Torque and Angle Sensing Devices

Abstract

Aspects of the disclosure relate to a torque and angle sensing device. A sensor and a processing circuit are integrated into the device. The sensor generates a first signal indicative of a first angle and / or speed. The device has an input contact for receiving a second reference signal indicative of a second reference angle and / or speed. The processing circuit generates a torque indication based on at least the first signal and the second signal. In some embodiments, the processing circuit can pre-program and / or learn, store reference information and generate a torque indication based on the reference information and the internally generated first signal. An output contact of the device can provide a torque indication. Related systems and methods are also disclosed.

Description

[Technical Field]

[0001] [CROSS-REFERENCE TO RELATED APPLICATIONS] This application claims priority to U.S. Patent Application No. 17 / 314,540, filed May 7, 2021, the entire disclosure of which is incorporated herein by reference for all purposes.

[0002] Embodiments of the present disclosure relate to measuring torque using sensors. [Background technology]

[0003] Measuring torque applied to a shaft is useful in a variety of applications. Some exemplary applications include in vehicles. For example, measuring torque applied to a shaft is useful for wheel speed sensing, which is an important input for dynamic braking control systems such as antilock braking systems (ABS), electronic stability systems (ESS), steering angle sensors (SAS), and advanced driver assistance systems (ADAS).

[0004] Specific torque measurement systems are highly application-dependent and not versatile enough for use in different configurations in similar applications. Existing torque measurement systems are relatively expensive and involve various complexities. Therefore, an improved torque measurement system is desirable. Summary of the Invention

[0005] The claimed technologies each have several aspects, and no single aspect alone is solely responsible for its desirable technical attributes. Without limiting the scope of the claims, some prominent features of the present disclosure will be briefly described below.

[0006] One aspect of the present disclosure is a method of measuring torque applied to a shaft, the method including generating, with a first sensor, a first signal indicative of an angle and / or velocity associated with a first reference connected to the shaft, receiving, from a second sensor, a second signal indicative of an angle and / or velocity associated with a second reference connected to the shaft, and determining, with processing circuitry, an indication of torque applied to the shaft based on at least the first signal and the second signal, wherein the first sensor and the processing circuitry are integrated within a device and the second sensor is external to the device.

[0007] The method can further include programming the device as a master unit, the device also being programmable as a slave unit. The device can also be configured as a master unit and the second sensor included in a slave unit.

[0008] The second sensor and second processing circuit may be integrated within a second device. The method may further include comparing, by the processing circuit, the indication of the torque to a second indication of torque applied to the shaft generated by the second processing circuit.

[0009] Determining the indication of the torque may include detecting a phase difference between the first signal and the second signal. This may include accessing calibration information stored in memory of the device.

[0010] The first reference may be a first tone wheel. The second reference may be a second tone wheel. The shaft may be located in a vehicle. The shaft may be located in a machine.

[0011] The method may further include detecting a temperature reading associated with the device using a temperature sensor of the device and applying temperature compensation based on the reading of the temperature, the reading of the torque being based on said applying.

[0012] Another aspect of the present disclosure is a torque and angle sensor device having an input contact, an output contact, a first sensor, and a processing circuit. The input contact receives a second signal indicative of an angle / velocity of a second reference from an external device. The output contact provides an indication of torque. The first sensor generates a first signal indicative of a first angle / velocity. The processing circuit generates the indication of torque based on at least the first signal and the second signal. The sensor and the processing circuit are integrated within the torque and angle sensor device.

[0013] The processing circuitry can be programmed to function as a master unit in a first mode and as a slave unit in a second mode, and the processing circuitry can generate the indication of torque based on a comparison of a first indication of torque determined by the processing circuitry and a second indication of torque generated by the external device.

[0014] The sensor may be a variable reluctance sensor, the sensor may be a magnetic sensor, the sensor may be an inductive sensor, or the sensor may be an optical sensor.

[0015] The first signal may be associated with a first tone wheel or magnet wheel connected to a shaft, the second signal may be associated with a second tone wheel or magnet wheel connected to the shaft, and the indication of torque may represent torque applied to the shaft.

[0016] The processing circuitry and the sensor may both be provided within the housing of the torque and angle sensor device.

[0017] Another aspect of the present disclosure is a system for measuring torque applied to a shaft. The system includes a torque and angle sensing device and a second sensor external to the torque and angle sensing device. The torque and angle sensing device includes a first sensor and a processing circuit. The first sensor generates a first signal indicative of an angle and / or velocity associated with a first reference connected to the shaft. The processing circuit determines an indication of torque applied to the shaft based on at least the first signal and a second signal indicative of an angle and / or velocity associated with a second reference connected to the shaft. The second sensor generates the second signal.

[0018] The second sensor may be in a second torque and angle sensing device, which may be programmed as a slave unit.

[0019] The second sensor may be in a second torque and angle sensing device, The second torque and angle sensing device can generate a second indication of torque applied to the shaft. The torque and angle sensing device can compare the indication of torque to the second indication of torque.

[0020] The second sensor may be a stand-alone sensor.

[0021] Another aspect of the present disclosure is a method for measuring torque on a shaft. The method includes generating, using a sensor integrated with processing circuitry in a device, a first signal indicative of an angle and / or velocity associated with a first reference connected to the shaft. The method also includes determining, using the processing circuitry, an indication of torque on the shaft based on at least the first signal and a second signal.

[0022] The method can include receiving the second signal from a second sensor external to the device. Alternatively, the second signal can be generated by the device without an external sensor. The method can include receiving pre-programmed information and storing the pre-programmed information in a memory, the second signal being indicative of the pre-programmed information.

[0023] Another aspect of the present disclosure is a torque and angle sensing device for measuring torque applied to a shaft. The torque and angle sensing device includes a sensor and a processing circuit. The sensor generates a first signal indicative of an angle and / or velocity associated with a first reference connected to the shaft. The processing circuit determines an indication of the torque applied to the shaft based on at least the first signal from the sensor and information about a second reference stored in a memory of the torque and angle sensing device. The sensor and the processing circuit are integrated within the torque and angle sensing device.

[0024] The second reference information can be pre-programmed. The second reference information can be generated by the torque and angle sensing device without an external sensor.

