured, while the torque strut rotation is rigidly but flexibly configured.

[0132] More particularly preferably, the connection mechanism is configured to be detachable. Advantageously, the reference encoder and / or the first gauge can therefore be configured as separate units, thereby subsequently coupled, particularly via a detachable coupling mechanism and / or a detachable torque strut.

[0133] Furthermore, the implementation scheme is also applicable without limitation to the calibration device described herein and the adjustment device, which are further elaborated below, in the context of angular position encoders.

[0134] Furthermore, the calibration device and / or adjustment device according to the invention include a data interface for transmitting calibration data and / or adjustment data to an external control unit and / or for receiving control commands, particularly for initiating a calibration process using the calibration device according to the invention and / or for initiating an adjustment process using the adjustment device according to the invention.

[0135] In a preferred embodiment, the calibration data k can be processed as a control point, preferably as a rotation angle-related control point in a table, especially in a lookup table, or via a description of the error of a particular sinusoid, especially the value and phase of the harmonic error of one revolution, so that it can be subsequently transmitted to an external control unit via a data interface.

[0136] The lookup table contains a fixed and / or specific number of discrete single values ​​for each full rotation. Each discrete single value thus depicts a correction value for a portion of the angular range used to reference the precision angle signal. The corresponding single value for the portion of the rotation angle range can be determined from the calibration data k by interpolation, particularly by the "nearest neighbor" or "nearest neighbor method" or linear interpolation.

[0137] Furthermore, the calibration device according to the invention includes an inspection unit for a rotary encoder to be calibrated, having quality parameters, wherein the inspection unit is configured such that the rotation angle signal of the rotary encoder can be evaluated by means of the quality parameters, wherein, in particular, the quality signal can be transmitted to an external control unit by means of a data interface or the quality information can be output to an operator by means of a signal mechanism.

[0138] The signal mechanism is preferably configured as a light source, particularly as a red or green light source, to output a positive or negative inspection result.

[0139] In addition, inspection results or quality information can also be output to inspectors through the pulsed flashing operation of the light-emitting mechanism.

[0140] Furthermore, it is preferably proposed that the calibration device includes an operation and / or display unit for inputting control commands and / or for outputting quality information.

[0141] Furthermore, the calibration device according to the invention includes a mechanical interface for coupling a drive mechanism to generate rotational motion of the shaft.

[0142] Furthermore, the calibration device according to the invention includes a drive mechanism for generating rotational motion of the shaft.

[0143] Furthermore, it is proposed that the data interface can additionally connect to the drive mechanism, especially for controlling the rotational motion of the shaft.

[0144] Furthermore, it is proposed that the data interface can be connected to a motor, wherein the motor has a motor shaft and a rotary encoder to be calibrated or adjusted for detecting the rotational motion of the motor shaft.

[0145] Furthermore, the data interface is capable of sending a rotation angle signal to an external control unit, the rotation angle signal corresponding to a rotation angle input signal and / or at least one coarse angle signal and / or a reference coarse angle signal and / or a reference fine angle signal, and / or can be obtained through a calculation step, particularly through one of the aforementioned calculation steps.

[0146] Furthermore, the data interface is capable of sending a rotation speed signal to an external control unit, the rotation speed signal being obtained by subtracting from a rotation angle input signal and / or at least one coarse angle signal and / or a reference coarse angle signal and / or a reference fine angle signal.

[0147] It should be noted that the calibration device according to the invention is configured to perform a measurement process in order to identify the deviation between the rotary encoder and the calibration device. The deviation is included in the calibration data.

[0148] The measurement process is structured using calculation rules.

[0149] Furthermore, within the scope of this invention, protection is also claimed for an adjustment device, which includes a calibration device according to the invention.

[0150] The adjustment device according to the invention further includes an adjustment mechanism configured to determine adjustment data j from a rotation angle input signal, at least one reference coarse angle signal, and / or a reference fine angle signal.

[0151] According to the first preferred embodiment, the adjustment mechanism is configured such that calibration data can be determined from the rotation angle input signal, at least one reference coarse angle signal and a reference fine angle signal, wherein the calibration mechanism is configured in this context such that the adjustment data j corresponds to the calibration data k.

[0152] According to a second preferred embodiment, the calibration mechanism is configured such that the adjustment data j includes only a portion of the information from the calibration data k. This portion of information can be specifically constructed using the frequency, phase, and sum of sinusoidal error components to correct only the error.

