ROTATION SENSOR

Abstract

Rotation sensor comprising: - several magnetic sensors (40) arranged at equal intervals in a circumferential direction of a rotating body (100) away from the outer circumference of the rotating body (100), fixed in position and configured to output a sinusoidal signal (fn) and a cosine signal (gn) corresponding to an electrical rotation angle of the rotating body (100) by detecting a change in a magnetic field resulting from the change in the rotational position of the rotating body (100) due to the rotation of the rotating body (100); - a processing unit (50) which receives the sinusoidal signals (fn) and cosine signals (gn) from the several magnetic sensors (40) and adds and subtracts the sinusoidal signals (fn) and cosine signals (gn) according to a predetermined rule,to cancel the high-order components contained in the sinusoidal signals (fn) and cosine signals (gn); - a magnetic pattern section (20) that surrounds an outer circumferential surface (110) of the rotating body (100) in a ring-like manner and in which a first magnetic pole (21) for generating a magnetic force of an N-pole and a second magnetic pole (22) for generating a magnetic force of an S-pole are arranged alternately; and- a mounting section (10) to which the magnetic pattern section (20) is attached, and which is attached to the outer circumferential surface of the rotating body (100) and rotates together with the rotating body (100) about a central axis of the rotating body (100), wherein- the rotating body (100) is a shaft (100) of a motor,- the several magnetic sensors (40) are arranged to face the magnetic pattern section (20) and output the electrical angle signal indicating an electrical angle of the shaft,by detecting the change in the magnetic field received by the magnetic pattern section (20) rotating with the wave,- the sinusoidal signal (fn) of an nth magnetic sensor (40) becomes fn = f {θ + (n-1)π / 8} and the cosine signal (gn) of the nth magnetic sensor (40) becomes gn = g {θ + (n-1)π / 8}, where n = 1 to 16, and- the computing unit (50) obtains the following computational expressions (F1 to F4) and (G1 to G4) from the output of each magnetic sensor (40) to calculate the high-order components contained in the sinusoidal signals (fn) and cosine signals (gn). to cancel:F1=f1−g5−f9+g13G1=g1+f5−g9−f13F2=f3−g7−f11+g15G2=g3+f7−g11 −f15F3=f2−g6−f10+g14G3=g2+f6−g10−f14F4=f4−g8−f12+g16G4=g4+f8−g12−f16.,

Description

CROSS-REFERENCE TO RELATED REGISTRATIONS

[0001] This application is based on Japanese patent application No. 2017-47053, filed on March 13, 2017, the full disclosure of which is hereby incorporated by reference. TECHNICAL AREA

[0002] The present disclosure relates to a rotation sensor that detects an electrical angle of a wave. BACKGROUND

[0003] Patent document 1 discloses a sensor device configured to detect the rotation of a magnet arranged on an end face of a motor shaft by means of a magnetic field-sensitive element. In particular, the magnetic field-sensitive element is arranged on the central axis of the shaft and opposite the magnet. As a result, the magnetic field-sensitive element detects an orientation angle of the magnetic field in the range of 0° to 360° when the shaft rotates. PATENT DOCUMENT

[0004] Patent Document 1: JP 2016-4039 A SUMMARY

[0005] However, since the magnetic field-sensitive element in the prior art described above is located on the central axis of the shaft, the end section of the motor shaft becomes a mounting area for the sensor device. This increases the size of the motor in the axial direction of the shaft. Furthermore, it is possible that the sensor device cannot be installed in a motor or similar device that does not provide sufficient space at the end of the shaft. This issue is not limited to the shaft itself, but applies to the entire rotating body.

[0006] On the other hand, it is desirable to detect the precise electrical angle of the rotating body. For example, vector control is a known method for controlling a motor. Vector control is a method in which the current flowing to the motor is separated into a torque-generating component and a magnetic flux-generating component, and each of the current components is controlled independently. To implement vector control, it is necessary to detect the precise electrical angle of the shaft, which is the rotating body.

[0007] The present disclosure provides a rotation sensor that can detect an electrical angle of a rotating body with high accuracy and can be installed even when it is difficult to ensure space in the axial direction of the rotating body.