[0025] These and other embodiments are described in more detail below with reference to the drawings. For purposes of summarizing the disclosure, certain aspects, advantages, and novel features of the disclosed innovations are described herein. It is to be understood that not necessarily all such advantages may be achieved in accordance with any particular embodiment. Thus, the disclosed innovations may be embodied or carried out in a manner that achieves or optimizes one advantage or set of advantages disclosed herein without necessarily achieving other advantages disclosed or suggested herein. [Brief explanation of the drawings]

[0026] Embodiments of the present disclosure will now be described, by way of non-limiting example, with reference to the accompanying drawings, in which:

[0027] [Figure 1] FIG. 1 is a schematic block diagram of a Torque and Angle Measuring Sensor (TAMS) device according to one embodiment. [Figure 2A] FIG. 2A illustrates an exemplary TAMS device with a variable reluctance sensor according to one embodiment. [Figure 2B] FIG. 2B illustrates an exemplary TAMS device with a variable reluctance sensor according to one embodiment. [Figure 2C] FIG. 2C shows the TAMS device of FIGS. 2A and 2B with a tone wheel that rotates in proximity to a variable reluctance sensor. [Figure 3A] FIG. 3A is a graph showing curves generated from test data for each of four different fixed operating gaps between the tone wheel and variable reluctance sensor of a TAMS device. [Figure 3B] FIG. 3B is a graph plotting the variable reluctance sensor output voltage of a TAMS device at various air gap distances for each of three different fixed rotational speeds. [Figure 4A]FIG. 4A is a graph plotting the phase difference between the variable reluctance sensor of the TAMS device and an external variable reluctance sensor. [Figure 4B] FIG. 4B is a graph plotting the phase difference between the variable reluctance sensor of the TAMS device and the external variable reluctance sensor. [Figure 4C] FIG. 4C is a graph of a digitized version of the signal of FIG. 4A. [Figure 4D] FIG. 4D is a graph of a digitized version of the signal of FIG. 4B. [Figure 4E] FIG. 4E is a graph showing the differential phase signal corresponding to FIG. 4C. [Figure 4F] FIG. 4F is a graph showing the differential phase signal corresponding to FIG. 4D. [Figure 5] FIG. 5 is a plot of the uncompensated torque signal and linear reference curve provided as an analog output of the electronic signal processing module. [Figure 6A] FIG. 6A illustrates an exemplary TAMS device with an active sensor according to one embodiment. [Figure 6B] FIG. 6B illustrates an exemplary TAMS device with an active sensor according to one embodiment. [Figure 7] FIG. 7 illustrates an exemplary torque measurement system having two TAMS devices, according to one embodiment. [Figure 8] FIG. 8 is a schematic diagram of an exemplary torque measurement system having a master TAMS device and a slave TAMS device according to one embodiment. [Figure 9] FIG. 9 is a schematic diagram of an exemplary torque measurement system having two master TAMS devices, according to one embodiment. [Figure 10] FIG. 10 is a schematic diagram of an exemplary torque measurement system having a TAMS device and a stand-alone sensor, according to one embodiment. [Figure 11A] FIG. 11A is a flow diagram of a method for measuring torque applied to a shaft according to one embodiment. [Figure 11B] FIG. 11B is a flow diagram of a method for measuring torque applied to a shaft according to another embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0028] The following detailed description of certain embodiments presents various descriptions of specific embodiments. However, the technology described herein can be embodied in many different ways, for example, as defined and covered by the claims. This description refers to the drawings, where like reference numbers and / or symbols can indicate identical or functionally similar elements. It is understood that the elements shown in the drawings are not necessarily drawn to scale. Furthermore, it is understood that some embodiments may include more elements than shown in the drawings and / or a subset of the elements shown in the drawings. Furthermore, some embodiments may incorporate any suitable combination of features from two or more drawings.

[0029] The present disclosure describes a torque and angle measurement sensor (TAMS) device that can calculate torque applied to a shaft, such as a rotating or non-rotating shaft. The TAMS device can include a speed / angle sensor and processing circuitry integrated into a single, compact unit. The processing circuitry can include, for example, a microcontroller. The TAMS device can also include a temperature sensor that can be used for temperature compensation in torque calculations. The TAMS device can include an analog and / or digital electronic interface.

[0030] The torque measurement system consists of a shaft, two references, such as two tone wheel gears or multi-pole magnet wheels, and a TAMS device. and a sensor external to the TAMS device. The sensor external to the TAMS device may in some cases be a stand-alone velocity / angle sensor. The sensor external to the TAMS device may in some other cases be included within a second TAMS device. The second TAMS device may be a slave unit or a master unit.

[0031] In some cases, the torque measurement system may include a shaft, a reference, such as a tone wheel gear or a multi-pole magnet wheel, and a TAMS device. The TAMS device may dynamically generate a first signal from the rotation of the reference. The TAMS device may learn, memorize, or pre-program the secondary information. For example, in some examples, the secondary information may be learned from an unloaded reference wheel at different directional speeds. The secondary information may be a reference signal, a data set representing the reference signal that may be determined from the function of the processing circuitry of the TAMS device, or the like. The secondary information may be stored in the memory of the TAMS device. The TAMS device may determine an indication of the torque applied to the shaft based on at least the first signal and the second information generated by the sensor of the TAMS device. The sensor may be any suitable sensor disclosed herein. The TAMS device disclosed herein may include ( 1) Signals from integrated sensors and secondary information stored in the memory of the TAMS device and / or (2) calculate the torque based on signals from integrated sensors and input signals from external sensors.

[0032] The embodiments disclosed herein provide a high performance (e.g., performance in terms of one or more of linearity, accuracy, resolution, or repeatability) torque / rotation angle measurement system with diagnostic and programmability capabilities, making the system versatile for a variety of different applications and configurations.

[0033] The design of a tone wheel torque measurement system using a distributed speed sensing device and electronic control unit may be application dependent and may not be versatile enough for different configurations of the system to be used in the same application. Distributed torque measurement systems may have drawbacks such as complex assembly, wiring, adjustment, calibration, and / or maintenance. Therefore, such distributed torque measurement systems may be relatively expensive.

[0034] The integrated torque sensing system disclosed herein can address the above-mentioned complexities while providing flexibility in applications involving different configurations. This disclosure presents a TAMS device with an integrated speed / angle sensor. The TAMS device is programmable to function as a master unit or a slave unit. The TAMS device can calculate the torque or rotation angle applied to a shaft. The TAMS device can be programmed to operate with various other external electrical speed / angle sensors. The TAMS device can also be included in a torque measurement system that includes one or more other similar TAMS devices to create functional redundancy and / or validity in the system. Data transmission between TAMS devices can be achieved in various ways, including wired and / or wireless communication using analog and / or digital formats.

[0035] Regardless of which sensing technology is used, one or more of the accuracy, hysteresis, repeatability, linearity, etc. of the sensing device output are important design parameters and may be even more important in magnetic technology. For more accurate torque and / or angle measurements, most sensing applications require low nonlinearity in calibration as well as system Low mechanical and magnetic hysteresis / error in the system. Minimizing measurement errors when undesirable system variations or noise occur, such as inaccuracies in component assembly, variations in system material properties, variations in sensing elements, magnetic hysteresis, and three-dimensional mechanical motion due to variations in the tone wheel's physical and mechanical features, such as tooth surface shape and dimensions, continues to be a challenge. In general, in addition to low-tolerance mechanical system design, the accuracy of a magnetic sensor can be defined by the techniques used to design the magnetic circuit, including one or more of the following: magnetic material properties of the sensor structure and surrounding components, magnet type and magnetization, physical dimensions, undesirable magnetic and mechanical noise, magnetic sensing element type and technology, and measurement system configuration, including air gap and calibration. There are various parameters that can play an important role in the accuracy of torque and / or angle calculations. Therefore, a highly reliable TAMS device may facilitate the use of low-offset and low-temperature drift electronics and programmable units for high-speed multi-algorithm processing, parameter calibration, and / or data storage.

