Sensor device and method for detecting rotational movement of a body rotatable about a rotation axis - Patents.com

Abstract

The present invention relates to a sensor device (1) for detecting a rotational movement of a body (3) rotatable about a rotation axis (DA), comprising at least three angle sensors (5) and at least one evaluation and control unit (10), wherein the at least three angle sensors (5) detect the mechanical rotational movement of the rotatable body (3) with a predetermined transmission ratio, generate corresponding electrical angle signals (W1, W2, W3) and output them to the at least one evaluation and control unit (10), the at least three angle sensors (5) having different transmission ratios, and the at least one evaluation and control unit (10) is configured to determine a first angle (NW1) of the rotatable body (3) in a first clear range by a first vernier calculation (NB1), the first vernier calculation (NB1) being determined by the at least three electrical The at least one evaluation and control unit (10) is further configured to determine a second angle (NW2) of the rotatable body (3) in a second unambiguity range by a second vernier calculation (NB2), the second vernier calculation (NB2) being based on the determined first angle (NW1) and another electrical angle signal (W3) of the at least three electrical angle signals (W1, W2, W3), the second unambiguity range of the determined second angle (NW2) being greater than the first unambiguity range of the determined first angle (NW1) and the unambiguity range of the other electrical angle signal (W3). The invention further relates to a method for detecting the rotational movement of a body (3) rotatable about a rotation axis (DA), which can be implemented by such a sensor device (1).

Description

[Technical Field]

[0001] The present invention relates to a sensor device for detecting the rotational movement of a body rotatable about a rotation axis. The present invention also relates to a method for detecting the rotational movement of a body rotatable about a rotation axis, which can be implemented by means of such a sensor device. [Background technology]

[0002] From the prior art it is known to use a Vernier (Nonius) calculation from at least two angle signals to calculate a unique absolute angle over multiple complete mechanical revolutions of a shaft, where at least one of these angle signals is mechanically underset or overset compared to the rotational movement of the shaft, i.e. it rotates less than or more than 360 degrees when the shaft makes one mechanical revolution.

[0003] In known inductive torque and steering angle sensors, two inductive angle measurements are typically used to calculate the torque, and one additional, usually magnetic, angle measurement is used to calculate the steering angle. In this case, the unambiguous range exceeds 360 degrees because multiple complete rotations of the steering wheel must be detected. According to the prior art, to calculate the absolute steering angle, the angle values detected by the inductive angle measurement are transmitted to a control device, where a vernier calculation is performed using the angle values detected by the additional magnetic angle measurement. This presupposes that the periodicity of the additional magnetic angle measurement and the periodicity of the inductive angle measurement are adjusted to ensure the functionality of the vernier calculation and to satisfy customer requirements for the steering angle range to be measured. This periodicity adjustment can lead to limitations in the inductive torque measurement, because the specified periodicity is advantageous for reducing measurement errors. To compensate for this, a gear that uses more structural space is often required to adjust the additional magnetic angle measurement downward or upward.

[0004] German Patent Application Publication No. 112016005661 (DE112016005661T5) discloses an inductive torque sensor and angle sensor for a steering mechanism, which has an input shaft connected to an output shaft via a torsion bar. A first coupler is connected to the input shaft, and a second coupler is connected to the output shaft. A first receiving coil and a second receiving coil, each having a plurality of oppositely wound loops, are positioned opposite the first coupler and the second coupler, respectively, so that the first coupler is located above the first receiving coil and the second coupler is located above the second receiving coil. A switching circuit determines the angular offset between the two couplers. An angle sensor is also provided to indicate the exact rotation angle of the steering mechanism. To implement this angle sensor, a first gear is attached to the first coupler, and the first coupler and the first gear rotate in unison. The first gear engages a second gear, which is rotatably mounted on the opposite side of the printed circuit board on an axis parallel to but spaced from the steering wheel torsion bar. A coupler is attached to the second gear and cooperates with a receiving coil of a third inductive sensor attached to the printed circuit board. Other types of sensors, such as Hall effect sensors, inductive Hall sensors, or (G)MR sensors, can be used to determine the angle of the second gear. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] German Patent Application Publication No. 112016005661 (DE112016005661T5) Summary of the Invention [Means for solving the problem]

