ANGLE SENSOR ARRAY AND METHOD FOR ANGLE DETERMINATION - Patent application

Abstract

The invention relates to an angle sensor array (1) comprising a measurement generator, a measurement acquisition device (2), a signal processing device (3), a correction device (10) and an angle calculation device (20), the measurement acquisition device (2) being configured to acquire at least one physical quantity representative of a current angular position (W) of the measurement generator and to output at least two measurement signals (MS1, MS2, MS3, MSn), each representative of the current angular position (W) of the measurement generator, the signal processing device (3) being configured to process the at least two measurement signals (MS1, MS2, MS3, MSn), respectively amplify them with a variably settable amplification factor, digitize them if necessary and provide the processed measurement signals (AMS1, AMS2, AMS3, AMSn) to the correction device (10), the correction device (10) being configured to calculate the angle of the measurement generator (10) in the signal processing device (3). the angle sensor array (1) being adapted to adaptively calculate at least one correction factor (KK1, KK2, KK3, KK4) depending on a currently set amplification factor (AVF) for the measurement signal generator (AMS1, AMS2, AMS3, AMSn), to correspondingly correct at least two processed measurement signals (AMS1, AMS2, AMS3, AMSn) and to output at least two corrected measurement signals (KMS1, KMS2, KMS3, KMSn), and the angle calculation device (20) being adapted to calculate a current angular position (W) of the measurement signal generator by means of at least one mathematical transformation of the at least two corrected measurement signals (KMS1, KMS2, KMS3, KMSn), as well as a corresponding method for angle determination, a device for determining an angle difference, a computer program and a device for executing the computer program.

Description

[Technical Field]

[0001] The invention relates to an angle sensor array and a corresponding method for angle determination. The subject of the invention is also an apparatus for determining an angle difference, as well as a computer program and an apparatus for executing the computer program. [Background technology]

[0002] The prior art knows how to use an inductive rotor position sensor to determine the angular position or angular state of a rotor by mathematically transforming two measured signals, also referred to as measurement signals. For this purpose, a sine channel typically provides a sine signal corresponding to the rotor's angular position, and a cosine channel typically provides a cosine signal corresponding to the rotor's angular position. The current angular position of the rotor can then be calculated from the sine and cosine signals using an arctangent function. The measured raw signals contain errors due to deviations in the layout of the sine and cosine channels, the measurement principle, etc. In particular, offsets exist in the signals, which are caused, for example, by the metallic conductive surroundings and the conductor tracks on the printed circuit board. These deviations cause errors in the measured angle compared to the actual rotation angle. The prior art also knows suitable correction methods that can reduce the errors by transforming the input signals before calculating the angle.

[0003] EP 1 315 954 A1 discloses a method for determining the angular difference in a split shaft having multiple phase tracks and interleaved torsion bars, in which, using associated sensors and an evaluation unit, each ambiguous phase signal is obtained for one rotation of the shaft. At least two phase signals are weighted and added to form a single signal. A non-integer component proportional to the angular difference is formed from this angular difference, which, when multiplied by the spring rate of the interleaved torsion bar, determines the torque acting on the shaft. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] European Patent No. 1315954 Summary of the Invention [Problem to be solved by the invention]

[0005] Disclosure of the Invention The angle sensor array with the features of independent claim 1 and the method for angle determination with the features of independent claim 14 each have the advantage that an adaptive calculation of the correction factor is performed based on the currently set amplification factor. In a suitable manner, the correction factor for correcting the measurement signal is adapted to the current amplification factor. This makes it possible to achieve a correction of the measured signal adapted to the current amplification factor, which can minimize the angle error. [Means for solving the problem]

[0006] An embodiment of the present invention provides an angle sensor array including a measurement generator, a measurement acquisition device, a signal processing device, a correction device, and an angle calculation device. The measurement acquisition device is configured to acquire at least one physical quantity representative of the current angular position of the measurement generator and output at least two measurement signals, each representative of the current angular position of the measurement generator. The signal processing device is configured to process the at least two measurement signals, amplify them with a variably settable gain, digitize them if necessary, and provide the processed measurement signals to the correction device. Here, the correction device is configured to adaptively calculate at least one correction factor depending on the gain currently set in the signal processing device, correspondingly correct the at least two processed measurement signals, and output at least two corrected measurement signals. The angle calculation device is configured to calculate the current angular position of the measurement generator using at least one mathematical transformation of the at least two corrected measurement signals.

[0007] Further, an apparatus for determining an angular difference is proposed, including two such angle sensor arrays and a calculation unit, where a first such angle sensor array provides a first current angular position of a first measurement value generator, a second such angle sensor array provides a second current angular position of a second measurement value generator, and the calculation unit is configured to calculate and output a differential angle from the first current angular position and the second current angular position.

[0008] Furthermore, a method for determining the angle of a measurement value generator using such an angle sensor array is proposed. At least two different measurement signals are provided, each representing the current angular position of the measurement value generator. The at least two measurement signals are processed by amplifying the at least two measurement signals with a variably settable gain and, if necessary, digitizing them. Depending on the currently set gain, at least one correction factor is adaptively calculated, and the at least two processed measurement signals are correspondingly corrected. Using at least one mathematical transformation of the at least two corrected measurement signals, the current angular position of the measurement value generator is calculated and output.

[0009] The measurement generator may be configured, for example, as a rotor whose current angular position is to be determined. Alternatively, the measurement generator may be configured as a linear displacement generator whose translational motion is to be evaluated using the captured current angular position, where the captured current angular position is proportional to the distance traveled by the linear displacement generator.

[0010] A measurement acquisition device may be understood below as a device including at least one sensor element for acquiring a physical quantity representing the current angular position of a measurement generator. The measurement acquisition device may be configured to process and further process the physical quantity acquired by the at least one sensor element, thereby generating and outputting multiple measurement signals from the acquired physical quantities, for example. This means that in this embodiment, the number of output measurement signals "n" is based on the number of sensor elements "m" that acquire the physical quantity, where the number of sensor elements "m" is less than the number of output measurement signals "n." Of course, the output measurement signals can also be generated from separately acquired physical quantities, which means that in this embodiment, the number of output measurement signals "n" corresponds to the number of sensor elements "n" that acquire the physical quantity. At least two output measurement signals have a predetermined phase relationship with each other, whereby a unique angle value can be derived from mutually shifted, ambiguous measurement signals. At least the output measurement signal may be obtained, for example, using radar, laser, optical, magnetic, inductive, or other sensor principles.

