U.S. patent application number 10/585035 was filed with the patent office on 2011-05-05 for position sensor.
Invention is credited to Lutz May.
Application Number | 20110103173 10/585035 |
Document ID | / |
Family ID | 34744009 |
Filed Date | 2011-05-05 |
United States Patent
Application |
20110103173 |
Kind Code |
A1 |
May; Lutz |
May 5, 2011 |
Position sensor
Abstract
A position sensor device determines a position of a
reciprocating object and includes, (a) at least one magnetically
encoded region fixed on a reciprocating object, (b) at least one
magnetic field detector, and (c) a position determining unit. The
magnetic field detector is adapted to detect a signal generated by
the magnetically encoded region when the magnetically encoded
region reciprocating with the reciprocating object passes a
surrounding area of the magnetically encoded region. The position
determining unit is adapted to determine a position of a
reciprocating object based on the detected magnetic signal.
Inventors: |
May; Lutz;
(Gelting/Geretsried, DE) |
Family ID: |
34744009 |
Appl. No.: |
10/585035 |
Filed: |
December 30, 2004 |
PCT Filed: |
December 30, 2004 |
PCT NO: |
PCT/EP2004/014867 |
371 Date: |
July 12, 2007 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
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60533276 |
Dec 30, 2003 |
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60598111 |
Aug 2, 2004 |
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60612562 |
Sep 23, 2004 |
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60617890 |
Oct 12, 2004 |
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60626359 |
Nov 9, 2004 |
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60629589 |
Nov 19, 2004 |
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Current U.S.
Class: |
366/64 ;
324/207.13; 324/207.16; 324/207.2 |
Current CPC
Class: |
G01L 3/103 20130101;
H01F 13/006 20130101; G01L 3/102 20130101; G01D 5/145 20130101;
Y10T 29/49075 20150115; F16H 59/70 20130101 |
Class at
Publication: |
366/64 ;
324/207.13; 324/207.2; 324/207.16 |
International
Class: |
G01B 7/14 20060101
G01B007/14; G01R 33/07 20060101 G01R033/07; B28C 5/12 20060101
B28C005/12; B28C 7/02 20060101 B28C007/02 |
Foreign Application Data
Date |
Code |
Application Number |
Dec 30, 2003 |
EP |
03030030.5 |
Claims
1. A position sensor device for determining a position of a
reciprocating object, comprising: at least one magnetically encoded
region fixed on a reciprocating object; at least one magnetic field
detector; a position determining unit; wherein the magnetic field
detector is adapted to detect a signal generated by the
magnetically encoded region when the magnetically encoded region
reciprocating with the reciprocating object passes a surrounding
area of the magnetic field detector; wherein the position
determining unit is adapted to determine a position of a
reciprocating object based on the detected magnetic signal.
2. The position sensor device according to claim 1, wherein the at
least one magnetically encoded region is a permanent magnetic
region.
3. The position sensor device according to claim 1, wherein the at
least one magnetically encoded region is a longitudinally
magnetized region of the reciprocating object.
4. The position sensor device according to claim 1, wherein the at
least one magnetically encoded region is a circumferentially
magnetized region of the reciprocating object.
5. The position sensor device according to claim 1, wherein the at
least one magnetically encoded region is formed by a first magnetic
flow region oriented in a first direction and by a second magnetic
flow region oriented in a second direction, and wherein the first
direction is opposite to the second direction.
6. The position sensor device according to claim 5, wherein, in a
cross-sectional view of the reciprocating object, there is a first
circular magnetic flow having the first direction and a first
radius and a second circular magnetic flow having the second
direction and a second radius, and wherein the first radius is
larger than the second radius.
7. The position sensor device according to claim 1, wherein the at
least one magnetically encoded region is manufactured in accordance
with the following manufacturing steps: applying a first current
pulse to a magnetizable element; wherein the first current pulse is
applied such that there is a first current flow in a first
direction along a longitudinal axis of the magnetizable element;
wherein the first current pulse is such that the application of the
current pulse generates a magnetically encoded region in the
magnetizable element.
8. The position sensor device according to claim 7, wherein a
second current pulse is applied to the magnetizable element;
wherein the second current pulse is applied such that there is a
second current flow in a second direction along the longitudinal
axis of the magnetizable element.
9. The position sensor device according to claim 8, wherein each of
the first and second current pulses has a raising edge and a
falling edge; wherein the raising edge is steeper than the falling
edge.
10. The position sensor device according to claim 8, wherein the
first direction is opposite to the second direction.
11. The position sensor device according to claim 7, wherein the
magnetizable element has a circumferential surface surrounding a
core region of the magnetizable element; wherein the first current
pulse is introduced into the magnetizable element at a first
location at the circumferential surface such that there is the
first current flow in the first direction in the core region of the
magnetizable element; wherein the first current pulse is discharged
from the magnetizable element at a second location at the
circumferential surface; and wherein the second location is at a
distance in the first direction from the first location.
12. The position sensor device according to claim 8, wherein the
second current pulse is introduced into the magnetizable element at
the second location at the circumferential surface such that there
is the second current flow in the second direction in the core
region of the magnetizable element; and wherein the second current
pulse is discharged from the magnetizable element at the first
location at the circumferential surface.
13. (canceled)
14. The position sensor device according to claim 1, wherein the at
least one magnetically encoded region is a magnetic element
attached to the surface of the reciprocating object.
15. The position sensor device according to claim 1, wherein the at
least one magnetic field detector comprises at least one of the
group consisting of a coil having a coil axis oriented essentially
parallel to a reciprocating direction of the reciprocating object;
a coil having a coil axis oriented essentially perpendicular to a
reciprocating direction of the reciprocating object; a Hall-effect
probe; a Giant Magnetic Resonance magnetic field sensor; and a
Magnetic Resonance magnetic field sensor.
16. The position sensor device according to claim 1, further
comprising: a plurality of magnetically encoded regions fixed on
the reciprocating object.
17. The position sensor device according to claim 16, wherein the
plurality of magnetically encoded regions are arranged on the
reciprocating object at constant distances from one another.
18. The position sensor device according to claim 16, wherein the
plurality of magnetically encoded regions are arranged on the
reciprocating object at different distances from one another.
19. (canceled)
20. The position sensor device according to claim 16, wherein the
plurality of magnetically encoded regions are arranged on the
reciprocating object with constant dimensions.
21. The position sensor device according to claim 16, wherein the
plurality of magnetically encoded regions are arranged on the
reciprocating object with different dimensions.
22. (canceled)
23. (canceled)
24. The position sensor device according to claim 1, further
comprising: a plurality of magnetic field detectors.
25. The position sensor device according to claim 24, wherein the
plurality of magnetic field detectors are arranged along the
reciprocating object at constant distances from one another.
26. The position sensor device according to claim 24, wherein the
plurality of magnetic field detectors are arranged along the
reciprocating object at different distances from one another.
27. The position sensor device according to claim 26, wherein the
different distances are selected as a function of one of a linear
function, a logarithmic function and a power function.
28. The position sensor device according to claim 1, further
comprising: a plurality of magnetically encoded regions fixed on
the reciprocating object; and a plurality of magnetic field
detectors.
29. The position sensor device according to claim 28, wherein the
arrangement of the plurality of magnetically encoded regions along
the reciprocating object corresponds to the arrangement of the
plurality of magnetic field detectors.
30. The position sensor device according to claim 29, wherein at
least a part of the plurality of magnetic field detectors are
arranged displaced from an arrangement of a corresponding one of
the plurality of magnetically encoded regions arranged along the
reciprocating object.
31. The position sensor device according to claim 28, wherein a
number of the magnetically encoded regions equals the number of
magnetic field detectors.
32. The position sensor device according to claim 27, wherein a
number of the magnetically encoded regions differs from the number
of magnetic field detectors.
33. The position sensor device according to claim 1, wherein the
reciprocating object is a push-pull-rod in a gearbox of a
vehicle.
34. A position sensor array, comprising a reciprocating object; and
a position sensor device determining a position of the
reciprocating object, wherein the position sensor device includes
at least one magnetically encoded region fixed on a reciprocating
object, at least one magnetic field detector, and a position
determining unit, wherein the magnetic field detector is adapted to
detect a signal generated by the magnetically encoded region when
the magnetically encoded region reciprocating with the
reciprocating object passes a surrounding area of the magnetic
field detector and wherein the position determining unit is adapted
to determine a position of a reciprocating object based on the
detected magnetic signal.
35. The position sensor array according to claim 34, wherein the
reciprocating object is a shaft.
36. The position sensor array according to claim 34, wherein the
magnetically encoded region is provided along a part of a length of
the reciprocating object.
37. The position sensor array according to claim 34, wherein the
magnetically encoded region is provided along an entire length of
the reciprocating object.
38. The position sensor array according to claim 34, wherein the
reciprocating object is divided into a plurality of equally spaced
segments, each segment comprising one magnetically encoded region,
the magnetically encoded regions of the segments being arranged in
an asymmetric manner.
39. The position sensor array according to claim 34, further
comprising: a control unit controlling a reciprocation of the
reciprocating object based on the position of the reciprocating
object which is provided to the control unit by the position sensor
device.
40. A concrete processing apparatus, comprising a concrete
processing chamber; a reciprocating shaft arranged in the concrete
processing chamber adapted to reciprocate to mix concrete; and a
position sensor device determining a position of the reciprocating
shaft, wherein the position sensor device includes at least one
magnetically encoded region fixed on a reciprocating object, at
least one magnetic field detector, and a position determining unit,
wherein the magnetic field detector is adapted to detect a signal
generated by the magnetically encoded region when the magnetically
encoded region reciprocating with the reciprocating object passes a
surrounding area of the magnetic field detector and wherein the
position determining unit is adapted to determine a position of a
reciprocating object based on the detected magnetic signal.
41. The concrete processing apparatus according to claim 40,
further comprising: a control unit controlling a reciprocation of
the reciprocating shaft based on a position of the reciprocating
shaft which is provided to the control unit by the position sensor
device.
42. The concrete processing apparatus according to claim 40,
further comprising: a vehicle on which the concrete processing
chamber, the reciprocating shaft and the position sensor device are
mounted.
43. The concrete processing apparatus according to claim 40,
further comprising: a further reciprocating shaft arranged in the
concrete processing chamber adapted to reciprocate to mix concrete;
wherein the reciprocating shaft and the further reciprocating shaft
are operable in a countercyclical manner.
44. A method for determining a position of a reciprocating object,
comprising: detecting a signal by a magnetic field detector, the
signal being generated by a magnetically encoded region fixed on a
reciprocating object when the magnetically encoded region
reciprocating with the reciprocating object passes a surrounding
area of the magnetic field detector; and determining a position of
a reciprocating object based on the detected signal.
Description
FIELD OF THE INVENTION
[0001] The present invention relates to a position sensor device, a
position sensor array, a concrete processing apparatus and a method
for determining a position of a reciprocating object.
DESCRIPTION OF THE RELATED ART
[0002] For many applications, it is desirable to accurately measure
the position of a moving object. For instance, it is highly
advantageous to know the position of a reciprocating object to
accurately control the reciprocation in an efficient manner.
[0003] According to the prior art, an optical marker can be
provided on a reciprocating object, and an optical measurement can
be performed to estimate the position of the optical marker and
thus a position of the reciprocating object. However, under
critical circumstances and conditions such as a dirty environment,
the optical marker may be covered by a layer of dirt and may become
"invisible" for an optical detecting means.
[0004] Further, in case that the reciprocating object is located in
a dirty environment, an optical marker can be abrased by friction
between the reciprocating object and dirt particles.
[0005] Such a scenario of critical conditions is present, for
instance, in the case of a concrete processing apparatus in which a
reciprocating shaft mixes concrete and in which the position of the
reciprocating shaft or work cylinder is desired to known to
efficiently control the reciprocation cycle.
[0006] Alternatively, a mechanical marker, such as an engraving,
can be used as a marker to detect the position or velocity of a
reciprocating object. However, such an engraving structure may be
filled or covered with dirt and is thus not appropriate to be
implemented under critical and dirty conditions. A mechanical
marker (engravings) may also present a challenge to maintain
pneumatic or hydraulic sealing.
SUMMARY OF THE INVENTION
[0007] It is an object of the present invention to enable an
accurate position detection of a reciprocating object capable of
being used under critical conditions like a dirty environment.
[0008] This object may be achieved by providing a position sensor
device, a position sensor array, a concrete processing apparatus
and a method for determining a position of a reciprocating object
according to the independent claims.
[0009] According to an exemplary embodiment of the invention, a
position sensor device for determining a position of a
reciprocating object is provided, comprising at least one
magnetically encoded region fixed on a reciprocating object, at
least one magnetic field detector, and a position determining unit.