[0008] The rotation sensor according to one aspect of the present disclosure comprises several magnetic sensors for outputting a sinusoidal signal and a cosine signal corresponding to an electrical rotation angle of the rotating body, wherein the magnetic sensors are arranged equidistant and circumferentially separate from the outer circumference of the rotating body and are fixed in position to detect a change in the magnetic field caused by the change in the rotational position of the rotating body as a result of the rotation of the rotating body.

[0009] Furthermore, the rotation sensor includes a processing unit that receives the sinusoidal and cosine signals from the multiple magnetic sensors and adds and subtracts the sinusoidal and cosine signals according to a predetermined rule, thereby canceling out the high-order components contained in the sinusoidal and cosine signals.

[0010] According to this configuration, each magnetic sensor is not located on the end face of the rotating body, but on the outer circumferential side. Therefore, it is possible to provide a configuration that can be installed even when it is difficult to ensure sufficient space in the axial direction of the rotating body.

[0011] Furthermore, high-order components contained in the sinusoidal and cosine signals are canceled out by adding / subtracting the signals from the respective magnetic sensors, resulting in a low-distortion electrical angle signal, i.e., a highly accurate electrical angle. Therefore, it is possible to accurately determine the electrical angle of the rotating body's rotational position. Consequently, a configuration can be provided that can detect the electrical angle of the rotating body with high accuracy. List of characters

[0012] The above and further functions, properties and advantages of the present disclosure are more clearly evident from the following detailed description with reference to the accompanying drawings. The drawings show: Fig. 1 a view of a rotation sensor according to a first embodiment of the present disclosure viewed from an axial direction of a shaft; Fig. 2 a cross-sectional view along the line II-II in Fig. 1; Fig. 3. A diagram to illustrate each signal of sin θ and cos θ after calculation by a computing unit; Fig. 4. A diagram illustrating the signals output by a first magnetic sensor. sin θ and cos θ as a comparative example; Fig. 5 a view of a rotation sensor according to a second embodiment of the present disclosure viewed from the axial direction of a shaft; Fig. 6 a view of a rotation sensor according to a third embodiment of the present disclosure viewed from the axial direction of the shaft; Fig. 7 a view of a rotation sensor according to a fourth embodiment of the present disclosure viewed from the axial direction of the shaft; and Fig. 8 a view of a rotation sensor according to a fifth embodiment of the present disclosure viewed from the axial direction of the shaft. DETAILED DESCRIPTION

[0013] Embodiments of the present disclosure are described below with reference to the drawings. In the following embodiments, as well as in the drawings, identical or equivalent elements are designated with the same reference numerals. (First embodiment)

[0014] A first embodiment of the present disclosure is described below with reference to the drawings. A rotation sensor of the present embodiment detects an electrical angle of a shaft, which is used, for example, for a vector control drive of a motor. The motor is, for example, mounted on a vehicle.

[0015] As in the Fig. 1 and Fig. As shown in section 2, the rotation sensor includes... 1 a disc element 10 , a magnetic pattern section 20 , a holding element 30 , several magnetic sensors 40 and a computing unit 50 .

[0016] The disc element 10 is a component where the magnetic pattern section 20 is attached. The disc element 10 has a press-fit section 11 a with a through hole 11 up through which a wave 100, which forms part of the motor, is guided. The disc element 10 is applied to an outer circumferential surface 110 the wave 100 attached by the shaft 100 into the press-in section 11a is pressed. Therefore, the disc element rotates. 10 together with the wave 100 around the central axis of the shaft 100 The disc element 10 For example, a metal plate, such as a cold-rolled steel sheet.

[0017] The magnetic pattern section 20 exhibits a magnetic pattern in which several first magnetic poles 21 , which generate a magnetic force of the N pole, and second magnetic poles 22 The poles that generate a magnetic force at the S-pole are arranged alternately. That is to say, the magnetic poles 21 and 22 are circumferential around the central axis of the shaft 100 arranged alternately.