[0153] According to a third preferred embodiment, the adjustment mechanism is configured such that only the deviation between the rotation angle input signal and the reference coarse angle signal is determined, so as to achieve correction of the rotation angle input signal of the rotary encoder to be calibrated only with respect to the first type of angular error, particularly radial runout error and / or oscillation angle error. Advantageously, only the assembly tolerances of the (calibrated) rotary angle encoder to the shaft are corrected.

[0154] The calibration data j here is constructed from the low-pass filtered error signal e_filt.

[0155] Furthermore, in the adjustment device according to the invention, the communication mechanism is configured such that adjustment data j can be transmitted to the rotary encoder to be adjusted. Therefore, active intervention in the rotary encoder occurs within the adjustment device by transmitting adjustment data j.

[0156] The rotary encoder to be adjusted preferably includes a non-volatile storage mechanism to save and permanently store the adjustment data.

[0157] Furthermore, the rotary encoder includes a correction unit to correct its rotation angle signal, which corresponds to the rotation angle input signal, by means of adjustment data j. Advantageously, this enables the minimization of the effects of different angular errors in the rotary encoder input signal, and thus in assembly and / or installation tolerances, particularly the effects of radial runout error and / or oscillation angle error.

[0158] It should be noted that the adjustment device according to the invention is configured to perform a measurement process to identify deviations in the rotary encoder. These deviations are comprised of adjustment data, which is then transmitted to the rotary encoder to be adjusted. The rotary encoder can correct its rotation angle signal using the adjustment data to reduce the effects of radial runout error and / or oscillation error.

[0159] In the adjustment device according to the invention, there is therefore active intervention in the rotary encoder to be adjusted. In the calibration device according to the invention, there is no such intervention in the rotary encoder to be calibrated. The calibration device only identifies deviations from its own reference system, which is formed by the supported reference encoder. If necessary, only the inspection results or quality information are transmitted to an external control unit. Attached Figure Description

[0160] The invention will now be described in detail with reference to the accompanying drawings. The feature combinations illustrated in the shown embodiments can be supplemented by other features to meet the specific application requirements of the invention, as described above according to the embodiments. Similarly, according to the description above, individual features in the described embodiments can be omitted when the effect of the feature is not critical in the specific application.

[0161] In the accompanying drawings, elements with the same function and / or the same construction are indicated by the same reference numerals.

[0162] The attached diagram shows:

[0163] Figure 1a / b shows a schematic diagram of an angular position encoder according to a preferred embodiment of the invention for detecting the rotation angle of a shaft 50 as it rotates about a first rotation axis R1;

[0164] Figure 2 A schematic diagram of a calibration apparatus according to a preferred embodiment of the invention for generating calibration data for a rotary encoder to be calibrated, the rotary encoder being capable of generating a rotation angle signal during the rotational movement of a supported shaft;

[0165] Figure 3A schematic diagram of an adjustment device according to a preferred embodiment of the invention for generating adjustment data for a rotary encoder to be calibrated, the rotary encoder being capable of generating a rotation angle signal during the rotational movement of a motor shaft; and

[0166] Figure 4 A schematic diagram of an adjustment device according to another embodiment of the invention for generating adjustment data for a rotary encoder to be calibrated is shown, the rotary encoder being capable of generating a rotation angle signal during the rotational motion of a motor shaft. Detailed Implementation

[0167] Figure 1a / b respectively illustrate a preferred embodiment of the angular position encoder 1 according to the present invention. Figure 1a A separate view of the angular position encoder 1 according to the present invention is shown, and Figure 1b An angular position encoder 1 according to the invention is shown together with a shaft 50, the rotation angle of which is detected by the angular position encoder 1 according to the invention.

[0168] According to the angular position encoder 1 of the present invention, Figure 1a The embodiment shown includes a first measuring instrument 2 with a fixing mechanism 3. The fixing mechanism 3 is configured such that the first measuring instrument 2 can be rigidly connected to an shaft (not shown) in a fixed state. In the fixed state, the first measuring instrument 2 thus rotates together with the shaft to be monitored about a first rotation axis R1 (see [reference]). Figure 1b ).

[0169] Furthermore, the angular position encoder 1 according to the invention includes a rotation angle sensor mechanism 4, which is configured to work in conjunction with a first gauge 2 to depict the rotational motion of the shaft in the installed state. The rotational motion of the shaft is represented here by a coarse angle signal, which depicts the rotation angle of the first gauge 2 at a specific angular position.

[0170] The rotation angle sensor mechanism 4 includes a mounting mechanism 5, which positions the rotation angle sensor mechanism 4 relative to the first gauge 2 in the installed state. In a top view of the first gauge 2, the rotation angle sensor mechanism 4 reads the rotatable first gauge 2 at at least one fixed angular position.