The magnetic field detector is adapted to detect a signal generated
by the magnetically encoded region when the magnetically encoded
region reciprocating with the reciprocating object passes a
surrounding area of the magnetic field detector. The position
determining unit is adapted to determine a position of a
reciprocating object based on the detected magnetic signal.
[0010] Further, a position sensor array is provided according to an
exemplary embodiment of the invention, comprising a reciprocating
object, and a position sensor device having the above-mentioned
features for determining a position of the reciprocating
object.
[0011] Moreover, a concrete processing apparatus is provided
according to another exemplary embodiment of the invention,
comprising a concrete processing chamber, a reciprocating shaft
arranged in the concrete processing chamber adapted to reciprocate
to mix concrete, and a position sensor device having the
above-mentioned features adapted to determine a position of the
reciprocating shaft.
[0012] Beyond this, a method for determining a position of a
reciprocating object is provided according to an exemplary
embodiment of the invention, comprising the steps of detecting a
signal by a magnetic field detector, the signal being generated by
a magnetically encoded region fixed on a reciprocating object when
the magnetically encoded region reciprocating with the
reciprocating object passes a surrounding area of the magnetic
field detector, and determining a position of a reciprocating
object based on the detected signal.
[0013] One idea of the invention may be seen in the aspect to
enable accurate position detection of a reciprocating object, such
as a reciprocating working cylinder of a concrete (or cement)
processing apparatus, by providing one or more magnetically encoded
regions on the reciprocating object. When the reciprocating object
reciprocates, the magnetically encoded region passes--from time to
time--an area of sensitivity/a sufficient close vicinity of a
magnetic field detector so that a counter electromotive force may
be generated in a magnetic coil as a magnetic field detector by
which the presence of the magnetically encoded region can be
detected. Since the position of the magnetically encoded regions on
the reciprocating object is known or can be predetermined, the
determining unit can derive from the detected signal the actual
position of the reciprocating object. To determine the position of
the reciprocating object from the detected signal, correlation
information can be taken into account. Such correlation information
can be pre-stored in a memory device coupled with the position
determining unit and may correlate the presence of a particular
signal of a particular magnetically encoded region with a
corresponding position of the shaft. In other words, correlation
information correlates a detected (electrical) signal with a
position of the object.
[0014] "Position" in the context of this description particularly
means the information that a particular region or point of the
reciprocating object is located at a determined position at a
particular point of time.
[0015] The fact that the magnetically encoded region is fixed on
the reciprocating object means that it may be integrated as a part
of the object or alternatively may be attached as an external
element to the surface of the object.
[0016] Particularly, one or more magnetically encoded regions can
be formed on different portions of a hydraulic work cylinder,
wherein each of magnetic field detector(s) senses a detecting
signal each time a magnetically encoded region traverses a sphere
of sensitivity of the magnetic field detector. Thus, the position,
the velocity, the acceleration, and so on, of the working cylinder
can be estimated with high accuracy, wherein this information can
be used to drive the cylinder in a controlled manner to optimize
its function.
[0017] Since the detection principle of the invention is
contactless, the detection is not disturbed by friction effects and
does not require a dirt-free environment. Thus, the invention
particularly may advantageously be applied in technical fields in
which a dirty environment may occur, for instance as a position
detecting apparatus for a reciprocating shaft in a concrete
processing apparatus, in the field of oil boring, and in the field
of mining.
[0018] Further, the magnetic position detecting principle of the
invention can be manufactured with low effort, is easy to handle
and can be applied to any existing shaft by magnetizing a part of
the shaft using a method which will described in detail below
(PCME, "Pulse-Current-Modulated Encoding"). For instance, many
industrial steels used for shafts of an engine or a work cylinder
can be magnetized to form a magnetically encoded region of the
invention. The detection principle of the invention is very
sensitive and provides a good signal to noise ratio.
[0019] The invention can be applied to reciprocating objects like a
reciprocating shaft having a full scale measurement range for
instance in the range of 1 millimetre to 1 meter, but which may be
less than 1 millimetre, or which may be as much as 1 (or more)
meters.
[0020] The invention particularly allows to identify certain
(absolute) positions (or fix points) on a reciprocating object,
like the position where a pump or generator has to be shut off
(on-off function). This invention can also be used to make a
precise measurement at a specific range on a reciprocating object
(defining a linear position on an object).
[0021] While different types of linear positioning sensors (the
concept of which differ fundamentally from the concept of the
invention) exist in large quantities and that for a relative long
time, this particular invention is particularly designed to
function under harsh and abrasive conditions where most other
technologies will fail.
[0022] An aspect of a PCME based linear position sensing technology
according to an exemplary embodiment of the invention is that the
magnetic pick-up device may be very small and therefore can be
easily placed in small spaces, like inside of a sealing chamber in
a pneumatic or hydraulic device.
[0023] Another benefit is that the magnetic field emanating from
the permanent magnetic markers is relatively small and therefore
will not attract metallic particles. A typical magnetic proximity
sensor (like an automotive wheel-speed sensor) uses very strong
magnetic field to function reliable. Therefore ferromagnetic
particles will stick on the surface of such sensors which is why
they cannot be used in dirty environments.
[0024] The technology of the invention may be also used, in the
frame of a concrete processing apparatus, to control the hydraulic
cylinder position of the crane arm that carries the mixed and still
liquid concrete mass through a long and flexible pipe to a specific
location at a building site.
[0025] The hydraulic cylinders need to be extended or contracted so
that the height and position of the crane arm can be changed. The
PCME magnetic markers are appropriate to identify the exact
position at the cylinder and to detect vibrations or oscillations
that are caused by the concrete pump and the pulsing semi-liquid
mass in the flexible pipe.
[0026] When the crane arm is pulsing/vibrating to much then the
pump has to change its operation to prevent a problem (crane arm is
moving outside of the acceptable position tolerance).
[0027] Referring to the dependent claims, further exemplary
embodiments of the invention will be described in the
following.
[0028] In the following, exemplary embodiments of the position
sensor device will be described. However, these embodiments also
apply for the position sensor array, the concrete processing
apparatus and the method for determining a position of a
reciprocating object.
[0029] The at least one magnetically encoded region of the position
sensor device may be a permanent magnetic region. The term
"permanent magnetic region" refers to a magnetized material which
has a remaining magnetization also in the absence of an external
magnetic field. Thus, "permanent magnetic materials include
ferromagnetic materials, ferrimagnetic materials, or the like. The
material of such a magnetic region may be a 3d-ferromagnetic
material like iron, nickel or cobalt, or may be a rare earth
material (4f-magnetism).
[0030] The at least one magnetically encoded region may be a
longitudinally magnetized region of the reciprocating object. Thus,
the magnetizing direction of the magnetically encoded region may be
oriented along the reciprocating direction of the reciprocating
object. A method of manufacturing such a longitudinally magnetized
region is disclosed, in a different context, in WO 02/063262 A1,
and uses a separate magnetizing coil.
[0031] Alternatively, the at least one magnetically encoded region
may be a circumferentially magnetized region of the reciprocating
object. Such a circumferentially magnetized region may particularly
be adapted such that the at least one magnetically encoded region
is formed by a first magnetic flow region oriented in a first
direction and by a second magnetic flow region oriented in a second
direction, wherein the first direction is opposite to the second
direction.
[0032] Thus, the magnetically encoded region may be realized as two
hollow cylinder-like structures which are oriented concentrically,
wherein the magnetizing directions of the two concentrically
arranged magnetic flow regions are for instance essentially
perpendicular to one another. Such a magnetic structure can be
manufactured by the PCME method described below in detail, i.e. by
directly applying a magnetizing electrical current to the
reciprocating object made of a magnetizable material. To produce
the two opposing magnetizing flow portions, current pulses can be
applied to the shaft.
[0033] Referring to the described embodiment, in a cross-sectional
view of the reciprocating object, there may be a first (circular)
magnetic flow having the first direction and a first radius and the
second (circular) magnetic flow having the second direction and a
second radius, wherein the first radius is larger than the second
radius.
[0034] Alternatively, the at least one magnetically encoded region
may be a (separate) magnetic element attached to the surface of the
reciprocating object. Thus, an external element can be attached to
the surface of the reciprocating object in order to form a
magnetically encoded region. Such a magnetic element can be
attached to the reciprocating object by adhered it (e.g. using
glue), or may alternatively be fixed on the reciprocating shaft
using the magnetic forces of the magnetic element.
[0035] Instead of attaching a magnetic object to the surface of the
reciprocating object, it is also possible to use materials with
different magnetic properties (one material has a higher, and the
other a lower permeability, for example). The magnetic object can
be attached from the outside of the shaft/cylinder or can be placed
inside of the cylinder.
[0036] When using materials of different permeabilities, then an
additional magnetic encoding of the shaft or cylinder is no longer
necessary. An external magnetic source can be used (in conjunction
with the magnetic pick-up device) to detect when the magnetic flux
is changing as a consequence of the moving shaft.
[0037] Any of the magnetic field detectors may comprise a coil
having a coil axis oriented essentially parallel to a reciprocating
direction of the reciprocating object. Further, any of the magnetic
field detectors may be realized by a coil having a coil axis
oriented essentially perpendicular to a reciprocating direction of
the reciprocating object. A coil being oriented with any other
angle between coil axis and reciprocating direction is possible and
falls under the scope of the invention. Alternatively to a coil in
which the moving magnetically encoded region may induce an
induction voltage by modulating the magnetic flow through the coil,
a Hall-effect probe may be used as magnetic field detector making
use of the Hall effect. Alternatively, a Giant Magnetic Resonance
magnetic field sensor or a Magnetic Resonance magnetic field sensor
may be used as a magnetic field detector. However, any other
magnetic field detector may be used to detect the presence or
absence of one of the magnetically encoded regions in a sufficient
close vicinity to the respective magnetic field detector.
[0038] A plurality of magnetically encoded regions may be fixed on
the reciprocating object. By providing a plurality of magnetically
encoded regions, a number of fixed points on the reciprocating
shaft are defined which may be detected separately so that the
number of detection signals is increased. Consequently, the
sensitivity and the accuracy of the position detection may be
improved.
[0039] The plurality of magnetically encoded regions may be
arranged on the reciprocating object at constant distances from one
another. Thus, each time one of the magnetically encoded regions
passes one of the magnetic field detectors, the reciprocating
object has moved by a distance which equals the distance between
the magnetically encoded regions. Thus, the position of the
reciprocating shaft can be estimated in a time-dependent manner
with high accuracy.
[0040] Alternatively, the plurality of magnetically encoded regions
may be arranged on the reciprocating object at different distances
from one another. For instance, the different distances may be
selectively based on a linear function, on a logarithmic function
or by a power function (for instance a power of two or of three).
Thus, the time between the detection of subsequent signals by one
of the magnetic field detectors follows the mathematical function
according to which the magnetic encoding regions of the invention
are separated from one another. This allows a unique assignment of
the present position of the reciprocating object.
[0041] Such a mathematical function can be a positive (increasing)
function or a negative (decreasing) function, meaning that the
spacing can become larger from one to the next magnetic marker, or
it can become smaller from one to the next.
[0042] The plurality of magnetically encoded regions may be
arranged on the reciprocating object with constant dimensions. A
constant dimension (e.g. constant width, constant thickness, etc.)
yields signals of a constant length in time as detected by any of
the magnetic field detectors. However, in a scenario in which the
reciprocating object reciprocates with a non-constant velocity, the
length of the signals will change, so that velocity and
acceleration information can be determined from the length of the
signal in time.
[0043] Alternatively, the plurality of magnetically encoded regions
may be arranged on the reciprocating object with different
dimensions. This, similar to the case of providing the magnetically
encoded regions at different distances from one another, allows a
unique assignment of the magnetically encoded region which
presently passes one of the magnetic field detectors.
[0044] Thus, the magnetic markers can be either all of the same
physical dimensions (same width) or they can be of different
dimensions (like becoming larger one-after-each-other). In the same
way the physical dimensions of the markers can be changed, so can
be their signal strength. For example: The markers are all of the
same physical dimensions and they are all placed
one-after-each-other with the same spacing to each other. The
difference from one marker to the next is that the signal amplitude
(generated by the permanently stored magnetic field, inside the
marker) is increasing from one marker to the next.
[0045] Different magnetically encoded regions may be provided made
of different magnetic materials, and/or may be provided with
different values of magnetization. According to this embodiment,
the amplitude or strength of the individual detection signals are
different for each of the magnetically encoded regions so that a
unique assignment of a detection signal to one of the magnetically
encoded regions, being the origin for such a signal, can be carried
out.
[0046] The position sensor device according to the invention may
comprise a plurality of magnetic field detectors. This further
allows to refine the detection performance.
[0047] The plurality of magnetic field detectors may be arranged
along the reciprocating object at constant distances from one
another.
[0048] Alternatively, the plurality of magnetic field detectors may
be arranged along the reciprocating object at different distances
from another.
[0049] The different distances may be selected based on a linear
function, a logarithmic function or a power function.