[0018] The magnetic pattern section20 is a component for detecting an electrical angle of the wave 100 and is a component that determines the phase of the wave 100 The phase indicates the rotational position of the wave. 100 In particular, the phase describes a position in a cycle when the wave is moving. 100 rotates. One cycle corresponds to one pair of regions of the magnetic poles. 21 and 22 , which includes the magnetic pattern section 20 form.

[0019] As in Fig. As shown in 2, the magnetic pattern section 20 at a final section 12 in the radial direction of the shaft 100 on the disc element 10 provided. The magnetic pattern section 20 is achieved by magnetizing a magnetic substance on a surface at the end section 12 of the disc element 10 The intended basis was formed.

[0020] In the present embodiment, the magnetic pattern section 20 eight poles. The wave 100 is rotated by 1 / 4 to a pair of the magnetic poles 21 , 22 to achieve, i.e., 1 (one) period. Therefore, the electric angle of the 1 / 4 rotation of the wave is 100 360°. In other words, the electrical angle is an angle corresponding to a rotational range of the rotational range in which a rotation of the wave occurs. 100 is evenly divided into several equal sections. In the present embodiment, since a rotation of the shaft 100 is divided into four equal parts, the electrical angle of the 1 / 4 rotation of the shaft 100 to 360°.

[0021] The retaining element 30 is a component to which every magnetic sensor attaches 40 is arranged, and their position in relation to the wave 100 is fixed. The retaining element 30It has electrical components, such as wiring. The retaining element 30 It is attached to an engine housing or similar structure. The retaining element 30 It can be configured, for example, as the housing of an engine or as part of the components inside the engine.

[0022] The retaining element 30 It is formed in an arc shape. The arc is a ring-shaped section that is not completely closed. In other words, the arc shape can also be described as a ring segment. The retaining element 30 It is attached to the housing or the like by using the concave side of the retaining element. 30 along the radial direction of the shaft 100 is moved. This changes the position of the retaining element. 30 in relation to the wave 100 fixed. The retaining element 30 can be semicircular, as long as it is in relation to the wave 100 can be inserted.

[0023] Each of the magnetic sensors 40 A magnetic sensor is a sensor device that detects changes in the magnetic field. 40 It is configured, for example, as a Hall element, GMR element, TMR element, or AMR element. In the present embodiment, a Hall element is used as a magnetic sensor. 40 used. Since the Hall element has a detection sensitivity in the z-direction, the magnetic sensor 40 parallel to and opposite the magnetic pattern section 20 arranged as in Fig. 2 shown. z The -direction is the direction of the magnetic field passing through the Hall element. Fig. 2 agrees z -direction with the radial direction of the shaft 100 agree.

[0024] Since the period of the output waveform of the AMR element becomes twice the period of the output waveform of the other elements, it is necessary to determine the number of poles of the magnetic pattern section. 20 Set to 1 / 2, but the magnetic field detection point is the same as that of the other elements.

[0025] Each magnetic sensor 40 is the magnetic pattern section 20 arranged opposite each other across a predetermined gap. Each of the magnetic sensors 40 is through the retaining element 30 from the outer circumference of the shaft 100 spaced apart and at equal intervals in the circumferential direction of the shaft 100 arranged and in relation to the wave 100 fixed in position. As described above, one revolution of the shaft 100 evenly divided into four phases. In the present embodiment, all magnetic sensors 40 in the rotational range of phase 1 arranged.

[0026] In the present embodiment, 16 (sixteen) magnetic sensors 40 on the retaining element 30 attached. Furthermore, they are 16 (sixteen) magnetic sensors 40 arranged at equal intervals within an electrical angle of 0° to 360°. Therefore, the arrangement angle of a magnetic sensor is 40 equal to (n-1)π / 8.

[0027] In Fig. 1 shows “1” the first magnetic sensor, “2” shows the second magnetic sensor, and “16” shows the sixteenth magnetic sensor. 40 For example, the arrangement angle of the first magnetic sensor 40 an electrical angle of 0° and the arrangement angle of the ninth magnetic sensor 40 an electrical angle of π, i.e., 180°. Thus, the arrangement angle of each magnetic sensor is 40 predetermined in a rotation range.