[0036] Embodiments disclosed herein can provide high performance torque and angle measurement devices by reducing, minimizing, or eliminating sources of error in the sensing circuitry (e.g., magnetic sensing circuitry), adjustable mechanical mounts for desired air gaps, robust designs for multiple applications with programmability and configurability of desired calibrations and / or algorithms, functional redundancy and validity, and diagnostic capabilities (e.g., self-safety and / or health checks).

[0037] A TAMS device is an integrated, programmable torque and angle sensor designed to measure the torque and torsion angle applied to a reference shaft. Such a reference shaft is connected to one or two tone wheels or magnet wheels. As a torque sensing device, the TAMS device can be a microcontroller-based active or passive speed / angle sensor that can be programmed to dynamically calculate torque and other required functions (speed, direction of rotation, and angle). The built-in sensor within the TAMS device can be any sensor suitable for sensing angle and / or speed. For example, the built-in sensor can be a variable reluctance (VR) sensor. The sensing element may be a passive sensor such as a magnetic Hall effect sensor, a magnetic Anisotropic Magneto-Resistive (AMR) sensor, a magnetic Giant Magneto-Resistive (GMR) sensor, a magnetic Tunnel Magneto-Resistive (TMR) sensor, an inductive sensing system, an optical sensor, or any other suitable sensor. An inductive sensing system uses a multi-winding primary (transmitter) and a secondary (transmitter) built on a printed circuit board (PCB) as the sensing element. The TAMS device includes an integrated circuit (IC) that connects to the primary and secondary (receiver) coils. The TAMS device can be programmed to function as either a master or slave unit in a torque and angle measurement system. As a master unit, the TAMS can monitor and read tone wheel angle and physical tooth profile information from both its built-in sensors and external angle / speed sensors. The external sensors can be standalone sensors or sensors included in a second TAMS device. The TAMS device can determine the mechanical torsional angle difference between two references, such as two tone wheels or magnet wheels associated with the shaft, and calculate the torque applied to the shaft.

[0038] Additionally, in some embodiments, the TAMS device may include an internal temperature sensor to measure temperature, which affects sensor function. The TAMS device may apply temperature compensation algorithms to determine torque and / or angle.

[0039] The functionality of the TAMS device will now be described. The TAMS device can dynamically detect, monitor, read, process, analyze, and capture the angular velocity (directional angular rate) and angular position of a rotating shaft, as well as tone wheel tooth profile information or magnet wheel magnetic field profile (representing the speed / angle signal) received from an internal master and / or external slave sensor. The master sensor can be an internal speed sensor. The master sensor can be an active or passive sensor. The slave sensor can be a standalone external speed sensor or a speed sensor of a secondary TAMS device. The slave sensor can be an active or passive sensor. The TAMS device can measure the phase difference between the signal from the master sensor and the signal from the slave sensor.

[0040] The TAMS device can detect the rotation direction of a tone wheel connected to a shaft. The TAMS device is designed to detect zero RPM (Rotation Per Minute). It can detect the direction of torque applied to a rotating shaft from low to very high RPMs.

[0041] The TAMS device can read and capture all relevant functions and / or algorithms and parameters for calculating torque and / or angle values ​​of a rotating shaft. The TAMS device can be programmed for different torque calculation methods (e.g., phase measurement based on zero crossings, Fast Fourier Transform (FFT), or other methods). The TAMS device can store calibration parameters and can be programmed with one or more algorithms for calculating torque applied to a shaft. The TAMS device can read and capture mechanical size and / or shape characteristics of tone wheels and / or other references and apply such information to function calculations, plausibility, and (electro)mechanical diagnostics.

[0042] The TAMS device is able to calculate the torque applied to a shaft connecting two references, such as tone / magnet wheels, based on the measured differential phase of two independent signals received from an internal sensor and an external sensor.

[0043] In systems including a secondary TAMS device, the first TAMS device can capture and compare calculated torque information received from the second TAMS device, which can provide functional redundancy and plausibility checks on torque and / or angle measurements.

[0044] The TAMS device can capture tone wheel speed and rotation direction data, applied torque and direction of applied torque. The TAMS device can then communicate with any suitable interface (e.g., Controller Area Network (CAN), Local Interconnect Network (LIN), Serial Peripheral Interface (SPI; Serial Peripheral Network), Pulse Width Modulation (PWM; Pulse Width Modulation), Inter-Integrated Circuit (I2C) ), or Universal Asynchronous Receiver / Transmitter (UART) interface) and / or relatively high-resolution analog photo The information can be transmitted digitally via a TAMS mat. TAMS devices can detect and output zero-crossing information from built-in passive or active speed / angle sensors.

[0045] The TAMS device can measure and / or report temperature, which affects sensor function. The TAMS device may be temperature compensated in determining the torque applied to the shaft. can be applied.

[0046] The input / output (I / O) of TAMS devices is compliant with Electromagnetic Compatibility (EMC), Electromagnetic Interference (EMI), and / or reduces the effects of transient signals such as electrostatic discharge (ESD) transients The I / O interface of a TAMS device can be designed to condition the input and / or output signals as desired.

[0047] The TAMS devices disclosed herein can be applied to any suitable shaft torque sensing system. Such technical solutions are useful in industrial machinery and equipment, robotics, automotive, aerospace, electric vehicles (EVs), autonomous vehicles (AVs), and medical devices where functional redundancy and validity are desirable. The present invention may be applied in any suitable industry, including the automotive, automotive, and industrial sectors.

[0048] 1 is a schematic block diagram of one embodiment of a TAMS device 10. As shown, TAMS device 10 includes a sensor 12, a processing circuit 14, I / O interfaces 15, 16, and 17, and a voltage regulator and temperature sensor 18. Sensor 12, processing circuit 14, voltage regulator, and temperature sensor 18 may be provided within the housing of TAMS device 10.

[0049] The sensor 12 is integrated within the TAMS device 10. The sensor 12 is included in the same package as the processing circuit 14. The sensor 12 can detect and generate a signal containing angular and / or directional velocity information associated with the rotating shaft. In many applications, the sensor 12 can be an active sensor, especially when velocity measurements near zero are desired. In certain applications, the sensor 12 can be a passive sensor. Based on the output signal from the sensor 12, the processing circuit 14 can determine the angular position and / or angular velocity of the rotating shaft and its direction. The rate of change of the angle can indicate the angular velocity (ω = dθ / dt). Similarly, the angular velocity can indicate the angle "θ" and the change "Δθ" with time T. Thus, the signal generated by the sensor 12 is time-dependent and can indicate both the angular position and angular velocity of the rotating shaft. The signal generated by the sensor 12 indicates at least one of the angular position or angular velocity of the rotating shaft.

[0050] Depending on the application, processing circuitry 14 may comprise a simple microcontroller or a powerful microcontroller with digital signal processing capabilities to perform more complex algorithms for more powerful and faster calculations. For example, the processing circuitry may be a microprocessor-based Electronic Signal Processing Module (ESPM) custom designed to meet any application with specific requirements. Processing circuit 14 may be programmable. Processing circuit 14 can calculate torque based on output signals of sensors 12 received internally at interface 16 and outputs of sensors external to TAMS device 10 received at I / O contacts of first I / O interface 15. The I / O contacts may be pins, pads, bumps, or any other suitable contacts for receiving input signals. Processing circuit 14 may include memory for storing one or more parameters for calculating angle and / or torque.

