High speed sensor device, controller and communication system for mechanical equipment

Abstract

A sensor arrangement (101) for a controlled mechanical device (190), such as a rotating device, is disclosed. A logic module (141) of the arrangement (101) is configured to process sensor input (1601) and to pass Manchester encoded data (1701) determined by processing the sensor input (1601) to a communication module (131). The communication module (131), configured for wired communication of binary data, is further configured to: transmit differential Manchester encoded data (180) onto a wired interface (150), the differential Manchester encoded data (180) being based on the Manchester encoded data (1701) from the logic module (141); and receive a differential signal (180) from the wired interface (150).

Description

Technical Field

[0001] This invention relates to sensor devices, controllers, communication systems, and communication methods for controlled mechanical equipment. Background Technology

[0002] Communication systems can be used for high-speed sensing and / or feedback control. When speed and low noise are important, wired communication systems may be desirable.

[0003] A high-speed communication system is desired for, for example, measuring device performance in real time. Feedback control capable of rapid and accurate execution may also be desired. Furthermore, built-in redundancy may be desired to reduce the chance of operational errors in the controlled equipment (e.g., controlled mechanical equipment and / or rotating equipment (e.g., the rotating parts of an electric vehicle)).

[0004] Some safety implementations (such as the Automotive Safety Integrity Level (ASIL)) may have redundancy and other requirements that are difficult to meet. Summary of the Invention

[0005] To address challenges such as those described above, this document discloses sensor devices, controllers, communication systems, and operating methods. Alternatively / additionally, it can satisfy the challenges of reducing or mitigating the effects of measurement errors, data transmission errors, and / or providing rapid sensing measurements. Rapid measurements with low noise can be used for feedback control of devices, such as rotating equipment including electric vehicles.

[0006] A sensor device for controlled mechanical equipment, such as rotating equipment, is disclosed, including a logic module and a communication module, for example, for binary wired communication. The logic module is configured to process sensor input and transmit data determined by processing the sensor input (e.g., Manchester-coded data) to the communication module. The communication module is configured to transmit differential Manchester-coded data to a wired interface and to receive differential signals from the wired interface. The differential Manchester-coded data may be based on data from the logic module.

[0007] Differential signaling can provide speed and accuracy, for example, by reducing common-mode noise. Manchester encoding can allow for synchronization and / or correction of timing, such as between devices. Transmitting and / or transmitting Manchester-encoded data can provide signal edges that can be used for timing purposes, such as for synchronizing clocks. This can help reduce timing errors in measurements. Differential signaling can also help reduce noise.

[0008] Differential signals (e.g., signals using two or more wires) can be transmitted through an interface.

[0009] The communication module can be configured to transmit and receive differential signals. Wired interfaces (such as twisted-pair cables) suitable for differential signal transmission can have desired low noise sensitivity. The wired interface can communicate with at least one controlled device (such as a rotating and / or linear device) and / or an external device (such as a controller). The interface can be used for binary digital data.

[0010] Transmitted differential Manchester-coded data (e.g., based on data output from a logic module) may aid in synchronization, for example, because the signal edges of the Manchester-coded data can be synchronized with the clocks and / or oscillators of different devices communicating with each other.

[0011] Unless otherwise stated, the following further developments and / or embodiments may be used individually or in combination with each other independently for further embodiments.

[0012] The sensor device can be configured to receive differential Manchester-coded data. Such signals can be compared and / or synchronized with signals from logic modules (e.g., clock signals). This comparison / synchronization can help synchronize different components together or allow timing offsets to be determined.

[0013] The communication module may include a differential transceiver, such as a CAN transceiver, a low-voltage differential signaling transceiver, a FlexRay transceiver, or an RS-485 transceiver. Differential transceivers enable differential communication and / or facilitate fast and low-error communication.

[0014] The sensor device can be communicatively coupled to a sensing element, such as a position sensor, such as at least one of a resolver, Hall effect sensor, magnetoresistive stack, and / or magnetoresistive sensor. Sensor input can be received from the sensing element / position sensor. The sensor device may include a sensing element / position sensor. Such a sensor can be used for measurement in mechanical equipment. For example, the sensor device can be communicatively coupled to at least one magnetoresistive sensor; such as at least one of anisotropic magnetoresistive sensor, giant magnetoresistive sensor, or tunneling magnetoresistive sensor.

[0015] In the communication system described herein, a second sensor input from a sensitive element may be present, which can be transmitted to the sensor (e.g., via an interface). The sensor device can transmit measurements, such as at least one of the sensor input and the second sensor input, based on the sensor input and the second sensor input. Using more than one sensor input allows for the identification of erroneous measurements. Rotation sensing can be important for determining / controlling the phase and / or angular velocity of rotating equipment.

[0016] Sensor devices may include application-specific integrated circuits (ASICs) and / or systems-on-a-chip (SoCs). ASICs and SoCs can be small, offer flexible functionality, and are reliable. ASICs or SoCs can be configured to transmit / receive data at an interface in Manchester encoding and / or differential formats. Sensor devices, SoCs, and / or ASICs can send data on demand, such as in response to commands or requests from another node on the interface. Differential formats can reduce sensitivity to noise. Manchester encoding can help synchronize clocks and / or provide timing information, such as for calibrating timing measurements between devices.

[0017] The sensor device can transmit differential Manchester encoded data, which may include measurement and / or error codes determined at least in part by the sensor input. The sensor device can be configured to selectively transmit measurement and / or error codes. The ability to transmit different types of data allows the sensor device to perform more than one function, for example, in a communication system. Having selectable data types for transmission allows the sensor device to be flexibly integrated into communication systems.

[0018] The sensor device can receive commands from an external device (e.g., a controller). Based on the commands, the sensor device can determine at least one function of the sensor device. At least one function selectable from memory may include any one or more of the following: determining a measurement, for example, from mechanical equipment, based on sensor input; determining an error code based on a comparison of the sensor device's measurement with a second measurement from a second sensor device. Alternatively / additionally, the function may include determining the phase of a rotating device; and determining an error code based on a comparison of the phase with a second phase of the rotating device determined by the second sensor device.

[0019] Manchester-coded data can be determined at least in part by the functionality of the sensor device, such as the functionality set / commanded by the controller.

[0020] This function can be selected from a set of stored functions in the sensor device's memory. This reduces communication time when a function needs to be changed.

[0021] When multiple measurements are determined by multiple sensor devices in a communication system, the measurements can occur at least partially in parallel, for example, overlapping in time. This can reduce the time required for, for example, the measurement / feedback operation cycle.

[0022] Error codes can be determined, at least in part, by a sensor device through a comparison of measurements with differential signals received from a wired interface; the received differential signals can encode a second measurement received from a second sensor device, which determines the second measurement based on the same or different sensor inputs. Having two sensor devices can provide additional security by allowing for redundant determination of measurements.

[0023] The differential signal transmitted from the sensor device can be determined by the function's output.

[0024] The sensor device can transmit differential Manchester-coded data, which includes measurements at least in part determined by sensor inputs and / or error codes (such as cyclic redundancy check). The sensor device can, for example, transmit one of the measurements or error codes precisely within a given measurement / feedback loop. Precise transmission of one can help reduce communication time, such as the measurement / feedback loop time, for example when a second sensor device transmits the other of the two.

[0025] This document discloses a controller (e.g., an electronic control unit for electric vehicles) for use in mechanical devices, such as rotating devices (e.g., electric motors). The controller may include a processor, ASIC, FPGA, and / or SOC. The controller can be configured for wired communication, including transmitting differential signals to a wired interface and receiving differential signals from a first and a second sensor via the wired interface. The transmitted / received differential signals may include differential Manchester data.

[0026] The controller can determine and transmit control signals (e.g., phase or angular velocity adjustments) for mechanical (e.g., rotating) equipment. The controller can identify received differential signals as either a first differential signal from a first sensor or a second differential signal from a second sensor. The control signals can be determined based on a first differential signal encoded with measurements of the rotating equipment and a second differential signal encoded with error codes. Time can be saved by reducing the measurement / feedback loop time by receiving measurements and error determinations from different devices that can perform some operations in parallel.

[0027] The controller can transmit commands for setting at least one corresponding function of at least one of the first and second sensors; and compare measurements of mechanical (e.g., rotating) equipment with predicted values ​​to determine a comparison. The control signal can be determined based on this comparison.