[0050] Such a mathematical function can be a positive (increasing)
function or a negative (decreasing) function, meaning that the
spacing can become larger from one to the next detector, or it can
become smaller from one to the next.
[0051] The position sensor device according to the invention may
comprise a plurality of magnetically encoded regions fixed on the
reciprocating object and may comprise a plurality of magnetic field
detectors.
[0052] The arrangement of the plurality of magnetically encoded
regions along the reciprocating object may correspond to the
arrangement of the plurality of magnetic field detectors. In other
words, the arrangement of the magnetic encoded regions may be
symmetrical and may thus correspond to the arrangement of the
magnetic field detectors. In other words, in a reference position
of the reciprocating object, a central axis of each of the magnetic
field detectors may correspond to a central axis of a corresponding
one of the magnetically encoded regions.
[0053] Alternatively, at least a part of the plurality of magnetic
field detectors may be arranged displaced from an arrangement of a
corresponding one of the plurality of magnetically encoded regions
arranged along the reciprocating object. According to this
embodiment, an asymmetric configuration and arrangement of magnetic
field detectors with respect to corresponding magnetically encoded
regions in a reference state of the reciprocating object is
achieved. For example, a first magnetically encoded region may have
its central axis aligned in accordance with a central axis of a
corresponding magnetic field detector. For a second magnetically
encoded region, in the reference state, the central axis may be
displaced with respect to a central axis of a corresponding
magnetic field detector, and so on. Such a geometric offset may be
used to improve the performance of the position sensor device,
since the signals occur in a timely shifted manner, thus increasing
the amount of detection information and allowing to refine the
position determination.
[0054] The number of magnetically encoded regions may differ from
the number of magnetic field detectors. For example, there may be
provided three magnetically encoded regions and four magnetic field
detectors. Or, two magnetic field detectors may be provided for
each of the magnetically encoded regions. Or, a plurality of
magnetic field detectors may be provided for each of the
magnetically encoded regions, wherein the number of magnetically
field detectors for any of the magnetically encoded regions may
differ for different magnetically encoded regions.
[0055] In the position sensor device, the reciprocating object can
be a push-pull-rod in a gearbox of a vehicle. In an automatic
automotive gearbox system, the position of the various tooth-wheels
(gear-wheels) may be changed by push-pull-rods. The actual position
of such a rod can be measured with the position sensor device.
[0056] In the following, exemplary embodiments of the position
sensor array of the invention will be described. These embodiments
apply also for the position sensor device, for the concrete
processing apparatus and for the method of determining a position
of a reciprocating object.
[0057] In the position sensor array, the reciprocating object may
be a shaft. Such a shaft can be driven by an engine, and may be,
for example, a hydraulically driven work cylinder of a concrete
processing apparatus.
[0058] The magnetically encoding region may be provided along a
part of the length of the reciprocating object. In other words, any
of the magnetically encoded regions may extend along a portion of
the reciprocating object in longitudinal direction, wherein another
portion of the reciprocating object is free of a magnetically
encoding region.
[0059] Alternatively, the magnetically encoded region may be
provided along the entire length of the reciprocating object.
According to this embodiment, the whole reciprocating object is
magnetized.
[0060] The reciprocating object may be divided into a plurality of
equally spaced segments, each segment comprising one magnetically
encoded region, the magnetically encoded regions of the segments
being arranged in an asymmetric manner. For instance, three
segments may be provided, wherein the first segment has a
magnetically encoded region in the first third of its length, the
second segment has a magnetically encoded region in the middle
third of its length and the third and last segment has the
magnetically encoded region in the last third of its length. Such a
configuration gradually increases the spacing between consecutive
markers yielding a characteristic signal pattern allowing an
accurate estimation of the reciprocating shaft position.
[0061] Further, a control unit may be provided in the position
sensor array adapted to control the reciprocation of the
reciprocating object based on the determined position of the
reciprocating object which is provided to the control unit by the
position sensor device. Thus, the output of the position sensor
device, namely the present position of the reciprocating object, is
provided to the control unit as feedback information. Based on this
back coupling, the control unit can adjust a controlling signal for
controlling the reciprocation of the reciprocating object to ensure
a proper operation of the reciprocating object.
[0062] In the following, exemplary embodiments of the concrete
processing apparatus will be described. These embodiments also
apply to the position sensor device, the position sensor array and
the method for determining a position of a reciprocating
object.
[0063] In a concrete processing apparatus, a control unit may be
provided adapted to control the reciprocation of the reciprocating
shaft based on the position of the reciprocating shaft which is
provided to the control unit by the position sensor device.
[0064] The concrete processing apparatus may further comprise a
vehicle on which the concrete processing chamber, the reciprocating
shaft and the position sensor device may be mounted. Thus, a mobile
concrete processing apparatus provided on a vehicle is created
which can be flexibly transported to a place of installation.
[0065] The concrete processing apparatus of the invention may
further comprise a further reciprocation shaft arranged in the
concrete processing chamber adapted to reciprocate to mix concrete
material. The reciprocating shaft and the further reciprocating
shaft are operable in a countercyclical manner. In other words, two
reciprocating shafts or cylinders may be provided to mix concrete
material, wherein the two reciprocating shafts move in opposite
directions in each operation state. For instance, in a scenario in
which the first reciprocation shaft moves in a forward direction,
the second reciprocation shaft moves in the backwards direction,
and vice versa. By taking this measure, an excellent mixture of the
concrete in the concrete processing apparatus is achieved. In order
to accurately control the mixing of the concrete by the two
reciprocating shafts, it is necessary to control the motion of the
reciprocating shafts on the basis of estimated position information
generated by the position sensor device. Particularly, in an
operation state of the reciprocating shafts, in which they change
their motion direction, it is particularly important to control the
operation of the reciprocating shafts, since the energy consumption
in this state is particularly high.
[0066] In the following, further aspects of the invention will be
described which fall under the scope of the invention.
[0067] An amplitude, an algebraic sign, and/or a slope of a
detected signal can be used to derive direction information, i.e.
to determine if the reciprocating object moves from a first
direction to a second direction or from the second direction to the
first direction. According to the invention, one signal or a
plurality of signals may be analyzed/evaluated to allow an
unambiguous assignment of the detection signals to a position of
the reciprocating object to be detected. The arrangement of the
magnetic field detectors and of the magnetically encoded regions is
for instance selected such that a signal sequence of the magnetic
field detectors is unique with respect to a particular position of
the reciprocating object.
[0068] The magnetic position detection principle of the invention,
in contrast to optical or mechanical marker detection methods, is
abrasion free and operates without errors even in a scenario in
which critical conditions (like concrete powder or other kind of
dirt) are present.
[0069] Further, the magnetic position detection principle of the
invention can be used in a wide temperature range. The only
physical restriction concerning the temperature range in which the
magnetic detection principle of the invention may be implemented is
the Currie temperature of the used magnetic material. Thus, the
magnetic components of the system of the invention can be
used--with a reciprocating object made of industrial steel--up to
400.degree. C. and more. A limiting factor for the maximum
operation temperature of the system of the invention may be the
temperature up to which an isolation of a coil as a magnetic field
detector keeps intact. However, with available coils, a temperature
of at least 210.degree. C. can be obtained. Thus, the system of the
invention is very temperature stable. Since the detection principle
of the invention is contactless, a cooling element can be provided
in an environment in which very high temperatures are present. Such
a cooling element can be a water cooling element, for instance.
[0070] The lengths of a reciprocating shaft for an implementation
in a concrete processing apparatus may be 5 meters and more.
[0071] In principle, using one magnetic field detector, for
instance one coil, is sufficient. However, in order to eliminate
the influence of the magnetic field of the earth, two detection
coils may be used with oppositely oriented coil axis, so that the
influence of the earth magnetic field can be eliminated by
considering the two signals of the two coils. The detection of the
position can include counting the number of markers which pass one
or more magnetic field detectors per time.
[0072] The above and other aspects, objects, features and
advantages of the present invention will become apparent from the
following description and the appended claim, taken in conjunction
with the accompanying drawings in which like parts or elements are
denoted by like reference numbers.
BRIEF DESCRIPTION OF THE DRAWINGS
[0073] The accompanying drawings, which are included to provide a
further understanding of the invention and constitute a part of the
specification illustrate embodiments of the invention.
[0074] In the drawings:
[0075] FIG. 1 shows a torque sensor with a sensor element according
to an exemplary embodiment of the present invention for explaining
a method of manufacturing a torque sensor according to an exemplary
embodiment of the present invention.
[0076] FIG. 2a shows an exemplary embodiment of a sensor element of
a torque sensor according to the present invention for further
explaining a principle of the present invention and an aspect of an
exemplary embodiment of a manufacturing method of the present
invention.
[0077] FIG. 2b shows a cross-sectional view along AA' of FIG.
2a.
[0078] FIG. 3a shows another exemplary embodiment of a sensor
element of a torque sensor according to the present invention for
further explaining a principle of the present invention and an
exemplary embodiment of a method of manufacturing a torque sensor
according to the present invention.
[0079] FIG. 3b shows a cross-sectional representation along BB' of
FIG. 3a.
[0080] FIG. 4 shows a cross-sectional representation of the sensor
element of the torque sensor of FIGS. 2a and 3a manufactured in
accordance with a method according to an exemplary embodiment of
the present invention.
[0081] FIG. 5 shows another exemplary embodiment of a sensor
element of a torque sensor according to the present invention for
further explaining an exemplary embodiment of a manufacturing
method of manufacturing a torque sensor according to the present
invention.
[0082] FIG. 6 shows another exemplary embodiment of a sensor
element of a torque sensor according to the present invention for
further explaining an exemplary embodiment of a manufacturing
method for a torque sensor according to the present invention.
[0083] FIG. 7 shows a flow-chart for further explaining an
exemplary embodiment of a method of manufacturing a torque sensor
according to the present invention.
[0084] FIG. 8 shows a current versus time diagram for further
explaining a method according to an exemplary embodiment of the
present invention.
[0085] FIG. 9 shows another exemplary embodiment of a sensor
element of a torque sensor according to the present invention with
an electrode system according to an exemplary embodiment of the
present invention.
[0086] FIG. 10a shows another exemplary embodiment of a torque
sensor according to the present invention with an electrode system
according to an exemplary embodiment of the present invention.
[0087] FIG. 10b shows the sensor element of FIG. 10a after the
application of current surges by means of the electrode system of
FIG. 10a.
[0088] FIG. 11 shows another exemplary embodiment of a torque
sensor element for a torque sensor according to the present
invention.
[0089] FIG. 12 shows a schematic diagram of a sensor element of a
torque sensor according to another exemplary embodiment of the
present invention showing that two magnetic fields may be stored in
the shaft and running in endless circles.
[0090] FIG. 13 is another schematic diagram for illustrating PCME
sensing technology using two counter cycle or magnetic field loops
which may be generated in accordance with a manufacturing method
according to the present invention.
[0091] FIG. 14 shows another schematic diagram for illustrating
that when no mechanical stress is applied to the sensor element
according to an exemplary embodiment of the present invention,
magnetic flux lines are running in its original paths.
[0092] FIG. 15 is another schematic diagram for further explaining
a principle of an exemplary embodiment of the present
invention.
[0093] FIG. 16 is another schematic diagram for further explaining
the principle of an exemplary embodiment of the present
invention.
[0094] FIGS. 17-22 are schematic representations for further
explaining a principle of an exemplary embodiment of the present
invention.
[0095] FIG. 23 is another schematic diagram for explaining a
principle of an exemplary embodiment of the present invention.
[0096] FIGS. 24, 25 and 26 are schematic diagrams for further
explaining a principle of an exemplary embodiment of the present
invention.
[0097] FIG. 27 is a current versus time diagram for illustrating a
current pulse which may be applied to a sensor element according to
a manufacturing method according to an exemplary embodiment of the
present invention.
[0098] FIG. 28 shows an output signal versus current pulse length
diagram according to an exemplary embodiment of the present
invention.
[0099] FIG. 29 shows a current versus time diagram with current
pulses according to an exemplary embodiment of the present
invention which may be applied to sensor elements according to a
method of the present invention.
[0100] FIG. 30 shows another current versus time diagram showing an
exemplary embodiment of a current pulse applied to a sensor element
such as a shaft according to a method of an exemplary embodiment of
the present invention.
[0101] FIG. 31 shows a signal and signal efficiency versus current
diagram in accordance with an exemplary embodiment of the present
invention.
[0102] FIG. 32 is a cross-sectional view of a sensor element having
an exemplary PCME electrical current density according to an
exemplary embodiment of the present invention.
[0103] FIG. 33 shows a cross-sectional view of a sensor element and
an electrical pulse current density at different and increasing
pulse current levels according to an exemplary embodiment of the
present invention.
[0104] FIGS. 34a and 34b show a spacing achieved with different
current pulses of magnetic flows in sensor elements according to
the present invention.