[0171] In this paper, the rotation angle sensor mechanism 4 is configured such that, in addition to the first coarse angle signal phi_1, a second coarse angle signal phi_2 and a third coarse angle signal phi_3 are generated. Therefore, the first gauge 2 is read not only at the first angle position α_1, but also at the second angle position α_2 and the third angle position α_3.

[0172] Furthermore, the angular position encoder 1 according to the invention includes a reference encoder 6, which also detects the rotation angle of the shaft's rotational movement. The reference encoder 6 is self-supporting and includes a second gauge 7, which is rotatably supported about a second rotation axis R2 via a bearing mechanism 9. The second gauge 7 can be read by a sensor mechanism 10. The sensor mechanism 10 reads the second gauge 7 at a fixed angular position to detect the rotational movement of the second gauge 7.

[0173] In the coupled state, the second gauge 7 is rotatably and rigidly connected to the first gauge 2 via the connecting mechanism 8. Additionally, the sensor mechanism 10 is rotatably and rigidly connected to the rotation angle sensor mechanism 4, at least in the coupled state. The reference encoder 6 is thus able to generate a reference precision angle signal for depicting the rotational motion of the second gauge 7.

[0174] Compared to the coarse angle signal, the reference fine angle signal has higher resolution. In other words, the code track included by the second gauge 7 preferably has a finer resolution than the code track included by the first gauge 2.

[0175] Furthermore, the angular position encoder 1 according to the invention includes a correction mechanism 11, which determines a reference coarse angle signal from the coarse angle signal based on calculation rules. The effects of eccentricity angle error and / or oscillation angle error of the monitored shaft are corrected by the calculation rules, thus the reference coarse angle signal depicts the rotation angle of the monitored shaft without the influence of the aforementioned interference variables and the rotational motion that can be derived therefrom.

[0176] The correction mechanism, which includes the calculation rules for determining the reference coarse angle signal phi_grob to eliminate errors, uses the following relationship:

[0177]

[0178] Here, phi_1 is the first coarse angle signal, phi_2 is the second coarse angle signal, and phi_3 is the third coarse angle signal. Furthermore, α_1 = 0° is applied to the first angle position of the first coarse angle signal, α_2 = 120° is applied to the second angle position of the second coarse angle signal, and α_3 = 240° is applied to the third angle position of the third coarse angle signal.

[0179] It should be noted that phi_1 = phi1, phi_2 = phi2, and phi_3 = phi3 also apply.

[0180] The correction mechanism 11 either uses only a single coarse angle signal and calculation rule, or it uses two or more coarse angle signals and correspondingly matched calculation rules.

[0181] For processing two or more coarse angle signals, the rotation angle sensor mechanism 4 is configured such that the first gauge 2 is read not only at a single angular position but also at two or more angular positions. Advantageously, by using two or more coarse angle signals, the reference coarse signal is determined with less computational cost.

[0182] Furthermore, the angular position encoder 1 according to the present invention includes a position determination mechanism 12 for determining and outputting a position output signal.

[0183] The position determination mechanism 12 is configured such that the position output signal can be determined from the reference fine angle signal and the reference coarse angle signal according to another calculation rule.

[0184] Another calculation rule therefore includes the following steps:

[0185] The error signal e between the reference fine angle signal phi_fein and the reference coarse angle signal phi_grob can be determined as follows:

[0186] e = phi_fein – phi_grob.

[0187] In the error signal e, the corresponding specific error, especially the corresponding specific error of the first angle error type and the other angle error type, can be separated from phi_fein and / or phi_grob, especially in the frequency domain, with respect to the rotation angle about the axis.

[0188] This can be technically achieved by using filters, especially low-pass filters, to obtain rotation angle errors of the first angle error type.

[0189] The position output signal phi_pos is then derived from the following difference:

[0190] phi_pos=phi_fein-–e_filt,

[0191] Where e_filt is the filtered error signal e, especially the low-pass filtered error signal e, and thus is essentially a rotation angle error of the first angle error type.

[0192] exist Figure 1b The text appears to be a mix of Chinese characters and symbols, possibly from different sources. A direct translation wouldn't be meaningful. Figure 1a The known angular position encoder 1 is together with a rotatably supported shaft 50.

[0193] The shaft 50 is rotatably supported about a first rotation axis R1 via a ball bearing 51. Furthermore, the shaft 50 includes a housing 52, which includes a receiving section 53 for cooperating with the mounting mechanism 5 of the angular position encoder 1 according to the invention.