[0051] Processing circuitry 14 can calculate torque based on the output signal of sensor 12 received solely at interface 16 and one or more reference signals preprogrammed into memory and / or learned and captured. Reference signals at different conditions can be provided to processing circuitry 14 for storage via I / O contacts of interface 15. In this case, TAMS 10 can function as a stand-alone device for calculating torque. It functions as:

[0052] TAMS 10 has I / O interfaces 15, 16, 17 suitable for receiving and / or outputting signals. One or more of I / O interfaces 15, 16, 17 may be configured to process digital signals. Alternatively or additionally, one or more of I / O interfaces 15, 16, 17 may be provided to process analog signals.

[0053] The first I / O interface 15 can receive signals from outside the TAMS device 10 and provide the received signals to the processing circuit 14 and / or the voltage regulator and temperature sensor 18. The first I / O interface 15 can process the received signals. The first I / O interface 15 can receive a common ground signal GND for the TAMS device 10. The first I / O interface 15 can receive a power supply voltage VDD for the TAMS device 10. The first I / O interface 15 can receive one or more reference signals Ref Signal_In1, Ref Signal_In2 indicating measured tone wheel information and status from an external sensor or device, such as a sensor, tester, simulator device, or programmer of a secondary TAMS device, to provide a reference signal. The one or more reference signals Ref Signal_In1, Ref Signal_In2 indicate measured tone wheel information and status from an external sensor or device, such as a sensor, tester, simulator device, or programmer of a secondary TAMS device. , Ref Signal_In2 may provide an indication of the angle and / or speed associated with a reference such as a second tone wheel or magnet wheel.

[0054] The second I / O interface 16 may provide the output signal from the sensor 12 to the processing circuit 14. The second I / O interface 16 may process the output signal from the sensor 12. Such processing may include one or more of filtering, signal amplification, and the like.

[0055] The third I / O interface 17 can receive signals from the processing circuitry 14 and output the received signals external to the TAMS device 10. The third I / O interface 17 can output one or more TAMS output signals TAMS Signal_Out1, TAMS Signal_Out2 indicating calculated torque / angle information and / or measurement system diagnostics to an external Electronic Control Module (ECU). The interface 17 outputs one or more reference signals Ref Signal_Out1, Ref Signal_Out2, Ref Signal_Out3, Ref Signal_Out4, Ref Signal_Out5, Ref Signal_Out6, Ref Signal_Out7, Ref Signal_Out8, Ref Signal_Out9, Ref Signal_Out10, Ref Signal_Out11, Ref Signal_Out12, Ref Signal_Out13, Ref Signal_Out14, Ref Signal_Out15, Ref Signal_Out16, Ref Signal_Out17, Ref Signal_Out18, Ref Signal_Out19 ... , Ref Signal_Out2. One or more reference signals Ref Signal_Out1, Ref Signal_Out2 are related to the reference such as tone wheel / magnet wheel. The TAMS device 10 may provide an indication of the angle and / or speed applied to the actuator, and these signals may be used by another external TAMS device to calculate the torque applied by the TAMS device 10.

[0056] The voltage regulator and temperature sensor 18 comprises a voltage regulator that supplies a regulated voltage to the processing circuit 14. Based on the power supply voltage VDD received at the first I / O interface 15, the voltage regulator ensures that a predetermined power (voltage and current) is generated to energize the entire processing circuit 14 and interfaces 15, 16, 17 at a predetermined level for more accurate and repeatable TAMS performance. The voltage regulator and temperature sensor 18 comprises a temperature sensor. The processing circuit 14 can be configured to perform temperature compensation based on the output of the temperature sensor, thereby improving the accuracy of the TAMS measurement and calculation functions.

[0057] The TAMS device 10 can be used in a variety of applications. Wheel speed sensing is used in anti-lock braking systems (ABS), electronic stability systems (ESS), and other automotive applications. Stability System, Steering Angle Sensing (SAS) It is an important input to dynamic braking control systems, such as those in advanced driving assistance systems (ADAS), and in automotive applications. Applications include detecting and measuring the speed and torque applied to a shaft with a tone wheel, as shown in FIG. 2C.

[0058] Examples of sensors 12 in TAMS device 10 for wheel speed and torque measurement applications include passive sensors using variable reluctance and active sensors using solid-state integrated circuits. Magnetic speed sensors are examples of passive and active sensors incorporated into TAMS device 10. Magnetic speed sensors respond to changes in the magnetic field caused by the movement of a magnetic target near the magnetic speed sensor.

[0059] An exemplary TAMS device is an integrated variable reluctance (VR) VR sensors include sensors. VR sensors can include a relatively small electromagnetic generator that produces an analog alternating current (AC) signal proportional to the size, speed, and proximity of a nearby rotating ferromagnetic or other highly permeable magnetic target, such as a tone wheel. VR sensors can operate without an external power source and therefore can be classified as passive sensors. TAMS devices can include integrated VR sensors for torque and angle measurement applications.

[0060] 2A and 2B illustrate an exemplary TAMS device 20 with an integrated VR sensor 22 according to one embodiment. FIG. 2A illustrates a model of the main structure of the TAMS device 20. FIG. 2B illustrates the internal components of the TAMS device 20. As shown in FIG. 2A, the TAMS device 20 includes a VR sensor 22, an electronic signal processing module (ESPM) 24, and an I / O connector 26. Both the VR sensor 22 and the ESPM 24 are located within the housing of the TAMS device 20. FIG. 2B illustrates that the VR sensor 22 includes a magnet 32, a coil of wire 33, and a pole piece 34. Further, in FIG. 2B, the ESPM 24 includes a printed circuit board (PCB) 35, processing circuitry 36, and a temperature sensor 37 disposed on the PCB 35. The processing circuitry 36 may include, for example, a microcontroller. The I / O connector 26 may include I / O connector contacts 38, as shown in FIG. 2B. The I / O connector contacts 38 may be I / O connector pins.

[0061] In some embodiments, the TAMS device 20 can store pre-programmed or predetermined secondary reference information. This secondary reference information can be pre-programmed from signals received at an I / O interface of the TAMS device 20. The secondary reference information can be generated by the TAMS device 20 without an external sensor. For example, in some examples, the secondary reference information can be determined from an unloaded reference wheel at different directional speeds. The secondary reference information can be stored and / or programmed into the memory of the TAMS device 20. The secondary reference information can represent a reference value. The secondary reference information can include one or more input values ​​for a function executed by the processing circuitry of the TAMS device 20 to calculate the reference value. For example, values ​​can be input into a function similar to the curves of FIGS. 3A and / or 3B executed by the processing circuitry to determine the reference value. Using the secondary reference information, the TAMS device 20 can determine an indication of the torque applied to the shaft solely based on at least the secondary information and the output of the VR sensor 22. TAMS device 20 can be programmed to calculate torque based on (1) signals from internal sensors and secondary information stored in memory, and / or (2) signals from internal sensors and signals from external sensors. In one embodiment, TAMS device 20 calculates torque based on (1) signals from internal sensors and secondary information stored in memory. and (2) a signal from an internal sensor and a signal from an external sensor, the calculated torque can be compared.