[0006] Disclosure of the Invention The sensor device for detecting the rotational movement of a body rotatable about a rotation axis having the features of independent claim 1 and the method for detecting the rotational movement of a body rotatable about a rotation axis having the features of independent claim 13 each have the advantage that the use of at least three angle signals in the cascaded vernier calculation improves the possibility of selecting the individual periodicity of the angle measurement, thereby saving construction space. Furthermore, the cascaded vernier calculation provides a higher robustness (k-decimal) compared to a single vernier calculation known from the prior art. As a result, embodiments of the invention are less susceptible to angle and hysteresis errors. This advantageously allows for the use of more cost-effective magnetic circuits and mechanical gear systems.

[0007] An embodiment of the present invention provides a sensor device for detecting rotational movement of a rotatable body about a rotation axis, comprising at least three angle sensors and at least one evaluation and control unit. The at least three angle sensors detect the mechanical rotational movement of the rotatable body with a predetermined transmission ratio, generate corresponding electrical angle signals, and output the electrical angle signals to the at least one evaluation and control unit. The at least three angle sensors have different transmission ratios. The at least one evaluation and control unit is configured to determine a first angle of the rotatable body within a first range of clarity by a first vernier calculation, the first vernier calculation being based on two of the at least three electrical angle signals, and the first range of clarity of the determined first angle being greater than the ranges of clarity of the angle signals used in the calculation. The at least one evaluation and control unit is further configured to determine a second angle of the rotatable body in a second clarity range by a second vernier calculation, the second vernier calculation being based on the determined first angle and other electrical angle signals of the at least three electrical angle signals, and the second clarity range of the determined second angle being greater than the first clarity range of the determined first angle and the clarity ranges of the other electrical angle signals.

[0008] Furthermore, a method for detecting rotational movement of a rotatable body about a rotation axis, which can be implemented by such a sensor device, is proposed. Based on the mechanical rotational movement of the rotatable body, at least three electrical angle signals with predetermined transmission ratios are generated and evaluated, and at least three electrical angle signals with different transmission ratios are detected. A first angle of the rotatable body is determined within a first clarity range by a first vernier calculation, the first vernier calculation being based on two of the at least three electrical angle signals, the first clarity range of the determined first angle being greater than the clarity ranges of the angle signals used in the calculation. A second angle of the rotatable body is determined within a second clarity range by a second vernier calculation, the second vernier calculation being based on the determined first angle and another of the at least three electrical angle signals, the second clarity range of the determined second angle being greater than the first clarity range of the determined first angle and the clarity ranges of the other electrical angle signals.

[0009] An evaluation and control unit can be understood in this context as an electrical assembly or circuit that processes, modifies, or evaluates detected sensor or measurement signals. Preferably, the evaluation and control unit is configured as an ASIC module (ASIC: Application Specific Integrated Circuit). The evaluation and control unit can have at least one interface, which can be configured in hardware and / or software. In the case of a hardware implementation, the interface can be, for example, part of an ASIC module. However, the interface can also be a dedicated integrated circuit or can be configured at least partially from discrete components. In the case of a software implementation, the interface can be a software module, which can be, for example, present on a microcontroller adjacent to other software modules.

[0010] The measures and developments set out in the dependent claims advantageously improve the sensor device for detecting the rotational movement of a body rotatable about a rotation axis set out in independent claim 1 and the method set out in independent claim 13.

[0011] It is particularly advantageous if each of the at least three angle sensors can be configured as an inductive angle sensor or a magnetic angle sensor. Thus, for example, it is possible to configure all angle sensors as inductive angle sensors or magnetic angle sensors. Furthermore, a combination of inductive and magnetic angle sensors is also possible. Thus, for example, two angle sensors providing two angle signals for a first vernier calculation can be configured as inductive angle sensors, and another angle sensor providing another angle signal for a second vernier calculation can be configured as a magnetic angle sensor.