[0105] FIG. 35 shows a current versus time diagram of a current
pulse as it may be applied to a sensor element according to an
exemplary embodiment of the present invention.
[0106] FIG. 36 shows an electrical multi-point connection to a
sensor element according to an exemplary embodiment of the present
invention.
[0107] FIG. 37 shows a multi-channel electrical connection fixture
with spring loaded contact points to apply a current pulse to the
sensor element according to an exemplary embodiment of the present
invention.
[0108] FIG. 38 shows an electrode system with an increased number
of electrical connection points according to an exemplary
embodiment of the present invention.
[0109] FIG. 39 shows an exemplary embodiment of the electrode
system of FIG. 37.
[0110] FIG. 40 shows shaft processing holding clamps used for a
method according to an exemplary embodiment of the present
invention.
[0111] FIG. 41 shows a dual field encoding region of a sensor
element according to the present invention.
[0112] FIG. 42 shows a process step of a sequential dual field
encoding according to an exemplary embodiment of the present
invention.
[0113] FIG. 43 shows another process step of the dual field
encoding according to another exemplary embodiment of the present
invention.
[0114] FIG. 44 shows another exemplary embodiment of a sensor
element with an illustration of a current pulse application
according to another exemplary embodiment of the present
invention.
[0115] FIG. 45 shows schematic diagrams for describing magnetic
flux directions in sensor elements according to the present
invention when no stress is applied.
[0116] FIG. 46 shows magnetic flux directions of the sensor element
of FIG. 45 when a force is applied.
[0117] FIG. 47 shows the magnetic flux inside the PCM encoded shaft
of FIG. 45 when the applied torque direction is changing.
[0118] FIG. 48 shows a 6-channel synchronized pulse current driver
system according to an exemplary embodiment of the present
invention.
[0119] FIG. 49 shows a simplified representation of an electrode
system according to another exemplary embodiment of the present
invention.
[0120] FIG. 50 is a representation of a sensor element according to
an exemplary embodiment of the present invention.
[0121] FIG. 51 is another exemplary embodiment of a sensor element
according to the present invention having a PCME process sensing
region with two pinning field regions.
[0122] FIG. 52 is a schematic representation for explaining a
manufacturing method according to an exemplary embodiment of the
present invention for manufacturing a sensor element with an
encoded region and pinning regions.
[0123] FIG. 53 is another schematic representation of a sensor
element according to an exemplary embodiment of the present
invention manufactured in accordance with a manufacturing method
according to an exemplary embodiment of the present invention.
[0124] FIG. 54 is a simplified schematic representation for further
explaining an exemplary embodiment of the present invention.
[0125] FIG. 55 is another simplified schematic representation for
further explaining an exemplary embodiment of the present
invention.
[0126] FIG. 56 shows an application of a torque sensor according to
an exemplary embodiment of the present invention in a gear box of a
motor.
[0127] FIG. 57 shows a torque sensor according to an exemplary
embodiment of the present invention.
[0128] FIG. 58 shows a schematic illustration of components of a
non-contact torque sensing device according to an exemplary
embodiment of the present invention.
[0129] FIG. 59 shows components of a sensing device according to an
exemplary embodiment of the present invention.
[0130] FIG. 60 shows arrangements of coils with a sensor element
according to an exemplary embodiment of the present invention.
[0131] FIG. 61 shows a single channel sensor electronics according
to an exemplary embodiment of the present invention.
[0132] FIG. 62 shows a dual channel, short circuit protected system
according to an exemplary embodiment of the present invention.
[0133] FIG. 63 shows a sensor according to another exemplary
embodiment of the present invention.
[0134] FIG. 64 illustrates an exemplary embodiment of a secondary
sensor unit assembly according to an exemplary embodiment of the
present invention.
[0135] FIG. 65 illustrates two configurations of a geometrical
arrangement of primary sensor and secondary sensor according to an
exemplary embodiment of the present invention.
[0136] FIG. 66 is a schematic representation for explaining that a
spacing between the secondary sensor unit and the sensor host is
preferably as small as possible.
[0137] FIG. 67 is an embodiment showing a primary sensor encoding
equipment.
[0138] FIG. 68 shows a position sensor array according to a first
embodiment of the invention.
[0139] FIG. 69 shows a position sensor array according to a second
embodiment of the invention.
[0140] FIG. 70 shows a position sensor array according to a third
embodiment of the invention.
[0141] FIG. 71 shows a position sensor array according to a forth
embodiment of the invention.
[0142] FIG. 72 shows a position sensor array according to a fifth
embodiment of the invention.
[0143] FIG. 73 shows a diagram illustrating a detection signal as
detected by the magnet field detection coil of the position sensor
array according to the forth embodiment of the invention.
[0144] FIG. 74 shows a position sensor array according to a sixth
embodiment of the invention.
[0145] FIG. 75 shows a diagram illustrating a detection signal as
detected by the magnet field detection coil of the position sensor
array according to the sixth embodiment of the invention.
[0146] FIG. 76 shows a position sensor array according to a seventh
embodiment of the invention.
[0147] FIG. 77 shows a concrete processing apparatus according to a
first embodiment of the invention.
[0148] FIG. 78 shows a concrete processing apparatus according to a
second embodiment of the invention.
[0149] FIG. 79 and FIG. 80 show schematic views illustrating a
sequence of signals captured by three magnetic field detectors
generated by six magnetic encoded regions provided on a
reciprocating shaft of a position sensor array according to an
eighth embodiment of the invention.
[0150] FIG. 81 and FIG. 82 show schematic views illustrating a
sequence of signals captured by two magnetic field detectors
generated by six magnetic encoded regions provided on a
reciprocating shaft of a position sensor array according to a ninth
embodiment of the invention.
[0151] FIG. 83 shows a schematic view illustrating a sequence of
signals captured by one magnetic field detector generated by six
magnetic encoded regions provided on a reciprocating shaft of a
position sensor array according to a tenth embodiment of the
invention.
[0152] FIG. 84 to FIG. 86 show hollow tubes as reciprocating
objects with different embodiments for magnetic encoded regions
arranged inside the hollow tube.
[0153] FIG. 87, FIG. 88 show a position sensor array according to
an eleventh embodiment of the invention.
DETAILED DESCRIPTION OF EXEMPLARY EMBODIMENTS OF THE INVENTION
[0154] It is disclosed a sensor having a sensor element such as a
shaft wherein the sensor element may be manufactured in accordance
with the following manufacturing steps [0155] applying a first
current pulse to the sensor element; [0156] wherein the first
current pulse is applied such that there is a first current flow in
a first direction along a longitudinal axis of the sensor element;
[0157] wherein the first current pulse is such that the application
of the current pulse generates a magnetically encoded region in the
sensor element.
[0158] It is disclosed that a further second current pulse may be
applied to the sensor element. The second current pulse may be
applied such that there is a second current flow in a direction
along the longitudinal axis of the sensor element.
[0159] It is disclosed that the directions of the first and second
current pulses may be opposite to each other. Also, each of the
first and second current pulses may have a raising edge and a
falling edge. For instance, the raising edge is steeper than the
falling edge.
[0160] It is believed that the application of a current pulse may
cause a magnetic field structure in the sensor element such that in
a cross-sectional view of the sensor element, there is a first
circular magnetic flow having a first direction and a second
magnetic flow having a second direction. The radius of the first
magnetic flow may be larger than the radius of the second magnetic
flow. In shafts having a non-circular cross-section, the magnetic
flow is not necessarily circular but may have a form essentially
corresponding to and being adapted to the cross-section of the
respective sensor element.
[0161] It is believed that if no torque is applied to a sensor
element, there is no magnetic field or essentially no magnetic
field detectable at the outside. When a torque or force is applied
to the sensor element, there is a magnetic field emanated from the
sensor element which can be detected by means of suitable coils.
This will be described in further detail in the following.
[0162] A torque sensor may have a circumferential surface
surrounding a core region of the sensor element. The first current
pulse is introduced into the sensor element at a first location at
the circumferential surface such that there is a first current flow
in the first direction in the core region of the sensor element.
The first current pulse is discharged from the sensor element at a
second location at the circumferential surface. The second location
is at a distance in the first direction from the first location.
The second current pulse may be introduced into the sensor element
at the second location or adjacent to the second location at the
circumferential surface such that there is the second current flow
in the second direction in the core region or adjacent to the core
region in the sensor element. The second current pulse may be
discharged from the sensor element at the first location or
adjacent to the first location at the circumferential surface.
[0163] As already indicated above, the sensor element may be a
shaft. The core region of such shaft may extend inside the shaft
along its longitudinal extension such that the core region
surrounds a center of the shaft. The circumferential surface of the
shaft is the outside surface of the shaft. The first and second
locations are respective circumferential regions at the outside of
the shaft. There may be a limited number of contact portions which
constitute such regions. For instance, real contact regions may be
provided, for example, by providing electrode regions made of brass
rings as electrodes. Also, a core of a conductor may be looped
around the shaft to provide for a good electric contact between a
conductor such as a cable without isolation and the shaft.
[0164] The first current pulse and also the second current pulse
may be not applied to the sensor element at an end face of the
sensor element. The first current pulse may have a maximum between
40 and 1400 Ampere or between 60 and 800 Ampere or between 75 and
600 Ampere or between 80 and 500 Ampere. The current pulse may have
a maximum such that an appropriate encoding is caused to the sensor
element. However, due to different materials which may be used and
different forms of the sensor element and different dimensions of
the sensor element, a maximum of the current pulse may be adjusted
in accordance with these parameters. The second pulse may have a
similar maximum or may have a maximum approximately 10, 20, 30, 40
or 50% smaller than the first maximum. However, the second pulse
may also have a higher maximum such as 10, 20, 40, 50, 60 or 80%
higher than the first maximum.
[0165] A duration of those pulses may be the same. However, it is
possible that the first pulse has a significant longer duration
than the second pulse. However, it is also possible that the second
pulse has a longer duration than the first pulse.
[0166] The first and/or second current pulses may have a first
duration from the start of the pulse to the maximum and may have a
second duration from the maximum to essentially the end of the
pulse. The first duration may be significantly longer than the
second duration. For example, the first duration may be smaller
than 300 ms wherein the second duration may be larger than 300 ms.
However, it is also possible that the first duration is smaller
than 200 ms whereas the second duration is larger than 400 ms.
Also, the first duration may be between 20 to 150 ms wherein the
second duration may be between 180 to 700 ms.
[0167] As already indicated above, it is possible to apply a
plurality of first current pulses but also a plurality of second
current pulses. The sensor element may be made of steel whereas the
steel may comprise nickel. The sensor material used for the primary
sensor or for the sensor element may be 50NiCr13 or X4CrNi13-4 or
X5CrNiCuNb16-4 or X20CrNi17-4 or X46Cr13 or X20Cr13 or 14NiCr14 or
S155 as set forth in DIN 1.2721 or 1.4313 or 1.4542 or 1.2787 or
1.4034 or 1.4021 or 1.5752 or 1.6928.
[0168] The first current pulse may be applied by means of an
electrode system having at least a first electrode and a second
electrode. The first electrode is located at the first location or
adjacent to the first location and the second electrode is located
at the second location or adjacent to the second location.
[0169] Each of the first and second electrodes may have a plurality
of electrode pins. The plurality of electrode pins of each of the
first and second electrodes may be arranged circumferentially
around the sensor element such that the sensor element is contacted
by the electrode pins of the first and second electrodes at a
plurality of contact points at an outer circumferential surface of
the shaft at the first and second locations.
[0170] As indicated above, instead of electrode pins laminar or
two-dimensional electrode surfaces may be applied. For instance,
electrode surfaces are adapted to surfaces of the shaft such that a
good contact between the electrodes and the shaft material may be
ensured.
[0171] At least one of the first current pulse and at least one of
the second current pulse may be applied to the sensor element such
that the sensor element has a magnetically encoded region such that
in a direction essentially perpendicular to a surface of the sensor
element, the magnetically encoded region of the sensor element has
a magnetic field structure such that there is a first magnetic flow
in a first direction and a second magnetic flow in a second
direction. The first direction may be opposite to the second
direction.
[0172] In a cross-sectional view of the sensor element, there may
be a first circular magnetic flow having the first direction and a
first radius and a second circular magnetic flow having the second
direction and a second radius. The first radius may be larger than
the second radius.
[0173] Furthermore, the sensor elements may have a first pinning
zone adjacent to the first location and a second pinning zone
adjacent to the second location.
[0174] The pinning zones may be manufactured in accordance with the
following manufacturing method. According to this method, for
forming the first pinning zone, at the first location or adjacent
to the first location, a third current pulse is applied on the
circumferential surface of the sensor element such that there is a
third current flow in the second direction. The third current flow
is discharged from the sensor element at a third location which is
displaced from the first location in the second direction.