[0062] FIG. 2C illustrates a TAMS device 20 having a tone wheel 39 that rotates in close proximity to the VR sensor 22. A portion of the tone wheel 39 is shown in FIG. 2C. The tone wheel 39 is a ferromagnetic tone wheel. Exemplary ferromagnetic tone wheels can include transition metals such as iron, nickel, cobalt, and their alloys. Therefore, the tone wheel 39 can be a metal target with specific magnetic properties (e.g., carbon steel 1008 or carbon steel 1010, with a typical permeability of 500-800). As shown in the figure, the tone wheel 39 has a gear. The VR sensor 22 can detect the speed and / or angle based on the rotation of the tone wheel 39.

[0063] A mathematical model of the VR sensor output voltage operating in conjunction with a rotating tone wheel 39 (e.g., as shown in FIG. 2C) can be expressed by equations (1) through (6). These equations can be derived from Faraday's law and Lenz's law. Test data shows that the mathematical model based on equations (1) through (6) is accurate.

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[0064] As shown in equations (1) and (2), the dynamic output electrical signal voltage V(t, θa, RPM, x) generated by the VR sensor 22 may be directly proportional to the time (t), the rotational speed (RPM) of the target, the gap (x) between the sensor 22 and the tone wheel teeth, and the angle (θa) or phase change (Δφa) due to the torque applied to the shaft coupled to the tone wheel 39. The parameters C1 and C2 in equation (6) and K in equation (2) are constants.

[0065] The electrical frequency of the VR sensor electrical signal output is determined by the machine rotation speed (RPM) and the tone wheel speed. This can be determined by the number of pre-designed teeth (Nt) of the Lugia.

[0066] The mechanical gear pitch (θp) of the tone wheel can be determined by the number of teeth on the tone wheel per design (θp = 360° / Nt). Therefore, the mechanical gear pitch (and / or number of gear teeth) can affect both the electrical frequency of the VR sensor signal output as well as the resolution of the calculated angle and / or torque measurements.

[0067] The peak-to-peak amplitude (RPM, x) of the VR sensor output voltage Vpp can be a linear function of the mechanical gear rotational speed (RPM) at a fixed operating air gap (x), as shown in equation (3).

[0068] The curves shown in Figure 3A, generated from test data, range from 0.5 mm (millimeters) to 3 mm Figure 1 shows the linearity of Vpp(x,RPM) at several fixed operating gaps (x) between the tone wheel and the VR sensor in the range of

[0069] As shown in equations (3) through (6), the peak-to-peak amplitude of the VR sensor output voltage Vpp(RPM, x) may be proportional to a nonlinear function C(x) that decays exponentially as the air gap changes at a fixed RPM.

[0070] Figure 3B shows the air gap varied between 0.5 mm and 3 mm at several fixed RPMs. This plots the VR sensor output voltage Vpp(x,RPM), which decays exponentially as the speed increases.

[0071] Equations (3) through (6) also show that the amplitude of the VR sensor output voltage can be predetermined by certain physical design parameters, such as the number of turns in the coil of wire (Nc), the cross-sectional area of ​​the coil (Ac), and the number of tone wheel teeth (Nt). As the tone wheel gear rotates, the physical gap x between the VR sensor and the gear teeth also changes, allowing the magnitude of the magnetic flux B(x) to vary with respect to the gap. The peak-to-peak magnetic flux density change Bpp(x) can be accurately approximated by a nonlinear decaying exponential function given by Equation (6).

[0072] The dynamic output voltage V(t, θa, RPM, x) generated by both the internal and external VR sensors can be fed to the ESPM 24 (FIGS. 2A-2C) of the TAMS device 20. The ESPM 24 can further process these signals in an I / O interface and / or a microcontroller.

[0073] Figures 4A and 4B are graphs plotting the phase difference between the TAMS device's VR sensor and an external VR sensor. These differences can be detected by the TAMS device's ESPM. In Figure 4A, the initial phase difference Δφa0 is 45°. Torque is applied to the shaft with the tone wheel. As shown in Figure 4B, the phase difference is changed so that the adjusted phase difference Δφa1 is 55°. The torque applied to the shaft can be proportional to the differential phase difference (Δφa1 - Δφa0) between the two output signals from the two VR sensors, calculated and / or measured in the ESPM. The two analog signals A and B shown in Figures 4A and 4B are digitized (or pulsed through zero crossings) and then differentiated (AB) by the microcontroller alone or with another circuit.

[0074] Figures 4C and 4D are graphs of digitized versions of the signals of Figures 4A and 4B. As explained below, these graphs may alternatively represent the outputs of active sensors. The zero crossings of the signals from the two VR sensors may be detected by the ESPM of the TAMS device. Alternatively or additionally, any other suitable points associated with the waveforms of the two VR signals may be detected.

[0075] A differential phase signal can be generated from the digitized VR signals from the TAMS device's VR sensor and an external VR sensor (which may or may not be a second TAMS device). Figures 4E and 4F are graphs showing the differential phase signals corresponding to Figures 4C and 4D, respectively. The differential phase signal represents the duration between the zero crossings of the VR output signals from the two VR sensors. The duration change associated with the differential phase signal in response to applying torque to the shaft using the tone wheel can be directly proportional to the applied torque (where the torsional stiffness coefficient of the shaft is related to its shape, dimensions, and material). The duration can represent the difference between reference points (e.g., zero crossings) of the VR signals from the TAMS device's VR sensor and the external VR sensor. The change in duration can represent the difference in pulse length between the pulses in Figures 4E and 4F. The duration change can be calculated by the ESPM of the TAMS device. The ESPM can convert the duration change into a torque value.

[0076] The physical properties of the shaft and tone wheel materials change with temperature. In some instances where this temperature effect cannot be ignored, the ESPM can compensate the torque value based on the temperature reading from the temperature sensor and the calibration data stored in the ESPM's memory. The ESPM can then output both the measured torque and temperature values ​​from the TAMS device. The torque and / or temperature value indications can be digital and / or analog signals in certain applications.

[0077] Figure 5 plots the uncompensated torque signal and linear reference curve provided as the analog output of the ESPM. The uncompensated torque signal in Figure 5 is a root-mean-square (RMS) voltage. The uncompensated torque signal represents the RMS voltage as a function of the differential phase (Δφa1 - Δφa0) between the output signal of the TAMS device's VR sensor and the output signal of the external VR signal.

[0078] Sensor operating temperature changes affect the physical parameters of the VR sensor structure, the air gap, and / or the functional operation of the ESPM components, resulting in changes in the output voltages V(t, θa, RPM, x) of the internal and external VR sensors of the TAMS device. Temperature changes also result in changes in the magnetic field strength (e.g., parameters K, KB, C1, C2), ultimately affecting the VR sensor output. The gain and phase of the TAMS output voltage can be varied by varying the temperature. Temperature changes can affect the slope and offset of the linear output voltage of a TAMS device, as shown in Figure 5. The TAMS device output voltage can be compensated for changes in offset and slope due to temperature changes. The TAMS device can be calibrated to operate over a desired range of temperature operation (e.g., approximately -40°C to 150°C). The compensated torque signal can resemble the linear reference curve shown in Figure 5.