[0011] A signal processing device can be understood in this context as an electrical or electronic assembly that receives and processes at least two measurement signals output from the measurement acquisition device. For this purpose, the signal processing device can have at least one analog or digital interface for receiving the measurement signals. To process the at least two measurement signals, the signal processing device can include at least one analog or digital amplifier, a corresponding automatic amplification control, and, if necessary, at least one analog-to-digital converter. If the signal processing device includes at least one analog interface and at least one digital amplifier, the at least one analog-to-digital converter can be arranged between the analog interface and the digital amplifier. If the signal processing device includes at least one analog interface and at least one analog amplifier, the analog interface can be directly connected to the analog amplifier, and at least one analog-to-digital converter can alternatively be arranged between the at least one analog amplifier and the output of the signal processing device. If the measurement acquisition device provides the measurement signals in digital form, for example via a data bus system, the signal processing device can include at least one digital interface and a digital amplifier. In this embodiment, the at least one analog-to-digital converter is arranged as part of the measurement acquisition device.

[0012] A correction device can be understood in this context as an electrical or electronic assembly that receives and corrects at least two processed measurement signals from the signal processing device. To this end, the correction device can have at least one digital interface for receiving the processed measurement signals. To correct the at least two measurement signals, the correction device can include at least one calculation block and at least one corresponding correction block.

[0013] An angle calculation device can be understood in this context as an electrical or electronic assembly that receives at least two corrected measurement signals from the correction device and calculates the current angular position of the measurement value generator. For this purpose, the angle calculation device can have at least one digital interface for receiving the corrected measurement signals. For the calculation of the current angular position, the angle calculation device can include at least one calculation block.

[0014] At least one digital interface and / or at least one digital amplifier of the signal processing device, at least one digital interface and / or at least one calculation block and / or at least one correction block of the correction device, and / or at least one digital interface and / or at least one calculation block of the angle calculation device may be implemented in hardware and / or software. In the case of a hardware implementation, such digital components of the signal processing device and / or the correction device and / or the angle calculation device may, for example, be part of a so-called system ASIC that includes various functions of the signal processing device and / or the correction device and / or the angle calculation device. However, it is also possible that the digital components are dedicated integrated circuits or at least partially comprised of separate components. In the case of a software implementation, the digital components may, for example, be software modules that exist adjacent to other software modules on a microcontroller. Also advantageous is a computer program product with program code stored on a machine-readable carrier, such as a semiconductor memory, hard disk memory or optical memory, which is used for processing the at least two measurement signals and / or for performing a correction of the at least two processed measurement signals and / or for calculating the current angular position based on the at least two processed measurement signals, when the program is executed by a corresponding device, e.g. a signal processing device and / or a correction device and / or an angle calculation device.

[0015] The measures and developments set forth in the dependent claims enable advantageous refinements of the angle sensor array set forth in independent claim 1 and the method for angle determination of a measurement value generator set forth in independent claim 13.

[0016] Particularly preferably, the correction device may further be configured to perform an offset correction, a gain correction, a phase correction, and / or a harmonic correction of the processed measurement signals using at least one correction factor. In a particularly simple and low-cost embodiment of the angle sensor array, the correction device only performs an offset correction of the at least two processed measurement signals. Of course, it is also possible for the correction device to perform further suitable corrections not described above of the at least two processed measurement signals. Furthermore, any combination of corrections to be performed can be performed. Thus, for example, the correction device can combine a gain correction with an offset correction of the at least two processed measurement signals.

[0017] In a preferred embodiment of the angle sensor array, an "n"-channel measurement acquisition device can provide "n" measurement signals of the current angular position of the measurement generator, which can be processed by a signal processor and corrected by a correction device. Here, the correction device can output the "n" corrected measurement signals to a conversion device, which can be configured to convert the "n" corrected measurement signals to corrected sine wave signals and corrected cosine wave signals using at least one mathematical transformation, and the angle calculation device can be configured to calculate the current angular position of the measurement generator from the corrected sine wave signals and corrected cosine wave signals using an arctangent function. In this embodiment, the "n" measurement signals are first processed and corrected, and then converted into two corrected measurement signals. Alternatively, the "n"-channel measurement acquisition device can provide the "n" measurement signals of the current angular position of the measurement generator, which can be processed by a signal processor. Here, the signal processing device may output the "n" processed measurement signals to a conversion device, which may be configured to convert the "n" processed measurement signals using at least one mathematical transformation into processed sine and cosine signals for output to a correction device, where the correction device may be configured to modify the processed sine and cosine signals and output the modified sine and cosine signals to an angle calculation device, which may be configured to calculate a current angular position of the measurement generator from the modified sine and cosine values ​​using an arctangent function. In this embodiment, the "n" measurement signals are first processed and then converted into two processed measurement signals, which are then modified.

[0018] In a preferred embodiment of the angle sensor array, the two-channel measurement acquisition device can provide a sine wave signal as a first measurement signal of the current angular position of the measurement generator and a cosine wave signal as a second measurement signal for processing by a signal processing device. Here, the signal processing device can output the processed sine wave signal as a first processed measurement signal of the current angular position of the measurement generator and the processed cosine wave signal as a second processed measurement signal to a correction device. The correction device can output the modified sine wave signal as a first modified measurement signal and the modified cosine wave signal as a second modified measurement signal to an angle calculation device, which can be configured to calculate the current angular position of the measurement generator from the modified sine value and the modified cosine value using an inverse sine function. In a preferred embodiment, only two measurement signals with a predetermined 90° phase shift are provided, processed, and corrected.