[0175] For forming the second pinning zone, at the second location
or adjacent to the second location, a forth current pulse may be
applied on the circumferential surface to the sensor element such
that there is a forth current flow in the first direction. The
forth current flow is discharged at a forth location which is
displaced from the second location in the first direction.
[0176] A torque sensor may be provided comprising a first sensor
element with a magnetically encoded region wherein the first sensor
element has a surface. In a direction essentially perpendicular to
the surface of the first sensor element, the magnetically encoded
region of the first sensor element may have a magnetic field
structure such that there is a first magnetic flow in a first
direction and a second magnetic flow in a second direction. The
first and second directions may be opposite to each other.
[0177] The torque sensor may further comprise a second sensor
element with at least one magnetic field detector. The second
sensor element may be adapted for detecting variations in the
magnetically encoded region. More precisely, the second sensor
element may be adapted for detecting variations in a magnetic field
emitted from the magnetically encoded region of the first sensor
element.
[0178] The magnetically encoded region may extend longitudinally
along a section of the first sensor element, but does not extend
from one end face of the first sensor element to the other end face
of the first sensor element. In other words, the magnetically
encoded region does not extend along all of the first sensor
element but only along a section thereof.
[0179] The first sensor element may have variations in the material
of the first sensor element caused by at least one current pulse or
surge applied to the first sensor element for altering the
magnetically encoded region or for generating the magnetically
encoded region. Such variations in the material may be caused, for
example, by differing contact resistances between electrode systems
for applying the current pulses and the surface of the respective
sensor element. Such variations may, for example, be burn marks or
color variations or signs of an annealing.
[0180] The variations may be at an outer surface of the sensor
element and not at the end faces of the first sensor element since
the current pulses are applied to outer surface of the sensor
element but not to the end faces thereof.
[0181] A shaft for a magnetic sensor may be provided having, in a
cross-section thereof, at least two circular magnetic loops running
in opposite direction. Such shaft is believed to be manufactured in
accordance with the above-described manufacturing method.
[0182] Furthermore, a shaft may be provided having at least two
circular magnetic loops which are arranged concentrically.
[0183] A shaft for a torque sensor may be provided which is
manufactured in accordance with the following manufacturing steps
where firstly a first current pulse is applied to the shaft. The
first current pulse is applied to the shaft such that there is a
first current flow in a first direction along a longitudinal axis
of the shaft. The first current pulse is such that the application
of the current pulse generates a magnetically encoded region in the
shaft. This may be made by using an electrode system as described
above and by applying current pulses as described above.
[0184] An electrode system may be provided for applying current
surges to a sensor element for a torque sensor, the electrode
system having at least a first electrode and a second electrode
wherein the first electrode is adapted for location at a first
location on an outer surface of the sensor element. A second
electrode is adapted for location at a second location on the outer
surface of the sensor element. The first and second electrodes are
adapted for applying and discharging at least one current pulse at
the first and second locations such that current flows within a
core region of the sensor element are caused. The at least one
current pulse is such that a magnetically encoded region is
generated at a section of the sensor element.
[0185] The electrode system may comprise at least two groups of
electrodes, each comprising a plurality of electrode pins. The
electrode pins of each electrode are arranged in a circle such that
the sensor element is contacted by the electrode pins of the
electrode at a plurality of contact points at an outer surface of
the sensor element.
[0186] The outer surface of the sensor element does not include the
end faces of the sensor element.
[0187] FIG. 1 shows an exemplary embodiment of a torque sensor
according to the present invention. The torque sensor comprises a
first sensor element or shaft 2 having a rectangular cross-section.
The first sensor element 2 extends essentially along the direction
indicated with X. In a middle portion of the first sensor element
2, there is the encoded region 4. The first location is indicated
by reference numeral 10 and indicates one end of the encoded region
and the second location is indicated by reference numeral 12 which
indicates another end of the encoded region or the region to be
magnetically encoded 4. Arrows 14 and 16 indicate the application
of a current pulse. As indicated in FIG. 1, a first current pulse
is applied to the first sensor element 2 at an outer region
adjacent or close to the first location 10. For instance, as will
be described in further detail later on, the current is introduced
into the first sensor element 2 at a plurality of points or regions
close to the first location and surrounding the outer surface of
the first sensor element 2 along the first location 10. As
indicated with arrow 16, the current pulse is discharged from the
first sensor element 2 close or adjacent or at the second location
12 for instance at a plurality or locations along the end of the
region 4 to be encoded. As already indicated before, a plurality of
current pulses may be applied in succession they may have
alternating directions from location 10 to location 12 or from
location 12 to location 10.
[0188] Reference numeral 6 indicates a second sensor element which
is for instance a coil connected to a controller electronic 8. The
controller electronic 8 may be adapted to further process a signal
output by the second sensor element 6 such that an output signal
may output from the control circuit corresponding to a torque
applied to the first sensor element 2. The control circuit 8 may be
an analog or digital circuit. The second sensor element 6 is
adapted to detect a magnetic field emitted by the encoded region 4
of the first sensor element.
[0189] It is believed that, as already indicated above, if there is
no stress or force applied to the first sensor element 2, there is
essentially no field detected by the second sensor element 6.
However, in case a stress or a force is applied to the secondary
sensor element 2, there is a variation in the magnetic field
emitted by the encoded region such that an increase of a magnetic
field from the presence of almost no field is detected by the
second sensor element 6.
[0190] It has to be noted that according to other exemplary
embodiments of the present invention, even if there is no stress
applied to the first sensor element, it may be possible that there
is a magnetic field detectable outside or adjacent to the encoded
region 4 of the first sensor element 2. However, it is to be noted
that a stress applied to the first sensor element 2 causes a
variation of the magnetic field emitted by the encoded region
4.
[0191] In the following, with reference to FIGS. 2a, 2b, 3a, 3b and
4, a method of manufacturing a torque sensor according to an
exemplary embodiment of the present invention will be described. In
particular, the method relates to the magnetization of the
magnetically encoded region 4 of the first sensor element 2.
[0192] As may be taken from FIG. 2a, a current I is applied to an
end region of a region 4 to be magnetically encoded. This end
region as already indicated above is indicated with reference
numeral 10 and may be a circumferential region on the outer surface
of the first sensor element 2. The current I is discharged from the
first sensor element 2 at another end area of the magnetically
encoded region (or of the region to be magnetically encoded) which
is indicated by reference numeral 12 and also referred to a second
location. The current is taken from the first sensor element at an
outer surface thereof, for instance circumferentially in regions
close or adjacent to location 12. As indicated by the dashed line
between locations 10 and 12, the current I introduced at or along
location 10 into the first sensor element flows through a core
region or parallel to a core region to location 12. In other words,
the current I flows through the region 4 to be encoded in the first
sensor element 2.
[0193] FIG. 2b shows a cross-sectional view along AA'. In the
schematic representation of FIG. 2b, the current flow is indicated
into the plane of the FIG. 2b as a cross. Here, the current flow is
indicated in a center portion of the cross-section of the first
sensor element 2. It is believed that this introduction of a
current pulse having a form as described above or in the following
and having a maximum as described above or in the following causes
a magnetic flow structure 20 in the cross-sectional view with a
magnetic flow direction into one direction here into the clockwise
direction. The magnetic flow structure 20 depicted in FIG. 2b is
depicted essentially circular. However, the magnetic flow structure
20 may be adapted to the actual cross-section of the first sensor
element 2 and may be, for example, more elliptical.
[0194] FIGS. 3a and 3b show a step of the method according to an
exemplary embodiment of the present invention which may be applied
after the step depicted in FIGS. 2a and 2b. FIG. 3a shows a first
sensor element according to an exemplary embodiment of the present
invention with the application of a second current pulse and FIG.
3b shows a cross-sectional view along BB' of the first sensor
element 2.
[0195] As may be taken from FIG. 3a, in comparison to FIG. 2a, in
FIG. 3a, the current I indicated by arrow 16 is introduced into the
sensor element 2 at or adjacent to location 12 and is discharged or
taken from the sensor element 2 at or adjacent to the location 10.
In other words, the current is discharged in FIG. 3a at a location
where it was introduced in FIG. 2a and vice versa. Thus, the
introduction and discharging of the current I into the first sensor
element 2 in FIG. 3a may cause a current through the region 4 to be
magnetically encoded opposite to the respective current flow in
FIG. 2a.
[0196] The current is indicated in FIG. 3b in a core region of the
sensor element 2. As may be taken from a comparison of FIGS. 2b and
3b, the magnetic flow structure 22 has a direction opposite to the
current flow structure 20 in FIG. 2b.
[0197] As indicated before, the steps depicted in FIGS. 2a, 2b and
3a and 3b may be applied individually or may be applied in
succession of each other. When firstly, the step depicted in FIGS.
2a and 2b is performed and then the step depicted in FIGS. 3a and
3b, a magnetic flow structure as depicted in the cross-sectional
view through the encoded region 4 depicted in FIG. 4 may be caused.
As may be taken from FIG. 4, the two current flow structures 20 and
22 are encoded into the encoded region together. Thus, in a
direction essentially perpendicular to a surface of the first
sensor element 2, in a direction to the core of the sensor element
2, there is a first magnetic flow having a first direction and then
underlying there is a second magnetic flow having a second
direction. As indicated in FIG. 4, the flow directions may be
opposite to each other.
[0198] Thus, if there is no torque applied to the first torque
sensor element 2, the two magnetic flow structures 20 and 22 may
cancel each other such that there is essentially no magnetic field
at the outside of the encoded region. However, in case a stress or
force is applied to the first sensor element 2, the magnetic field
structures 20 and 22 cease to cancel each other such that there is
a magnetic field occurring at the outside of the encoded region
which may then be detected by means of the secondary sensor element
6. This will be described in further detail in the following.
[0199] FIG. 5 shows another exemplary of a first sensor element 2
according to an exemplary embodiment of the present invention as
may be used in a torque sensor according to an exemplary embodiment
which is manufactured according to a manufacturing method according
to an exemplary embodiment of the present invention. As may be
taken from FIG. 5, the first sensor element 2 has an encoded region
4 which is for instance encoded in accordance with the steps and
arrangements depicted in FIGS. 2a, 2b, 3a, 3b and 4.
[0200] Adjacent to locations 10 and 12, there are provided pinning
regions 42 and 44. These regions 42 and 44 are provided for
avoiding a fraying of the encoded region 4. In other words, the
pinning regions 42 and 44 may allow for a more definite beginning
and end of the encoded region 4.
[0201] In short, the first pinning region 42 may be adapted by
introducing a current 38 close or adjacent to the first location 10
into the first sensor element 2 in the same manner as described,
for example, with reference to FIG. 2a. However, the current I is
discharged from the first sensor element 2 at a first location 30
which is at a distance from the end of the encoded region close or
at location 10. This further location is indicated by reference
numeral 30. The introduction of this further current pulse I is
indicated by arrow 38 and the discharging thereof is indicated by
arrow 40. The current pulses may have the same form shaping maximum
as described above.
[0202] For generating the second pinning region 44, a current is
introduced into the first sensor element 2 at a location 32 which
is at a distance from the end of the encoded region 4 close or
adjacent to location 12. The current is then discharged from the
first sensor element 2 at or close to the location 12. The
introduction of the current pulse I is indicated by arrows 34 and
36.
[0203] The pinning regions 42 and 44 may be such that the magnetic
flow structures of these pinning regions 42 and 44 are opposite to
the respective adjacent magnetic flow structures in the adjacent
encoded region 4. As may be taken from FIG. 5, the pinning regions
can be coded to the first sensor element 2 after the coding or the
complete coding of the encoded region 4.
[0204] FIG. 6 shows another exemplary embodiment of the present
invention where there is no encoding region 4. In other words,
according to an exemplary embodiment of the present invention, the
pinning regions may be coded into the first sensor element 2 before
the actual coding of the magnetically encoded region 4.
[0205] FIG. 7 shows a simplified flow-chart of a method of
manufacturing a first sensor element 2 for a torque sensor
according to an exemplary embodiment of the present invention.
[0206] After the start in step S1, the method continues to step S2
where a first pulse is applied as described as reference to FIGS.
2a and 2b. Then, after step S2, the method continues to step S3
where a second pulse is applied as described with reference to
FIGS. 3a and 3b.
[0207] Then, the method continues to step S4 where it is decided
whether the pinning regions are to be coded to the first sensor
element 2 or not. If it is decided in step S4 that there will be no
pinning regions, the method continues directly to step S7 where it
ends.
[0208] If it is decided in step S4 that the pinning regions are to
be coded to the first sensor element 2, the method continues to
step S5 where a third pulse is applied to the pinning region 42 in
the direction indicated by arrows 38 and 40 and to pinning region
44 indicated by the arrows 34 and 36. Then, the method continues to
step S6 where force pulses applied to the respective pinning
regions 42 and 44. To the pinning region 42, a force pulse is
applied having a direction opposite to the direction indicated by
arrows 38 and 40. Also, to the pinning region 44, a force pulse is
applied to the pinning region having a direction opposite to the
arrows 34 and 36. Then, the method continues to step S7 where it
ends.
