Patent Grant
10859402
This application claims the priority of French patent application number 17 56826, filed on Jul. 18, 2017, the entire contents of which are incorporated herein by reference.
The invention relates to an assembly on a member of a system for determining the position of said member.
In order to determine the position of a member, a system is known comprising:
an encoder intended to be secured to said member, said encoder comprising a primary magnetic track and a secondary magnetic track which are each suitable for emitting a periodic magnetic signal representative of the movement of said encoder; and
a sensor having two patterns of sensitive elements which are suitable for detecting the signals supplied by the tracks of the encoder, each pattern being arranged at reading distance from a track to form a representative signal of the position of said track, said sensor further comprising a device for processing the signals from the patterns to determine the position of the member.
In particular, the document EP-1 353 151 envisages that the secondary track comprises a number of magnetic poles which is different from that of the primary track, so as to be able to determine simply the position according to the vernier principle, particularly an absolute position, i.e. with respect to a reference position.
This type of determination systems has the advantage of envisaging a single sensor for reading each of the tracks and for processing the corresponding signals, each pattern being arranged to be suitable for being arranged along a surface which extends at reading distance from the track to be detected.
In particular, so that each of the sensitive element patterns detects a comparable magnetic signal level, said patterns may be arranged along the same reading surface which extends at a substantially constant reading distance with respect to the multipolar magnetic tracks.
This type of determination system finds more particularly the application thereof for the monitoring of synchronous electric motors (with permanent magnet or with wound rotor), particularly for electric vehicles, which need a precise measurement of the position of the rotor in order to handle the stator coil power supply. Alternatively, the system may determine a linear position of a member in translation.
The precision required is conventionally of the order of ±1° electrical, i.e. on a pole pair of the motor. In particular, efficient motor monitoring means:
a superior output and enables:
design of the motor as leanly as possible, i.e. saving on the mass and footprint;
savings of energy and therefore a reduction in the quantity of batteries (mass, cost) for the same autonomy or increased autonomy for the same quantity of batteries;
less heating as there are less losses due to the Joule effect.
superior performances perceived by the user: no torque jumping, starting in the wrong direction, less emitted acoustic noise.
In particular in this type of application, the functional safety of the electric motor monitoring is an increasingly present need. Indeed, the angular determination is used directly in the motor torque control loop: incorrect angle data may result in an incorrect electric motor power supply and therefore untimely movement, potentially serious in the case of an electric vehicle.
The functional safety standard ISO26262 defines these feared events and categorises systems and the components thereof according to ASIL (Automotive Safety Integrity Level) levels from D to A, from the safest to the least safe.
A level D sensor should ensure safe operation but also the failure thereof should be immediately detectable so that the system using same is set to safety mode, for example operating temporarily in degraded mode.
The aim of the invention is that of solving the problems of the prior art by proposing particularly an assembly of a determination system wherein the reliability is enhanced, in particular relative to the likelihood of the complete failure of the sensor and consequently to the detection of any partial failure.
To this end, according to a first aspect, the invention relates to an assembly on a member of a system for determining the position of said member, said assembly comprising:
an encoder secured to said member, said encoder comprising a primary magnetic track and a secondary magnetic track which are each suitable for emitting a periodic magnetic signal representative of the movement of said encoder; and
a sensor having two patterns of sensitive elements which are suitable for detecting the signals supplied by the tracks of the encoder, each pattern being arranged at reading distance from a track to form a representative signal of the position of said track, said sensor further comprising a device for processing the signals from the patterns to determine the position of the member;
the sensitive elements of a first pattern being based on a magnetoresistive material wherein the resistance varies according to the magnetic signal of the track to be detected, said first pattern being arranged at reading distance from a second track having 2N−1 magnetic pole pairs, the sensitive elements of the second pattern being based on an anisotropic magnetoresistive material, said second pattern being arranged at reading distance from a primary track having N magnetic pole pairs.
Further subject matter and advantages of the invention will emerge in the following description, with reference to the appended figures, wherein:
With reference to these figures, the assembly on a member of a system for determining the position thereof is described hereinafter. In one application example, the member is rotary, for example by being a shaft of a synchronous electric motor, and the determination of the angular position is used to drive said motor. Alternatively, the system may determine a linear position of a member in translation.