[0079] In some embodiments, the TAMS device includes an active speed sensor. The active speed sensor receives power from an external power source to function. One example of an active sensor is a back-biased Hall effect speed sensor. The Hall effect sensor can provide a digital output signal having a frequency that is directly proportional to speed. Unlike the output signal of certain VR sensors, the amplitude of the active sensor output signal may not change with the speed of the magnetic target (e.g., a geared tone wheel). An example of a torque measurement system without two active sensors will now be described.

[0080] 6A and 6B illustrate an exemplary TAMS device 60 with an integrated active sensor 62 according to one embodiment. FIG. 6A shows a model of the main structure of the TAMS device 60. FIG. 6B shows the active sensor 62 within the TAMS device 60. The active sensor 62 is a back-biased Hall effect sensor within the TAMS device 60. In FIG. 6A As shown, TAMS device 60 includes active sensor 62, ESPM 64, and I / O connector 26. Both active sensor 62 and ESPM 64 are provided within the housing of TAMS device 26. ESPM 64 may optionally include any of the components of ESPM 24 of FIG. 2A. ESPM 64 is configured to calculate a torque reading based on the output of active sensor 62 and sensors external to TAMS device 60.

[0081] The output signal of the active sensor 62 can be switched between a known high value and a known low value. Regardless of the technology used (e.g., magnetic, inductive, or optical), the output signal of the active speed sensor assembly can be substantially the same. The graphs shown in Figures 4C and 4D can represent the output signals (A and B) of the active sensor 62 incorporated into the TAMS device 60 and an external active sensor at 45° and 55° phase differences. These signals can be processed by the ESPM 64 of the TAMS device 60 to generate the differential phase (Δφa1 - Δφa0) signal shown in Figures 4E and 4F. The torque applied to the shaft can be proportional to the differential phase between the two active sensor output signals A and B (the shaft's torsional stiffness coefficient is related to its shape, dimensions, and material). This process can be performed in any suitable processing circuit, such as a microcontroller alone or in conjunction with another circuit.

[0082] In some embodiments, the torque measurement system can include active and passive sensors. For example, the torque measurement system can include a VR sensor and a magnetic Hall effect sensor. The torque applied to the shaft can be determined from output signals provided by these sensors. The output of one of the sensors can be processed to generate a signal in a similar format to the other sensor. For example, the VR sensor can generate the output signal shown in FIG. 4A. This output signal can be processed to generate the signal shown in FIG. 4C. The Hall effect sensor can generate the output signal shown in FIG. 4C. The torque applied to the shaft can then be determined based on the two signals shown in FIG. 4C, for example, as described above.

[0083] The TAMS devices disclosed herein can have a programmable ESPM configured to monitor and process information received from both internal and external sensors. The TAMS devices disclosed herein can also have a programmable ESPM configured to learn and store reference signals under different conditions (e.g., air gap, speed, temperature, etc.) and compare them to the reference signals in memory to monitor and process information received from the internal sensors. The ESPM is an example of a processing circuit. The ESPM determines and outputs an indication of torque applied to the shaft, with or without associated temperature information. The ESPM can also output diagnostic status. The ESPM can provide torque indications and / or diagnostic status to an electronic control module (ECU) external to the TAMS device. This information can be provided in analog and / or digital format. In certain applications, the ESPM (e.g., ESPM 24 of FIG. 2A or ESPM 64 of FIG. 6A) has a microcontroller that processes signals indicative of speed and / or angle and generates a torque indication with or without associated temperature information. In some applications, the ESPM (e.g., ESPM 24 of FIG. 2A or ESPM 64 of FIG. 6A) also has additional circuitry for functional redundancy. This additional circuitry can include a phase difference circuit, such as an XOR logic gate, configured to generate a phase difference between the output signal from the TAMS device's internal sensor and the output of the sensor external to the TAMS device. The ESPM can also include one or more amplifiers, one or more transistors, one or more logic gates, one or more state elements (e.g., flip-flops or latches), one or more resistors, one or more capacitors, one or more diodes, etc., or any suitable combination thereof. The TAMS device I / O can be protected against forward and reverse overvoltage, electromagnetic compatibility / interference (EMC / EMI), and electrostatic discharge (ESD).

[0084] A torque measurement system for measuring torque applied to a shaft is now described. In this torque measurement system, a TAMS device can be used with another TAMS device or other sensor to measure torque applied to the shaft. In one embodiment, the torque measurement system has one TAMS device configured as a master unit and another TAMS device configured as a slave unit. According to some other embodiments, the torque measurement system has two TAMS devices configured as master units. In some embodiments, the torque measurement system has one TAMS device configured as a master unit and a standalone speed sensor.

[0085] FIG. 7 illustrates an exemplary torque measurement system 70 having two TAMS devices 72, 74, in one embodiment. The first TAMS device 72 is proximate to a first tone wheel 75 connected to a shaft 76. The sensor of the first TAMS device 72 is configured to detect the angle and speed associated with the rotation of the first tone wheel 75. The second TAMS device 74 is proximate to a second tone wheel 77 connected to the shaft 76. The sensor of the second TAMS device 74 is configured to detect the angle and speed associated with the rotation of the second tone wheel 77. The phase difference between the signals generated by the sensors of the TAMS devices 72, 74 can change depending on the torque applied to the shaft 76. When torque is applied to the shaft 76, the tone wheels 75, 77 can rotate in opposite directions relative to each other. The first TAMS device 72 can include any combination of the components of a TAMS device disclosed herein, such as TAMS device 10, TAMS device 20, or TAMS device 60, as appropriate. Similarly, the second TAMS device 74 can have any combination of components of a TAMS device disclosed herein, such as TAMS device 10, TAMS device 20, or TAMS device 60, as appropriate. The first TAMS device 72 can be programmed as a master unit, and the second TAMS device 74 can be programmed as a slave unit. Alternatively, both TAMS devices 72, 74 can be programmed as master units. The master unit can calculate torque based on output signals from its internal sensors and outputs from external sensors. The slave unit can output signals indicative of angle and / or velocity relative to a reference connected to the shaft that are used by the master unit to calculate torque applied to the shaft.

[0086] FIG. 8 shows a schematic diagram of an exemplary torque measurement system 80 having a master TAMS device and a slave TAMS device, according to one embodiment. In the torque measurement system 80, a first TAMS device 10A is programmed as the master unit, and a second TAMS device 10B is programmed as the slave unit. The TAMS devices 10A, 10B of FIG. 8 may be substantially identical in terms of circuitry and calibration, but may be programmed into different modes. The TAMS devices 10A, 10B may be implemented according to any suitable principles and advantages of the TAMS devices disclosed herein.

[0087] As a slave unit, the second TAMS device 10B can detect and transmit to the first TAMS device 10A information indicative of the angle / speed and / or temperature associated with the first tone wheel 75. The second TAMS device 10B can also detect and transmit to the first TAMS device 10A angle / speed information (indicative of the surface (e.g., gear tooth) profile) and / or associated temperature, and / or error / diagnostic information associated with the first tone wheel 75. The TAMS device 10A can transmit the signal to the TAMS device 10A.