[0012] In an advantageous configuration of the sensor device, the transmission ratio of each angle sensor is not an integer multiple of the transmission ratio of one of the at least three angle sensors. This non-integer ratio can increase the resolution or clarity range of the angle measurement depending on the needs of the application. The transmission ratio of each angle signal can be set lower or higher compared to the rotational movement of the shaft. This means that the individual periods of the at least three angle signals are smaller or larger than one mechanical rotation of the rotatable body, and therefore smaller or larger than 360 degrees.

[0013] In another advantageous configuration of the sensor device, at least one electrical angle signal of the at least three electrical angle signals can have a discrete rational conversion ratio to the mechanical rotational movement of the rotatable body, so that the first or second distinct range is greater than one revolution of the at least one rotatable body. This allows for unambiguous determination of rotation angles greater than one revolution, i.e., greater than 360 degrees. Preferably, the other electrical angle signal can have a discrete rational conversion ratio to the mechanical rotational movement of the rotatable body, so that the second distinct range of the determined second angle is greater than one revolution of the at least one rotatable body.

[0014] In another advantageous configuration of the sensor device, the at least one evaluation and control unit may further be configured to perform the second vernier calculation as a weighted vernier calculation, weighting the determined first angle more highly than the other electrical angle signals. This is particularly advantageous when the third angle signal has an interrupted rational conversion ratio and is mechanically under-adjusted. In this case, the weighting in the second vernier calculation can be preferably set to approximately or exactly 100% of the angle determined by the first vernier calculation, while the third angle signal can be used only to count one revolution of the rotatable body or for period correction. This allows for simple compensation of hysteresis errors during mechanical under-adjustment of the rotational movement of the rotatable body.

[0015] In another advantageous configuration of the sensor device, the transmission ratio of the individual angle sensors can be set by the periodicity of the corresponding electrical angle signal. In the case of inductive angle sensors, the periodicity can be realized simply by the number of conductive coupling segments of the corresponding coupling device. Alternatively, the transmission ratio of the individual angle sensors can be set by mechanically transmitting the rotational movement of the rotatable body to another rotatable body, so that the other rotatable body rotates at a different rotational speed than the rotatable body. The mechanical transmission can be realized, for example, by a simple gear transmission or a planetary gear transmission.

[0016] In another advantageous configuration of the sensor device, the at least one evaluation and control unit may be configured to determine a difference angle between a first electrical angle signal from the first angle sensor and a second electrical angle signal from the second angle sensor, from which a torque acting on the rotatable body can be determined. The rotatable body may be configured, for example, as a steering shaft of a vehicle. Here, the first electrical angle signal from the first angle sensor may represent a rotation angle of a first section of the steering shaft, and the second electrical angle signal from the second angle sensor may represent a rotation angle of a second section of the steering shaft, thereby determining a torque acting on the steering shaft. Because torque is measured based on the first and second angle signals, these angle signals have a torque-related difference angle due to the application, which should be corrected for the first vernier calculation. Depending on the selected criterion, this may also be true for the third electrical angle signal, so that a differential angle correction of the third electrical angle signal may additionally be performed before the second vernier calculation. Herein, the at least one evaluation and control unit may further be configured to perform a differential angle correction of the first electrical angle signal and / or the second electrical angle signal and / or the third electrical angle signal before the corresponding vernier calculation. The differential angle correction ensures the robustness of the vernier calculation, since "angle jumps" cannot occur at certain angles. Furthermore, the monitorability of the vernier calculation for functional safety can be ensured ("k-decimal" monitoring). Furthermore, the differential angle correction according to a defined criterion for the second angle can increase the accuracy of the rotation angle determination.

[0017] In another advantageous configuration of the sensor device, the first evaluation and control unit may be configured to perform a first vernier calculation and / or a differential angle calculation and / or a differential angle correction of the first electrical angle signal and / or the second electrical angle signal and / or the third electrical angle signal. Furthermore, the second evaluation and control unit may be configured to perform a second vernier calculation. Of course, only one evaluation and control unit may be used to perform these calculations.

