Sensor device and method for detecting rotational motion of a body rotatable around a rotation axis.

Abstract

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

Description

Technical Field

[0001] The present invention relates to a sensor device for detecting the rotational movement of a body rotatable about a rotational axis. A method for detecting the rotational movement of a body rotatable about a rotational axis, which can be implemented by such a sensor device, is also an object of the present invention.

Background Art

[0002] It is known from the prior art to calculate a unique absolute angle over a plurality of complete mechanical rotations of a shaft using Vernier (Nonius) calculations from at least two angle signals, where at least one of these angle signals is mechanically set downwards or upwards compared to the rotational movement of the shaft, i.e., when the shaft makes one mechanical rotation, this angle signal rotates less than 360 degrees or more than 360 degrees.

[0003] In known inductive torque sensors and steering angle sensors, typically two inductive angle measurements are used for torque calculation, and one additional, usually magnetic, angle measurement is used for steering angle calculation. The clear range exceeds 360 degrees because multiple rotations of the steering wheel must be detected. According to prior art, for the calculation of the absolute steering angle, the angle values ​​detected by the inductive angle measurements are transmitted to a control unit, where a Vernier calculation is performed using the angle values ​​detected by the additional magnetic angle measurement. This assumes that the periodicity of the additional magnetic angle measurement and the periodicity of the inductive angle measurement are coordinated, ensuring the functionality of the Vernier calculation while simultaneously meeting customer requirements for the steering angle range to be measured. This periodicity adjustment can be a limitation in inductive torque measurement because the specified periodicity is advantageous for reducing measurement errors. To complement this, gears using larger structural space are often required for downward or upward setting of the additional magnetic angle measurement.

[0004] From German Patent Application Publication No. 112016005661 (DE112016005661T5), an inductive torque sensor and angle sensor for a steering mechanism are known, which have an input shaft, which is connected to an output shaft via a torsion bar. A first coupler is connected to the input shaft, and a second coupler is connected to the output shaft. A first and second receiving coil, each having a plurality of loops wound opposite each other, are positioned opposite the first coupler or the second coupler, respectively, such that the first coupler is located above the first receiving coil and the second coupler is located above the second receiving coil. A switching circuit determines the angular offset between the two couplers. Furthermore, an angle sensor is provided that indicates the precise rotation angle of the steering mechanism. To implement this angle sensor, a first gear is attached to the first coupler, and the first coupler and the first gear rotate in conjunction. The first gear engages with the second gear, which is rotatably mounted on the opposite side of the printed circuit board on an axis parallel to the steering wheel torsion bar but at a distance from the steering wheel torsion bar. A coupler is attached to the second gear and works in cooperation with the receiving coil of a third inductive sensor mounted on the printed circuit board. The angle of the second gear can be determined using other types of sensors, such as a Hall effect sensor, an inductive Hall sensor, or a (G)MR sensor. [Prior art documents] [Patent Documents]

[0005] [Patent Document 1] German Patent Application Publication No. 112016005661 Specification Translation (DE112016005661T5) [Overview of the project] [Means for solving the problem]

[0006] Disclosure of the invention A sensor device for detecting rotational motion of a body rotatable about a rotation axis, having the features of independent claim 1, and a method for detecting rotational motion of a body rotatable about a rotation axis, having the features of independent claim 13, each have the advantage of improving the possibility of selecting individual periodicities of angle measurement by using at least three angle signals in a cascaded vernier calculation, thereby eliminating structural space. Furthermore, the cascaded vernier calculation provides greater robustness (k-decimals) compared to a single vernier calculation known from the prior art. As a result, embodiments of the present invention are less susceptible to angular errors and hysteresis errors. This advantageously allows for the use of more cost-effective magnetic circuits and mechanical gear systems.