[0028] Each of the magnetic sensors 40It outputs a sinusoidal signal and a cosine signal corresponding to the electrical angle of rotation of the wave. 100 by detecting the change in the magnetic field caused by the change in the rotational position of the wave 100 due to the rotation of the wave 100 This is caused by the following: The sinusoidal signal is a sine signal, and the cosine signal is a cosine signal. The sine signal and the cosine signal are shifted by 90° from each other. Since the respective arrangement angles of the magnetic sensors 40 To distinguish between them, sine signals and cosine signals are output with different phases.

[0029] The computing unit 50 is a signal processing circuit that processes the signal of each magnetic sensor 40 processed. The computing unit 50 For example, it is configured as an integrated circuit unit (ASIC). The processing unit 50receives the sine signal and the cosine signal from 16 (sixteen) magnetic sensors 40 and performs processing to obtain an electrical angle signal in which high-order components contained in the sine and cosine signals are canceled out by adding and subtracting the sine and cosine signals according to a predetermined rule. All computational processing is performed by the processing unit. 50 The process is analogous. The configuration of the rotation sensor is shown above. 1 described in the present embodiment.

[0030] The operation of the rotation sensor is described below. 1 described. When the wave 100 According to the operation of the motor, each magnetic sensor rotates. 40 a sine signal and a cosine signal of one phase according to the arrangement angle of the respective magnetic sensors.

[0031] In particular, the sine signal fn of the nth magnetic sensor is 40 fn = f {θ + (n-1)π / 8} and the cosine signal gn becomes gn = g {θ + (n-1)π / 8}. n is 1 to 16.

[0032] It is assumed that the amplitude of the i-th order term of the sine signal of the n-th magnetic sensor 40 ani is and the amplitude of the term i-th order of the cosine signal of the n-th magnetic sensor 40 bni is. Then it is assumed that the output amplitude of each magnetic sensor 40 is the same. That is, ani = bni = Ai.

[0033] To remove high-order components from each signal, the processing unit receives 50 the following F1 until F4 and G1 until G4 from the output of each magnetic sensor 40 . This F1 until F4 and G1 until G4 are predetermined mathematical expressions. F 1 = f 1 − g 5 − g 9 + g 13 G 1 = g 1 + f 5 − g 9 − f 13 F 2 = f 3 − g 7 − g 11 + g 15 G 2 = g 3 + f 7 − g 11 + f 15 F 3 = f 2 − g 6 − g 10 + g 14 G 3 = g 2 + f 6 − g 10 − f 14 F 4 = f 4 − g 8 − g 12 + g 16 G 4 = g 4 + f 8 − g 12 − f 16

[0034] For example, for F1 , the sine signal f1 of the first magnetic sensor 40 f1 = a11 × sinθ) + a12 × sin2θ + a13 × sin3θ + .... Furthermore, the cosine signal g5 of the fifth magnetic sensor 40 g5 = b51 × cos(θ + π / 2) + b52 × cos2(θ + π / 2) + b53 × cos3(θ + π / 2) + ... = -b51 x sinθ) - b52 × cos2θ + b53 × sin3θ + .... θ is theta. The sine signal f9 of the ninth magnetic sensor 40 and the cosine signal g13 of the thirteenth magnetic sensor 40 They also have components corresponding to the phase.

[0035] Each of the magnetic sensors 40can be connected in advance, for example to each of the signals F1 until F4 and G1 until G4 to spend. That is, in the case of F1 gives the computing unit 50 not every signal from each of the first, fifth, ninth and thirteenth magnetic sensors 40 one at a time, to F1 to calculate, but gives the signal itself from F1 one. The same applies to F2 until F4 and G1 until G4 Since the computing unit 50 F1 Since the calculation doesn't have to be done manually, the calculation time can be reduced and the cost of the computing unit can be lowered. 50 to be reduced. In this process, the wiring that is connected to carry the respective signals is reduced. F1 until F4 and G1 until G4 to output, a part of the computing unit 50 .