[0088] In the torque measurement system 80, the reference signal output of the second TAMS device 10B is electrically connected to the reference signal input of the first TAMS device 10A. One or more output reference signals Ref Signal_Out1, Ref Signal_Out2 generated by the second TAMS device 10B are received by contacts (e.g., pins) of the first TAMS device 10A. In various applications, the first TAMS device 10A can have at least one contact electrically connected to a contact of the second TAMS device 10B by a wire. In some other applications, the one or more reference signals can be communicated wirelessly between the TAMS devices. In such applications, the TAMS device can have an antenna connected to a contact (e.g., a pad) of the TAMS device.

[0089] As a master unit, the first TAMS device 10A can calculate the torque to be applied to the shaft 76 based on the output of its internal sensors and information from the second TAMS device 10B. The first TAMS device 10A detects a differential phase difference associated with the outputs of the sensors of the TAMS devices 10A, 10B. The first TAMS device 10A may calculate torque (and compensate based on the measured temperature, if so configured) and, when configured as a master unit, verify information received from the second TAMS device 10B. The first TAMS device 10A may output one or more TAMS output signals TAMS Signal_Out1, TAMS Signal_Out2 indicating the calculated torque applied to the shaft 76, and / or associated temperature, and / or error / diagnostic information. The one or more TAMS output signals TAMS Signal_Out1, TAMS Signal_Out2 may be provided to an ECU or other circuitry external to the torque measurement system 80.

[0090] FIG. 9 shows a schematic diagram of an exemplary torque measurement system 90 having two master TAMS devices, according to one embodiment. The torque measurement system 90 is an example of a system in which torque can be calculated by two different TAMS devices. In the torque measurement system 90, a first TAMS device 10C is programmed as a first master unit, and a second TAMS device 10D is programmed as a second master unit. The TAMS devices 10C and 10D of FIG. 9 can each be programmed to detect differential phase difference, calculate the torque applied to the shaft 76, and verify information received from each other. Thus, both TAMS devices 10C and 10D can calculate the torque applied to the shaft 76. The torque measurement system 90 provides functional redundancy, dynamic verification, and validity of the torque calculation with associated temperature and diagnostic / system health information. The torque measurement system 90 is advantageous in certain applications with specifications for safety and error compensation. The TAMS devices 10C and 10D can be substantially identical in terms of circuitry and calibration. Both TAMS devices 10C, 10D can be programmed into master mode. TAMS devices 1C, 10D can be implemented according to any suitable principles and advantages of TAMS devices disclosed herein.

[0091] The second TAMS device 10D can provide one or more reference signals to the first TAMS device 10C. The first TAMS device 10C can calculate torque based on angle / speed readings received from the second TAMS device 10D and angle / speed readings generated by internal sensors of the first TAMS device 10C, the angle / speed readings being associated with different references (e.g., tone wheels 75, 77) associated with shaft 76. The second TAMS device 10D can provide one or more TAMS signals to the first TAMS device 10C indicative of the torque calculated by the second TAMS device 10D. First TAMS device 10C may compare a first torque measurement produced by the first TAMS device 10C with a second torque measurement produced by the second TAMS device 10D to verify the torque measurements.

[0092] The first TAMS device 10C can provide one or more reference signals to the second TAMS device 10D. The second TAMS device 10D can calculate torque based on angle / velocity readings received from the first TAMS device 10C and angle / velocity indications generated by internal sensors of the second TAMS device 10D, where the angle / velocity indications are calculated based on a different reference (e.g., torque) associated with the shaft 76. Although not shown in FIG. 9, the first TAMS The device 10C, in some applications, can provide one or more TAMS signals (angle, speed, torque, temperature, error, etc.) to the second TAMS device 10D. The second TAMS device 10D can compare a second torque measurement generated by the second TAMS device 10D with the first torque measurement generated by the first TAMS device 10C to verify the torque measurements.

[0093] FIG. 10 shows a schematic diagram of an exemplary torque measurement system 100 including a TAMS device and a stand-alone sensor, according to one embodiment. As shown, the torque measurement system 100 includes a TAMS device 10E programmed as a master unit and an external sensor 102. The external sensor 102 can be considered a slave unit. The TAMS device 10E can be programmed to cooperate with the external sensor 102. The external sensor 102 can detect and transmit information indicative of the angle / velocity of the tone wheel 75 to the TAMS device 10E. The external sensor 102 can provide the TAMS device 10E with surface profile information related to the tone wheel 75 (e.g., information regarding the tooth profile of the tone wheel). The external sensor 102 can be an active sensor. Alternatively, the external sensor 102 can be a passive sensor. The external passive sensor can be implemented without a power source. The external passive sensor can be implemented without contacts for receiving a supply voltage.

[0094] The TAMS device 10E can reference information from an external sensor 102. The TAMS device 10E can calculate torque based on angle / speed readings received from the external sensor 102 and angle / speed readings generated by an internal sensor of the TAMS device 10E, where the angle / speed readings are associated with different references (e.g., tone wheels 75, 77) associated with the shaft 76. The TAMS device 10E can be programmed to detect the differential phase difference, calculate the torque to be applied to the shaft 76, and verify the information received from each other. The TAMS device 10E can be configured to output temperature information related to the calculated torque. The TAMS device 10E can also be configured to output diagnostic information.

[0095] 11A is a flow diagram of a method 110 for measuring torque applied to a shaft according to one embodiment. Method 110 can be implemented using any of the TAMS devices disclosed herein, or alternatively or additionally, using any of the systems for measuring torque disclosed herein.

[0096] The method 110 includes, at block 112, generating a first signal indicative of an angle relative to a first reference connected to the shaft. The first signal is generated using a first sensor integrated into a device having processing circuitry (e.g., an ESPM). The device may be a TAMS device according to any suitable principles and advantages disclosed herein. The device may be programmed as a master unit, and the device may also be programmable as a slave unit. The first reference may be a tone wheel or It may be a magnet wheel.

[0097] At block 114, a second signal indicating an angle relative to a second reference connected to the shaft is received from a second sensor external to the device. The second sensor may be located on a second device. In one embodiment, the second device may be configured as a slave unit. In another embodiment, the second device may be programmed as a master unit.

[0098] In block 116, an indication of the torque applied to the shaft is determined. A processing circuit integrated with the device determines a torque indication based on at least the first signal and the second signal. In certain applications, determining the torque indication may include detecting a phase difference between the first signal and the second signal. Determining the torque indication may include accessing calibration information stored in a memory of the device. In certain applications, the processing circuit may compare this torque indication to a second indication of the torque applied to the shaft generated by a second device having a second sensor. The shaft may be disposed within a vehicle in various applications.

[0099] The torque is determined in method 110 based on receiving a second sensor signal from a sensor external to the TAMS device. In some other applications, the torque can be determined based on secondary information stored in the TAMS device. The secondary information stored in the TAMS device can be a pre-programmed, learned, or stored secondary reference (e.g., no-load) signal. FIG. 11B is a flow diagram of method 120 in which the torque is determined based on secondary information stored in the TAMS device. Method 120 can determine the torque without input from an external sensor. Method 120 is similar to method 110 described above, except that block 114 is replaced with block 124. The TAMS devices disclosed herein are programmable to perform method 110 and / or method 120.