[0007] Embodiments of the present invention provide a sensor device for detecting rotational motion of a body rotatable about a rotation axis, comprising at least three angle sensors and at least one evaluation and control unit. Each of the at least three angle sensors detects the mechanical rotational motion of the rotatable body at a predetermined transmission ratio, each generates a corresponding electrical angle signal, and outputs these electrical angle signals to at least one evaluation and control unit. Here, the at least three angle sensors have different transmission ratios. Here, the at least one evaluation and control unit is configured to determine a first angle of the rotatable body within a first clear range by a first vernier calculation, the first vernier calculation being based on two of the at least three electrical angle signals, and the first clear range of the determined first angle is greater than the clear range of these angle signals used in the calculation. At least one evaluation and control unit is further configured to determine a second angle of a rotatable body within a second clear range by a second vernier calculation, the second vernier calculation being based on the determined first angle and other electrical angle signals among at least three electrical angle signals, wherein the second clear range of the determined second angle is greater than the first clear range of the determined first angle and the clear ranges of the other electrical angle signals.

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

[0009] In this specification, an evaluation and control unit can be understood as an electrical assembly or electrical circuit that processes, modifies, or evaluates detected sensor signals or measurement signals. Preferably, the evaluation and control unit may be configured as an ASIC module (ASIC: Application-Specific Integrated Circuit). The evaluation and control unit may have at least one interface, which may be configured by hardware and / or software. In the case of a hardware configuration, the interface may be, for example, part of an ASIC module. However, the interface may be a proprietary integrated circuit, or may be composed of at least partially discrete components. In the case of a software configuration, the interface may be a software module, which may reside, for example, on a microcontroller adjacent to other software modules.

[0010] The measures and variations described in the dependent claims can advantageously improve upon the sensor device for detecting rotational motion of a body rotatable about a rotation axis, as described in independent claim 1, and the method described in independent claim 13.

[0011] It is particularly advantageous that at least three angle sensors can each be configured as either an inductive or magnetic angle sensor. Therefore, for example, all angle sensors can be configured as either inductive or magnetic angle sensors. Furthermore, combinations of inductive and magnetic angle sensors are also possible. For example, two angle sensors providing two angle signals for a first vernier calculation can be configured as inductive angle sensors, and the other angle sensor providing the other angle signal for a second vernier calculation can be configured as a magnetic angle sensor.

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

[0013] In other advantageous configurations of the sensor device, at least one of the at least three electrical angle signals may have an intermittent rational conversion ratio for the mechanical rotational motion of the rotatable body, so that the first or second clear range is greater than one rotation of at least one rotatable body. This makes it possible to clearly identify rotation angles greater than one rotation, i.e., rotation angles greater than 360 degrees. Preferably, the other electrical angle signals may have an intermittent rational conversion ratio for the mechanical rotational motion of the rotatable body, so that the second clear range of the identified second angle is greater than one rotation of at least one rotatable body.

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

[0015] In other advantageous configurations of the sensor device, the transmission ratio of individual angle sensors can be set by the periodicity of the corresponding electrical angle signal. In the case of inductive angle sensors, the periodicity can simply be achieved by the number of conductive coupling segments of the corresponding coupling device. Selectively, the transmission ratio of individual angle sensors may be set by the mechanical transmission of the rotational motion of this rotatable body to other rotatable bodies, thereby causing the other rotatable bodies to rotate at a different rotational speed than this rotatable body. The mechanical transmission can be achieved, for example, by a simple gear drive or a planetary gear drive.