[0019] In a further preferred embodiment of the angle sensor array, the signal processing device and the correction device may each be configured with one channel. Here, an n-channel multiplexer may be loop-connected between the measurement value acquisition device and the signal processing device, and sequentially provides "n" measurement signals of the current angular position of the measurement value generator to the signal processing device, which sequentially processes and outputs the "n" measurement signals. The one-channel correction device can sequentially modify and output the "n" processed measurement signals from the one-channel signal processing device, and the n-channel demultiplexer can sequentially receive and store the "n" modified measurement signals and simultaneously output them to the angle calculation device. In this embodiment, both the signal processing device and the correction device are configured with one channel, so the multiplexer is located before the signal processing device and the demultiplexer is located after the correction device. Alternatively, the signal processing device may be one-channel and the correction device may be multi-channel, with an n-channel demultiplexer looped between the one-channel signal processing device and the multi-channel correction device, which can sequentially receive and store the “n” processed measurement signals and simultaneously output them to the multi-channel correction device. In this embodiment, only the signal processing device is one-channel, so the multiplexer can be located before the signal processing device and the demultiplexer can be located after the signal processing device. In a further alternative embodiment of the angle sensor array, the signal processing device may be multi-channel and the correction device may be one-channel. Here, an n-channel multiplexer looped between the multi-channel signal processing device and the one-channel correction device can sequentially provide the “n” adapted measurement signals of the current angular position of the measurement value generator to the correction device, which sequentially receives, modifies, and outputs the “n” processed measurement signals.An n-channel demultiplexer can be looped between the correction device and the angle calculation device in this alternative embodiment, sequentially receiving and storing the "n" corrected measurement signals and simultaneously outputting them to the angle calculation device. Multiplexers and demultiplexers can also be used in two-channel embodiments of the measurement acquisition device to allow one-channel signal processing and / or one-channel correction of the two output measurement signals.

[0020] In a further preferred embodiment of the angle sensor array, the correction device may be further configured to adapt the at least one correction factor to the currently set gain via a linear mathematical relationship or via a pre-created and stored conversion table, which allows for a simple and low-cost implementation of the correction device.

[0021] In a further preferred embodiment of the angle sensor array, the correction device may, for example, include at least one calculation block and at least one correction block for each measurement channel. Here, the at least one calculation block may be configured to adaptively calculate at least one correction factor for the at least two processed measurement signals depending on the currently set amplification factor and provide it to the corresponding correction block, which then correspondingly corrects the processed measurement signals and outputs the corrected measurement signals. In a preferred embodiment, one common calculation block is used for the measurement channels.

[0022] In further preferred embodiments of the angle sensor array, the signal processing device and / or the correction device and / or the angle calculation device may be configured, for example, as an application specific integrated circuit (ASIC) or as a programmable logic gate array or as a microcontroller, respectively.

[0023] Embodiments of the invention are illustrated in the drawings and are explained in more detail in the following specification, in which components or elements performing the same or similar functions are provided with the same reference numerals. [Brief explanation of the drawings]

[0024] [Figure 1] 1 is a schematic block diagram of a first embodiment of a measurement acquisition device according to the present invention; [Figure 2] FIG. 2 is a schematic block diagram of a second embodiment of a measurement acquisition device according to the present invention; [Figure 3] FIG. 4 is a schematic block diagram of a third embodiment of a measurement acquisition device according to the present invention; [Figure 4] 4 shows a schematic block diagram illustrating a fourth embodiment of a measurement acquisition device according to the invention; [Figure 5] FIG. 10 is a schematic block diagram of a sixth embodiment of a measurement acquisition device according to the present invention; [Figure 6] 1 is a schematic block diagram illustrating an embodiment of an apparatus according to the present invention for determining an angular difference; [Figure 7] 6 is a schematic flow chart illustrating an embodiment of a method according to the invention for angular determination of a measurement generator using the measurement acquisition device of FIGS. 1 to 5; DETAILED DESCRIPTION OF THE INVENTION

[0025] Embodiments of the invention As can be seen from FIGS. 1 to 5, the illustrated embodiments of angle sensor arrays 1, 1A, 1B, 1C, 1D, and 1E according to the present invention each include a measurement value generator (not shown in detail), a measurement value acquisition device 2, a signal processing device 3, a correction device 10, and angle calculation devices 20, 20A, and 20B. The measurement value acquisition device 2 acquires at least one physical quantity representative of the current angular position W of the measurement value generator and outputs at least two measurement signals MS1, MS2, MS3, and MSn, each representative of the current angular position W of the measurement value generator. The signal processing device 3 processes the at least two measurement signals MS1, MS2, MS3, and MSn and amplifies the at least two measurement signals MS1, MS2, MS3, and MSn, respectively, with a variable, settable gain. If necessary, the signal processing device 3 digitizes the at least two measurement signals MS1, MS2, MS3, and MSn and provides the processed measurement signals AMS1, AMS2, AMS3, and AMSn to the correction device 10. Here, the correction device 10 adaptively calculates at least one correction factor KK1, KK2, KK3, KK4 depending on the amplification factor AVF currently set in the signal processing device 3, correspondingly corrects the at least two processed measurement signals AMS1, AMS2, AMS3, AMSn and outputs at least two corrected measurement signals KMS1, KMS2, KMS3, KMSn. The angle calculation device 20, 20A, 20B calculates the current angular position W of the measurement value generator by means of at least one mathematical transformation of the at least two corrected measurement signals KMS1, KMS2, KMS3, KMSn.

[0026] As is further apparent from FIGS. 1 to 4 , the four illustrated embodiments of the angle sensor arrays 1A, 1B, 1C, and 1D each include one “n”-channel measurement acquisition device 2A that provides “n” measurement signals MS1, MS2, MS3, and MSn of the current angular position W of the measurement generator. The “n” output measurement signals MS1, MS2, MS3, and MSn have a specific phase relationship with each other, such that a unique angle value W can be obtained from the mutually shifted, ambiguous measurement signals MS1, MS2, MS3, and MSn. In the illustrated embodiments, the output measurement signals MS1, MS2, MS3, and MSn are obtained using an inductive sensor principle. In non-illustrated embodiments of the angle sensor array 1, other sensor principles, such as radar, laser, optical, magnetic, or other sensor principles, can be used to obtain the at least two measurement signals MS1, MS2, MS3, and MSn. The “n” measurement signals MS 1 , MS 2 , MS 3 , MSn are processed by a signal processing device 3 and corrected by a correction device 10 .