[0209] In other words, for instance two pulses are applied for
encoding of the magnetically encoded region 4. Those current pulses
may have an opposite direction. Furthermore, two pulses
respectively having respective directions are applied to the
pinning region 42 and to the pinning region 44.
[0210] FIG. 8 shows a current versus time diagram of the pulses
applied to the magnetically encoded region 4 and to the pinning
regions. The positive direction of the y-axis of the diagram in
FIG. 8 indicates a current flow into the x-direction and the
negative direction of the y-axis of FIG. 8 indicates a current flow
in the y-direction.
[0211] As may be taken from FIG. 8 for coding the magnetically
encoded region 4, firstly a current pulse is applied having a
direction into the x-direction. As may be taken from FIG. 8, the
raising edge of the pulse is very sharp whereas the falling edge
has a relatively long direction in comparison to the direction of
the raising edge. As depicted in FIG. 8, the pulse may have a
maximum of approximately 75 Ampere. In other applications, the
pulse may be not as sharp as depicted in FIG. 8. However, the
raising edge should be steeper or should have a shorter duration
than the falling edge.
[0212] Then, a second pulse is applied to the encoded region 4
having an opposite direction. The pulse may have the same form as
the first pulse. However, a maximum of the second pulse may also
differ from the maximum of the first pulse. Although the immediate
shape of the pulse may be different.
[0213] Then, for coding the pinning regions, pulses similar to the
first and second pulse may be applied to the pinning regions as
described with reference to FIGS. 5 and 6. Such pulses may be
applied to the pinning regions simultaneously but also successfully
for each pinning region. As depicted in FIG. 8, the pulses may have
essentially the same form as the first and second pulses. However,
a maximum may be smaller.
[0214] FIG. 9 shows another exemplary embodiment of a first sensor
element of a torque sensor according to an exemplary embodiment of
the present invention showing an electrode arrangement for applying
the current pulses for coding the magnetically encoded region 4. As
may be taken from FIG. 9, a conductor without an isolation may be
looped around the first sensor element 2 which is may be taken from
FIG. 9 may be a circular shaft having a circular cross-section. For
ensuring a close fit of the conductor on the outer surface of the
first sensor element 2, the conductor may be clamped as shown by
arrows 64.
[0215] FIG. 10a shows another exemplary embodiment of a first
sensor element according to an exemplary embodiment of the present
invention. Furthermore, FIG. 10a shows another exemplary embodiment
of an electrode system according to an exemplary embodiment of the
present invention. The electrode system 80 and 82 depicted in FIG.
10a contacts the first sensor element 2 which has a triangular
cross-section with two contact points at each phase of the
triangular first sensor element at each side of the region 4 which
is to be encoded as magnetically encoded region. Overall, there are
six contact points at each side of the region 4. The individual
contact points may be connected to each other and then connected to
one individual contact points.
[0216] If there is only a limited number of contact points between
the electrode system and the first sensor element 2 and if the
current pulses applied are very high, differing contact resistances
between the contacts of the electrode systems and the material of
the first sensor element 2 may cause burn marks at the first sensor
element 2 at contact point to the electrode systems. These burn
marks 90 may be color changes, may be welding spots, may be
annealed areas or may simply be burn marks. According to an
exemplary embodiment of the present invention, the number of
contact points is increased or even a contact surface is provided
such that such burn marks 90 may be avoided.
[0217] FIG. 11 shows another exemplary embodiment of a first sensor
element 2 which is a shaft having a circular cross-section
according to an exemplary embodiment of the present invention. As
may be taken from FIG. 11, the magnetically encoded region is at an
end region of the first sensor element 2. According to an exemplary
embodiment of the present invention, the magnetically encoded
region 4 is not extend over the full length of the first sensor
element 2. As may be taken from FIG. 11, it may be located at one
end thereof. However, it has to be noted that according to an
exemplary embodiment of the present invention, the current pulses
are applied from an outer circumferential surface of the first
sensor element 2 and not from the end face 100 of the first sensor
element 2.
[0218] In the following, the so-called PCME
("Pulse-Current-Modulated Encoding") Sensing Technology will be
described in detail, which can, according to an exemplary
embodiment of the invention, be implemented to magnetize a
magnetizable object which is then partially demagnetized according
to the invention. In the following, the PCME technology will partly
described in the context of torque sensing. However, this concept
may implemented in the context of position sensing as well.
[0219] In this description, there are a number of acronyms used as
otherwise some explanations and descriptions may be difficult to
read. While the acronyms "ASIC", "IC", and "PCB" are already market
standard definitions, there are many terms that are particularly
related to the magnetostriction based NCT sensing technology. It
should be noted that in this description, when there is a reference
to NCT technology or to PCME, it is referred to exemplary
embodiments of the present invention.
[0220] Table 1 shows a list of abbreviations used in the following
description of the PCME technology.
TABLE-US-00001 TABLE 1 List of abbreviations Acronym Description
Category ASIC Application Specific IC Electronics DF Dual Field
Primary Sensor EMF Earth Magnetic Field Test Criteria FS Full Scale
Test Criteria Hot- Sensitivity to nearby Specification Spotting
Ferro magnetic material IC Integrated Circuit Electronics MFS
Magnetic Field Sensor Sensor Component NCT Non Contact Torque
Technology PCB Printed Circuit Board Electronics PCME Pulse Current
Modulated Encoding Technology POC Proof-of-Concept RSU Rotational
Signal Uniformity Specification SCSP Signal Conditioning &
Electronics Signal Processing SF Single Field Primary Sensor SH
Sensor Host Primary Sensor SPHC Shaft Processing Holding Clamp
Processing Tool SSU Secondary Sensor Unit Sensor Component
[0221] The magnetic principle based mechanical-stress sensing
technology allows to design and to produce a wide range of
"physical-parameter-sensors" (like Force Sensing, Torque Sensing,
and Material Diagnostic Analysis) that can be applied where
Ferro-Magnetic materials are used. The most common technologies
used to build "magnetic-principle-based" sensors are: Inductive
differential displacement measurement (requires torsion shaft),
measuring the changes of the materials permeability, and measuring
the magnetostriction effects.
[0222] Over the last 20 years a number of different companies have
developed their own and very specific solution in how to design and
how to produce a magnetic principle based torque sensor (i.e. ABB,
FAST, Frauenhofer Institute, FT, Kubota, MDI, NCTE, RM, Siemens,
and others). These technologies are at various development stages
and differ in "how-it-works", the achievable performance, the
systems reliability, and the manufacturing/system cost.
[0223] Some of these technologies require that mechanical changes
are made to the shaft where torque should be measured (chevrons),
or rely on the mechanical torsion effect (require a long shaft that
twists under torque), or that something will be attached to the
shaft itself (press-fitting a ring of certain properties to the
shaft surface), or coating of the shaft surface with a special
substance. No-one has yet mastered a high-volume manufacturing
process that can be applied to (almost) any shaft size, achieving
tight performance tolerances, and is not based on already existing
technology patents.
[0224] In the following, a magnetostriction principle based
Non-Contact-Torque (NCI) Sensing Technology is described that
offers to the user a whole host of new features and improved
performances, previously not available. This technology enables the
realization of a fully-integrated (small in space), real-time (high
signal bandwidth) torque measurement, which is reliable and can be
produced at an affordable cost, at any desired quantities. This
technology is called: PCME (for Pulse-Current-Modulated Encoding)
or Magnetostriction Transversal Torque Sensor.
[0225] The PCME technology can be applied to the shaft without
making any mechanical changes to the shaft, or without attaching
anything to the shaft. Most important, the PCME technology can be
applied to any shaft diameter (most other technologies have here a
limitation) and does not need to rotate/spin the shaft during the
encoding process (very simple and low-cost manufacturing process)
which makes this technology very applicable for high-volume
application.
[0226] In the following, a Magnetic Field Structure (Sensor
Principle) will be described.
[0227] The sensor life-time depends on a "closed-loop" magnetic
field design. The PCME technology is based on two magnetic field
structures, stored above each other, and running in opposite
directions. When no torque stress or motion stress is applied to
the shaft (also called Sensor Host, or SH) then the SH will act
magnetically neutral (no magnetic field can be sensed at the
outside of the SH).
[0228] FIG. 12 shows that two magnetic fields are stored in the
shaft and running in endless circles. The outer field runs in one
direction, while the inner field runs in the opposite
direction.
[0229] FIG. 13 illustrates that the PCME sensing technology uses
two Counter-Circular magnetic field loops that are stored on top of
each other (Picky-Back mode).
[0230] When mechanical stress (like reciprocation motion or torque)
is applied at both ends of the PCME magnetized SH (Sensor Host, or
Shaft) then the magnetic flux lines of both magnetic structures (or
loops) will tilt in proportion to the applied torque.
[0231] As illustrated in FIG. 14, when no mechanical stresses are
applied to the SH the magnetic flux lines are running in its
original path. When mechanical stresses are applied the magnetic
flux lines tilt in proportion to the applied stress (like linear
motion or torque).
[0232] Depending on the applied torque direction (clockwise or
anti-clockwise, in relation to the SH) the magnetic flux lines will
either tilt to the right or tilt to the left. Where the magnetic
flux lines reach the boundary of the magnetically encoded region,
the magnetic flux lines from the upper layer will join-up with the
magnetic flux lines from the lower layer and visa-versa. This will
then form a perfectly controlled toroidal shape.
[0233] The benefits of such a magnetic structure are: [0234]
Reduced (almost eliminated) parasitic magnetic field structures
when mechanical stress is applied to the SH (this will result in
better RSU performances). [0235] Higher Sensor-Output Signal-Slope
as there are two "active" layers that compliment each other when
generating a mechanical stress related signal. Explanation: When
using a single-layer sensor design, the "tilted" magnetic flux
lines that exit at the encoding region boundary have to create a
"return passage" from one boundary side to the other. This effort
effects how much signal is available to be sensed and measured
outside of the SH with the secondary sensor unit. [0236] There are
almost no limitations on the SH (shaft) dimensions where the PCME
technology will be applied to. The dual layered magnetic field
structure can be adapted to any solid or hollow shaft dimensions.
[0237] The physical dimensions and sensor performances are in a
very wide range programmable and therefore can be tailored to the
targeted application. [0238] This sensor design allows to measure
mechanical stresses coming from all three dimensions axis,
including in-line forces applied to the shaft (applicable as a
load-cell). Explanation: Earlier magnetostriction sensor designs
(for example from FAST Technology) have been limited to be
sensitive in 2 dimensional axis only, and could not measure in-line
forces.
[0239] Referring to FIG. 15, when torque is applied to the SH, the
magnetic flux lines from both Counter-Circular magnetic loops are
connecting to each other at the sensor region boundaries.
[0240] When mechanical torque stress is applied to the SH then the
magnetic field will no longer run around in circles but tilt
slightly in proportion to the applied torque stress. This will
cause the magnetic field lines from one layer to connect to the
magnetic field lines in the other layer, and with this form a
toroidal shape.
[0241] Referring to FIG. 16, an exaggerated presentation is shown
of how the magnetic flux line will form an angled toroidal
structure when high levels of torque are applied to the SH.
[0242] In the following, features and benefits of the PCM-Encoding
(PCME) Process will be described.
[0243] The magnetostriction NCT sensing technology from NCTE
according to the present invention offers high performance sensing
features like: [0244] No mechanical changes required on the Sensor
Host (already existing shafts can be used as they are) [0245]
Nothing has to be attached to the Sensor Host (therefore nothing
can fall off or change over the shaft-lifetime=high MTBF) [0246]
During measurement the SH can rotate, reciprocate or move at any
desired speed (no limitations on rpm) [0247] Very good RSU
(Rotational Signal Uniformity) performances [0248] Excellent
measurement linearity (up to 0.01% of FS) [0249] High measurement
repeatability [0250] Very high signal resolution (better than 14
bit) [0251] Very high signal bandwidth (better than 10 kHz)
[0252] Depending on the chosen type of magnetostriction sensing
technology, and the chosen physical sensor design, the mechanical
power transmitting shaft (also called "Sensor Host" or in short
"SH") can be used "as is" without making any mechanical changes to
it or without attaching anything to the shaft. This is then called
a "true" Non-Contact-Torque measurement principle allowing the
shaft to rotate freely at any desired speed in both directions.
[0253] The here described PCM-Encoding (PCME) manufacturing process
according to an exemplary embodiment of the present invention
provides additional features no other magnetostriction technology
can offer (Uniqueness of this technology): [0254] More then three
times signal strength in comparison to alternative magnetostriction
encoding processes (like the "RS" process from FAST). [0255] Easy
and simple shaft loading process (high manufacturing through-put).