[0016] In another advantageous configuration of the sensor device, at least one evaluation and control unit may be configured to determine the difference angle from a first electrical angle signal of a first angle sensor and a second electrical angle signal of a second angle sensor, from which it is possible to determine the torque acting on a rotatable body. Thus, the rotatable body may be configured, for example, as the steering shaft of a vehicle. Here, the first electrical angle signal of the first angle sensor can represent the rotation angle of a first section of the steering shaft, and the second electrical angle signal of the second angle sensor can represent the rotation angle of a second section of the steering shaft, so that the torque acting on the steering shaft can be determined. Since the torque is measured based on the first and second angle signals, these angle signals have a torque-related difference angle due to the application, and this torque-related difference angle should be corrected for the first vernier calculation. In relation to the selected criteria, this may also apply to a third electrical angle signal, so a differential angle correction of the third electrical angle signal may be performed additionally before the second vernier calculation. In this specification, at least one evaluation and control unit may be further configured to perform differential angle correction of the first electrical angle signal and / or the second electrical angle signal and / or the third electrical angle signal before the corresponding vernier calculation. The differential angle correction ensures the robustness of the vernier calculation because an "angle leap" cannot occur at a particular angle. Furthermore, it ensures the monitoring of the vernier calculation with respect to functional safety ("k-decimal place" monitoring). Furthermore, the differential angle correction of the second angle by a defined criterion can improve the accuracy of rotation angle determination.

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

[0018] Embodiments of the present invention are shown in the drawings and described in more detail below. In the drawings, components or elements that perform the same or similar functions are denoted by the same reference numerals. [Brief explanation of the drawing]

[0019] [Figure 1] This is a schematic block diagram showing a first embodiment of a sensor device according to the present invention that detects the rotational motion of a body that can rotate around a rotation axis. [Figure 2] This is a schematic block diagram showing a second embodiment of a sensor device according to the present invention, which detects the rotational motion of a body that can rotate around a rotation axis. [Figure 3] Figure 1 or Figure 2 is a schematic block diagram showing an embodiment of the first evaluation and control unit for a sensor device according to the present invention. [Figure 4] This is a schematic flowchart illustrating an embodiment of the method according to the present invention for detecting the rotational motion of a body that can rotate around a rotation axis. [Modes for carrying out the invention]

[0020] Embodiments of the Invention As is apparent from FIGS. 1 to 3, the illustrated embodiments of the sensor devices 1, 1A, 1B according to the present invention for detecting the rotational movement of the body 3 rotatable about the axis of rotation DA each include at least three angular sensors 5, 5A, 5B, 5C and at least one evaluation and control unit 10, 10A, 10B. The at least three angular sensors 5, 5A, 5B, 5C each detect the mechanical rotational movement of the rotatable body 3 at a predetermined transmission ratio, generate corresponding electrical angular signals W1, W2, W3, and output these electrical angular signals W1, W2, W3 to at least one evaluation and control unit 10, 10A, 10B. Here, the at least three angular sensors 5, 5A, 5B, 5C have different transmission ratios. The at least one evaluation and control unit 10, 10A, 10B determines a first angle NW1 of the rotatable body 3 within a first clear range by a first Vernier calculation NB1 based on two of the at least three electrical angular signals W1, W2, W3, namely W1 and W2. The first clear range of the determined first angle NW1 is larger than the clear ranges of these angular signals W1, W2 used in the calculation. Further, the at least one evaluation and control unit 10, 10A, 10B determines a second angle NW2 of the rotatable body 3 within a second clear range by a second Vernier calculation NB2 based on the determined first angle NW1 and another electrical angular signal W3 of the at least three electrical angular signals W1, W2, W3. The second clear range of the determined second angle NW2 is larger than the first clear range of the determined first angle NW1 and the clear range of the other electrical angular signal W3.