[0028] The controller can, for example, transmit command signals at regular intervals. This helps with synchronized communication. The controller can adjust the command signals to change the function of the sensor device. For example, if the sensor device is at least partially faulty, its function can be modified to limit it to what it can reliably perform. Alternatively, the sensor device can be disabled or sent to a self-test routine.

[0029] Commands from the controller can be used to determine the processing function of the sensor device, the measurement category (e.g., phase and / or rotational speed and / or error determination), the transmission timing of the differential signal from the sensor device (e.g., a sequence of frames transmitted by the sensor device), and / or the transmission sequence (e.g., by determining the order in which the first and second sensor devices transmit data).

[0030] This document discloses a communication system for sensing or controlling at least one of mechanical (e.g., rotating) devices, comprising: a controller (as described herein) coupled to a wired interface; a sensor device (as described herein) coupled to the wired interface; and a second sensor device coupled to the wired interface. The sensor device can process signal data from the sensor during an overlap duration (e.g., after determining the corresponding function of the sensor device via a command pulse).

[0031] In a communication system, a sensor device can determine a measurement based on sensor input; a second sensor device can determine an error code based on a comparison between the measurement of the first sensor device and a second measurement of the second sensor device. This can help reduce the time of communication cycles (e.g., operation cycles). The communication system may include rotating equipment. For example, there are control signals transmitted by a controller that controls the rotating equipment.

[0032] Communication systems may include mechanical devices and / or sensitive elements, such as magnetic sensors.

[0033] This document discloses an electric vehicle that includes the communication system disclosed herein. Electric vehicles are safer when the control system and operating method have redundancy, reduced noise sensitivity, error identification and / or correction features, and are capable of rapid measurement / feedback control.

[0034] A communication method for sensing or controlling at least one of rotating devices is disclosed. The method includes transmitting commands from an external device (e.g., a controller) to a sensor device and a second sensor device as described herein via a wired interface. The method includes: determining a measurement by the sensor device based on sensor input; and determining an error code based on a comparison between the measurement of the sensor device and a second measurement of the second sensor device. The method further includes: transmitting transmitted differential Manchester encoded data including the measurement from the sensor device; and transmitting transmitted differential Manchester encoded data including the error code from the second sensor device.

[0035] The method may include determining the functionality of a sensor device to include transmitting a transmitted differential signal, including measurements, from the sensor device. The method may also include determining the functionality of a second sensor device to include determining an error code based on a comparison of the measurements from the first sensor device with a second measurement from the second sensor device. Determining the respective functionality of the sensor device and the second sensor device may be based on commands received from a controller, such as in Manchester-coded data transmitted by the controller. For example, a command from the controller might set either the first sensor device to transmit measurements and the second sensor device to transmit error codes. Such operation allows for rapid measurement / control.

[0036] The method may include processing sensor input by a sensor device and a second sensor device during an overlap duration to determine a measurement and a second measurement. The method may include performing the following sequence: transmitting a measurement via the sensor device; subsequently transmitting an error code by the second sensor device; determining and transmitting a control signal by a controller; and repeating the sequence.

[0037] In this document, "and / or" means at least one of the listed elements. For example, "A and / or B" means: only A; only B, at least A; at least B; or at least A and B. For example, "X, Y and / or Z" means: only X; only Y; only Z; at least X; at least Y; at least Z; only X and Y; only X and Z; only Y and Z; only X, Y and Z; at least X and Y; at least X and Z; at least Y and Z; or at least X, Y and Z. A forward slash " / " can be used to indicate "and / or". In this document, plural terms refer to one or more; for example, a plural sensor device is one or more sensor devices.

[0038] In the following description, embodiments are illustrated with the aid of the accompanying drawings to aid understanding. In the drawings, elements that correspond to each other in terms of structure and / or function have the same reference numerals.

[0039] The combinations of features shown and / or described in the various embodiments are for illustrative purposes only. Based on the above description, if the technical effect of a feature of an embodiment is not important to a particular application, that feature may be omitted. Conversely, based on the above description, if the technical effect of another feature is advantageous or necessary to a particular application, that other feature may be added to the embodiment.

[0040] Several examples are described below. Attached Figure Description

[0041] In the attached diagram:

[0042] Figure 1 A communication system according to an embodiment is shown.

[0043] Figure 2 A communication system according to an embodiment is shown.

[0044] Figure 3 A schematic diagram of the operation cycle according to an embodiment is shown.

[0045] Figure 4 A method of wired communication according to an embodiment is shown.

[0046] Figure 5 A schematic diagram of the communication transmission of the controller according to an embodiment is shown.

[0047] Figure 6 A schematic diagram of the communication transmission of a sensor device according to an embodiment is shown.

[0048] Figure 7 A schematic diagram of the communication transmission of a sensor device according to an embodiment is shown.

[0049] Figure 8 A communication method according to an embodiment is shown.

[0050] Figure 9 An operation method of the sensor device according to an embodiment is shown.

[0051] Figure 10 Manchester-encoded data according to an embodiment is shown.

[0052] Figure 11 Manchester-encoded data according to an embodiment is shown.

[0053] Figure 12 A schematic diagram of the communication transmission of a sensor device according to an embodiment is shown, and

[0054] Figure 13 A schematic diagram of differential Manchester encoded data according to an embodiment is shown. Detailed Implementation

[0055] The examples and illustrations described herein are intended to help explain various embodiments of the sensor devices, controllers, systems, and methods (e.g., operational methods) described herein. The methods described herein can be performed by the sensor devices, controllers, and / or communication systems described herein. The sensor devices, controllers, and / or communication systems may each include electronic components, such as processors, integrated circuits, application-specific integrated circuits (ASICs), system-on-a-chip (SoCs), field-programmable gate arrays (FPGAs), transceivers, etc., for use in the methods described herein, such as communication, measurement, and / or operation.

[0056] Figure 1 A communication system, according to an embodiment, can be used for high-speed control of a device. The communication system 100 may include an interface 150 communicatively coupled to nodes, such as devices wired to the interface 150, such as at least one sensor device 101, 102, and a controller 140, such as an electronic control unit (ECU), for example, for an electric vehicle. The communication system may include a mechanical device 190, such as a rotating device. The controlled mechanical device 190 may be communicatively coupled to at least one of the sensor devices 101, 102 or the controller 140.

[0057] Interface 150 can support differential signals, such as those from differential transceivers like Controller Area Network (CAN) transceivers, low-voltage differential signaling transceivers, FlexRay transceivers, or RS-485 transceivers. Interface 150 can be twisted-pair cable, which can help reduce noise. Communication systems 100 suitable for differential signaling (e.g., using CAN transceivers) can provide fast signaling capabilities, flexibility for attaching multiple devices at nodes, and / or reduced sensitivity to noise.

[0058] The sensor device 101 may include at least one of a sensor input module 111, a processing module 121, or a communication module 131.

[0059] Sensor module 111 may communicatively couple to or include at least one sensor (e.g., a physical sensor / position sensor), such as a resolver, inductive sensor, Hall sensor, magnetoresistive sensor, and / or tunnel magnetoresistive stack (TMR); or may be communicatively coupled to such a sensor. For example, sensor module 111 may be coupled to or include at least one magnetoresistive sensor; such as at least one of anisotropic magnetoresistive sensor, giant magnetoresistive sensor, or tunnel magnetoresistive sensor.

[0060] The sensor device 101 can be used to measure the phase and / or rotational speed of a rotating machine, such as an electric motor, or the orientation of the rotor.

[0061] Sensor device 101 may include communication module 131, which may be adapted for binary wired communication. Sensor device 101 and / or communication module 131 may transmit / receive differential Manchester encoded data 180, 181, for example, via wired interface 150.

[0062] As shown in the figure, differential Manchester encoded data 180, 181 can be transmitted to an interface 150 having two or more wires. The differential Manchester encoded data 180, 181 can be encoded using a rising edge in one line and a nearly or completely synchronized falling edge in the second line (e.g., to encode 0b1); and vice versa (to encode 0b0). For example, an increase in the differential voltage of the two lines of interface 150 can correspond to encoded 0b1; while a decrease corresponds to 0b0.