In particular, the position may be determined in absolute terms, i.e. with respect to a reference position, and immediately on powering up the system, without requiring a minimum movement of the member. For this purpose, the determination system comprises an encoder 1 which is secured to the member, said encoder comprising a primary magnetic track 2 and a secondary magnetic track 3.
In particular, the magnetic tracks 2, 3 are multipolar, i.e. they each have an alternating sequence of pairs of North and South poles which extends along the direction of the member. As such, each of the tracks 2, 3 is suitable for emitting a periodic magnetic signal representative of the movement of the encoder 1, particularly a signal of pseudosinusoidal format.
In the embodiments shown, the encoder 1 is formed from a magnet whereon the multipolar magnetic tracks 2, 3 are embodied. In particular, the magnet may be formed from an annular array, for example embodied based on a plastic or elastomer material, wherein are scattered magnetic particles, particularly ferrite or rare earth particles such as NdFeB. Alternatively, each track 2, 3 may be formed on a separate magnet.
The determination system comprises a sensor 4 having two patterns 5 of sensitive elements which are suitable for detecting the signals supplied by the tracks 2, 3 of the encoder 1. In particular, each pattern 5 may comprise at least two sensitive elements, particularly a plurality of aligned sensitive elements as described in the documents FR-2 792 403, EP-2 602 593 or EP-2 602 594.
As such, by arranging the patterns 5 respectively at reading distance from a track 2, 3, it is possible to form a representative signal of the position of said track. Moreover, the sensor 4 comprises a device 6 for processing signals from the patterns 5 to determine the position of the member.
The secondary track 3 comprises a number of pairs of magnetic poles which is different from that of the primary track 2, particularly by envisaging having the poles meet at the start and end points of said tracks, while having an offset of said poles along said tracks.
In particular, for an absolute measurement, the secondary track 3 comprises a number of magnetic pole pairs which does not have a common divisor with that of the primary track 2. According to one embodiment, the tracks 2, 3 extend over 360° to determine the angular position over one revolution. Alternatively, the tracks 2, 3 extend over a portion 1/Q of the revolution to be able to determine the angular position on this portion, the encoder 1 then having particularly a succession of Q tracks 2, 3 over one revolution.
According to one embodiment, the primary track 2 comprises a succession of M pole pairs and the secondary track 3 comprises a succession of M−1 pole pairs.
In this embodiment, as particularly disclosed by the document EP-1 353 151, the processing device 6 may use the magnetic vernier principle to determine the absolute angular position by comparing the angular position signals from each of the patterns 5.
According to a further embodiment disclosed by the document EP-2 372 313, each pattern 5 makes it possible to form a signal which comprises the phase of the angular position of a track 2, 3, the processing device 6 computing a difference between said phases in order to infer the absolute angular position of the encoder 1 therefrom.
The sensitive elements of a first pattern 5 are based on a magnetoresistive material wherein the resistance varies according to the magnetic signal of the track 2, 3 to be detected. Alternatively, the sensitive elements of the first pattern 5 can be based on Hall effect probe.
According to one embodiment, each of the sensitive elements of the first pattern 5 comprises at least one sensitive layer based on a magnetoresistive material, particularly with a tunnel effect, wherein the resistance varies according to the magnetic signal of the track 2, 3 to be detected.
In particular, as described for example in the document WO-2004/083881, each sensitive element of the first pattern 5 comprises a stack of a reference magnetic layer, a separating layer and a magnetic layer sensitive to the field to be detected, the resistance between the magnetic layers being dependent on the relative orientation of the magnetisation thereof.
In this embodiment, the separating layer may be insulating to form a TMR type magnetoresistive element. Alternatively, the separating layer may be conductive to form a GMR type magnetoresistive element.
The sensitive elements of the second pattern 5 are different in nature in respect of the technology for detecting the magnetic signal supplied by the track 3, 2 to be detected. As such, due to the use of two different technologies, the same cause of failure will be less likely to trigger the simultaneous failure of both patterns 5, which is more difficult to detect than a failure of only one of the two patterns 5. Therefore, this results in a functional safety level of the sensor 4 which is enhanced.
The sensitive elements of the second pattern 5 are based on an anisotropic magnetoresistive material, particularly of AMR type.
To form the representative signal of the position of the track 2, 3, each pattern 5 is arranged along a reading surface S which extends at reading distance L from a track 2, 3. In particular, the reading surface S extends with respect to the track 2, 3 along a reading distance L which is substantially constant such that each sensitive element of the patterns 5 can detect a magnetic signal wherein the amplitude is substantially constant.