[0021] As is further evident from Figures 1 and 2, illustrated embodiments of the sensor devices 1, 1A, and 1B include three angle sensors 5A, 5B, and 5C, two evaluation and control units 10A and 10B, and one control device 7, 7A, and 7B, respectively. In the illustrated embodiments, the first angle sensor 5A, configured as an inductive angle sensor, supplies a first electrical angle signal W1; the second angle sensor 5B, also configured as an angle sensor, supplies a second electrical angle signal W2; and the third angle sensor 5C, configured as a magnetic angle sensor, supplies a third electrical angle signal W3. The two electrical angle signals W1 and W2 from the two inductive angle sensors 5A and 5B are used in the illustrated embodiments for a first vernier calculation NB1 performed by the first evaluation and control unit 10A to determine a first angle NW1. The third electrical angle signal W3 of the third magnetic angle sensor 5C is used in the illustrated embodiment for a second vernier calculation NB2, which is performed by a second evaluation and control unit 10B to determine a second angle NW2 using a specified first angle NW1. The transmission ratios of the three angle sensors 5A, 5B, 5C are selected such that the transmission ratio of each angle sensor 5A, 5B, 5C is not an integer multiple of the transmission ratio of one of the other angle sensors 5A, 5B, 5C. Furthermore, the transmission ratios of the two inductive angle sensors 5A, 5B are set by the periodicity of their corresponding electrical angle signals W1, W2, respectively. The transmission ratio of the third magnetic angle sensor 5C is set by a mechanical transmission, not shown in detail, of the rotational motion of this rotatable body 3 to other rotatable bodies, thereby causing the other rotatable bodies to rotate at a different rotational speed than this rotatable body 3.

[0022] Since at least one of the three electrical angular signals W1, W2, W3 has a discontinuous rational conversion ratio with respect to the mechanical rotational movement of the rotatable body 3, the first unambiguous range or the second unambiguous range is greater than one rotation of the rotatable body 3. In the illustrated embodiment, since the third electrical angular signal W3 of the third magnetic angular sensor 5C has a discontinuous rational conversion ratio with respect to the mechanical rotational movement of the rotatable body 3, the second unambiguous range of the specified second angle NW2 is greater than one rotation of at least one rotatable body 3.

[0023] In the illustrated embodiment, the first evaluation and control unit 10A performs the second vernier calculation NB2 as a weighted vernier calculation. In this case, the specified first angle NW1 is weighted higher than the third electrical angular signal W3.

[0024] In the illustrated embodiment, the rotatable body 3 is configured as the steering shaft 3A of a vehicle. The steering shaft 3A has a torsion region TB shown by a line drawing. In this case, a steering wheel not shown in detail is connected to the first section IN or the inlet side of the steering shaft 3A, which is arranged above the torsion region TB. A steering gear not shown in detail and connected to the wheel is connected to the second section OUT or the outlet side of the steering shaft 3A, which is arranged below the torsion region TB. As is further apparent from FIG. 3, the first evaluation and control unit 10A calculates, in the calculation block 12, the differential angle DW from the first electrical angular signal W1 of the first inductive angular sensor 5A that detects the rotational angle of the first section IN of the steering shaft 3A and the second electrical angular signal W2 of the second angular sensor 5B that detects the rotational angle of the second section OUT of the steering shaft 3A, and it is possible to obtain the torque acting on the rotatable body 3 configured as the steering shaft 3A from this differential angle DW. Further, the first evaluation and control unit 10A performs differential angle correction of the first electrical angular signal W1 in the correction block 14 before the first vernier calculation NB1.

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

[0026] As is further evident from Figure 2, the second illustrated embodiment of the sensor device 1B shows a second embodiment of the control device 7B in which only the second evaluation and control unit 10B is located. The first evaluation and control unit 10A is located outside the control device 7B, near the two inductive angle sensors 5A and 5B.

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

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

[0029] In the illustrated embodiment, the second electrical angle signal W2 forms the angle reference for the first vernier calculation NB1. Therefore, in step S120, differential angle correction is performed on the first electrical angle signal W1. In relation to the selected angle reference and the arrangement of the third angle sensor 5C, differential angle correction of the third electrical angle signal W3 is additionally performed in step S120, prior to the vernier calculations NB1 and NB2. In the illustrated embodiment, differential angle correction of the third electrical angle signal W3 is not performed. This is because the third electrical angle signal W3 represents the rotation angle of the second section OUT or exit side of the steering shaft 3A, similar to the second electrical angle signal W2 which forms the angle reference for the first vernier calculation NB1. If the first electrical angle signal W1 forms the angle reference for the first vernier calculation NB1, then differential angle correction is performed on the second electrical angle signal W2 and the third electrical angle signal W3, respectively, in step S120. Naturally, the differential angle correction of the third electrical angle signal W3 can be selectively performed in another step (not shown) between the first vernier calculation in step S130 and the second vernier calculation in step S140.