[0018] Embodiments of the invention are illustrated in the drawings and explained in more detail in the following description, in which components or elements performing the same or similar functions are provided with the same reference numerals. [Brief explanation of the drawings]

[0019] [Figure 1] 1 is a schematic block diagram of a first embodiment of a sensor device according to the present invention for detecting rotational movement of a body rotatable about a rotation axis; [Figure 2] 3 is a schematic block diagram of a second embodiment of a sensor device according to the present invention for detecting rotational movement of a body rotatable about a rotation axis; FIG. [Figure 3] 3 is a schematic block diagram of an embodiment of a first evaluation and control unit for the sensor device according to the invention of FIG. 1 or FIG. 2; [Figure 4] 1 is a schematic flow chart illustrating an embodiment of a method according to the invention for detecting rotational movement of a body rotatable about a rotation axis; DETAILED DESCRIPTION OF THE INVENTION

[0020] Embodiments of the invention 1 to 3, the illustrated embodiments of the sensor device 1, 1A, 1B according to the invention for detecting the rotational movement of a body 3 rotatable about a rotation axis DA include at least three angle sensors 5, 5A, 5B, 5C, respectively, and at least one evaluation and control unit 10, 10A, 10B. The at least three angle sensors 5, 5A, 5B, 5C detect the mechanical rotational movement of the rotatable body 3 with a predetermined transmission ratio, generate corresponding electrical angle signals W1, W2, W3, and output these electrical angle signals W1, W2, W3 to the at least one evaluation and control unit 10, 10A, 10B. The at least three angle sensors 5, 5A, 5B, 5C have different transmission ratios. The at least one evaluation and control unit 10, 10A, 10B determines a first angle NW1 of the rotatable body 3 within a first range of clarity by a first vernier calculation NB1 based on two of the at least three electrical angle signals W1, W2, W3. The first range of clarity of the determined first angle NW1 is greater than the range of clarity of the angle signals W1, W2 used in the calculation. Furthermore, the at least one evaluation and control unit 10, 10A, 10B determines a second angle NW2 of the rotatable body 3 within a second range of clarity by a second vernier calculation NB2 based on the determined first angle NW1 and another of the at least three electrical angle signals W1, W2, W3. The second unambiguous range of the identified second angle NW2 is greater than the first unambiguous range of the identified first angle NW1 and the unambiguous range of the other electrical angle signal W3.

[0021] As can be seen from Figures 1 and 2, the illustrated embodiment of the sensor device 1, 1A, 1B includes three angle sensors 5A, 5B, 5C, two evaluation and control units 10A, 10B, and one control device 7, 7A, 7B. In the illustrated embodiment, the first angle sensor 5A, which is configured as an inductive angle sensor, provides a first electrical angle signal W1. The second angle sensor 5B, which is also configured as an angle sensor, provides a second electrical angle signal W2. The third angle sensor 5C, which is configured as a magnetic angle sensor, provides a third electrical angle signal W3. The two electrical angle signals W1, W2 of the two inductive angle sensors 5A, 5B are used in the illustrated embodiment for a first vernier calculation NB1, which determines a first angle NW1, performed by the first evaluation and control unit 10A. In the illustrated embodiment, the third electrical angle signal W3 of the third magnetic angle sensor 5C is used for a second vernier calculation NB2, which is performed by the second evaluation and control unit 10B using the determined first angle NW1 to determine the second angle NW2. The transmission ratios of the three angle sensors 5A, 5B, 5C are selected so that the transmission ratio of each angle sensor 5A, 5B, 5C is not an integer multiple of the transmission ratio of the other angle sensors 5A, 5B, 5C. Furthermore, the transmission ratios of the two inductive angle sensors 5A, 5B are determined by the periodicity of the corresponding electrical angle signals W1, W2, respectively. The transmission ratio of the third magnetic angle sensor 5C is determined by a mechanical transmission (not shown in detail) of the rotational movement of the rotatable body 3 to the other rotatable body, which rotates at a different rotational speed than the rotatable body 3.

[0022] At least one of the three electrical angle signals W1, W2, W3 has a discrete rational conversion ratio to the mechanical rotational movement of the rotatable body 3, so that the first or second unambiguous range is greater than one revolution of the rotatable body 3. In the illustrated embodiment, the third electrical angle signal W3 of the third magnetic angle sensor 5C has a discrete rational conversion ratio to the mechanical rotational movement of the rotatable body 3, so that the second unambiguous range of the determined second angle NW2 is greater than one revolution of the at least one rotatable body 3.