[0256] No moving components during magnetic encoding process (low
complexity manufacturing equipment=high MTBF, and lower cost).
[0257] Process allows NCT sensor to be "fine-tuning" to achieve
target accuracy of a fraction of one percent. [0258] Manufacturing
process allows shaft "pre-processing" and "post-processing" in the
same process cycle (high manufacturing through-putt). [0259]
Sensing technology and manufacturing process is ratio-metric and
therefore is applicable to all shaft or tube diameters. [0260] The
PCM-Encoding process can be applied while the SH is already
assembled (depending on accessibility) (maintenance friendly).
[0261] Final sensor is insensitive to axial shaft movements (the
actual allowable axial shaft movement depends on the physical
"length" of the magnetically encoded region). [0262] Magnetically
encoded SH remains neutral and has little to non magnetic field
when no forces (like torque) are applied to the SH. [0263]
Sensitive to mechanical forces in all three dimensional axis.
[0264] In the following, the Magnetic Flux Distribution in the SH
will be described.
[0265] The PCME processing technology is based on using electrical
currents, passing through the SH (Sensor Host or Shaft) to achieve
the desired, permanent magnetic encoding of the Ferro-magnetic
material. To achieve the desired sensor performance and features a
very specific and well controlled electrical current is required.
Early experiments that used DC currents failed because of luck of
understanding how small amounts and large amounts of DC electric
current are travelling through a conductor (in this case the
"conductor" is the mechanical power transmitting shaft, also called
Sensor Host or in short "SH").
[0266] Referring to FIG. 17, an assumed electrical current density
in a conductor is illustrated.
[0267] It is widely assumed that the electric current density in a
conductor is evenly distributed over the entire cross-section of
the conductor when an electric current (DC) passes through the
conductor.
[0268] Referring to FIG. 18, a small electrical current forming
magnetic field that ties current path in a conductor is shown.
[0269] It is our experience that when a small amount of electrical
current (DC) is passing through the conductor that the current
density is highest at the centre of the conductor. The two main
reasons for this are: The electric current passing through a
conductor generates a magnetic field that is tying together the
current path in the centre of the conductor, and the impedance is
the lowest in the centre of the conductor.
[0270] Referring to FIG. 19, a typical flow of small electrical
currents in a conductor is illustrated.
[0271] In reality, however, the electric current may not flow in a
"straight" line from one connection pole to the other (similar to
the shape of electric lightening in the sky).
[0272] At a certain level of electric current the generated
magnetic field is large enough to cause a permanent magnetization
of the Ferro-magnetic shaft material. As the electric current is
flowing near or at the centre of the SH, the permanently stored
magnetic field will reside at the same location: near or at the
centre of the SH. When now applying mechanical torque or linear
force for oscillation/reciprocation to the shaft, then shaft
internally stored magnetic field will respond by tilting its
magnetic flux path in accordance to the applied mechanical force.
As the permanently stored magnetic field lies deep below the shaft
surface the measurable effects are very small, not uniform and
therefore not sufficient to build a reliable NCT sensor system.
[0273] Referring to FIG. 20, a uniform current density in a
conductor at saturation level is shown.
[0274] Only at the saturation level is the electric current density
(when applying DC) evenly distributed at the entire cross section
of the conductor. The amount of electrical current to achieve this
saturation level is extremely high and is mainly influenced by the
cross section and conductivity (impedance) of the used
conductor.
[0275] Referring to FIG. 21, electric current travelling beneath or
at the surface of the conductor (Skin-Effect) is shown.
[0276] It is also widely assumed that when passing through
alternating current (like a radio frequency signal) through a
conductor that the signal is passing through the skin layers of the
conductor, called the Skin Effect. The chosen frequency of the
alternating current defines the "Location/position" and "depth" of
the Skin Effect. At high frequencies the electrical current will
travel right at or near the surface of the conductor (A) while at
lower frequencies (in the 5 to 10 Hz regions for a 20 mm diameter
SH) the electrical alternating current will penetrate more the
centre of the shafts cross section (E). Also, the relative current
density is higher in the current occupied regions at higher AC
frequencies in comparison to the relative current density near the
centre of the shaft at very low AC frequencies (as there is more
space available for the current to flow through).
[0277] Referring to FIG. 22, the electrical current density of an
electrical conductor (cross-section 90 deg to the current flow)
when passing through the conductor an alternating current at
different frequencies is illustrated.
[0278] The desired magnetic field design of the PCME sensor
technology are two circular magnetic field structures, stored in
two layers on top of each other ("Picky-Back"), and running in
opposite direction to each other (Counter-Circular).
[0279] Again referring to FIG. 13, a desired magnetic sensor
structure is shown: two endless magnetic loops placed on top of
each other, running in opposite directions to each other:
Counter-Circular "Picky-Back" Field Design.
[0280] To make this magnetic field design highly sensitive to
mechanical stresses that will be applied to the SH (shaft), and to
generate the largest sensor signal possible, the desired magnetic
field structure has to be placed nearest to the shaft surface.
Placing the circular magnetic fields to close to the centre of the
SH will cause damping of the user available sensor-output-signal
slope (most of the sensor signal will travel through the
Ferro-magnetic shaft material as it has a much higher permeability
in comparison to air), and increases the non-uniformity of the
sensor signal (in relation to shaft rotation and to axial movements
of the shaft in relation to the secondary sensor.
[0281] Referring to FIG. 23, magnetic field structures stored near
the shaft surface and stored near the centre of the shaft are
illustrated.
[0282] It may be difficult to achieve the desired permanent
magnetic encoding of the SH when using AC (alternating current) as
the polarity of the created magnetic field is constantly changing
and therefore may act more as a Degaussing system.
[0283] The PCME technology requires that a strong electrical
current ("uni-polar" or DC, to prevent erasing of the desired
magnetic field structure) is travelling right below the shaft
surface (to ensure that the sensor signal will be uniform and
measurable at the outside of the shaft). In addition a
Counter-Circular, "picky back" magnetic field structure needs to be
formed.
[0284] It is possible to place the two Counter-Circular magnetic
field structures in the shaft by storing them into the shaft one
after each other. First the inner layer will be stored in the SH,
and then the outer layer by using a weaker magnetic force
(preventing that the inner layer will be neutralized and deleted by
accident. To achieve this, the known "permanent" magnet encoding
techniques can be applied as described in patents from FAST
technology, or by using a combination of electrical current
encoding and the "permanent" magnet encoding.
[0285] A much simpler and faster encoding process uses "only"
electric current to achieve the desired Counter-Circular
"Picky-Back" magnetic field structure. The most challenging part
here is to generate the Counter-Circular magnetic field.
[0286] A uniform electrical current will produce a uniform magnetic
field, running around the electrical conductor in a 90 deg angle,
in relation to the current direction (A). When placing two
conductors side-by-side (B) then the magnetic field between the two
conductors seems to cancel-out the effect of each other (C).
Although still present, there is no detectable (or measurable)
magnetic field between the closely placed two conductors. When
placing a number of electrical conductors side-by-side (D) the
"measurable" magnetic field seems to go around the outside the
surface of the "flat" shaped conductor.
[0287] Referring to FIG. 24, the magnetic effects when looking at
the cross-section of a conductor with a uniform current flowing
through them are shown.
[0288] The "flat" or rectangle shaped conductor has now been bent
into a "U"-shape. When passing an electrical current through the
"U"-shaped conductor then the magnetic field following the outer
dimensions of the "U"-shape is cancelling out the measurable
effects in the inner halve of the "U".
[0289] Referring to FIG. 25, the zone inside the "U"-shaped
conductor seem to be magnetically "Neutral" when an electrical
current is flowing through the conductor.
[0290] When no mechanical stress is applied to the cross-section of
a "U"-shaped conductor it seems that there is no magnetic field
present inside of the "U" (F). But when bending or twisting the
"U"-shaped conductor the magnetic field will no longer follow its
original path (90 deg angle to the current flow). Depending on the
applied mechanical forces, the magnetic field begins to change
slightly its path. At that time the magnetic-field-vector that is
caused by the mechanical stress can be sensed and measured at the
surface of the conductor, inside and outside of the "U"-shape.
Note: This phenomena is applies only at very specific electrical
current levels.
[0291] The same applies to the "O"-shaped conductor design. When
passing a uniform electrical current through an "O"-shaped
conductor (Tube) the measurable magnetic effects inside of the "O"
(Tube) have cancelled-out each other (G).
[0292] Referring to FIG. 26, the zone inside the "O"-shaped
conductor seem to be magnetically "Neutral" when an electrical
current is flowing through the conductor.
[0293] However, when mechanical stresses are applied to the
"O"-shaped conductor (Tube) it becomes evident that there has been
a magnetic field present at the inner side of the "O"-shaped
conductor. The inner, counter directional magnetic field (as well
as the outer magnetic field) begins to tilt in relation to the
applied torque stresses. This tilting field can be clearly sensed
and measured.
[0294] In the following, an Encoding Pulse Design will be
described.
[0295] To achieve the desired magnetic field structure
(Counter-Circular, Picky-Back, Fields Design) inside the SH,
according to an exemplary embodiment of a method of the present
invention, unipolar electrical current pulses are passed through
the Shaft (or SH). By using "pulses" the desired "Skin-Effect" can
be achieved. By using a "unipolar" current direction (not changing
the direction of the electrical current) the generated magnetic
effect will not be erased accidentally.
[0296] The used current pulse shape is most critical to achieve the
desired PCME sensor design. Each parameter has to be accurately and
repeatable controlled: Current raising time, Constant current
on-time, Maximal current amplitude, and Current falling time. In
addition it is very critical that the current enters and exits very
uniformly around the entire shaft surface.
[0297] In the following, a Rectangle Current Pulse Shape will be
described.
[0298] Referring to FIG. 27, a rectangle shaped electrical current
pulse is illustrated.
[0299] A rectangle shaped current pulse has a fast raising positive
edge and a fast falling current edge. When passing a rectangle
shaped current pulse through the SH, the raising edge is
responsible for forming the targeted magnetic structure of the PCME
sensor while the flat "on" time and the falling edge of the
rectangle shaped current pulse are counter productive.
[0300] Referring to FIG. 28, a relationship between rectangles
shaped Current Encoding Pulse-Width (Constant Current On-Time) and
Sensor Output Signal Slope is shown.
[0301] In the following example a rectangle shaped current pulse
has been used to generate and store the Couter-Circilar
"Picky-Back" field in a 15 mm diameter, 14CrNi14 shaft. The pulsed
electric current had its maximum at around 270 Ampere. The pulse
"on-time" has been electronically controlled. Because of the high
frequency component in the rising and falling edge of the encoding
pulse, this experiment can not truly represent the effects of a
true DC encoding SH. Therefore the Sensor-Output-Signal Slope-curve
eventually flattens-out at above 20 mV/Nm when passing the
Constant-Current On-Time of 1000 ms.
[0302] Without using a fast raising current-pulse edge (like using
a controlled ramping slope) the sensor output signal slope would
have been very poor (below 10 mV/Nm). Note: In this experiment
(using 14CrNi14) the signal hysteresis was around 0.95% of the FS
signal (FS=75 Nm torque).
[0303] Referring to FIG. 29, increasing the Sensor-Output
Signal-Slope by using several rectangle shaped current pulses in
succession is shown.
[0304] The Sensor-Output-Signal slope can be improved when using
several rectangle shaped current-encoding-pulses in successions. In
comparisons to other encoding-pulse-shapes the fast falling
current-pulse signal slope of the rectangle shaped current pulse
will prevent that the Sensor-Output-Signal slope may ever reach an
optimal performance level. Meaning that after only a few current
pulses (2 to 10) have been applied to the SH (or Shaft) the
Sensor-Output Signal-Slope will no longer rise.
[0305] In the following, a Discharge Current Pulse Shape is
described.
[0306] The Discharge-Current-Pulse has no Constant-Current ON-Time
and has no fast falling edge. Therefore the primary and most felt
effect in the magnetic encoding of the SH is the fast raising edge
of this current pulse type.
[0307] As shown in FIG. 30, a sharp raising current edge and a
typical discharging curve provides best results when creating a
PCME sensor.
[0308] Referring to FIG. 31, a PCME Sensor-Output Signal-Slope
optimization by identifying the right pulse current is
illustrated.
[0309] At the very low end of the pulse current scale (0 to 75 A
for a 15 mm diameter shaft, 14CrNi14 shaft material) the
"Discharge-Current-Pulse type is not powerful enough to cross the
magnetic threshold needed to create a lasting magnetic field inside
the Ferro magnetic shaft. When increasing the pulse current
amplitude the double circular magnetic field structure begins to
form below the shaft surface. As the pulse current amplitude
increases so does the achievable torque sensor-output
signal-amplitude of the secondary sensor system. At around 400 A to
425 A the optimal PCME sensor design has been achieved (the two
counter flowing magnetic regions have reached their most optimal
distance to each other and the correct flux density for best sensor
performances.