[0027] As further apparent from FIG. 1 , the illustrated first embodiment of angle sensor array 1A includes, in addition to “n”-channel measurement acquisition device 2A, an n-channel signal processor 3A and an n-channel correction device 10A. The n-channel signal processor 3A receives “n” measurement signals MS1, MS2, MS3, MSn from the “n”-channel measurement acquisition device 2A, processes these measurement signals MS1, MS2, MS3, MSn, and outputs “n” processed measurement signals AMS1, AMS2, AMS3, AMSn to n-channel correction device 10A. The n-channel correction device 10A corrects the “n” processed measurement signals AMS1, AMS2, AMS3, AMSn, and outputs these “n” corrected measurement signals KMS1, KMS2, KMS3, KMSn to conversion device 22. The conversion device 22 is part of angle calculation device 20A in the illustrated first embodiment of angle sensor array 1A. The converter 22 converts the "n" corrected measurement signals KMS1, KMS2, KMS3, KMSn into corrected sine wave signals Ksin and corrected cosine wave signals KcOS using at least one mathematical transformation and outputs these corrected sine wave signals Ksin and corrected cosine wave signals KcOS to the calculation block 24 of the angle calculation device 20A. In the case of a three-channel embodiment of the correction device 10, the converter 22 receives, for example, three corrected measurement signals KMS1, KMS2, KMS3, which have a phase shift of 120° relative to each other. The converter 22 converts these three corrected measurement signals KMS1, KMS2, KMS3 into corrected sine wave signals Ksin and corrected cosine wave signals KcOS using the Clarke transformation. The corrected sine wave signals Ksin and corrected cosine wave signals KcOS have a phase shift of 90° relative to each other. A calculation block 24 of the angle calculation device 20A calculates the current angular position W of the measurement generator from the modified sine signal KSIN and the modified cosine signal KCOS using the arctangent function.

[0028] As can be seen from Figure 2, the illustrated second embodiment of the angle sensor array 1B additionally comprises a one-channel signal processing device 3B and a one-channel correction device 10B in addition to the "n"-channel measurement acquisition device 2A. Here, an n-channel multiplexer 30 is arranged between the "n"-channel measurement acquisition device 2A and the one-channel signal processing device 3B, which in the illustrated embodiment is configured as an analog n-channel multiplexer 30A. The n-channel multiplexer 30 receives "n" measurement signals MS1, MS2, MS3, MSn in parallel from the "n"-channel measurement acquisition device 2A and provides these measurement signals MS1, MS2, MS3, MSn sequentially in a preset order as output signals MSx of the one-channel signal processing device 3B. The one-channel signal processing device 3B processes the provided "n" measurement signals MS1, MS2, MS3, MSn and outputs "n" processed measurement signals AMS1, AMS2, AMS3, AMSn in sequence as output signal AMSx to the one-channel correction device 10B. The one-channel correction device 10B corrects the "n" processed measurement signals AMS1, AMS2, AMS3, AMSn and outputs these "n" corrected measurement signals KMS1, KMS2, KMS3, KMSn in sequence as output signal KMSx to the n-channel demultiplexer 40, which sequentially receives and stores the "n" corrected measurement signals KMS1, KMS2, KMS3, KMSn and simultaneously outputs them to the conversion device 22. The conversion device 22 is also part of the angle calculation device 20A in the illustrated second embodiment of the angle sensor array 1B. Similar to the first embodiment of the angle sensor array 1A, the conversion device 22 converts the "n" modified measurement signals KMS1, KMS2, KMS3, KMSn into modified sine wave signals Ksin and modified cosine wave signals Kcos using at least one mathematical transformation, and outputs these modified sine wave signals Ksin and modified cosine wave signals Kcos to the calculation block 24 of the angle calculation device 20A. The modified sine wave signals Ksin and modified cosine wave signals Kcos have a phase shift of 90° relative to each other.A calculation block 24 of the angle calculation device 20A calculates the current angular position W of the measurement generator from the modified sine signal KSIN and the modified cosine signal KCOS using the arctangent function.

[0029] As can be seen from Figure 3, the illustrated third embodiment of the angle sensor array 1C includes, in addition to the "n"-channel measurement acquisition device 2A, an n-channel signal processing device 3A and a one-channel correction device 10B. Here, an n-channel multiplexer 30, which in the illustrated embodiment is configured as an n-channel digital multiplexer 30A, is arranged between the n-channel signal processing device 3A and the one-channel correction device 10B. The n-channel signal processing device 3A receives "n" measurement signals MS1, MS2, MS3, MSn from the "n"-channel measurement acquisition device 2A, processes these measurement signals MS1, MS2, MS3, MSn, and outputs "n" processed measurement signals AMS1, AMS2, AMS3, AMSn to the n-channel multiplexer 30. The n-channel multiplexer 30 receives "n" processed measurement signals AMS1, AMS2, AMS3, AMSn in parallel from the "n"-channel signal processor 3A and sequentially provides these processed measurement signals AMS1, AMS2, AMS3, AMSn in a preset order as output signal AMSx to the one-channel correction device 10B. The one-channel correction device 10B corrects the "n" processed measurement signals AMS1, AMS2, AMS3, AMSn and sequentially outputs "n" corrected measurement signals KMS1, KMS2, KMS3, KMSn as output signal KMSx to the n-channel demultiplexer 40, which sequentially receives and stores the "n" corrected measurement signals KMS1, KMS2, KMS3, KMSn and simultaneously outputs them to the conversion device 22. The conversion device 22 is also part of the angle calculation device 20A in the illustrated third embodiment of the angle sensor array 1B. As in the first and second embodiments of the angle sensor arrays 1A, 1B, this conversion device 22 converts the "n" modified measurement signals KMS1, KMS2, KMS3, KMSn into modified sine wave signals Ksin and modified cosine wave signals Kcos using at least one mathematical transformation, and outputs these modified sine wave signals Ksin and modified cosine wave signals Kcos to the calculation block 24 of the angle calculation device 20A.The modified sine wave signal KSIN and the modified cosine wave signal KCOS have a phase shift of 90° relative to each other. A calculation block 24 of the angle calculation device 20A calculates the current angular position W of the measurement generator from the modified sine wave signal KSIN and the modified cosine wave signal KCOS using an arctangent function.