[0100] In block 124, secondary information indicating the angle associated with the second reference connected to the shaft can be pre-programmed, learned, and / or stored under different conditions (angle, speed, temperature, etc.) by a first sensor integrated into the device. In this case, the first sensor can operate standalone to measure and calculate torque based on the pre-programmed / stored information of the secondary reference. The secondary information can be a reference value for calculating torque. The secondary information can also be a value input to a function executed by a processing circuit to determine the reference value for calculating torque.

[0101] Unless otherwise limited by the context, throughout the above description and claims, words such as "comprise," "have," "include," and the like should be interpreted in an inclusive sense, as opposed to an exclusive or exhaustive sense. That is, for example, "including but not limited to." In particular, conditional language used herein, such as "can," "could," "may," "potential," "for example," and "etc.", is generally intended to mean that some embodiments include, but other embodiments do not include, particular features, elements, and / or conditions, unless otherwise specifically stated or explained in the context of use as interpreted differently. Also, the term "connected," as used generally herein, refers to two or more elements that may be either directly connected or connected via one or more intermediate elements. Additionally, the terms "herein," "above," "below," and words of similar import, when used in this application, refer to this application as a whole and not to any particular portions of this application. Also, the term "or" is used in its inclusive sense (not exclusive), and examples are not intended to be used interchangeably. For example, when used to connect a series of elements, the term "or" means one, some, or all of the series. Where the context permits, words using the singular or plural in the above detailed description may also include the plural and the singular, respectively.

[0102] Although several embodiments of the present invention have been described, these embodiments are illustrative and are not intended to limit the scope of the invention. Indeed, the devices, systems, and methods described herein may be embodied in a variety of other embodiments. Furthermore, various omissions, substitutions, and modifications may be made to the embodiments of the devices, systems, and methods described herein without departing from the scope of the technical concepts of the present disclosure. For example, while blocks are shown in a given configuration, similar functions may be achieved using different components and / or circuit topologies in alternative embodiments, and some blocks may be deleted, moved, added, sub-divided, combined, and / or modified. Each of these blocks may be implemented in a variety of different ways. As understood above, certain embodiments described herein may be implemented in a form that does not provide all of the features and advantages described herein, because some features can be used or practiced separately from other features. Elements and / or operations of the various embodiments described above may also be combined in any suitable manner to provide additional embodiments. All such modifications and variations are understood to be within the scope of the present disclosure. Furthermore, it is understood that additional embodiments realized by combining any two or more features or methods of one or more embodiments described herein are also included within the scope of the present disclosure. These embodiments and their modifications are included within the scope and technical spirit of the present invention, and are included in the scope of the invention described in the claims and their equivalents.

Claims

1. 1. A method for measuring torque applied to a shaft, comprising: generating, with a first sensor, a first signal indicative of an angle and / or velocity associated with a first reference connected to the shaft; receiving a second signal from a second sensor indicative of an angle and / or velocity associated with a second reference connected to the shaft; determining, with a first processing circuit, an indication of torque applied to the shaft based on at least the first signal and the second signal, wherein the first sensor and the first processing circuit are integrated within a device, the second sensor is external to the device, and the second sensor and second processing circuit are integrated within a second device; comparing, by the first processing circuit, the indication of the torque with a second indication of torque applied to the shaft generated by the second processing circuit based on the second signal when the second device is in master mode; outputting a torque measurement based on said comparison; A method comprising:

2. 10. The method of claim 1, further comprising programming the device into a master mode, the device also being capable of being programmed into a slave mode.

3. The method further includes determining, with the second processing circuit, the second indication of the torque based on at least the first signal and the second signal.

2. The method of claim 1 .

4. 4. The method of claim 3, wherein the method programs the second device into master mode.

5. 2. The method of claim 1, wherein determining the indication of the torque includes detecting a phase difference between the first signal and the second signal.

6. 10. The method of claim 1, wherein determining the indication of the torque includes accessing calibration information stored in a memory of the device.

7. 2. The method of claim 1, wherein the first reference is a first tone wheel and the second reference is a second tone wheel.

8. detecting a temperature reading associated with the device using a temperature sensor of the device; applying temperature compensation based on the indication of the temperature, the indication of the torque being based on said applying; The method of claim 1 further comprising:

9. 10. The method of claim 1, wherein the shaft is located in a vehicle or machine.

10. 1. A torque and angle sensor device, comprising: an input contact for receiving a second signal indicative of a second reference angle / velocity from an external device; an output contact providing a torque measurement; a sensor generating a first signal indicative of a first angle / velocity associated with a single shaft; a processing circuit that, when the external device is in a master mode, generates an indication of the torque based on at least the first signal and the second signal, and outputs the measurement of the torque based on a comparison of the indication of the torque and a second indication of the torque generated by the external device based on the second signal, wherein the indication of the torque and the second indication of the torque are associated with the single shaft, and the sensor and the processing circuit are integrated within the torque and angle sensor device; 1. A torque and angle sensor device comprising:

11. 11. The torque and angle sensor device of claim 10, wherein the processing circuitry is programmable to function in a slave mode.

12. 11. The torque and angle sensor device of claim 10, further comprising a second output contact for providing the first signal.

13. 11. The torque and angle sensor device of claim 10, wherein the sensor is a variable reluctance sensor.

14. 11. The torque and angle sensor device of claim 10, wherein the sensor is a magnetic sensor.

15. 11. The torque and angle sensor device of claim 10, wherein the sensor is an inductive sensor.

16. 11. The torque and angle sensor device of claim 10, wherein the sensor is an optical sensor.

17. The first signal is associated with a first tone wheel or magnet wheel connected to a shaft, and the second signal is associated with a second tone wheel or magnet wheel connected to the shaft.

11. The torque and angle sensor device of claim 10, associated with a wheel or magnet wheel, wherein the indication of the torque represents torque applied to the shaft.

18. 11. The torque and angle sensor device of claim 10, wherein the processing circuitry and the sensor are both located within a housing of the torque and angle sensor device.

19. 1. A system for measuring torque applied to a shaft, comprising: a first torque and angle sensing device having a first sensor and a first processing circuit, the first sensor generating a first signal indicative of an angle and / or velocity associated with a first reference connected to the shaft, the first processing circuit determining an indication of torque applied to the shaft based on at least the first signal and a second signal indicative of an angle and / or velocity associated with a second reference connected to the shaft, and the first processing circuit outputting a torque measurement based on a comparison of the indication of torque and a second indication of torque applied to the shaft; a second torque and angle sensing device having a second sensor and a second processing circuit, the second sensor being external to the first torque and angle sensing device, the second sensor generating the second signal indicative of the angle and / or the speed associated with the second reference connected to the same shaft as the first reference, and the second processing circuit generating the second indication of the torque based on the second signal when the second torque and angle sensing device is in master mode; A system comprising:

20. 20. The system of claim 19, wherein the second torque and angle sensing device is programmable into a slave mode.

21. 20. The system of claim 19, wherein the second torque and angle sensing device generates a second indication of torque applied to the shaft based on at least the first signal and the second signal.

22. 20. The system of claim 19, wherein the first torque and angle sensing device is programmable to function in a master mode and a slave mode.

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