[0194] Already from Figure 1aThe known angular position encoder 1 is now mechanically coupled to shaft 50 in order to detect its rotation angle and the derived rotational motion.

[0195] According to the present invention, the mechanical coupling is based on first connecting the first measuring tool 2 to the shaft via the fixing mechanism 3.

[0196] The fixing mechanism 3 is configured as a clamp 13 in this paper to fix the measuring tool 2 on the shaft 50 and achieve a fixed state.

[0197] The clamp 13 is self-centering and the first measuring tool 2 is rigidly connected to the shaft 50 in a fixed state. The first measuring tool 2 therefore rotates together with the shaft 50 about the first axis of rotation R1.

[0198] Furthermore, according to the mechanical coupling of the invention, the rotation angle sensor mechanism 4 according to the invention can be fixed relative to the first gauge 2 via the mounting mechanism 5. In the mounted state, the rotation angle sensor mechanism 4 is positioned relative to the first gauge 2 such that the rotational movement of the first gauge 2 can be detected by the rotation angle sensor mechanism 2.

[0199] In the current embodiment, the mounting mechanism 5 includes a plurality of retaining pins 14, which are engaged in connection with retaining pin receptacles 53 included in the housing 52.

[0200] Therefore, the rotational motion of the shaft 50 can be detected and depicted by at least one coarse angle signal using the rotation angle sensor mechanism 4 according to the present invention.

[0201] The mounting mechanism 5 and the fixing mechanism 3 thus jointly determine the radial distance Ar between the first measuring tool 2 and the rotation angle sensor mechanism 4. The radial distance Ar extends radially from the first rotation axis R1 and is determined by the distance between the first measuring tool 2 and the rotation angle sensor mechanism 4.

[0202] Furthermore, the mounting mechanism 5 and the fixing mechanism 3 also determine the axial distance Aa between the first measuring instrument 2 and the rotation angle sensor mechanism 4. The axial distance Aa extends parallel to the first rotation axis R1 and extends from the free end face of the annular first measuring instrument 2 to the center of the rotation angle sensor mechanism 4.

[0203] Additionally, rotational motion is also detected by a reference encoder 6 according to the invention, which is comprised of an angular position encoder 1 according to the invention. In this regard, the reference encoder 6 is rotatably and rigidly coupled to the first gauge 2, at least in the coupled state, via a connecting mechanism 8 according to the invention. Specifically, this means that the second gauge 7, comprised of the reference encoder 6, is rotatably and rigidly connected to the first gauge 2 and also to the shaft 50 in the coupled state. The second gauge 7 is then read by the sensor mechanism 10 to generate a reference precision angle signal.

[0204] According to the invention, the rotational motion of the shaft 50 is transmitted to the first measuring instrument 2 and the second measuring instrument 7. The first measuring instrument 2 rotates together with the shaft 50 about the first rotation axis R1, while the second measuring instrument 7 rotates about the second rotation axis R2 due to the bearing mechanism 9.

[0205] It should be noted that the first rotation axis R1 can be different from the second rotation axis R2 because it is determined by different bearings—on the one hand, the bearing mechanism 9 of the sensor 6 and on the other hand, the ball bearing 51 of the shaft 50.

[0206] With the aid of the aforementioned correction mechanism 11, a reference coarse angle signal is generated from the coarse angle signal in order to remove the effects of eccentric angle error and / or sway angle error.

[0207] Furthermore, the position output signal is determined by means of the position determination mechanism 12, wherein the position determination mechanism 12 is configured such that the position output signal can be determined from the reference fine angle signal and the reference coarse angle signal according to another calculation rule.

[0208] As a result, the angular position encoder 1 according to the invention can be fixed at the shaft 50 to be monitored with large mechanical tolerances and thus with small installation costs, wherein a position output signal with high resolution and small angular error is still generated by the combination of the externally supported first gauge 2 and the self-supporting second gauge 7 according to the invention, thereby depicting the rotational motion of the shaft 50 with small deviation.

[0209] Figure 2 A schematic diagram of a calibration device 2000 according to a preferred embodiment of the invention is shown.

[0210] The calibration device 2000 according to the invention is configured to generate calibration data for a rotary encoder 3000 to be calibrated, the rotary encoder monitoring the rotation angle for a rotational motion of a shaft 3001 supported by a bearing 3004 from which rotational motion can be derived.

[0211] The rotary encoder 3000 to be calibrated includes a gauge 3002 configured as an optical code disk, which is read by an axially spaced detection mechanism 3003.

[0212] The detection mechanism 3003 is configured to output a rotation angle signal, which describes the rotation angle of the shaft 3001.