[0023] In the illustrated embodiment, the first evaluation and control unit 10A performs the second vernier calculation NB2 as a weighted vernier calculation, in which the determined first angle NW1 is weighted more highly than the third electrical angle signal W3.

[0024] In the illustrated embodiment, the rotatable body 3 is configured as a steering shaft 3A of a vehicle. The steering shaft 3A has a torsion region TB, shown in line. A steering wheel (not shown in detail) is connected to a first section (IN) or inlet side of the steering shaft 3A, which is arranged above the torsion region TB. A steering gear (not shown in detail) connected to the wheel is connected to a second section (OUT) or outlet side of the steering shaft 3A, which is arranged below the torsion region TB. As can be seen from FIG. 3 , the first evaluation and control unit 10A determines a difference angle DW in a calculation block 12 from a first electrical angle signal W1 of a first inductive angle sensor 5A, which detects the rotation angle of the first section (IN) of the steering shaft 3A, and a second electrical angle signal W2 of a second angle sensor 5B, which detects the rotation angle of the second section (OUT) of the steering shaft 3A. From this difference angle DW, the torque acting on the rotatable body 3 configured as the steering shaft 3A can be determined. Furthermore, the first evaluation and control unit 10A performs a differential angle correction of the first electrical angle signal W1 in a correction block 14 before the first vernier calculation NB1.

[0025] As is further apparent from Figure 1, the illustrated first embodiment of the sensor arrangement 1A shows a first embodiment of a control device 7A in which two evaluation and control units 10A, 10B are arranged, whereby two vernier calculations NB1, NB2 can be performed in the control device 7A.

[0026] As can be seen from Fig. 2, the illustrated second embodiment of the sensor arrangement 1B shows a second embodiment of the control device 7B in which only the second evaluation and control unit 10B is arranged. The first evaluation and control unit 10A is arranged outside the control device 7B in the vicinity of the two inductive angle sensors 5A, 5B.

[0027] As can be seen from FIG. 4 , an illustrative embodiment of a method 100 according to the present invention for detecting the rotational movement of a rotatable body 3 about a rotation axis DA, which can be implemented by one of the sensor devices 1, 1A, 1B described above, includes a step S100 in which at least three electrical angle signals W1, W2, W3 with predetermined transmission ratios are generated and evaluated based on the mechanical rotational movement of the rotatable body 3, and at least three electrical angle signals W1, W2, W3 with different transmission ratios are detected. In step S130, a first angle NW1 of the rotatable body 3 is determined within a first unambiguity range by a first vernier calculation NB1 based on two electrical angle signals W1, W2 of the at least three electrical angle signals W1, W2, W3. Here, the first unambiguity range of the determined first angle NW1 is greater than the unambiguity ranges of the angle signals W1, W2 used in the calculation. In step S140, a second angle NW2 of the rotatable body 3 is determined in a second unambiguity range by a second vernier calculation NB2 based on the determined first angle NW1 and another electrical angle signal W3 of the at least three electrical angle signals W1, W2, W3, where the second unambiguity range of the determined second angle NW2 is greater than the first unambiguity range of the determined first angle NW1 and the unambiguity range of the other electrical angle signal W3.

[0028] After step S100, in optional step S110, indicated by a dashed line, a differential angle DW is determined from the first electrical angle signal W1 and the second electrical angle signal W2, from which a torque acting on the rotatable body 3 can be determined. Another optional step S120, indicated by a dashed line, is then inserted before the first vernier calculation NB1 in step S130. Here, in step S120, a differential angle correction of the first electrical angle signal W1 and / or the second electrical angle signal W2 is performed before the first vernier calculation NB1 in step S130. Generally, the electrical angle signals W1 and W2 with the calculated differential angle DW are corrected by addition or subtraction, taking into account the respective transmission ratios. Depending on whether the first angle signal W1 or the second angle signal W2 is corrected, the angle reference for calculating the second angle NW2 is either the first section IN or the inlet side or the second section OUT or the outlet side. Furthermore, the correction can be performed with weighting, so that a virtual reference for the second angle NW2 is created between the first section IN or the inlet side and the second section OUT or the outlet side. This can be done, for example, by averaging, which corresponds to a correction of half the differential angle. Depending on the selection of the angle reference for the second angle NW2, a differential angle correction is also performed using the third electrical angle signal W3.