[0036] Therefore, for example F1 andG1 The following calculation results are obtained according to the above rule and the same initial amplitude. F 1 ≈ A 1 × sin θ + A 5 × sin 5 θ+ A 9 × sin 9 θ G 1 ≈ A 1 × cos θ + A 5 × cos 5 θ+ A 9 × cos 9 θ

[0037] The respective components such as A2 until A4 (second to fourth order) and A6 until A8 (sixth to eighth order) of F1 and G1 will be cancelled.

[0038] The computing unit then performs the following steps 50 the calculation according to the above-described equation not only for F1 and G1 , but also for F2 until F4 and G2 until G4 out. Then the computing unit receives 50 the signals of sinθ) and cosθ by performing the following calculation with F1 until F4 and G1 until G4 executes. sin θ ≈ F 1 + sin ( π / 4 ) × ( F 2 − G 2 ) + sin ( π / 8 ) × ( F 4 − G 3 ) + cos ( π / 8 ) × ( F 3 − G 4 ) cos θ ≈ G 1 + sin ( π / 4 ) × ( F 2 + G 2 ) + sin ( π / 8 ) × ( F 3 + G 4 ) + cos ( π / 8 ) × ( F 4 + G 3 )

[0039] The high-order components up to 4θ are through F1 and G1 , which are the first terms of sinθ ) and cosθ are cancelled. Furthermore, the high-order components are cancelled until 8Θ by sin(π / 4) × (F2 - G2) and sin(π / 4) × (F2 + G2), which are the second terms of sinθ ) and cosθ are cancelled.

[0040] Furthermore, the high-order components are up to 16θ by sin(π / 8) x (F4 - G3) + cos(π / 8) x (F3 - G4) and sin(π / 8) × (F3 + G4) + cos(π / 8) × (F4 + G3), which are the third and fourth terms of sinθ) and cosθ, canceled.

[0041] In the example above, the computing unit can be 50 , although the high-order components up to 16θ The removal or deletion will be carried out up to the higher-order components, as applicable. If the higher-order components up to 4θ If the second term is canceled, the calculation is performed up to the second term. In contrast, if desired, higher-order components can be used via 16θ to remove the number of magnetic sensors 40 can be increased and the high-order components can be over 17θ by using the fifth term and the following ones, they are rescinded.

[0042] Based on the above calculation, as in Fig. 3 shown, each signal from sinθ ) and cosθ to an ideal sine waveform and cosine waveform in the range of an electrical angle from 0° to 360°. That is, every signal of sinθ ) and cosθ , which exhibit extremely low waveform distortion, can be obtained.

[0043] As a comparative example, as in Fig. 4 shown, each signal from sinθ ) and cosθ from only the first magnetic sensor 40The higher-order component is superimposed, resulting in a large distortion of the signal waveform. Thus, every signal exhibits sinθ ) and cosθ from a magnetic sensor 40 It does not produce an ideal sine and cosine waveform, and the waveform is distorted. However, high-order components present in the signals can sinθ ) and cosθ from a magnetic sensor 40 are contained, are canceled by the signals of the 16 (sixteen) magnetic sensors 40 calculated according to the predetermined rule.

[0044] The computing unit 50 calculated arctanθ from any signal of sinθ ) and cosθ , which is obtained through the calculation described above. Since the 1 / 4 rotation of the shaft 100 The processing unit detects an electrical angle from 0° to 360°. 50 a signal component corresponding to the 1 / 4 rotation of the shaft 100The signal component is a component that increases at a constant rate from 0 and is either a voltage component or a current component.

[0045] Furthermore, the computing unit provides 50 The sensor sends a signal indicating the detected electrical angle to an external device. This signal can be an analog signal or an A / D-converted digital signal. The external device then executes a vector control drive for the motor based on the angle signal from the rotation sensor. 1 detected signal.

[0046] As described above, in the present embodiment the high-order components contained in the sine signal and the cosine signal are obtained by adding / subtracting the signal of each magnetic sensor. 40The distortion is corrected according to a predetermined mathematical formula, thus removing the error components contained in the respective signals. This makes it possible to obtain a low-distortion electrical angle signal, i.e., a highly accurate electrical angle, and to determine the electrical angle of the shaft's rotational position. 100 to determine precisely. This allows the electrical angle of the wave to be determined. 100 can be recorded with high accuracy.