Furthermore, the patterns 5 may be arranged along the same reading surface S, particularly such that the magnetic tracks 2, 3 extend at the same reading distance L from said patterns. As such, the patterns 5 may detect magnetic signals substantially of the same amplitude, which simplifies the determination of the absolute position by comparing said signals.
Each pattern 5 is arranged such that the sensitive elements extend in a general plane P which is perpendicular to the reading surface S of the track 2, 3. As such, the arrangement of the sensitive elements with respect to the tracks 2, 3 makes it possible to detect the rotating magnetic field which is emitted perpendicularly to said tracks, said detection being less sensitive to the value and to the scatterings of reading distance L than the detection of the magnetic field which is emitted by the tracks 2, 3 along the reading surface S.
Advantageously, the patterns 5 exhibit a length which extends along the magnetic track 2, 3 such that the rotating magnetic field can be detected along said length. Moreover, the tracks 2, 3 exhibit a concentric annular geometry with respect to the axis of rotation of the rotary member.
In the embodiments shown, the sensor 4 comprises an electronic board 8 whereon the processing device 6 is implanted. In particular, the board 8 has two faces 8a, 8b whereon respectively a pattern 5 is arranged. Advantageously, the sensitive elements extend parallel to the faces 8a, 8b whereon they are arranged, which simplifies the integration of the sensor 4, particularly in a small-diameter tube-shaped housing, for the attachment thereof with respect to the encoder 1.
The configuration of the two tracks 2, 3 (particularly relative to the polar length thereof and to the spacing thereof), the two patterns 5 (particularly relative to the spacing thereof) and the relative positioning thereof is designed to prevent inter alia the interference of one track 2 on the other 3 during measurement.
In particular, the two patterns 5 may be spaced axially or radially by placing same on either side of an electronic board 8 wherein the thickness determines this spacing. Optionally, this spacing may be increased by placing the patterns 5 on one or a plurality of additional printed circuits of chosen thickness and by stacking the whole axially or radially.
Furthermore, in order to enhance the functional safety of the sensor 4 further, the patterns 5 may be separated electrically, such that an electrical failure of the power supply of one of these or an electrostatic discharge on the circuit of one of these does not necessarily give rise to failure of the other.
With reference to
In
The electronic board 8 is positioned radially between the tracks 2, 3 with each pattern 5 arranged on either side axially in order to be at radial reading distance from a track 2, 3. Each pattern 5 is arranged such that the sensitive elements have a height which extends radially to enable radial detection of the rotating magnetic field.
With reference to
The electronic board 8 is positioned axially between the tracks 2, 3 with each pattern 5 arranged on either side radially in order to be at axial reading distance from a track 2, 3. Each pattern 5 is arranged such that the sensitive elements have a height which extends axially to enable axial detection of the rotating magnetic field.
The sensitive elements of the first pattern 5 are based on a magnetoresistive material, for example a tunnel-effect one, particularly TMR, the sensitive elements of the second pattern 5 being based on an anisotropic magnetoresistive material, particularly of AMR type.
One specificity of an AMR pattern is that of doubling the frequency of the magnetic signal measured. As such, as represented in the figures, such that the vernier principle works on a revolution, it is envisaged that the first pattern 5 be arranged at reading distance from the secondary track 3 having 2N−1 magnetic pole pairs, the second pattern 5 being arranged at reading distance from a primary track 2 having N magnetic pole pairs.
As such, an electric signal of the type M/M−1 as described above is indeed obtained to determine the absolute position. In one example of an embodiment, the primary track 2 has 16 pole pairs, the secondary track 3 having 31.
Furthermore, this 2N−1/N configuration makes it possible to benefit from larger poles with regard to AMR patterns, which compensates for the lower sensitivity thereof compared to TMR patterns. As such, an arrangement of each of the patterns 5 at the same reading distance L is possible to be able to determine the absolute position.
| Number | Date | Country |
|---|---|---|
| 1353151 | Oct 2003 | EP |
| 1353151 | Oct 2003 | EP |
| 2372313 | Oct 2011 | EP |
| 2602593 | Jun 2013 | EP |
| 2602594 | Jun 2013 | EP |
| 2792403 | Oct 2000 | FR |
| 2004083881 | Sep 2004 | WO |
| Number | Date | Country | |
|---|---|---|---|
| 20190025085 A1 | Jan 2019 | US |