[0063] Communication module 131 may include a differential receiver, such as a CAN transceiver. Alternatively / additionally, communication module 131 may include a low-voltage differential signaling (LVDS or TIA / EIA-644) transceiver, a FlexRay (ISO17458-1 to 17458-5) transceiver, or an RS-485 (TIA-485 or EIA-485) transceiver.

[0064] Sensor device 101 may include logic module 141, which may include sensor input module 111 and / or processing module 121. Logic module 141 may transmit Manchester-encoded data 1701 to communication module 131. Manchester-encoded data can help provide highly accurate time measurements and / or reduce clock errors in timing-based sensor determinations. For example, using the Manchester-encoded message format on a digital interface can help reduce measurement determination errors based on time or clock. Figure 1 As shown in the example, logic module 141 and / or processing module 121 transmit Manchester-encoded data 1701 to communication module 131. Manchester-encoded data 1701 can be determined by processing sensor input 1601, for example, through processing module 121.

[0065] Sensor devices 101 and 102 may include corresponding memories 191 and 192, which may store any one or more of previously processed sensor inputs 191p and 192p or functions 191f and 192f. Any one or more of the stored functions 191f and 192f may be selected to process sensor input 1601 and / or Manchester-encoded data 1701, for example, based on commands received from interface 150 (e.g., from controller 140).

[0066] The second sensor device 102 may include the same components as the first sensor device 101. The second sensor device 102 may include a logic module 142, which may include a sensor input module 112 and / or a processing module 122. The logic module 142 may transmit Manchester-encoded data 1702 to a communication module 132. The second sensor device 102 may operate in the same manner as the first sensor device 101, or it may function differently, for example, as determined by programming of the device 102 and / or command signals received from the controller 140.

[0067] Figure 2 A communication system according to an embodiment is illustrated. The communication system 100 may include a sensor assembly 200, which includes at least one sensor device, such as sensor device 101 and a second sensor device 102.

[0068] Sensor device 101 (e.g., reference) Figure 1 or Figure 2 The description may include a communication module 131, which can transmit and / or receive differential signals 1701. The communication module 131 may include a differential transceiver, such as a CAN transceiver, a low-voltage differential signaling transceiver, a FlexRay transceiver, or an RS-485 transceiver.

[0069] Communication module 131 (e.g., its differential transceiver) can transmit differential Manchester-coded data 180 by selectively / sequentially applying one of two differential voltage states to wired interface 150, such that the differential Manchester-coded data 180 is encoded by a sequence of transitions between the two differential voltage states. For example, using a CAN transceiver, it can operate by selectively / sequentially (depending on the data passed to communication module 131, such as Manchester-coded data 1701) applying two differential voltage states, including a dominant state and a recessive state, to two wires of wired interface 150. On wired interface 150, the dominant state can have a higher voltage difference, and the recessive state can have a lower voltage difference. The differential Manchester-coded data 180 can be encoded by transitions between the differential voltage states.

[0070] Sensor device 101 (e.g., a sensor device for measuring / controlling mechanical equipment (e.g., rotating equipment)) may include at least one of the following: physical sensor 210; analog-to-digital converter 220 (ADC); digital signal processor 240 (DSP); protocol generator 140; communication module 131; or any combination thereof.

[0071] Sensor device 101 may include physical sensor 210, such as a magnetic sensor. Physical sensor 210 may generate analog signals, which may be converted into digital information, for example, by ADC 220. Physical sensor 210 and ADC 220 may be part of sensor input module 111. Alternatively / additionally, physical sensor 210 may include a resolver, Hall sensor, or magnetoresistive sensor, such as at least one of the following: inductive sensor, anisotropic magnetoresistive sensor, giant magnetoresistive sensor, or tunneling magnetoresistive sensor.

[0072] Processing module 121 may include at least one of DSP 230 and protocol generator 240. Processing module 121 may determine a sequence of data types for transmission. Alternatively / additionally, the processing module may concatenate data and pass encoded data (e.g., Manchester encoded data 1701) to communication module 131.

[0073] DSP230 and / or processing module 121 can operate on at least one of sensor input 1601 or data encoded by differential signals (e.g., received Manchester-encoded data 181 received by communication module 131, for example from controller 140 and / or another sensor device 102).

[0074] Alternatively / additionally, the DSP230 and / or processing module 121 may operate on sensor input 1601 received by the DSP230 and / or processing module 121 from the ADC220 and / or sensor input module 111.

[0075] Protocol generator 240 can determine the framing of data, such as for data transmitted by communication module 131. For example, protocol generator 240 determines bit sequences for encoding various types of data for transmission by sensor device 101 to interface 150 and reception at other nodes of system 100.

[0076] The second sensor device 102 (e.g., a second sensor device for measuring and / or controlling mechanical (e.g., rotating) equipment) may include at least one of the following: a physical sensor 212; an analog-to-digital converter 222 (ADC); a digital signal processor 242 (DSP); a protocol generator 242; a communication module 132; or any combination thereof. The second sensor device 102 may be communicatively coupled to the same physical sensor 101 as any other sensor device 101 (e.g., another sensor device 101 on interface 150). The second sensor device 102 may receive sensor input 1601 from the same physical sensor 210 or another physical sensor 212.

[0077] The second sensor device 102 may include a physical sensor 212, such as a magnetic sensor. The physical sensor 212 may generate an analog signal, which can be converted into digital information, for example, by an ADC 222. The physical sensor 212 and the ADC 222 may be part of the second input module 112. Alternatively / additionally, the physical sensor 210 may include a resolver, a Hall sensor, or a magnetoresistive sensor, such as at least one of the following: an inductive sensor, an anisotropic magnetoresistive sensor, a giant magnetoresistive sensor, or a tunneling magnetoresistive sensor.

[0078] The second sensor device 102 can receive sensor input 1601 from the same physical sensor 210 as any other sensor device 101 in the communication system 100. Alternatively / additionally, the second sensor device 102 may have at least one unique sensor, such as a second physical sensor 212.

[0079] The processing module 122 may include at least one of a digital signal processor (DSP) 232 or a protocol generator 242.

[0080] The DSP232 and / or processing module 121 can operate on at least one of the data encoded by the sensor input 1601 or the differential signal 180 received by the communication module 132. The functions of the DSP232 and / or processing module 121 of the second sensor 102 can be as described for sensor 101.

[0081] Alternatively / additionally, the DSP240 and / or processing module 121 may operate on sensor input 1601 received by the DSP240 and / or processing module 121 from the ADC220 and / or sensor input module 112.

[0082] Processing module 122 may include DSP 230 and protocol generator 240. Processing module 122 may determine frame packing and / or pass data (e.g., Manchester encoded data) to communication module 132.

[0083] Alternatively / additionally, DSP232 and / or processing module 122 may operate on sensor input 1601 received by DSP240 and / or processing module 121 from ADC220 and / or sensor input module 112.

[0084] Protocol generator 242 can determine the framing of data, such as for data transmitted by communication module 132. For example, protocol generator 424 determines bit sequences for encoding various types of data for transmission from sensor device 101 to interface 150 and reception at other nodes of system 100.

[0085] Figure 3A schematic diagram of the operating cycle according to an embodiment is shown. The operating cycle 300 can last for tens of microseconds, such as less than 50, 40, 30, 20, or 10 microseconds. A short operating cycle is desirable to allow for rapid feedback and / or rapid measurement evaluation. Alternatively / additionally, a short transmission time allows the interface 150 to be used for other transmissions.

[0086] Operation loop 300 may include a data acquisition duration 310, a trigger duration 320, and a data transmission duration 330. The data acquisition duration 310 may include data processing time. The trigger duration 320 may precede data transmission (e.g., data transmission from sensor devices 101, 102 to interface 150). The trigger duration 320 may include the time when a trigger 460 from controller 140 is received by sensor devices 101, 102. The data acquisition duration 310 (e.g., for acquiring sensor input 1601 and possibly processing it at least partially (e.g., via ADC 220, DSP 230, and / or logic module 141)) may occur before and / or during the trigger duration 320. Data transmission may be a rate determination step of operation loop 300.

[0087] A trigger 460 can be received from interface 150, which may originate from controller 140 and / or second sensor 102. Trigger 460 may carry coded data used by the receiving node (e.g., sensor device 101), such as coded data determining the function of sensor device 101 when read by sensor devices 101, 102. The function may be to determine a measurement and / or an error code 850 based on sensor input 1601.