[0213] Furthermore, the shaft 3001 and the rotary encoder 3000 include a housing 3005. The housing 3005 at least partially surrounds the shaft 3001 and includes a receiving section 3006 for cooperating with the mounting mechanism 105 of the calibration device 2000 according to the invention, which will be described in detail later.

[0214] The calibration device 2000 according to the invention is now capable of—with Figure 1a The angular position encoder according to the invention described in / b is consistently connected to the shaft 3001 by means of the mounting mechanism 105 and the fixing mechanism 103, such that the rotational motion of the shaft 3001 is transmitted to the first gauge 102 and the second gauge 107.

[0215] The calibration device 2000 according to the invention firstly includes a first measuring instrument 102, which is mechanically coupled to a shaft 3001 via a fixing mechanism 103 to achieve a rotatable rigid connection for a fixed state. In other words, in the fixed state, the first measuring instrument 102, together with the shaft 3001, is rotatably supported about a first rotation axis R11, wherein the rotation axis R11 is defined and / or defined by a bearing 3004 on the shaft 3001.

[0216] Furthermore, the calibration device 2000 according to the present invention includes a rotation angle sensor mechanism 104. The rotation angle sensor mechanism 104 includes the previously mentioned mounting mechanism 105 to achieve the mounting state.

[0217] In the installed state, the rotation angle sensor mechanism 104 is configured relative to the first gauge 102 positioned in the fixed state such that the first gauge 102 can be read by the rotation angle sensor mechanism 104 to generate at least one coarse angle signal for depicting the rotation angle.

[0218] The calibration device 2000 according to the invention further includes a reference encoder 106, which includes the previously mentioned second gauge 107. Furthermore, the reference encoder 106 has a connection mechanism 108, a bearing mechanism 109, and a sensor mechanism 1010.

[0219] The connecting mechanism 108 enables the second measuring instrument 107 to be rigidly coupled to the first measuring instrument 102 in at least the coupled state.

[0220] The sensor mechanism 1010 is configured such that, in the coupled state, the second gauge 107 can be read and a reference precision angle signal can be generated.

[0221] The second measuring instrument 107 is rotatably supported around the second rotation axis R22 via a bearing mechanism 109.

[0222] According to the present invention, the corresponding rotation axes of the first and second gauges can be different from each other. Therefore, the radial runout error of the shaft 3001 can be obtained via the first gauge 102. Here, large mechanical tolerances can exist because the eccentricity angle error and / or wobble angle error can be detected and corrected by the present invention.

[0223] By means of a reference encoder 106 that is self-supporting via a bearing mechanism 109, the rotational motion of the shaft 3001 can be detected with high resolution.

[0224] Furthermore, the calibration device 2000 according to the invention includes a calibration mechanism 1011 to determine a reference coarse angle signal phi_grob from at least one coarse angle signal phi_1 based on calculation rules already described in conjunction with the angular position encoder 1 according to the invention.

[0225] At least one coarse angle signal has been corrected so that the effects of radial runout error and / or oscillation error of shaft 3001 are substantially completely corrected and are no longer substantially included in the reference coarse angle signal phi_grob.

[0226] The reference coarse angle signal phi_grob can be determined, for example, according to the teachings of EP 3 839 442B1. Alternatively, particularly preferred, the reference coarse angle signal phi_grob is determined by calculating a plurality of coarse angle signals, wherein in this context, reference is made to the embodiment according to FIG1, wherein the rotation angle sensor mechanism 104 is configured such that a first coarse angle signal phi_1, a second coarse angle signal phi_2, and a third coarse angle signal phi_3 are generated.

[0227] Furthermore, the calibration device 2000 according to the present invention includes a communication mechanism 1016, which is capable of being connected to a rotary encoder 3000 in a signalal manner to receive at least one rotation angle signal.

[0228] Furthermore, the calibration device 2000 according to the invention includes a calibration mechanism 1015. The calibration mechanism 1015 according to the invention is configured such that calibration data k can be determined from the rotation angle signal, at least one reference coarse angle signal, and a reference fine angle signal.

[0229] Here, the deviation between the rotation angle signal and the reference fine angle signal is evaluated under the condition of taking into account the reference coarse angle signal, so as to determine the calibration data k.

[0230] In this document, calibration mechanism 1015 is configured such that an intermediate reference angle signal phi_ref is determined from a reference coarse angle signal phi_grob and a reference fine angle signal phi_fein according to a method described in conjunction with the angular position encoder 1 according to the invention, wherein the intermediate reference angle signal phi_ref corresponds to the position output signal phi_pos and is derived from the following difference:

[0231] phi_ref=phi_fein-–e_filt,

[0232] Where e_filt is the filtered, especially low-pass filtered, error signal e = phi_fein -–

[0233] phi_grob, thus essentially corresponding to the rotation angle error of the first angle error type.