[0030] 4, the illustrated fourth embodiment of the angle sensor array 1D includes, in addition to the “n”-channel measurement acquisition device 2A, an n-channel signal processing device 3A and a two-channel correction device 10C. Here, a conversion device 22 is disposed between the n-channel signal processing device 3A and the two-channel correction device 10B. The n-channel signal processing device 3A receives “n” measurement signals MS1, MS2, MS3, MSn from the “n”-channel measurement acquisition device 2A, processes these measurement signals MS1, MS2, MS3, MSn, and outputs “n” measurement signals AMS1, AMS2, AMS3, AMSn to the conversion device 22. The conversion device 22 converts the "n" processed measurement signals AMS1, AMS2, AMS3, AMSn into processed sine wave signals ASIN and processed cosine wave signals ACOS using at least one mathematical transformation, and outputs these processed sine wave signals ASIN and processed cosine wave signals ACOS to the two-channel correction device 10C. The two-channel correction device 10C corrects the processed sine wave signals ASIN and processed cosine wave signals COS and outputs these corrected sine wave signals KSIN and corrected cosine wave signals KCOS to the calculation block 24 of the angle calculation device 20B. The corrected sine wave signals KSIN and corrected cosine wave signals KCOS have a phase shift of 90° relative to each other. The calculation block 24 of the angle calculation device 20B calculates the current angular position W of the measurement generator from the corrected sine wave signals KSIN and corrected cosine wave signals KCOS using an arctangent function.

[0031] In an alternative, not shown, embodiment of the angle sensor array 1, the angle sensor array 1 additionally comprises an "n"-channel measurement acquisition device 2A plus a one-channel signal processing device 3B and an n-channel correction device 10A. Here, an n-channel multiplexer 30 is arranged between the "n"-channel measurement acquisition device 2A and the one-channel signal processing device 3B. The n-channel multiplexer 30 receives "n" measurement signals MS1, MS2, MS3, MSn in parallel from the "n"-channel measurement acquisition device 2A and provides these measurement signals MS1, MS2, MS3, MSn sequentially in a preset order as output signals MSx of the one-channel signal processing device 3B. The one-channel signal processing device 3B processes the provided "n" measurement signals MS1, MS2, MS3, MSn and sequentially outputs "n" processed measurement signals AMS1, AMS2, AMS3, AMSn as output signal AMSx to the n-channel demultiplexer 40, which sequentially receives and stores the "n" processed measurement signals AMS1, AMS2, AMS3, AMSn and simultaneously outputs them to the n-channel correction device 10A. The n-channel correction device 10A corrects the "n" processed measurement signals AMS1, AMS2, AMS3, AMSn and outputs these "n" corrected measurement signals KMS1, KMS2, KMS3, KMSn to the conversion device 22. The conversion device 22 converts the "n" modified measurement signals KMS1, KMS2, KMS3, KMSn into modified sine wave signals KSIN and modified cosine wave signals KCOS using at least one mathematical transformation and outputs these modified sine wave signals KSIN and modified cosine wave signals KCOS to the calculation block 24 of the angle calculation device 20A. The modified sine wave signals KSIN and modified cosine wave signals KCOS have a phase shift of 90° relative to each other. The calculation block 24 of the angle calculation device 20A calculates the current angular position W of the measurement value generator from the modified sine wave signals KSIN and modified cosine wave signals KCOS using the arctangent function.

[0032] As can be seen from FIG. 5, the illustrated fifth embodiment of the angle sensor array 1E includes a two-channel measurement acquisition device 2B, a two-channel signal processing device 3C, and a two-channel correction device 10C. In the illustrated embodiment, the two-channel measurement acquisition device 2B includes two sensor elements 2.1 and 2.2. Here, the first sensor element 2.1 provides a sine wave signal SIN as the first measurement signal MS1 of the current angular position W of the measurement generator, and the second sensor element 2.2 provides a cosine wave signal COS as the second measurement signal MS2, where the cosine wave signal COS is shifted by 90° relative to the sine wave signal SIN. In contrast, the n-channel measurement acquisition device 2A shown in FIGS. 1 to 4 includes “n” sensor elements (not shown in detail), each of which provides one of the measurement signals MS1, MS2, MS3, MSn. The two-channel signal processing device 3C receives and processes the sine wave signal SIN and the cosine wave signal COS from the two-channel measurement acquisition device 2B. As further apparent from FIG. 5, the two-channel signal processing device 3C includes, in the illustrated embodiment, two analog amplifiers 4, one automatic amplification control unit 6, and two analog-to-digital converters 8. Here, the first analog amplifier 4A and the first analog-to-digital converter 8A form the first channel of the two-channel signal processing device 3C, and the second analog amplifier 4B and the second analog-to-digital converter 8B form the second channel of the two-channel signal processing device 3C. The first analog amplifier 4A amplifies the sine wave signal SIN, and the second analog amplifier 4B amplifies the cosine wave signal COS. The first analog-to-digital converter 8A converts the amplified analog sine wave signal SIN into a digital sine wave signal SIN and outputs the processed sine wave signal ASIN to the two-channel correction device 10C. The second analog-to-digital converter 8B converts the amplified analog cosine signal COS into a digital cosine signal COS and outputs the thus processed cosine wave signal ACOS to a two-channel correction device 10C.The automatic amplification control unit 6 controls the amplification in both the first channel of the two-channel signal processing device 3C and the amplification in the second channel of the two-channel signal processing device 3C, and outputs the set current amplification factor AVF to the two-channel correction device 10C.