[0088] Figure 3 The operation cycle can represent the operation of sensor device 101. Sensor device 101 can acquire data, such as sensor input 1601, during data acquisition duration 310; be triggered during trigger duration 320, which can determine the processing function of sensor device 101; and subsequently transmit differential signal 180 to interface 150 during data transmission duration 330. The transmitted differential signal 180 can encode the output of logic module 141 of sensor device 101.

[0089] Alternatively / additionally, sensor input 1601 can be processed, for example, by logic module 141 before trigger 460 is received. The processed sensor input 191p can be stored in memory 191. Receiving trigger 460 causes sensor device 101 to retrieve the processed sensor input 191p. Any portion of the processed sensor input 191p can be packaged for transmission to interface 150, for example, as a differential signal 180. The retrieved processed sensor input 191p can optionally be further processed before the result (e.g., one or more measurements) is encoded into differential signal 180 and transmitted to interface 150 via communication module 131.

[0090] The steps of operation loop 300 can be repeated. For example, after the data transmission duration 330 of operation loop 300 has completed, sensor devices 101, 102 can begin data acquisition 410 and wait for trigger 460. Alternatively / additionally, some processing functions can be performed before the trigger arrives. For example, processing of sensor input 160I can occur, and the processed sensor input 191p can be stored in memory 191, for example, for retrieval after the trigger arrives.

[0091] Data acquisition 410 may originate directly or indirectly from sensor module 111 (such as the physical sensor and / or position sensor described herein). Alternatively / additionally, data acquisition 410 may originate from memory 191, such as a buffer, which may be communicatively coupled to sensor module 111. Memory 191 and / or buffer may be part of sensor device 101, sensor module 111, physical sensor 210, and / or ADC 220.

[0092] For example, sensor device 101 can continuously receive input from sensor module 111, which can be communicatively coupled (e.g., remotely, e.g., via wires) to sensor device 101. The continuously received input can be stored, for example, in memory 191 and / or a buffer, and the stored input can be temporarily stored, for example, before data acquisition 410 and / or further signal processing. Data acquisition 410 can acquire input from memory / buffer. Trigger 460 can trigger the acquisition of sensor input 1601 from memory / buffer, for example, from a set duration (e.g., the duration for which sensor module 111 generates multiple data points). The set duration can be determined by the time trigger 460 arrives at sensor device 101 and / or the timing of the clock or oscillator of sensor device 101. Alternatively / additionally, data acquisition can be from a set data size in memory 191 and / or buffer. The set duration and / or data size can also be determined at least in part based on command 530 from controller 140.

[0093] Alternatively / additionally, data acquisition 410 can be active intermittently, for example at regular intervals. Data acquisition 410 and / or its intervals can be determined by trigger 460, which can also be at regular intervals. For example, trigger 460 can cause data acquisition within a time period immediately before or possibly immediately after trigger 450 (e.g., its rising or falling edge). It can be advantageous to acquire data 460 rapidly within the time interval immediately preceding trigger 460. Such time intervals can be variable or set.

[0094] The variable control of the time interval for acquiring data 460 can be determined by a command 530 from the controller 140, which is received by the sensor device 101. Alternatively / additionally, the time interval can be determined indirectly by setting the size (e.g., number of bits or bytes) of the sensor input 1601 acquired 410. The size can also be determined by command 530.

[0095] Alternatively / additionally, data acquisition 410 (e.g., its timing) may be determined at least in part by the clock / oscillator and / or command 530 of sensor device 101.

[0096] Sensor device 101 and / or controller 140 may be configured to perform the operating cycle 300 described herein. For example, sensor device 101 may acquire sensor input 1601, transmit differential data 180, and / or receive a trigger (e.g., via interface 150) from controller 140 and / or a second sensor device 102. Controller 140 may transmit the trigger during trigger duration 320 and / or receive differential data 180 from one or more sensor devices 101, 102 during data transmission duration 330.

[0097] Alternatively / additionally, at least some data processing may occur during and / or after the trigger duration 320. The data transmission duration 330 may be the last of each operating cycle 300, such as the last operating function of sensor devices 101, 102 in each cycle 300.

[0098] Operation loop 300 may correspond to the duration of messages from communication system 100. Messages may include sequential transmissions from any number of nodes 101, 102, 140 of communication system 100. Alternatively / additionally, operation loop 300 may have durations sequentially including transmissions from controller 140, sensor device 101, and second sensor device 102. The sequence and / or duration of transmissions from the nodes may be determined by controller 140; the determination of the sequence and / or duration of transmissions from sensor devices 101, 102 may be transmitted via commands from controller 140.

[0099] Figure 4 A method of wired communication according to an embodiment is illustrated. Method 400 can be used to sense and / or control, for example, a controlled mechanical device 190, such as a rotating device. Figure 4 The method 400 shown can utilize an operation loop as described herein, for example, referencing Figure 3 The described operation loop 300. The communication method 400 may utilize a repeating signal or a repeating signal structure.

[0100] One or more sensor devices 101, 102 can acquire data 410, such as sensor input 1601, and subsequently determine one or more measurements 420, such as angle, phase, and / or angular velocity, for example, by performing calculations and / or operational functions on sensor input 1601. Alternatively / additionally, a lookup table can be used to determine the measurement 420. The transmission 430 of the determined measurement can occur after acquisition 410 and during or after determination 420. This transmission can go to interface 150, and the transmission can be received by controller 140 and / or another sensor device 102.

[0101] Sensor devices 101 and 102 may perform additional functions after the determined measurement transmission 430, such as performing redundancy check 440, for example, cyclic redundancy check (CRC), which can determine the error of the determined measurement and / or the error of the measurement transmission. The error may be within or outside the tolerance. Sensor devices 101 and 102 may transmit error code 450, such as an error code determined by comparing the determined error with the tolerance.

[0102] In one embodiment, sensor device 101 transmits a measurement determined from sensor input 1601, and second sensor device 102 transmits an error code 450.

[0103] The controller 140 may transmit a trigger 460 received by sensor devices 101, 102. The trigger 460 may cause at least one of the following: determining measurement 420, placing sensor device 101 inactive, performing an internal test, or reaching the end of data acquisition 410 (e.g., at least for operation cycle 300). The trigger duration 320 may overlap with data acquisition 410. The determination of measurement 420 may overlap with the trigger duration 320, or occur subsequently, for example, if the trigger 460 encodes a functional change for determining measurement 420.

[0104] Controller 140 can receive measurements transmitted 430 by sensor devices 101, 102. The controller can compare the predicted values ​​of the measurements 470 with the predicted values. The predicted values ​​may have already been determined by controller 140 based on previously received measurements. Controller 140 can transmit control signals 480, for example, based on the difference between the predicted values ​​of the measurements and, for example, the received measurements transmitted 430 in the current operating cycle 300. Control signals 480 may alternatively / additionally be based on user input, such as from throttle control / brake.

[0105] For example, controller 140 compares the rotor angle determined by sensor devices 101, 102 with a previously determined predicted rotor angle based on the angle. After comparison 470, controller 140 transmits control signal 480, such as a pulse width or digital signal sent to a pulse generator, which can be used to adjust the rotor angle.

[0106] The controller 140 may include or be communicatively coupled to a pulse width modulator, which may be used to control controlled mechanical equipment 190, such as rotating equipment, for example, the same rotating equipment that provides sensor input 1601 directly or indirectly.

[0107] Controller 140 may determine control signal 480 based on error code 450. Alternatively / additionally, controller 140 may determine to abandon updating control signal based on error code 450. Alternatively / additionally, controller 140 may determine to ignoring transmitted measurements at least for this operation based on error code 450.

[0108] For example, sensor device 101 may malfunction partially, such as being in a state where its measurement determination may be unreliable. The command can be determined based on error code 450 received by controller 140.

[0109] The controller 140 may, for example, determine, based on error code 450, at least one of the following: command at least one of the sensor devices to disable at least one operating cycle; command the sensor device to undergo an internal test within at least one operating cycle; command the sensor device 101 to be reset; or command the sensor device to change its function.

[0110] Figure 4 An operating cycle 300 including the transmission of a control signal 480 (e.g., a feedback signal) is also shown. The control signal 480 can cause a change in the state of the controlled mechanical device 190. For example, the rotational state of a rotating device can change its speed and / or experience a phase shift. This change can be based on the transmitted control signal 480.