[0029] In the illustrated embodiment, the second electrical angle signal W2 forms the angle reference for the first vernier calculation NB1. Therefore, in step S120, a differential angle correction of the first electrical angle signal W1 is performed. In conjunction with the selected angle reference and the arrangement of the third angle sensor 5C, a differential angle correction of the third electrical angle signal W3 is additionally performed in step S120 before the vernier calculations NB1 and NB2. In the illustrated embodiment, a differential angle correction of the third electrical angle signal W3 is not performed because the third electrical angle signal W3, like the second electrical angle signal W2 that forms the angle reference for the first vernier calculation NB1, represents the rotation angle of the second section OUT or exit side of the steering shaft 3A. If the first electrical angle signal W1 forms the angle reference for the first vernier calculation NB1, then in step S120, a differential angle correction is performed on the second electrical angle signal W2 and the third electrical angle signal W3, respectively. Of course, differential angle correction of the third electrical angle signal W3 can optionally be performed in a separate step, not shown, between the first vernier calculation in step S130 and the second vernier calculation in step S140.

[0030] In the illustrated embodiment of the method 100 according to the invention, in step S100, three electrical angle signals W1, W2, W3 with a predetermined transmission ratio are generated and evaluated based on the mechanical rotational movement of the rotatable body 3. In step S130, a first angle NW1 of the rotatable body 3 is determined in a first unambiguous range by a first vernier calculation NB1 based on the first electrical angle signal W1 and the second electrical angle signal W2. In step S140, a second angle NW2 of the rotatable body 3 is determined in a second unambiguous range by a second vernier calculation NB2 based on the determined first angle NW1 and the third electrical angle signal W3.

[0031] Since the third angle signal W3 has a discontinuous rational conversion ratio and is mechanically set lower, the second vernier calculation NB2 is implemented as a weighted vernier calculation. Here, the determined first angle NW1 is weighted higher than the third electrical angle signal W3 when determining the second angle NW2, because the third electrical angle signal W3 is used only to count one rotation of the rotatable body, which is configured as the steering shaft 3A. This allows multiple one rotations of the steering wheel to be detected by the determined second angle NW2, which represents the absolute rotation angle of the rotatable body 3.

Claims

1. A sensor device (1) for detecting a rotational movement of a body (3) rotatable about a rotation axis (DA), comprising at least three angle sensors (5) and at least one evaluation and control unit (10), the at least three angle sensors (5) each detect a mechanical rotational movement of the rotatable body (3) with a predetermined transmission ratio and generate corresponding electrical angle signals (W1, W2, W3) which are output to the at least one evaluation and control unit (10); The at least three angle sensors (5) have different transmission ratios; the at least one evaluation and control unit (10) is configured to determine a first angle (NW1) of the rotatable body (3) within a first unambiguous range by a first vernier calculation (NB1), the first vernier calculation (NB1) being based on two electrical angle signals (W1, W2) of the at least three electrical angle signals (W1, W2, W3); the first unambiguous range of the identified first angle (NW1) is greater than the unambiguous range of the angle signals (W1, W2) used in the calculation; the at least one evaluation and control unit (10) is further configured to determine a second angle (NW2) of the rotatable body (3) within a second distinct range by a second vernier calculation (NB2), the second vernier calculation (NB2) being based on the determined first angle (NW1) and another electrical angle signal (W3) of the at least three electrical angle signals (W1, W2, W3); A sensor device (1) in which the second clear range of the identified second angle (NW2) is greater than the first clear range of the identified first angle (NW1) and the clear range of the other electrical angle signal (W3).

2. 2. The sensor device (1) according to claim 1, wherein each of the at least three angle sensors (5) is configured as an inductive angle sensor or a magnetic angle sensor.

3. 3. The sensor device (1) according to claim 1 or 2, wherein the transmission ratio of each of the angle sensors (5) is not an integer multiple of the transmission ratio of one of the other angle sensors (5) of the at least three angle sensors (5).