[0033] The n-channel signal processing device 3A shown in Figures 1, 3 and 4 includes, for each "n" channel, an analog amplifier 4, an analog-to-digital converter 8 and a common automatic amplification control 6 which controls the amplification in the "n" channels of the n-channel signal processing device 3A. The 1-channel signal processing device 3B shown in Figure 2 includes an analog amplifier 4, an analog-to-digital converter 8 and an automatic amplification control 6 which controls the amplification in the channels of the 1-channel signal processing device 3B.

[0034] As further apparent from FIG. 5, the two-channel correction device 10C includes, in the illustrated embodiment, two first correction blocks 14, two second correction blocks 16, and one calculation block 12. Here, the two first correction blocks 14 are configured as summers 14A and 14B, respectively, and the two second correction blocks 16 are configured as digital amplifiers 16A and 16B, respectively. The first summer 14A and the first digital amplifier 16A form a first channel of the two-channel correction device 10C in the illustrated embodiment. The second summer 14B and the second digital amplifier 16B form a second channel of the two-channel correction device 10C in the illustrated embodiment. The calculation block 12 adaptively calculates a first correction factor KK1 based on the currently set gain AVF for the sine wave signal SIN and outputs the first correction factor KK1 to a first adder 14A, which corrects the offset of the processed sine wave signal ASIN. Furthermore, the calculation block 12 adaptively calculates a second correction factor KK2 based on the currently set gain AVF for the cosine wave signal COS and outputs the second correction factor KK2 to a second adder 14B, which corrects the offset of the processed cosine wave signal ACOS. The calculation block 12 adaptively calculates a third correction factor KK3 based on the currently set gain AVF for the sine wave signal SIN, and uses the third correction factor KK3 to modify the gain of the processed sine wave signal ASIN and set the gain of the first digital amplifier 16A to output the modified sine wave signal KSIN to the angle calculation device 20B. The calculation block 12 adaptively calculates a fourth correction factor KK4 based on the currently set gain AVF for the cosine wave signal COS, and uses the fourth correction factor KK4 to modify the gain of the processed cosine wave signal ASOS and set the gain of the second digital amplifier 16B to output the modified cosine wave signal KCOS to the angle calculation device 20B. The calculation block 12 adapts the correction factors KK1, KK2, KK3, and KK4 to the currently set gain ΔVF via a linear mathematical relationship or via a previously created and stored conversion table.In the illustrated embodiment, the correction coefficients KK1 and KK2 for offset correction are given by the following equations (1) and (2): KK1=a1*AVF1+b1 (1) KK2=a2*AVF2+b2 (2) is calculated via a linear mathematical relationship:

[0035] Here, a1 and a2 represent parameters that can be determined in advance for each simulation, for example. Parameters b1 and b2 represent offsets of the corresponding analog-to-digital converters 8A and 8B, for example. Thus, b1 represents the offset of the first analog-to-digital converter 8A, and b2 represents the offset of the second analog-to-digital converter 8B. AVF1 represents the current gain of the first analog amplifier 4A, and AVF2 represents the current gain of the second analog amplifier 4B. Two correction coefficients K3 and K4 for gain correction are adapted to the currently set gain AVF via a conversion table that is created and stored in advance.

[0036] The angle calculation unit 20B, in the illustrated embodiment, includes a calculation block 24 which calculates the current angular position W of the measurement generator from the modified sine value KSIN and the modified cosine value KCOS using the arctangent function.

[0037] Of course, the correction device 10 can also perform other suitable corrections not described above, such as phase and / or harmonic corrections of the at least two processed measurement signals MS1, MS2, MS3, MSn. Furthermore, any combination of corrections can be performed. Furthermore, the correction device 10 can also perform, for example, only gain corrections or only offset corrections of the at least two processed measurement signals AMS1, AMS2, AMS3, AMSn.

[0038] The n-channel correction device 10A shown in Figure 1 includes, for each of the "n" channels, at least one correction block 14, 16 and one common calculation block 12, which adaptively calculates correction coefficients KK1, KK2, KK3, KK4 for the at least one correction block 14, 16. The 1-channel correction device 10B shown in Figures 2 and 3 includes at least one correction block 14, 16 and one calculation block 12, which adaptively calculates correction coefficients KK1, KK2, KK3, KK4 for the at least one correction block 14, 16.

[0039] As further apparent from FIG. 6 , the illustrated embodiment of an apparatus 50 according to the present invention for determining an angular difference WD includes two angle sensor arrays 52, 54 and a calculation unit 60. The structure and function of the two angle sensor arrays 52, 54 correspond to the structure and function of the angle sensor array 1 described above. Here, the first angle sensor array 52 provides a first current angular position W1 of the first measurement generator, and the second angle sensor array 54 provides a second current angular position W2 of the second measurement generator. The calculation unit 60 calculates and outputs a differential angle from the first current angular position W1 and the second current angular position W2. This differential angle can be used, for example, to calculate the torque applied to the shaft.

[0040] As can be seen from FIG. 7 , the illustrated embodiment of a method 100 according to the present invention for determining the angle of a measurement generator using one of the angle sensor arrays 1 described above includes step S100, in which at least two different measurement signals MS1, MS2, MS3, MSn, each representing the current angular position W of the measurement generator, are provided. In step S110, the at least two measurement signals MS1, MS2, MS3, MSn are processed by amplifying the at least two measurement signals MS1, MS2, MS3, MSn, respectively, with a variably settable gain AVF and, if necessary, digitizing them. In step S120, at least one correction factor KK1, KK2, KK3, KK4 is adaptively calculated depending on the currently set gain AVF. In step S130, the at least two processed measurement signals AMS1, AMS2, AMS3, AMSn are correspondingly corrected. In step S140, the current angular position W of the measurement generator is calculated using at least one mathematical transformation of the at least two corrected measurement signals KMS1, KMS2, KMS3, KMSn. In step S150, the calculated angular position W of the measurement generator is output.