[0234] Therefore, the calibration data k is obtained by the difference between the rotation angle input signal phi_in and the intermediate reference angle signal phi_ref: k = phi_in - phi_ref.

[0235] Figure 3 A known calibration device 2000 is shown in a specific embodiment of the adjustment device 4000. To avoid repetition, reference is made to... Figure 2 The description of the calibration device 2000 according to the present invention.

[0236] The adjustment device 4000 is configured to generate adjustment data j for the rotary encoder 3000 to be adjusted, so as to correct the rotation angle signal of the rotary encoder 3000 to be adjusted. By correcting the rotation angle signal of the rotary encoder 3000, the negative effects of errors, especially of the first type such as radial runout error and / or oscillation error, and / or the negative effects of other types of errors should be eliminated by processing the adjustment data j.

[0237] In this regard, the adjustment device 4000 additionally includes an adjustment mechanism 4001 in addition to the components of the calibration device 2000 according to the invention. The adjustment mechanism 4001 according to the invention is configured to determine adjustment data j from the rotation angle signal phi_in, at least one coarse angle signal, or a reference coarse angle signal phi_grob and / or a reference fine angle signal phi_fein determined therefrom.

[0238] In the current embodiment, the adjustment mechanism 4001 according to the invention is configured such that the deviation between the rotation angle input signal phi_in and the reference coarse angle signal phi_grob is determined. Advantageously, this enables the correction of the rotation angle input signal phi_in of the rotary encoder 3000 to be adjusted with respect to first-type angular errors, particularly radial sway errors and / or oscillation angle errors.

[0239] Therefore, the rotary encoder 3000 to be adjusted is corrected only with respect to assembly tolerances. The assembly tolerances relate to the relative positions between the rotary encoder 3000 to be adjusted and the shaft 3001 to be monitored, wherein the rotary encoder 3000 to be adjusted is connected to the shaft 3001 and is rotatably rigidly connected to the first gauge 102 via a fixing mechanism 103, at least in the coupled state.

[0240] The adjustment data j is here formed from the low-pass filtered error signal e_filt, where e_filt is filtered, specifically the low-pass filtered error signal e = phi_in – phi_grob, thus essentially corresponding to the rotation angle error of the first angle error type. To determine phi_grob, refer to... Figure 2 Examples of implementations.

[0241] Furthermore, the communication mechanism 1016 included in the adjustment device 4000 according to the invention is configured for bidirectional communication so as to transmit the adjustment data j determined by means of the adjustment mechanism 4001 to the rotary encoder 3000 to be adjusted.

[0242] Furthermore, it should be noted that the rotary encoder 3000 to be adjusted is included in the current embodiment by a motor 6000. The motor 6000 includes an energized coil 6001 to rotate the motor shaft 3001.

[0243] The rotary encoder 3000 to be adjusted includes a non-volatile storage mechanism (not shown) to persistently store the adjustment data j. Furthermore, the rotary encoder 3000 includes a correction unit (not shown) to correct its rotation angle signal using the adjustment data j, thereby substantially eliminating the effects of the first and, in particular, another type of error.

[0244] In the embodiment shown in the image, the adjustment device 4000 according to the invention also includes a data interface 1014 for transmitting calibration data k and / or adjustment data j to an external control unit 5000. The data interface 1014 is currently configured via a bus communication system, which is currently configured via a bidirectional communication mechanism 1016.

[0245] In addition to the calibration equipment 2000, which has already been integrated Figure 2 In addition to the essential components of the invention in the embodiments, the illustrated adjustment device 4000 also includes a mechanical interface 1013 for coupling the drive mechanism 1012 to generate rotational motion of the shaft 3001, especially in the coupled state.

[0246] Advantageously, calibration and / or adjustment can be performed without operating the motor 6000. Particularly advantageous in this context is that the data interface 1014, i.e., the current communication mechanism 1016, can also be connected to the drive mechanism 1012, which can be coupled via the mechanical interface 1013. Advantageously, the rotational movement of the shaft 3001 can thus be controlled without actively interfering with the motor 6000.

[0247] Finally, the adjustment device 4000 according to the present embodiment further includes a check unit 2004 (not shown in detail), which includes quality parameters for the rotary encoder 3000 to be adjusted. The check unit 2004 is configured to evaluate the rotation angle signal of the rotary encoder 3000 by means of the quality parameters. The result of the evaluation, i.e., quality information particularly regarding the rotation angle signal of the rotary encoder 3000, can then be transmitted to an external control unit 5000 via a data interface 1014.