[0111] Figure 5 , Figure 6 and Figure 7The communication transmission according to an embodiment is illustrated. Method 300 may include controller transmission 500 and at least one sensor device transmission, such as a first sensor device transmission 600 and a second device transmission 700. The transmission may be directed to interface 150. Figure 5 , Figure 6 and Figure 7 This can explain the framing of communications / messages.

[0112] Any one or more nodes 140, 101, 102 of interface 150 can receive transmissions from other nodes 140, 101, 102.

[0113] Nodes 140, 101, and 102 of the communication system 100 can be configured to jointly transmit messages with a duration of less than 50, 40, 30, or 20 microseconds. Alternatively / additionally, the transmitted messages may include sequential transmissions from controller 140 and sensors 101 and 102. The transmitted messages may begin with a trigger 460 from controller 140 and include sequential transmissions from sensor devices 101 and 102. The messages may end with a control signal 480 transmitted from controller 140, for example, controlling the controlled mechanical device 190, such as the state of a rotating device.

[0114] Messages may include, for example, references Figure 5 , 6 Or any one or more of the transmissions described in 7. For example, each message sequentially includes controller transmission 500, sensor device transmission 600, and second sensor device transmission 700. Data acquisition 410 may exist before and / or during trigger 460.

[0115] exist Figure 5 The image shows a controller transmission 500 according to an embodiment. Figure 5 Framing of transmitted data from controller 140 can be shown. Controller transmission 500 may include at least one of timing trigger 510, identification 520, command 530, and switching 540. Alternatively / additionally, controller transmission 500 or any part thereof may be considered as a continuous trigger 460 over trigger duration 320. For example, command 530 may be read by other devices of the node (e.g., sensor devices 101, 102). Command 530 may determine the functionality of sensor devices 101, 102. Sensor devices 101, 102 may set their functionality based on command 530. The functionality of sensor devices 101, 102 may be different for each sensor device 101, 102, for example, depending on command 530. Functional redundancy may exist for the entire set of sensor devices 101, 102.

[0116] Identifier 520 can be received by sensor devices 101 and 102. Identifier 520 can be used to determine how to process the received transmission 500. For example, when receiving controller transmission 500, sensor devices 101 and 102 can determine that the transmission originates from controller 140. Sensor devices 101 and 102 can then subsequently determine their respective functions (which may differ, have some redundancy, or be the same) and their priorities (e.g., in what order sensor 101 and 102 will transmit their differential signals 180 to interface 150). Sensor devices 101 and 102 can determine their respective functions and / or priorities based on command 530.

[0117] The switching 540 of controller transmission 500 can indicate that controller transmission 500 is complete, and / or induce the next device in priority in the subsequent device or communication system 100 to start transmission. For example, after the switching 540 of controller transmission, sensor device 101 can start transmission.

[0118] Figure 6 The switching and sensor device transmission according to an embodiment are illustrated. Switching 540 may be a switching 540 of controller transmission 500. Figure 6 A frame of transmitted data from sensor device 101 can be shown. The frame of transmitted data can be determined by sensor device 101, and / or according to command 530 received from controller 140. Sensor device transmission 600 may include at least one of synchronization 610, ID 620, status 630, data 640, counter 650, and switching 660. Sensor device transmission data 640 may include encoding of measurements determined by sensor device 101, such as phase data of a rotating device. Sensor device transmission data 640 may have a fixed length. Alternatively / additionally, sensor device transmission data 640 may include a transmission error code 450.

[0119] Framing can determine the sequence and / or the number of bits of any one or more of the synchronization 610, ID 620, status 630, data 640, and counter 650. Alternatively / additionally, framing can be determined by the protocol generator 240 based on the command 530 received from the controller 140.

[0120] Synchronization 610 can be used by other nodes to make determinations about relative timing. For example, synchronization 610 can be used to determine clock offsets, such as making it possible to accurately compare timing measurements from one device to another. For example, any number of devices at a node can have their own internal clocks, which can drift relative to the clocks of any number of other devices on interface 150. Synchronization 610 can help adjust any clock of any device on the interface or any timing determination of any device, such as making it possible to accurately compare measurements 420 determined by, for example, another device sensor devices 101, 102 (such as those involving timing components).

[0121] ID 620 can be used by other devices to determine how they will use sensor communication 600. For example, other devices (such as the second sensor 102 and / or controller 140) may process data received from sensor device 101, for example, after status transmission 620, or may ignore data from sensor device 101. Alternatively / additionally, status 630 can be used by other devices to determine how they will use sensor communication 600. For example, controller 140 may receive status 630 and determine to wait for further data and / or further transmissions from sensor device 101. While waiting, controller 140 may perform other functions. Alternatively / additionally, status 630 can be used for diagnostics, such as for controller 140 to determine whether sensor device 101 is operating within tolerances, for example, not transmitting data beyond what is normally expected.

[0122] The counter transmission 650 can be used to determine errors in the communication protocol. Alternatively / additionally, the counter can allow for the determination of device malfunctions, such as failure to update data used for transmission. For example, a sensor device 101 in an error state could be one that sends erroneous data, for example by repeatedly sending the same data without determining measurement 420 from updated sensor input 1601. The counter transmission 650 can increase proportionally to the number of determinations 420.

[0123] Switching 660 can induce the next device (such as the second sensor device 102) to begin transmission. Alternatively / additionally, switching 660 can mark the end of transmission from sensor 101. Alternatively / additionally, switching 660 can induce controller 140 to begin any of its transmissions.

[0124] Figure 7 The switching and sensor device transmission according to an embodiment are illustrated. For example, Figure 7 A transmission 700 from a second sensor device 102 is shown, which follows (e.g., immediately after) sensor device transmission 600. For example, sensor device switching 660 occurs before second sensor device transmission 700.

[0125] Switching 660 can be a switching 660 from sensor transmission 600. Second sensor device transmission 700 may include at least one of synchronization 710, ID 720, status 730, data 740, and switching 760. Second sensor device transmission data 740 may include a transmission error code 450, which can be determined by cyclic redundancy check. Alternatively / additionally, transmission data 740 may include an encoding of a measurement (e.g., phase data of a rotating device) determined by sensor device 101. Second sensor device transmission data 740 may have a fixed length, such as 16 bits. Second sensor device transmission data 740 may include signal diagnostic information.

[0126] Synchronization 710 can be used by other nodes to make determinations about relative timing. For example, synchronization 710 can be used to determine clock offsets, such as making it possible to accurately compare timing measurements from one device to another. For example, any number of devices at a node can have their own internal clocks, which can drift relative to the clocks of any number of other devices on interface 150. Synchronization 710 can help adjust the clocks of any device on the interface or any timing determination of any device, such as making measurements determined 420 by another device, such as the first sensor device 101 (e.g., those involving timing components), accurately compared by the second sensor device 102.

[0127] ID 720 can be used by other devices to determine how they will use the second sensor communication 700. For example, other devices (such as controller 140) can process data received from the second sensor device 102, for example, after status transmission 720, or can ignore data from the second sensor device 102. Alternatively / additionally, status 730 can be used by other devices to determine how they will use the second sensor communication 700. For example, controller 140 can receive status 730 and determine to wait for further data and / or further transmissions from sensor device 102. While waiting, controller 140 can perform other functions.

[0128] Switching 750 can induce the next device (such as the second sensor device 102) to begin transmission. Alternatively / additionally, switching 750 can mark the end of transmission from the second sensor 102. Alternatively / additionally, switching 750 can induce the controller 140 to begin any of its transmissions.

[0129] Figure 8A communication method according to an embodiment is illustrated. Communication method 800 may include sensor device 101 determining measurement 810 based on sensor input 1601 and transmitting measurement 810 to interface 150. Sensor device 101 may omit the transmission of any error codes, such as cyclic redundancy check (CRC). CRC transmission may, for example, be performed by another sensor device (e.g., a second sensor device 102). This allows for sufficient error determination while reducing transmission time for communication.

[0130] The communication method may include a second sensor device 102 that determines measurement 820 based on sensor input 1601. The sensor input 1601 used by the second sensor device 102 may come from the same physical sensor 210 that provides sensor input 1601 to any other sensor device 101; alternatively, the sensor input 1601 to the second sensor device 102 may come from one or more non-shared physical sensors 210. The physical sensors 210 may provide redundant and / or supplementary sensor inputs 1601 for determining the measurement.