[0047] The computing unit 50 It performs all computational processing as analog processing. Therefore, it is unnecessary to process every signal from every magnetic sensor. 40 to convert it into a digital signal. Consequently, the processing unit can 50 to calculate the signal indicating the electrical angle at high speed. This results in a signal occurring even at high shaft rotation speeds. 100, the difference between rotational speed and electrical angle is not affected, so that the accuracy of the electrical angle can be guaranteed.

[0048] Furthermore, every magnetic sensor 40 not on the end face of the shaft 100 , but are located on the outer circumference. Therefore, the rotation sensor must be 1 no space in the axial direction of the shaft 100 guarantees and can provide a configuration that can be installed even when it is difficult to find space on the end face of the shaft. 100 to ensure.

[0049] The wave 100 corresponds to the rotating body, and the disc element 10 corresponds to the fastening section. (Second embodiment)

[0050] In the present embodiment, the configurations differ from those described in the first embodiment. In the present embodiment, the tenth magnetic sensor 40 , as in Fig. 5 shown, in the rotational region of the diagonal phase 3 arranged. In Fig. 5 is the unit of calculation 50 omitted.

[0051] As described above, in each of the magnetic sensors 40 The arrangement angle within a rotation range is predetermined. Since each of the magnetic sensors 40 A sensor that outputs a sine signal and a cosine signal of phase corresponding to the arrangement angle in the rotational domain can be arranged in any phase, as long as the arrangement angle in the rotational domain remains constant. For example, even if not all of the magnetic sensors 40 in the rotational range of phase 1 All of the magnetic sensors can be mounted. 40on the outer circumference of the shaft 100 be ordered.

[0052] As a modification, the fifth to eighth magnetic sensor can be used. 40 in the rotational range of phase 2 and the ninth to twelfth magnetic sensor 40 in the rotational range of phase 3 and the thirteenth to sixteenth magnetic sensor 40 in the rotational range of phase 4 can be arranged. In this way, the magnetic sensors can be 40 can be arranged in all rotation areas. (Third embodiment)

[0053] In the present embodiment, the configurations differ from those described in the first and second embodiments. As in Fig. Shown in section 6 is a pair of magnetic sensors. 40 in the rotational range of phase 1 arranged and is a pair of magnetic sensors 40 in the rotational range of phase 3arranged. Thus, two sets of each magnetic sensor can be used. 40 in relation to the wave 100 be provided for. In this case, the computing unit records 50 Signals of the electrical angle from the two sets of magnetic sensors 40 This allows for redundancy of the rotation sensor. 1 can be improved.

[0054] As a modification, any of the magnetic sensors can be used. 40 with three or more sets on the outer circumference of the shaft 100 This can be provided for. Furthermore, similar to the second embodiment, different sets of magnetic sensors can be used. 40 be arranged in a rotational area. (Fourth embodiment)

[0055] In the present embodiment, the configurations differ from those described in the first to third embodiments. As in Fig. As shown in section 7, this is the magnetic pattern section. 20 on the end surface 13 of the disc element10 parallel to the radial direction of the shaft 100 provided. Each magnetic sensor 40 is the magnetic pattern section 20 arranged opposite each other across a predetermined gap. In this way, the magnetic pattern section can be 20 and each of the magnetic sensors 40 in the axial direction of the shaft 100 be ordered. (Fifth embodiment)

[0056] In the present embodiment, the configurations differ from those described in the first to fourth embodiments. In the present embodiment, the magnetic sensor 40 It is constructed from a magnetoresistive element. In this case, the detection sensitivity of the magnetic sensor is 40 in the direction of the xy-plane, the magnetic sensor 40 , as in Fig. 8 shown, perpendicular to and opposite the magnetic pattern section 20 arranged. (Other embodiments)

[0057] The configurations of the rotation sensor described in the above embodiments 1 These serve as examples of the present disclosure and are not limited to the configurations described above; they can use a different configuration that embodies the present disclosure. For example, the motor is not limited to a vehicle-mounted motor. Furthermore, the configuration for mounting each magnetic sensor is 40 not limited to the configuration shown in each of the above embodiments.