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

[0031] The third angle signal W3 has an intermittent rational conversion ratio and is mechanically set downward, so the second vernier calculation NB2 is performed as a weighted vernier calculation. Here, the identified first angle NW1 is weighted more highly than the third electrical angle signal W3 when identifying the second angle NW2, because the third electrical angle signal W3 is used only to count one rotation of the rotatable body, which is configured as the steering shaft 3A. This allows multiple rotations of the steering wheel to be detected by the identified second angle NW2, which represents the absolute rotation angle of the rotatable body 3.

Claims

1. A sensor device (1) for detecting the rotational motion of a body (3) that is rotatable about a rotation axis (DA), comprising at least three angle sensors (5) and at least one evaluation / control unit (10), Each of the at least three angle sensors (5) detects the mechanical rotational motion of the rotatable body (3) at a predetermined transmission ratio, generates corresponding electrical angle signals (W1, W2, W3), and outputs them to the at least one evaluation / control unit (10). The at least three angle sensors (5) have different transmission ratios. The at least one evaluation and control unit (10) is configured to determine a first angle (NW1) of the rotatable body (3) within a first clear range by a first vernier calculation (NB1), the first vernier calculation (NB1) is based on two electrical angle signals (W1, W2) of the at least three electrical angle signals (W1, W2, W3), The first clear range of the specified first angle (NW1) is greater than the clear range of the angle signals (W1, W2) used in the calculation. The at least one evaluation and control unit (10) is further configured to determine a second angle (NW2) of the rotatable body (3) within a second clear range by a second vernier calculation (NB2), the second vernier calculation (NB2) being based on the determined first angle (NW1) and the other electrical angle signal (W3) of the at least three electrical angle signals (W1, W2, W3), Sensor device (1), wherein the second clear range of the specified second angle (NW2) is greater than the first clear range of the specified first angle (NW1) and the clear range of the other electrical angle signal (W3).

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

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

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

5. The sensor device (1) according to claim 4, wherein the other electrical angle signal (W3) has an intermittent rational conversion ratio to the mechanical rotational motion of the rotatable body (3), and the second clear range of the specified second angle (NW2) is greater than one rotation of the at least one rotatable body (3).

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

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

8. The sensor device (1) according to claim 1, wherein the transmission ratio of each angle sensor (5) can be set by the mechanical transmission of the rotational motion of the rotatable body (3) to other rotatable bodies, the other rotatable bodies rotate at a different rotational speed than the rotatable body (3).

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

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

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

12. The sensor device (1) according to claim 1, wherein the second evaluation and control unit (10B) is configured to perform the second vernier calculation (NB2).

13. A method (100) for detecting the rotational motion of a body (3) that is rotatable about a rotation axis (DA), which can be carried out by a sensor device (1) according to any one of claims 1 to 12, Based on the mechanical rotational motion of the rotatable body (3), at least three electrical angle signals (W1, W2, W3) with predetermined transmission ratios are generated and evaluated. At least three electrical angle signals (W1, W2, W3) with different transfer ratios are detected. The first angle (NW1) of the rotatable body (3) is determined within a first clear range by a first vernier calculation (NB1), the first vernier calculation (NB1) is based on two electrical angle signals (W1, W2) of the at least three electrical angle signals (W1, W2, W3), The first clear range of the specified first angle (NW1) is greater than the clear range of the angle signals (W1, W2) used in the calculation. The second angle (NW2) of the rotatable body (3) is determined in a second clear range by a second vernier calculation (NB2), the second vernier calculation (NB2) is based on the determined first angle (NW1) and the other electrical angle signal (W3) of the at least three electrical angle signals (W1, W2, W3), Method (100), wherein the second clear range of the identified second angle (NW2) is greater than the first clear range of the identified first angle (NW1) and the clear range of the other electrical angle signal (W3).

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

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

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