[0131] Any sensor device 101, 102 on interface 150 (such as a second sensor device 102 and / or controller 140) can receive 830 measurements as differential signals 180 from any other sensor device 101 (e.g., from another sensor device 101) via interface 150.

[0132] The second sensor device 102 can compare the measurement 840 determined by the second sensor device 102 with measurements received from any other sensor device 101. The second sensor device 102 can determine an error code 850, for example, based on the comparison of measurements. Error code 860 can be transmitted.

[0133] For example, if the measurement determined by the second sensor device 102 is within the tolerance of the measurement determined by the first sensor device 101, and this measurement has been received by the second sensor device 102 (e.g., as differential data 180 from interface 150), then the second sensor device 102 can transmit an 860 OK error code, such as a cyclic redundancy check value determined by the differential data 180 sent by sensor device 101 and received by the second sensor device 102, in which the differential data 180 has encoded the measurement determined by the first sensor device 101.

[0134] In another example, the measurement determined by the second sensor device 102 is outside the tolerance margin of the measurement determined by the first sensor device 101. The second sensor device 102 may transmit an error code 860 indicating a different state (e.g., not OK). For example, the CRC determined from the differential data 180 from the first sensor device 101 may be inverted and transmitted by the second sensor device 102 as an error code 860.

[0135] The controller 140 can receive differential data 180 from sensor devices 101 and 102. The controller 140 can determine an error code (such as a CRC value) based on the differential data 180 from the first sensor device 101 and based on the received measurement 830.

[0136] The controller 140 can compare the error code (e.g., CRC value) determined based on the differential data 180 received from the first sensor device 101 with the error code (e.g., CRC value) received from the second sensor device 102 (e.g., the CRC value transmitted by the second sensor device 102 860) 880.

[0137] Based on error code comparison 880 and / or based on received measurement 830, controller 140 can determine control signal 480 890. For example, receiving a non-OK code (e.g., an inverted CRC) can indicate that the measurement determination is unreliable, for example because two separate determinations at the first and second sensor devices 101, 102 are outside the tolerance range (e.g., yielding substantially different results). Controller 140 can determine control signal 890 at least in part based on error codes, for example, for adjusting the state of the device, such as the position, phase, angular velocity, and / or speed of the rotating device. For example, when an inverted CRC is received, controller 140 may not provide a change in control signal 480, or may provide control signal 480 based on a predicted state (e.g., the position and / or speed of the rotating device) determined according to differential data 180 previously received from sensors 101, 102.

[0138] Here, the control signal 480 can be a pulse width modulation. The control signal 480 can be used to adjust the angular position or angular velocity of the rotating device 190.

[0139] More sensor devices are possible. For example, using a third sensor device is possible, as this allows determination of which of the two other sensors is faulty. The third sensor device can perform the same or similar function as the second sensor device 102, such as comparing the measurements from the third sensor device with a differential signal 180 encoded from the measurements from the first sensor device 101 and the second sensor device 102. If the data from sensor devices 101, 102 is outside the tolerance range, and other data from the other two sensors is within the tolerance range, the data from that sensor can be ignored. For example, operating loop 300 can abandon the update of control signal 480.

[0140] Alternatively, the error data may include data used to correct the error (e.g., CRC data). After correction using the CRC data, the received data can be used, for example, for determinations as described herein, such as for determining control signal 890.

[0141] Figure 9 A method of operating a sensor device according to an embodiment is shown.

[0142] Sensor device 102 may receive command 910, for example, from interface 150, which may originate from controller 140 or another sensor 101. Sensor 101 receiving the command may determine function 920 based on the command, for example, by selecting from a set of stored functions 191f in memory 191.

[0143] Sensor devices 101 and 102 may perform one or more functions based on defined functions. For example, the defined / performed functions may include at least one of the following: determining a measurement 810 based on sensor input 1601; transmitting the measurement 810 to interface 150; receiving any measurement 830 from any other sensor device 101; comparing a measurement 840 determined by sensor device 102 with another sensor device 101; determining an error code 850 based on the comparison of measurements; or transmitting an error code 860.

[0144] Figure 10 Manchester-encoded data transmission according to an embodiment is illustrated. Manchester-encoded data transmission 1009 can digitally encode data. 0 can be encoded as a falling edge 1019, and 1 can be encoded as a rising edge 1020. At the end of each bit, depending on the subsequent bit, there may be additional rising or falling edges 1030, 1040. The multiple falling and rising edges of Manchester-encoded data transmission 1009 can be useful for synchronizing clocks. Each rising / falling edge can indicate a clock tick.

[0145] Figure 11Manchester-encoded data transmission according to an embodiment is illustrated. Figure 11 The transmission 1109 can be encoded as a six-bit sequence 0b101010. Each rising / falling edge encodes one bit. For example, the trigger 460 transmitted by controller 140 can be a six-bit sequence 0b101010, as shown below. Figure 11 As shown.

[0146] Trigger 460 can be used for clock synchronization. For example, sensors 101 and 102 can use trigger 460, received from controller 140 in Manchester-coded bits, to adjust or provide a known offset determined by measurements of sensor devices 101 and 102. Trigger 460 can be transmitted over an interface, such as on a single wire of interface 150. For example, trigger 460 in Manchester-coded bits can be transmitted on a single wire of interface 150.

[0147] Digital signals (e.g., differential signal 180) transmitted by communication module 131 can be synchronized with Manchester-encoded data 1701 passed to communication module 131. Alternatively / additionally, the differential signal 180 transmitted by communication module 131 may include timing data, such as for comparing the timing of the Manchester-encoded data 1701 of sensor device 101 with the timing of the differential signal 180 of wired interface 150, and / or internal clocks at other nodes of the system (e.g., other sensor devices 102 and / or controller 140). It may be advantageous to transmit timing data from sensor device 101, for example via differential signal 1701 on interface 150, to provide a way to compare measurements / determinations made by different devices 101, 102, 140, or nodes on interface 150. Timing data that can at least temporarily allow clock synchronization of different devices on the interface can be transmitted.

[0148] Figure 12 Sensor device transmission according to an embodiment is illustrated. Sensor device transmission 600 may include at least one of synchronization 610, ID 620, status 630, data 640, counter 650, and switching 660. Figure 12 This is useful for understanding differential Manchester coding. Bit 1210 can be transmitted in frames (e.g., in 610, 620, 630, 640, 650, 660), for example... Figure 12 The diagram shows that the Differential Manchester Encoded Transport Stream 1220 can transmit bit 1210, as illustrated.

[0149] The communication module 131 coupled to interface 150, such as a two-wire interface, can transmit a differential Manchester-coded transport stream 1220. As shown, synchronization 610 can have six bits; ID 620 can have two bits; diagnostics 1230 and / or status 630 can have four bits; data 640, such as phase data 1240, can have sixteen bits; and counter 650 can have four bits.

[0150] Differential Manchester encoded data can be transmitted over the two wires of interface 150. Changes in the differential voltage between the two wires can be encoded in bit 1210. For case 0b1, encoded bit 1210 can correspond to a rising edge 1235 on the first wire and a nearly or completely synchronized falling edge 1245 on the second wire; or for case 0b0, it is a falling edge 1260 on the first wire and a nearly or completely synchronized rising edge 1250 on the second wire.

[0151] The encoding 0b1 can correspond to a transition to a relatively high differential voltage, and 0b0 can correspond to a transition to a relatively low differential voltage. The encoding can be polarized differently from what is described, for example, opposite polarization.

[0152] For example, when consecutive bits have the same value, stream 1220 may include rising / falling edges 1270, 1280 carried on the wires between coded bits. For example, stream 1220 including bit sequence 0b00 (two consecutive 0 values) includes two falling edges for the first wire, with an intervening rising edge 1290 between the bits on the first wire; the second wire has two rising edges with an intervening falling edge 1291. Similarly, for the first wire, the streamed bit sequence 0b11 includes two rising edges, with an intervening falling edge 1280 between the bits; the second wire has two falling edges with an intervening rising edge 1270.