[0248] For example, it is also feasible for the control unit 5000 to individually determine, based on the quality information, whether it is necessary to transmit the new adjustment data j to the rotary encoder 3000, or whether the quality parameters are met by the existing adjustment data j.

[0249] Therefore, it is feasible to first adjust the rotary encoder 3000 and then calibrate it for control. Based on the calibration data k, quality information can then be generated as a quality parameter by comparing it with the stored maximum value.

[0250] For example, it can be checked from the sum of the minimum and maximum values ​​of calibration data k whether the sum is less than a stored quality parameter, which specifically corresponds to the maximum angular error. The stored maximum angular error can therefore be less than 20 arcseconds. Advantageously, as mentioned in this context, the invention eliminates the need for re-coupling mechanically and / or electrically.

[0251] Figure 4 Another embodiment of the regulating device 4000 according to the present invention is shown.

[0252] To avoid repetition, only the described implementation methods and their derivatives will be discussed below. Figure 2 and Figure 3 The main differences compared to known embodiments.

[0253] First, in order to couple and orient the rotation angle sensor mechanism 104 relative to the first gauge 102 mounted on the shaft 3001 in a fixed state, the mounting mechanism 105 is configured via a flange 1017 so as to cooperate with the flange receiving portion at the housing 6002 of the motor 6000.

[0254] Furthermore, the first measuring instrument 102 is currently detachably configured via a detachable connecting mechanism 108. Advantageously, this allows for the gradual installation of the adjustment device 4000, wherein the first measuring instrument 102 is first fixed to the shaft 3001 by means of the fixing mechanism 103 and then the shaft 3001 is rotatably rigidly connected to the first measuring instrument 102 and to the reference encoder 106 by means of the mounting mechanism 105 and the connecting structure 108.

[0255] In addition, an adjustment mechanism 1018 is provided to orient the rotation angle sensor mechanism 104 about the fixed first gauge 102. The adjustment mechanism 1018 provides a stop for the free end side of the contact shaft 3001.

Claims

1. An angular position encoder (1) for detecting the rotation angle of a shaft (50) as it rotates about a first rotation axis (R1), the angular position encoder comprising: - A first measuring tool (2) having a fixing mechanism (3) configured such that the first measuring tool (2) can be rigidly connected to the shaft (50) in a fixed state, thus being externally supported and rotating about the first rotation axis (R1); - A rotation angle sensor mechanism (4) having a mounting mechanism (5), the mounting mechanism being configured such that the rotation angle sensor mechanism (4) can be positioned relative to the first gauge (2) in the installed state. The rotation angle sensor mechanism (4) is configured such that the first gauge (2) can be read and can generate at least one coarse angle signal. - A reference encoder (6), the reference encoder having a self-supporting second gauge (7), a connecting mechanism (8), a bearing mechanism (9), and a sensor mechanism (10), The connecting mechanism (8) is configured such that the self-supporting second measuring instrument (7) is rotatably rigidly connected to the first measuring instrument (2) at least in the coupled state, wherein the second measuring instrument (7) is rotatably supported about a second rotation axis (R2) via the bearing mechanism (9). The sensor mechanism (10) is configured such that, in the coupled state, the second gauge (7) can be read and can generate a reference angle signal; - A correction mechanism (11) configured to determine a reference coarse angle signal from the at least one coarse angle signal based on a calculation rule, the reference coarse angle signal being corrected for a first type of rotational angle error, the first type of rotational angle error being, in particular, an eccentricity angle error and / or oscillation angle error of a fixed gauge relative to a first rotation axis (R1) of the shaft (50); and - A position determination mechanism (12) for determining and outputting a position output signal, wherein the position determination mechanism is configured such that the position output signal can be determined from the reference fine angle signal and the reference coarse angle signal according to another calculation rule.

2. The angular position encoder according to claim 1, Its features are, The rotation angle sensor mechanism (4) is configured to generate at least one second coarse angle signal so as to depict the rotational motion of the first gauge (2) at at least one second angular position by the at least one second coarse angle signal, and the correction mechanism (11) is configured such that the calculation rule additionally processes the at least one second reference coarse angle signal when determining the reference coarse angle signal.

3. The angular position encoder according to claim 1 or 2, Its features are, The fixing mechanism (3) is configured as a chuck (13) or clamp for fixing the first measuring tool (2) on the shaft (50), and / or the chuck (13) or clamp is self-centering, and / or the chuck or clamp can be operated automatically, especially pneumatically or electrically, by means of the included servo mechanism.