[0058] Furthermore, the number of poles of the magnetic pattern section 20 One example, and a different number of poles can be applied. Likewise, one rotation range does not apply to the 1 / 4 rotation of the shaft. 100 limited. The fastening section for attaching the magnetic pattern section. 20 is not on the disc element10 limited and can have other shapes. The shape of the disc element 10 Depending on the type of magnetic sensor 40 be modified appropriately.

[0059] Furthermore, the rotating body is not on the cylindrical shaft. 100 limited. For example, the rotor could be the rotor of a rotary encoder. The rotor could have an outer circumferential shape that is not circular, but corrugated. The magnetic sensor 40 is located on the outer circumference of the rotor. Consequently, as the rotor rotates, the gap between each magnetic sensor changes. 40 and the outer circumferential surface of the rotor, so that each magnetic sensor 40 A change in the magnetic field corresponding to the gap is detected.

[0060] Although the present disclosure has been made by way of examples above, it should be noted that it is not limited to these examples or structures. The present disclosure includes various modifications and changes within the scope of equivalents. Furthermore, the various combinations and configurations that are preferred, but also other combinations and configurations, including more, fewer, or only a single element, should be understood as included within the meaning and scope of the present disclosure. QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] JP 2016004039 A

[0004]

Claims

[1] Rotation sensor comprising: - several magnetic sensors (40) arranged at equal intervals in a circumferential direction away from the outer circumference of the rotating body (100), fixed in position and configured to output a sinusoidal signal and a cosine signal corresponding to an electrical rotation angle of the rotating body by detecting a change in the magnetic field resulting from the change in the rotational position of the rotating body due to the rotation of the rotating body; and - a computing unit (50) that receives the sinusoidal and cosine signals from the multiple magnetic sensors and adds and subtracts the sinusoidal and cosine signals according to a predetermined rule to cancel out the high-order components contained in the sinusoidal and cosine signals. [2] Rotation sensor according to claim 1, wherein - the electric angle is an angle corresponding to a rotational region of the rotational region in which a rotation of the rotating body is uniformly divided into several parts; and - an arrangement angle of the multiple magnetic sensors in which a rotation range is determined in advance, and the multiple magnetic sensors are arranged in the arrangement angle in one of the multiple rotation ranges. [3] Rotation sensor according to claim 1 or 2, further comprising: - a magnetic pattern section (20) that surrounds an outer circumferential surface (110) of the rotating body in a ring-like manner and in which a first magnetic pole (21) for generating a magnetic force of the N pole and a second magnetic pole (22) for generating a magnetic force of the S pole are arranged alternately; and - a mounting section (10) to which the magnet pattern section is attached, and which is attached to the outer circumferential surface of the rotating body and rotates together with the rotating body about a central axis of the rotating body, wherein - the rotating body is a shaft (100) that forms a motor, and - the multiple magnetic sensors are arranged to face the magnetic pattern section and output an electrical angle signal indicating an electrical angle of the wave by detecting a change in a magnetic field received from the magnetic pattern section rotating with the wave. [4] Rotation sensor according to one of claims 1 to 3, wherein - several sets of multiple magnetic sensors are provided for the rotating body; and - the processing unit detects the electrical angle signal from each of the multiple sets of multiple magnetic sensors. [5] Rotation sensor according to one of claims 1 to 4, wherein - the rotating body is a shaft (100) that forms a motor; - the multiple magnetic sensors are attached to the holding element (30) which has a curved shape; and - the retaining element is fixed in position relative to the shaft by moving a concave side of the retaining element along a radial direction of the shaft. [6] Rotation sensor according to one of claims 1 to 4, further comprising: - a retaining element (30) with a curved shape, the position of which is fixed in relation to the rotating body, wherein - the rotating body is a shaft (100) that forms a motor, - the multiple magnetic sensors are attached to the holding element, and - the retaining element is fixed in position relative to the shaft by moving a concave side of the retaining element along a radial direction of the shaft.