[0153] The rising / falling edges between coded bits can be referred to as intermediate edges, such as intermediate rising edge 1290 and intermediate falling edge 1291. The communication module 101 of any embodiment herein can be configured to transmit intermediate rising and / or falling edges between sequential coded bits, for example, when transmitting differential Manchester encoded data. Intermediate edges 1270, 1280; and 1290, 1291 can also be used for timing between synchronization clocks and / or comparison devices.

[0154] Figure 13A schematic diagram of differential Manchester encoded data according to an embodiment is shown. Bits can be represented by a differential rising or falling edge between two wires of interface 150. For example, one wire carries a first trace 1310, and the second wire carries a second trace 1320. A differential Manchester encoded 0b1 bit 1330 may correspond to a rising edge 1332 in the first trace 1310 and a falling edge 1334 in the second trace 1320. A differential Manchester encoded 0b0 bit 1340 may correspond to a rising edge 1344 in the second trace 1320 and a falling edge 1342 in the first trace 1310. Alternatives can result in different correspondences between rising / falling edges and encoded bits 0b0 and 0b1. For example, the polarity can be reversed. Alternatively / additionally, for example, when using a CAN transceiver, regions of differential signals with constant voltage can be referred to as dominant and recessive states. For example, the relatively high voltage region 1350 between consecutive bits 0b1 and 0b0 can be a dominant state, and the relatively low voltage regions before and after it can correspond to a recessive state.

[0155] It should be understood that the bit encoding according to the differential Manchester scheme described herein is edge-dependent, for example, at 1330 and 1340. The sequence of dominant state 1350 and / or recessive state may not be decoded to generate the coded bit sequence for transmission. See reference... Figure 12 The description, for example, suggests that when the differential Manchester encoded data stream 1220 includes consecutive non-inverted bits, intermediate edges 1270, 1280, 1290, and 1291 may exist. Similarly, intermediate dominant / recessive states may exist. During the decoding of the received differential Manchester encoded stream, intermediate edges may be ignored except for timing purposes (e.g., for determining timing offsets).

[0156] The sensor devices described herein can be used to measure / control mechanical equipment, such as rotating equipment. The sensors described herein can be used to generate electrical signals for determining / measuring physical measurements, for example, from the mechanical equipment. In this document, the mechanical equipment can be controlled mechanical equipment, for example, communicatively coupled to a controller and / or the sensor devices.

[0157] The differential signals described herein may include differential Manchester-coded data. As used herein, “differential transmission” can mean that the transmission includes a relative voltage change or a relative variation in voltage, such as a change over time, to transmit data between two wires. In this document, binary communication can refer to digital communication using encoded 1s and 0s. The sensor devices, controllers, communication systems, and / or methods described herein can be configured for data formats other than Manchester encoding. For example, in embodiments that can be combined with any other embodiments described herein: the logic module and / or processing module of the sensor device can pass digitally encoded data to a transceiver; alternatively / additionally, the sensor device, such as its transceiver, can transmit digitally encoded data to a wired interface, where the transmitted data is not Manchester-coded.

[0158] In this document, "operation" can mean processing data and / or inputs (e.g., analog signal inputs, digital signal inputs, or any combination thereof), such as applying a function, like a logic function (digital logic function), to data and / or inputs. Here, "operation function," "processing function," and "function" are used interchangeably.

[0159] Here, the differential signals transmitted or received over the wired interface can be implemented according to the method described herein. The method described herein allows for high-speed communication while reducing unwanted noise. Here, the differential signals can be digital signals, such as binary digital signals.

[0160] Here, the transceiver used for communication can be a Controlled Area Network (CAN) transceiver as the physical layer, a Low Voltage Differential Signaling (LVDS or TIA / EIA-644) transceiver, a FlexRay (ISO17458-1 to 17458-5) transceiver, or an RS-485 (TIA-485 or EIA-485) transceiver. TIA / EIA stands for Telecommunications Industry Association and Electronics Industry Alliance. Alternatively / additionally, CAN transceivers, LVDS transceivers, FlexRay transceivers, or RS-485 transceivers can be used to transmit differential Manchester encoded data. The communication modules described herein may include transceivers for low voltage differential signaling, FlexRay, RS-485, and / or CAN.

[0161] The communication module of the sensor device described herein can be communicatively coupled to an external device, such as a controller and / or another sensor device, via the wired interface described herein.

[0162] In this document, "module" can refer to a virtual module. For example, a module can be an coded processor or its functionality, such as programming capabilities. One or more processors, integrated circuits, ASICs, SOCs, FPGAs, etc., can operate as modules. A module can be a software and / or hardware module in one or more devices, such as an ASIC, physical sensors, and / or controllers. Modules can overlap; for example, two modules can use the same processing capabilities. In this document, "logical module" and "logical module" are used interchangeably.

[0163] In this document, a "node" can be a component that communicates with an interface (e.g., is wired to the interface), such as a device, sensor device, or controller. The wired interface described herein can be used for communication between individual devices, such as between sensor devices, controllers, and / or controlled devices. The wired interface may have two wires to support differential signals.

[0164] In this document, the controller may include a processor, a System-on-a-Chip (SoC), an ASIC, an FPGA, etc. Here, the controller may be an Electronic Control Unit (ECU). In this document, the controlled mechanical device may be a rotating device.

[0165] In this document, a function may include multiple operations, which may also be referred to as functions. As used herein, a function may mean multiple functions, such as at least one function.

[0166] In this document, the terms second physical sensor, second ADC, second DSP, and second protocol generator may refer to the corresponding physical sensor ADC, DSP, and protocol generator of the second sensor device.

[0167] In this paper, communication coupling can utilize differential twisted-pair cabling. Here, the interface can be a differential interface, such as an interface that supports the transmission of differential signals and / or Manchester signals.

[0168] In this article, angular position can be used interchangeably with phase.

[0169] Here, the transmission of differential signals includes transmitting message portions from multiple nodes. For example, the transmitted differential signals may include differential signals transmitted from the controller and differential signals transmitted from each of at least one sensor. The transmitted signals may include signals transmitted from the system's nodes (e.g., controllers and sensor devices).

[0170] Sensor devices, controllers, communication systems, and related communication methods can be used in electric vehicles.

[0171] In this article, the prefix "0b" can be used to indicate numbers with a base of 2.

[0172] Here, the differential signal can be any signal received or transmitted on a two-wire interface. For example, Manchester encoded data can be transmitted through a two-wire interface, making the Manchester encoded data signal a differential signal.

[0173] In this article, "communicative coupling" can mean coupling via a wire (e.g., a wired interface).

[0174] In this document, the accompanying drawings are used to illustrate and / or help understand various embodiments of sensor devices, controllers, communication systems, and methods related to their functionality. The embodiments described herein may differ from those shown in the accompanying drawings. In describing embodiments, features may be described with reference to the accompanying drawings. The constellation of features in the embodiments described in the text may differ from the exact constellation of features depicted with reference to the accompanying drawings.

[0175] The list of reference numerals used in this article is provided for convenience and is not intended to be limiting.

[0176] Figure Labels

[0177] 100 Communication System

[0178] 101 Sensor Device

[0179] 102 Second sensor device

[0180] 111 Sensor input module, such as a magnetic sensor

[0181] 112 Second Input Module

[0182] 121 Processing Module

[0183] 122 Second Processing Module

[0184] 131 Communication Module

[0185] 132 Second Communication Module

[0186] 140 Controller

[0187] 141 Logic Module

[0188] 142 Second Logic Module

[0189] 150 interface

[0190] 1601 Sensor Input

[0191] 1602 Sensor Input (2)

[0192] 1701 Manchester encoded data

[0193] 1702 Manchester encoded data

[0194] 180° Differential Manchester Encoded Data (Transmission)

[0195] 181 Differential Manchester encoded data (received)