4. 4. The sensor device (1) according to claim 1, wherein at least one of the at least three electrical angle signals (W1, W2, W3) has an interrupted rational transformation ratio to the mechanical rotational movement of the rotatable body (3), and the first clarity range or the second clarity range is greater than one rotation of the at least one rotatable body (3).

5. 5. The sensor device (1) of claim 4, wherein the other electrical angle signal (W3) has an interrupted rational transformation ratio to the mechanical rotational movement of the rotatable body (3), and the second unambiguous range of the identified second angle (NW2) is greater than one rotation of the at least one rotatable body (3).

6. 6. The sensor device (1) according to claim 1, wherein the at least one evaluation and control unit (10) is further configured to perform the second vernier calculation as a weighted vernier calculation, weighting the determined first angle (NW1) higher than the other electrical angle signals (W3).

7. 7. The sensor device (1) according to claim 1, wherein the transmission ratio of the individual angle sensors (5) can be set by the periodicity of the corresponding electrical angle signals (W1, W2, W3).

8. 8. The sensor device (1) according to claim 1, wherein the transmission ratio of each of the angle sensors (5) can be set by mechanically transmitting the rotational movement of the rotatable body (3) to another rotatable body, the other rotatable body rotating at a different rotational speed than the rotatable body (3).

9. 8. The sensor device (1) according to claim 1, wherein the at least one evaluation and control unit (10) is configured to determine a differential angle (DW) from a first electrical angle signal (W1) of a first angle sensor (5A) and a second electrical angle signal (W2) of a second angle sensor (5B), from which a torque acting on the rotatable body (3) can be determined.

10. 10. The sensor device (1) according to claim 9, wherein the at least one evaluation and control unit (10) is further configured to perform a differential angle correction of the first electrical angle signal (W1) and / or the second electrical angle signal (W2) and / or the third electrical angle signal (W3) before the corresponding Vernier calculation (NB1, NB2).

11. 11. The sensor device (1) according to claim 1, wherein the first evaluation and control unit (10A) is configured to perform the first Vernier calculation (NB1) and / or a differential angle calculation and / or a differential angle correction of the first electrical angle signal (W1), the second electrical angle signal (W2), and / or the third electrical angle signal (W3).

12. 12. The sensor device (1) according to any one of the preceding claims, wherein the second evaluation and control unit (10B) is configured to perform the second Vernier calculation (NB2).

13. A method (100) for detecting a rotational movement of a body (3) rotatable about a rotation axis (DA), which can be implemented by a sensor device (1) according to any one of claims 1 to 12, comprising: Based on the mechanical rotational movement of the rotatable body (3), at least three electrical angle signals (W1, W2, W3) with a predetermined transmission ratio are generated and evaluated, the at least three electrical angle signals (W1, W2, W3) with different transmission ratios are detected; determining a first angle (NW1) of the rotatable body (3) within a first distinct range by a first vernier calculation (NB1), the first vernier calculation (NB1) being based on two electrical angle signals (W1, W2) of the at least three electrical angle signals (W1, W2, W3); the first unambiguous range of the identified first angle (NW1) is greater than the unambiguous range of the angle signals (W1, W2) used in the calculation; determining a second angle (NW2) of the rotatable body (3) within a second distinct range by a second vernier calculation (NB2), the second vernier calculation (NB2) being based on the determined first angle (NW1) and another electrical angle signal (W3) of the at least three electrical angle signals (W1, W2, W3); The method (100) wherein the second unambiguous range of the identified second angle (NW2) is greater than the first unambiguous range of the identified first angle (NW1) and the unambiguous range of the other electrical angle signal (W3).

14. 14. The method (100) according to claim 13, wherein a differential angle (DW) is determined from the first electrical angle signal (W1) and the second electrical angle signal (W2), from which a torque acting on the rotatable body (3) can be determined.

15. 15. The method (100) of claim 14, wherein a differential angle correction of the first electrical angle signal (W1) and / or the second electrical angle signal (W2) and / or the third electrical angle signal (W3) is performed before the corresponding vernier calculation (NB1, NB2).

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