[0041] As already mentioned above, an offset correction, a gain correction, a phase correction, and / or a harmonic correction of the at least two processed measurement signals AMS1, AMS2, AMS3, AMSn is performed using at least one correction factor KK1, KK2, KK3, KK4. The correction factors KK1, KK2, KK3, KK4 for the offset correction, the gain correction, the phase correction, and / or the harmonic correction of the processed measurement signals AMS1, AMS2, AMS3, AMSn are adapted to the currently set gain AVF via a linear mathematical relationship or via a previously created and stored conversion table.

[0042] In the case of "n"-channel measurement detection, "n" measurement signals MS1, MS2, MS3, MSn are provided in step S100, processed in step S110, and modified in step S130. Here, the "n" modified measurement signals KMS1, KMS2, KMS3, KMSn are converted into modified sine-wave signals Ksin and modified cosine-wave signals Kcos by at least one mathematical transformation in step S140. Subsequently, in step S140, the current angular position W of the measurement generator is calculated from the modified sine-wave signals Ksin and modified cosine-wave signals Kcos using the arctangent function.

[0043] In the case of two-channel measurement detection, in step S100, a sine value SIN is provided as a first measurement signal MS1 of the current angular position W of the measurement generator, and a cosine value COS is provided as a second measurement signal MS2, which are processed in step S110 and corrected in step S130. In step S140, the current angular position W of the measurement generator is calculated from the corrected sine value KSN and the corrected cosine value KCOS using the arctangent function.

[0044] The method 100 may be implemented, for example, in software or hardware, or in a mixed form of software and hardware, such as in the correction device 10 .

Claims

1. An angle sensor array (1) comprising a measurement generator, a measurement acquisition device (2), a signal processing device (3), a correction device (10) and an angle calculation device (20), the measurement acquisition device (2) is configured to acquire at least one physical quantity representative of a current angular position (W) of the measurement generator and to output at least two measurement signals (MS1, MS2, MS3, MSn), each representative of a current angular position (W) of the measurement generator; the signal processing device (3) is configured to process the at least two measurement signals (MS1, MS2, MS3, MSn), amplify them by a variably settable amplification factor, digitize them as needed, and provide the processed measurement signals (AMS1, AMS2, AMS3, AMSn) and the amplification factor (AVF) currently set in the signal processing device (3) to the correction device (10); the correction device (10) is configured to calculate at least one correction factor (KK1, KK2, KK3, KK4) depending on the amplification factor (AVF) currently set in the signal processing device (3), to correspondingly correct at least two processed measurement signals (AMS1, AMS2, AMS3, AMSn), and to output at least two corrected measurement signals (KMS1, KMS2, KMS3, KMSn), The angle calculation device (20) is configured to calculate the current angular position (W) of the measurement value generator using at least one mathematical transformation of the at least two corrected measurement signals (KMS1, KMS2, KMS3, KMSn).

2. the correction device (10) is further configured to perform an offset correction and / or an amplification correction and / or a phase correction of the processed measurement signals (AMS1, AMS2, AMS3, AMSn) using the at least one correction coefficient (KK1, KK2, KK3, KK4). Angle sensor array (1) according to claim 1.

3. the measurement acquisition device (2) is an "n"-channel measurement acquisition device (2), which provides "n" measurement signals (MS1, MS2, MS3, MSn) of the current angular position (W) of the measurement generator, which are processed by the signal processing device (3) and corrected by the correction device (10); The correction device (10) outputs "n" corrected measurement signals (KMS1, KMS2, KMS3, KMSn) to a conversion device (22), the conversion device (22) is configured to convert the "n" corrected measurement signals (KMS1, KMS2, KMS3, KMSn) into a corrected sine wave signal (KSIN) and a corrected cosine wave signal (KCOS) using at least one mathematical transformation, and output the converted signals; the angle calculation device (20) is configured to calculate a current angular position (W) of the measurement generator from the modified sine wave signal (KSIN) and the modified cosine wave signal (KCOS) using an arctangent function; Angle sensor array (1) according to claim 1.

4. the measurement acquisition device (2) is an "n"-channel measurement acquisition device (2), which provides "n" measurement signals (MS1, MS2, MS3, MSn) of the current angular position (W) of the measurement generator for processing by the signal processing device (3); The signal processing device (3) outputs "n" processed measurement signals (AMS1, AMS2, AMS3, AMSn) to a conversion device (22); the conversion device (22) is configured to convert the "n" processed measurement signals (AMS1, AMS2, AMS3, AMSn) into a processed sine wave signal (ASIN) and a processed cosine wave signal (ACOS) using at least one mathematical transformation and output them to the correction device (10); the correction device (10) is configured to modify the processed sine wave signal (ASIN) and the processed cosine wave signal (ACOS) and output a modified sine wave signal (KSIN) and a modified cosine wave signal (KCOS) to the angle calculation device (20); the angle calculation unit (20) is configured to calculate a current angular position (W) of the measurement generator from the modified sine value (KSIN) and the modified cosine value (KCOS) using an arctangent function; Angle sensor array (1) according to claim 1.

5. the measurement acquisition device (2) is a two-channel measurement acquisition device (2) that provides a sine wave signal (SIN) as a first measurement signal (MS1) and a cosine wave signal (COS) as a second measurement signal (MS2) of the current angular position (W) of the measurement generator, which are processed by the signal processing device (3); the signal processing device (3) provides the correction device (10) with a processed sine wave signal (ASIN) as a first processed measurement signal (AMS1) of the current angular position (W) of the measurement generator and a processed cosine wave signal (ACOS) as a second processed measurement signal (AMS2); The correction device (10) outputs a modified sine wave signal (KSIN) as a first modified measurement signal (KMS1) and a modified cosine wave signal (KCOS) as a second modified measurement signal (KMS2) to the angle calculation device (20); the angle calculation unit (20) is configured to calculate a current angular position (W) of the measurement generator from the modified sine value (KSIN) and the modified cosine value (KCOS) using an arctangent function; Angle sensor array (1) according to claim 1.

6. The signal processing device (3) is configured with one channel and sequentially receives, processes and outputs "n" measurement signals (MS1, MS2, MS3, MSn) of the current angular position (W) of the measurement generator. Angle sensor array (1) according to claim 3 or 4.