[0196] 190 Controlled mechanical equipment, such as rotating equipment

[0197] 191. Memory of the sensor device

[0198] 191f storage function

[0199] 191p of stored processing data

[0200] 192f storage function

[0201] 192p of stored processing data

[0202] 192 Memory of the Second Sensor Device

[0203] 200 sensor components

[0204] 210 Physical Sensors

[0205] 212 Second Physical Sensor

[0206] 220 ADC

[0207] 222 Second ADC

[0208] 230 DSP

[0209] 232 Second DSP

[0210] 240 Protocol Generator

[0211] 242 Second Protocol Generator

[0212] 300 operation cycles

[0213] 310 Data Acquisition Duration

[0214] 320 Triggered

[0215] 330 Data transmission duration

[0216] 400 Wired Communication Methods

[0217] 410 Data Acquisition

[0218] 420 Determine Measurement

[0219] 430 Transmission Measurement

[0220] 440 Redundancy Check

[0221] 450 Transmission Error Code

[0222] 460 trigger

[0223] 470 comparison

[0224] 480 Transmission control signal

[0225] 500 Controller Transmission

[0226] 510 Timed Trigger

[0227] 520 recognition

[0228] Command 530

[0229] 540 Switch

[0230] 600 sensor device transmission

[0231] 610 Synchronization

[0232] 620 ID

[0233] 630 Status

[0234] 640 data

[0235] 650 counter

[0236] 660 switch

[0237] 700 Second sensor device transmission

[0238] 710 Synchronization

[0239] 720 ID

[0240] 730 Status

[0241] 740 Data (CRC)

[0242] 750 switch

[0243] 800 communication method

[0244] 810 Determine Measurement (1)

[0245] 820 Determine Measurement (2)

[0246] 830 Receiver Measurement

[0247] 840 Comparative Measurements (1) (2)

[0248] 850 Determine the error code

[0249] 860 Transmission error code

[0250] 870 controller determines CRC

[0251] 880 Compare CRC

[0252] 890 Determine the control signal

[0253] Operating method of 900 sensor device

[0254] 910 Receive command

[0255] 920 Determine Function

[0256] 1009 Manchester-encoded data transmission

[0257] The falling edge of the 1019 code a0

[0258] The rising edge of 1020 encoding a1

[0259] 1030 Additional rising edge

[0260] 1040 Additional falling edge

[0261] 1109 Manchester-encoded data transmission

[0262] 1210 bits

[0263] 1220 Differential Manchester Encoded Data Stream

[0264] 1230 Diagnostic Framework

[0265] 1240 phase data frames

[0266] 1235 Rising edge on the first conductor

[0267] 1245 Falling edge on the second conductor

[0268] 1250 Rising edge on the second conductor

[0269] 1260 Falling edge on the first conductor

[0270] 1270 Intermediate rising edge (second conductor)

[0271] 1280° Intermediate Falling Edge (First Conductor)

[0272] 1290 Intermediate rising edge (first conductor)

[0273] 1291 Intermediate falling edge (second conductor)

[0274] The first trace of 1310 differential Manchester encoded data

[0275] The second trace of 1320 differential Manchester encoded data

[0276] 1330 Differential Manchester code 0b1

[0277] The rising edge of the second trace of 1332 0b1

[0278] The falling edge of the first trace of 1334 0b1

[0279] 1340 Differential Manchester code 0b0

[0280] The rising edge of the second trace of 1344 0b0

[0281] The falling edge of the first trace of 1342 0b0

[0282] 1350 High voltage region, or dominant state

Claims

1. A sensor device (101) for a controlled mechanical device (190), comprising: The logic module (141) and the communication module (131); wherein, The logic module (141) is configured to process sensor input (1601) and transmit Manchester-coded data (1701) determined by processing the sensor input (1601) to the communication module (131); and The communication module (131) is configured for: Differential Manchester encoded data (180) is transmitted to the wired interface (150), the differential Manchester encoded data (180) being based on Manchester encoded data (1701) from the logic module (141); and Receive differential signal (180) from wired interface (150).

2. The sensor device according to claim 1, wherein, The communication module (131) includes a differential transceiver.

3. The sensor device according to claim 2, wherein, The differential transceiver is a CAN transceiver, a low-voltage differential signaling transceiver, a FlexRay transceiver, or an RS-485 transceiver.

4. The sensor device (101) according to claim 1, 2 or 3, wherein, The sensor device (101) is communicatively coupled to a position sensor (111), such as at least one of a rotary transformer, a Hall sensor, or a magnetoresistive sensor; and The sensor device (101) is configured to receive the sensor input (1601) from the position sensor (111).

5. The sensor device (101) according to claim 4, further comprising: The sensor device (101) can be communicatively coupled to at least one magnetoresistive sensor; For example, at least one of anisotropic magnetoresistive sensors, giant magnetoresistive sensors, or tunnel magnetoresistive sensors.

6. The sensor device (101) according to any one of claims 1-5, configured as follows: Transmitting the differential Manchester encoded data (180), which includes: The measurement (810) is determined at least in part by the sensor input (1601); or Error code (860).

7. The sensor device (101) according to claim 6, configured as follows: Receive commands (530, 910) from external devices (140); wherein, The sensor device (101) is configured to determine (920) at least one function (191f, 192f) of the sensor device (101) based on a command; wherein, At least one function (191f, 192f) includes any one or more of the following: The measurements (420, 810, 820) are determined based on the sensor input (1601); The error code (850) is determined by comparing the measurement (840) of the second sensor device (101) with the second measurement of the second sensor device (102); Determine the phase of the rotating device; and An error code (850) is determined based on a comparison (840) of the phase with the second phase of the rotating device determined by the second sensor device (102).

8. A controller (140) for a controlled mechanical device (190), the controller (140) being configured for wired communication, comprising: The differentially encoded Manchester data (181) is transmitted to the wired interface (150) as the differentially encoded Manchester data (181) for transmission, and Differential Manchester encoded data (180) is received (830) from the first sensor (101) and the second sensor (102) via a wired interface (150) as received differential encoded data (180); wherein, The controller (140) is configured to determine (890) and transmit control signals (480) for the controlled device (190); The controller (140) is configured to identify either a first differential signal from the first sensor (101) or a second differential signal from the second sensor (102) within the received differential Manchester encoded data (180); and wherein, The control signal (500) is determined based on the following: (890) Measurements (830) by the controlled device (190), which are included in the first differential signal, and Error code (860) is included in the second differential signal.

9. The controller (140) according to claim 8 is further configured to: Transmit a command (530) for setting at least one corresponding function (191f, 192f) of at least one of the first and second sensors (101, 102); The measured values ​​of the mechanical equipment (190) are compared with the predicted values ​​(470) to determine the comparison; as well as The control signal (480) is determined based on comparison (890).

10. A communication system (100) for sensing or controlling at least one of mechanical devices (190), comprising: A controller (140) coupled to a wired interface (150); The sensor device (101) according to any one of claims 1 to 7 is coupled to a wired interface (150); and A second sensor device (102) is coupled to a wired interface (150).

11. The communication system (100) according to claim 10, wherein, The sensor device (101) is configured to determine measurements (420, 810, 820) based on sensor input (1601); and The second sensor device (102) is configured to determine an error code (850) based on a comparison between a measurement (840) of the sensor device (101) and a second measurement of the second sensor device (102).

12. The communication system (100) according to claim 10 or 11, further comprising at least one of the following: The controlled mechanical device (190) or the magnetic sensor (111).

13. A communication method (800) for sensing or controlling at least one of controlled mechanical devices (190), comprising: Commands (530) are transmitted (500) from an external device acting as a controller to the sensor device (101) and the second sensor device (102) according to any one of claims 6 to 7 via a wired interface (150); The measurement performed by the sensor device (101) is determined (810) based on the sensor input (1601); An error code (850) is determined by comparing the measurement (840) of the sensor device (101) with the second measurement of the second sensor device (102); Transmitted differential Manchester encoded data (180) from sensor device (101), including measurements (430, 810); and Transmitted differential Manchester encoded data (180) including error codes (450, 860) from the second sensor device (102).

14. The communication method (800) according to claim 13 further includes: The function (920) of the sensor device (101) is determined to include transmitting (640) the transmitted differential signal (180) including the measurement from the sensor device (101); The function (920) of the second sensor device (102) is determined to include a comparison of the measurement (840) based on the sensor device (101) with a second measurement based on the second sensor device (102) to determine the error code (850).

15. The communication method (800) according to claim 13 or 14, comprising: During the overlap duration, the sensor input (1601) is processed by the sensor device (101) and the second sensor device (102) to determine the measurement (810) and the second measurement (820); and Execute the following sequence: The transmission (640) is the measurement performed by the sensor device (101). The error code determined by the second sensor device (102) is then transmitted (450); and The controller (140) determines (890) and transmits (480) control signals; and Repeat the sequence.

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