4. The angular position encoder according to any one of the preceding claims, Its features are, The mounting mechanism (5) and / or the fixing mechanism (3) are configured such that the radial distance (Ar) and axial distance (Aa) between the first gauge (2) and the rotation angle sensor mechanism (4) are influenceable and / or fixable.

5. The angular position encoder according to any one of the preceding claims, Its features are, The first measuring instrument (2) is configured as a magnetic measuring instrument, and the rotation angle sensor mechanism (4) is configured as at least one magnetic field sensitive sensor, particularly as at least one AMR and / or TMR sensor.

6. A calibration apparatus (2000) for generating calibration data for a rotary encoder (3000), the rotary encoder having a gauge (3022) fixed on a shaft (3001) and a detection mechanism (3003) for reading the gauge (3002), and the rotary encoder being configured to generate a rotation angle signal for depicting the rotation angle of the shaft (3001) during rotational movement about a first rotation axis (R11), the calibration apparatus comprising: - A first measuring instrument (102) having a fixing mechanism (103) configured such that the first measuring instrument (102) can be rigidly connected to the shaft (3001) in a fixed state, thus being externally supported and rotating about the first rotation axis (R11); - A rotation angle sensor mechanism (104) having a mounting mechanism (105) configured such that the rotation angle sensor mechanism (104) can be positioned relative to the first gauge (102) in the mounted state, wherein the rotation angle sensor mechanism (104) is configured such that the first gauge (102) can be read and can generate at least one coarse angle signal. - A reference encoder (106) having a self-supporting second gauge (107), a connecting mechanism (108), a bearing mechanism (109), and a sensor mechanism (1010). The connecting mechanism (108) is configured such that a self-supporting second measuring instrument (107) is rotatably rigidly connected to the first measuring instrument (102) at least in a coupled state, wherein the second measuring instrument (107) is rotatably supported about a second axis of rotation (R22) via the bearing mechanism (109). The sensor mechanism (1010) is configured such that, in the coupled state, the second gauge (107) can be read and can generate a reference angle signal; - A correction mechanism (1011) configured to determine a reference coarse angle signal from the at least one coarse angle signal based on a calculation rule, the reference coarse angle signal being corrected for a first type of rotational angle error, the first type of rotational angle error being, in particular, an eccentricity angle error and / or oscillation angle error of a fixed gauge relative to a first rotation axis of the shaft; and - A communication mechanism (1016), which is signal-connectable to the rotary encoder (3000) to receive at least one rotation angle input signal, and - A calibration mechanism (1015) configured such that calibration data can be determined from the rotation angle input signal, the at least one reference coarse angle signal, and the reference fine angle signal.

7. The calibration device according to claim 6, Its features are, The calibration device (2000) includes a data interface (1014) for transmitting the calibration data to an external control unit (5000) and / or for receiving control commands, particularly control commands for generating calibration data.

8. The calibration device according to claim 6 or 7, Its features are, The calibration device (2000) includes an inspection unit (2004) having quality parameters for a rotary encoder (3000) to be adjusted. The inspection unit (2004) is configured such that the rotation angle input signal of the rotary encoder (3000) can be evaluated by means of the quality parameters. In particular, the quality information can be transmitted to the external control unit (5000) by means of the data interface (1014) or the quality information can be output to the operator by means of a signal mechanism.

9. The calibration device according to any one of claims 6 to 8, Its features are, The device is provided with: a mechanical interface (1013) included in the calibration device (2000) for coupling a drive mechanism in a coupled state to generate rotational motion of the shaft (3001); and / or a drive mechanism (1012) included in the calibration device (2000) for generating rotational motion of the shaft (3001).

10. The calibration device according to any one of claims 6 to 9, Its features are, The data interface (1014) can additionally be connected to the drive mechanism (1012), particularly for controlling the rotational movement of the shaft (3001), or the data interface (1014) can be connected to a motor (6000), wherein the motor (6000) has a motor shaft and a rotary encoder (3000) to be calibrated for detecting the rotational movement of the motor shaft.

11. An adjustment device (4000), said adjustment device comprising a calibration device (2000) according to any one of claims 6 to 10, Its features are, The device (4000) includes an adjustment mechanism (4001) configured such that adjustment data can be determined from the rotation angle input signal, the at least one reference coarse angle signal, and / or the reference fine angle signal. The communication mechanism (1016) is configured to transmit the adjustment data to the rotary encoder (3000) and / or in particular to the external control unit (5000).

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