7. The correction device (10) is configured with one channel and sequentially receives, corrects and outputs "n" processed measurement signals (AMS1, AMS2, AMS3, AMSn) from a one-channel signal processing device (3B) or from a multi-channel signal processing device (3A); Angle sensor array (1) according to claim 3 or 4.

8. an n-channel multiplexer (30) is loop-connected between the multi-channel measurement acquisition device (2A) and the one-channel signal processing device (3B) or between the n-channel signal processing device (3A) and the one-channel correction device (10B); The n-channel multiplexer (30) sequentially provides "n" measurement signals (MS1, MS2, MS3, MSn) of the current angular position (W) of the measurement generator to the one-channel signal processor (3B); The signal processing device (3B) sequentially processes and outputs the "n" measurement signals (MS1, MS2, MS3, MSn), or sequentially provides the "n" processed measurement signals (AMS1, AMS2, AMS3, AMS4) to the one-channel correction device (10B); The one-channel correction device (10B) sequentially corrects and outputs the "n" processed measurement signals (AMS1, AMS2, AMS3, AMSn). Angle sensor array (1) according to claim 6.

9. an n-channel demultiplexer (40) is loop-connected between the one-channel signal processing device (3B) and the multi-channel correction device (10A) or between the one-channel correction device (10B) and the angle calculation device (20); The n-channel demultiplexer (40) sequentially receives and stores "n" processed measurement signals (AMS1, AMS2, AMS3, AMSn) and simultaneously outputs them to the multi-channel correction device (10A), or sequentially receives and stores "n" corrected measurement signals (KMS1, KMS2, KMS3, KMSn) and simultaneously outputs them to the angle calculation device (20). Angle sensor array (1) according to claim 8.

10. the correction device (10) is further configured to adapt the at least one correction coefficient (KK1, KK2, KK3, KK4) to a currently set amplification factor (AVF) via a linear mathematical relationship or via a pre-created and stored conversion table. Angle sensor array (1) according to claim 1.

11. The correction device (10) comprises, for each measurement channel, at least one calculation block (12) and at least one correction block (14, 16); the at least one calculation block (12) is configured to calculate at least one correction factor (KK1, KK2, KK3, KK4) for the at least two processed measurement signals (MS1, MS2, MS3, MSn) depending on a currently set amplification factor (AVF) and provide the calculated correction factor to a corresponding correction block (14, 16); The corresponding correction blocks (14, 16) correspondingly correct the processed measurement signals (AMS1, AMS2, AMS3, AMSn) and output corrected measurement signals (KMS1, KMS2, KMS3, KMSn). Angle sensor array (1) according to claim 1.

12. the signal processing device (3), the correction device (10), and / or the angle calculation device (20) are each configured as an application specific integrated circuit (ASIC), as a programmable logic gate array (FPGA), or as a microcontroller; Angle sensor array (1) according to claim 1.

13. 1. An apparatus (50) for determining an angular difference (WD), comprising: first and second angle sensor arrays (52, 54) and a calculation unit (60), wherein the first and second angle sensor arrays (52, 54) are each the angle sensor array (1) of claim 1, the first angle sensor array (52) providing a first current angular position (W1) of a first measurement value generator, and the second angle sensor array (54) providing a second current angular position (W2) of a second measurement value generator, and the calculation unit (60) configured to calculate and output a difference angle (W12) from the first current angular position (W1) and the second current angular position (W2).

14. 10. A method (100) for angle determination of a measurement value generator using an angle sensor array (1) according to claim 1, wherein at least two measurement signals (MS1, MS2, MS3, MSn), each representative of a current angular position (W) of the measurement value generator, are provided, the at least two measurement signals (MS1, MS2, MS3, MSn) are processed by amplifying the at least two measurement signals (MS1, MS2, MS3, MSn) respectively with a variably settable amplification factor (AVF) and, if necessary, digitizing them, and depending on the currently set amplification factor (AVF), at least one correction factor (KK1, KK2, KK3, KK4) is calculated, the at least two processed measurement signals (AMS1, AMS2, AMS3, AMSn) are correspondingly corrected, and the current angular position (W) of the measurement value generator is calculated and output using at least one mathematical transformation of the at least two corrected measurement signals (KMS1, KMS2, KMS3, KMSn).

15. an offset correction and / or an amplification correction and / or a phase correction of the at least two processed measurement signals (AMS1, AMS2, AMS3, AMSn) is performed using the at least one correction factor (KK1, KK2, KK3, KK4); The method (100) of claim 14.

16. In the case of "n" channel measurement acquisition, "n" measurement signals (MS1, MS2, MS3, MSn) are provided, processed and modified, and the "n" modified measurement signals (KMS1, KMS2, KMS3, KMSn) are converted by at least one mathematical transformation into modified sine wave signals (KSIN) and modified cosine wave signals (KCOS), from which a current angular position (W) of the measurement generator is calculated using an arctangent function; The method (100) of claim 14.

17. In the case of a two-channel measurement acquisition, a sine value (SIN) is provided as a first measurement signal (MS1) of the current angular position (W) of the measurement generator, and a cosine value (COS) is provided as a second measurement signal (MS2), which are processed and corrected, and the current angular position (W) of the measurement generator is calculated from the corrected sine value (KSIN) and the corrected cosine value (KCOS) using the arctangent function; The method (100) of claim 14.

18. the correction coefficients (KK1, KK2, KK3, KK4) are adapted to the currently set gain (AVF) via a linear mathematical relationship or via a previously created and stored conversion table for offset correction and / or gain correction and / or phase correction of the processed measurement signals (MS1, MS2, MS3, MSn), respectively; The method (100) of claim 14.

19. 15. A computer program comprising a program code, when executed in a signal processing device (3) and / or a correction device (10) and / or an angle calculation device (20), for causing said signal processing device (3) and / or said correction device (10) and / or said angle calculation device (20) to perform the method according to claim 14.

20. 20. A machine readable carrier containing the computer program of claim 19.

21. 21. Apparatus containing a computer program according to claim 19 or comprising a machine readable carrier according to claim 20.

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