[0310] Referring to FIG. 32, Sensor Host (SH) cross section with
the optimal PCME electrical current density and location during the
encoding pulse is illustrated.
[0311] When increasing further the pulse current amplitude the
absolute, torque force related, sensor signal amplitude will
further increase (curve 2) for some time while the overall
PCME-typical sensor performances will decrease (curve 1). When
passing 900 A Pulse Current Amplitude (for a 15 mm diameter shaft)
the absolute, torque force related, sensor signal amplitude will
begin to drop as well (curve 2) while the PCME sensor performances
are now very poor (curve 1).
[0312] Referring to FIG. 33, Sensor Host (SH) cross sections and
the electrical pulse current density at different and increasing
pulse current levels is shown.
[0313] As the electrical current occupies a larger cross section in
the SH the spacing between the inner circular region and the outer
(near the shaft surface) circular region becomes larger.
[0314] Referring to FIG. 34, better PCME sensor performances will
be achieved when the spacing between the Counter-Circular
"Picky-Back" Field design is narrow (A).
[0315] The desired double, counter flow, circular magnetic field
structure will be less able to create a close loop structure under
torque forces which results in a decreasing secondary sensor signal
amplitude.
[0316] Referring to FIG. 35, flattening-out the current-discharge
curve will also increase the Sensor-Output Signal-Slope.
[0317] When increasing the Current-Pulse discharge time (making the
current pulse wider) (B) the Sensor-Output Signal-Slope will
increase. However the required amount of current is very high to
reduce the slope of the falling edge of the current pulse. It might
be more practical to use a combination of a high current amplitude
(with the optimal value) and the slowest possible discharge time to
achieve the highest possible Sensor-Output Signal Slope.
[0318] In the following, Electrical Connection Devices in the frame
of Primary Sensor Processing will be described.
[0319] The PCME technology (it has to be noted that the term `PCME`
technology is used to refer to exemplary embodiments of the present
invention) relies on passing through the shaft very high amounts of
pulse-modulated electrical current at the location where the
Primary Sensor should be produced. When the surface of the shaft is
very clean and highly conductive a multi-point Copper or Gold
connection may be sufficient to achieve the desired sensor signal
uniformity. Important is that the Impedance is identical of each
connection point to the shaft surface. This can be best achieved
when assuring the cable length (L) is identical before it joins the
main current connection point (I).
[0320] Referring to FIG. 36, a simple electrical multi-point
connection to the shaft surface is illustrated.
[0321] However, in most cases a reliable and repeatable multi-point
electrical connection can be only achieved by ensuring that the
impedance at each connection point is identical and constant. Using
a spring pushed, sharpened connector will penetrate possible
oxidation or isolation layers (may be caused by finger prints) at
the shaft surface.
[0322] Referring to FIG. 37, a multi channel, electrical connecting
fixture, with spring loaded contact points is illustrated.
[0323] When processing the shaft it is most important that the
electrical current is injected and extracted from the shaft in the
most uniform way possible. The above drawing shows several
electrical, from each other insulated, connectors that are held by
a fixture around the shaft. This device is called a
Shaft-Processing-Holding-Clamp (or SPHC). The number of electrical
connectors required in a SPHC depends on the shafts outer diameter.
The larger the outer diameter, the more connectors are required.
The spacing between the electrical conductors has to be identical
from one connecting point to the next connecting point. This method
is called Symmetrical-"Spot"-Contacts.
[0324] Referring to FIG. 38, it is illustrated that increasing the
number of electrical connection points will assist the efforts of
entering and exiting the Pulse-Modulated electrical current. It
will also increase the complexity of the required electronic
control system.
[0325] Referring to FIG. 39, an example of how to open the SPHC for
easy shaft loading is shown.
[0326] In the following, an encoding scheme in the frame of Primary
Sensor Processing will be described.
[0327] The encoding of the primary shaft can be done by using
permanent magnets applied at a rotating shaft or using electric
currents passing through the desired section of the shaft. When
using permanent magnets a very complex, sequential procedure is
necessary to put the two layers of closed loop magnetic fields, on
top of each other, in the shaft. When using the PCME procedure the
electric current has to enter the shaft and exit the shaft in the
most symmetrical way possible to achieve the desired
performances.
[0328] Referring to FIG. 40, two SPHCs (Shaft Processing Holding
Clamps) are placed at the borders of the planned sensing encoding
region. Through one SPHC the pulsed electrical current (I) will
enter the shaft, while at the second SPHC the pulsed electrical
current (I) will exit the shaft. The region between the two SPHCs
will then turn into the primary sensor.
[0329] This particular sensor process will produce a Single Field
(SF) encoded region. One benefit of this design (in comparison to
those that are described below) is that this design is insensitive
to any axial shaft movements in relation to the location of the
secondary sensor devices. The disadvantage of this design is that
when using axial (or in-line) placed MFS coils the system will be
sensitive to magnetic stray fields (like the earth magnetic
field).
[0330] Referring to FIG. 41, a Dual Field (DF) encoded region
(meaning two independent functioning sensor regions with opposite
polarity, side-by-side) allows cancelling the effects of uniform
magnetic stray fields when using axial (or in-line) placed MFS
coils. However, this primary sensor design also shortens the
tolerable range of shaft movement in axial direction (in relation
to the location of the MFS coils). There are two ways to produce a
Dual Field (DF) encoded region with the PCME technology. The
sequential process, where the magnetic encoded sections are
produced one after each other, and the parallel process, where both
magnetic encoded sections are produced at the same time.
[0331] The first process step of the sequential dual field design
is to magnetically encode one sensor section (identically to the
Single Field procedure), whereby the spacing between the two SPHC
has to be halve of the desired final length of the Primary Sensor
region. To simplify the explanations of this process we call the
SPHC that is placed in the centre of the final Primary Sensor
Region the Centre SPHC (C-SPHC), and the SPHC that is located at
the left side of the Centre SPHC: L-SPHC.
[0332] Referring to FIG. 42, the second process step of the
sequential Dual Field encoding will use the SPHC that is located in
the centre of the Primary Sensor region (called C-SPHC) and a
second SPHC that is placed at the other side (the right side) of
the centre SPHC, called R-SPHC. Important is that the current flow
direction in the centre SPHC (C-SPHC) is identical at both process
steps.
[0333] Referring to FIG. 43, the performance of the final Primary
Sensor Region depends on how close the two encoded regions can be
placed in relation to each other. And this is dependent on the
design of the used centre SPHC. The narrower the in-line space
contact dimensions are of the C-SPHC, the better are the
performances of the Dual Field PCME sensor.
[0334] FIG. 44 shows the pulse application according to another
exemplary embodiment of the present invention. As my be taken from
the above drawing, the pulse is applied to three locations of the
shaft. Due to the current distribution to both sides of the middle
electrode where the current I is entered into the shaft, the
current leaving the shaft at the lateral electrodes is only half
the current entered at the middle electrode, namely 1/2I. The
electrodes are depicted as rings which dimensions are adapted to
the dimensions of the outer surface of the shaft. However, it has
to be noted that other electrodes may be used, such as the
electrodes comprising a plurality of pin electrodes described later
in this text.
[0335] Referring to FIG. 45, magnetic flux directions of the two
sensor sections of a Dual Field PCME sensor design are shown when
no torque or linear motion stress is applied to the shaft. The
counter flow magnetic flux loops do not interact with each
other.
[0336] Referring to FIG. 46, when torque forces or linear stress
forces are applied in a particular direction then the magnetic flux
loops begin to run with an increasing tilting angle inside the
shaft. When the tilted magnetic flux reaches the PCME segment
boundary then the flux line interacts with the counterflowing
magnetic flux lines, as shown.
[0337] Referring to FIG. 47, when the applied torque direction is
changing (for example from clock-wise to counter-clock-wise) so
will change the tilting angle of the counterflow magnetic flux
structures inside the PCM Encoded shaft.
[0338] In the following, a Multi Channel Current Driver for Shaft
Processing will be described.
[0339] In cases where an absolute identical impedance of the
current path to the shaft surface can not be guaranteed, then
electric current controlled driver stages can be used to overcome
this problem.
[0340] Referring to FIG. 48, a six-channel synchronized Pulse
current driver system for small diameter Sensor Hosts (SH) is
shown. As the shaft diameter increases so will the number of
current driver channels.
[0341] In the following, Bras Ring Contacts and Symmetrical "Spot"
Contacts will be described.
[0342] When the shaft diameter is relative small and the shaft
surface is clean and free from any oxidations at the desired
Sensing Region, then a simple "Bras"-ring (or Copper-ring) contact
method can be chosen to process the Primary Sensor.
[0343] Referring to FIG. 49, bras-rings (or Copper-rings) tightly
fitted to the shaft surface may be used, with solder connections
for the electrical wires. The area between the two Bras-rings
(Copper-rings) is the encoded region.
[0344] However, it is very likely that the achievable RSU
performances are much lower then when using the Symmetrical "Spot"
Contact method.
[0345] In the following, a Hot-Spotting concept will be
described.
[0346] A standard single field (SF) PCME sensor has very poor
Hot-Spotting performances. The external magnetic flux profile of
the SF PCME sensor segment (when torque is applied) is very
sensitive to possible changes (in relation to Ferro magnetic
material) in the nearby environment. As the magnetic boundaries of
the SF encoded sensor segment are not well defined (not "Pinned
Down") they can "extend" towards the direction where Ferro magnet
material is placed near the PCME sensing region.
[0347] Referring to FIG. 50, a PCME process magnetized sensing
region is very sensitive to Ferro magnetic materials that may come
close to the boundaries of the sensing regions.
[0348] To reduce the Hot-Spotting sensor sensitivity the PCME
sensor segment boundaries have to be better defined by pinning them
down (they can no longer move).
[0349] Referring to FIG. 51, a PCME processed Sensing region with
two "Pinning Field Regions" is shown, one on each side of the
Sensing Region.
[0350] By placing Pinning Regions closely on either side the
Sensing Region, the Sensing Region Boundary has been pinned down to
a very specific location. When Ferro magnetic material is coming
close to the Sensing Region, it may have an effect on the outer
boundaries of the Pinning Regions, but it will have very limited
effects on the Sensing Region Boundaries.
[0351] There are a number of different ways, according to exemplary
embodiments of the present invention how the SH (Sensor Host) can
be processed to get a Single Field (SF) Sensing Region and two
Pinning Regions, one on each side of the Sensing Region. Either
each region is processed after each other (Sequential Processing)
or two or three regions are processed simultaneously (Parallel
Processing). The Parallel Processing provides a more uniform sensor
(reduced parasitic fields) but requires much higher levels of
electrical current to get to the targeted sensor signal slope.
[0352] Referring to FIG. 52, a parallel processing example for a
Single Field (SF) PCME sensor with Pinning Regions on either side
of the main sensing region is illustrated, in order to reduce (or
even eliminate) Hot-Spotting.
[0353] A Dual Field PCME Sensor is less sensitive to the effects of
Hot-Spotting as the sensor centre region is already Pinned-Down.
However, the remaining Hot-Spotting sensitivity can be further
reduced by placing Pinning Regions on either side of the Dual-Field
Sensor Region.
[0354] Referring to FIG. 53, a Dual Field (DF) PCME sensor with
Pinning Regions either side is shown.
[0355] When Pinning Regions are not allowed or possible (example:
limited axial spacing available) then the Sensing Region has to be
magnetically shielded from the influences of external Ferro
Magnetic Materials.
[0356] In the following, the Rotational Signal Uniformity (RSU)
will be explained.
[0357] The RSU sensor performance are, according to current
understanding, mainly depending on how circumferentially uniform
the electrical current entered and exited the SH surface, and the
physical space between the electrical current entry and exit
points. The larger the spacing between the current entry and exit
points, the better is the RSU performance.
[0358] Referring to FIG. 54, when the spacings between the
individual circumferential placed current entry points are
relatively large in relation to the shaft diameter (and equally
large are the spacings between the circumferentially placed current
exit points) then this will result in very poor RSU performances.
In such a case the length of the PCM Encoding Segment has to be as
large as possible as otherwise the created magnetic field will be
circumferentially non-uniform.
[0359] Referring to FIG. 55, by widening the PCM Encoding Segment
the circumferentially magnetic field distribution will become more
uniform (and eventually almost perfect) at the halve distance
between the current entry and current exit points. Therefore the
RSU performance of the PCME sensor is best at the halve way-point
between of the current-entry/current-exit points.
[0360] Next, the basic design issues of a NCT sensor system will be
described.
[0361] Without going into the specific details of the PCM-Encoding
technology, the end-user of this sensing technology need to now
some design details that will allow him to apply and to use this
sensing concept in his application. The following pages describe
the basic elements of a magnetostriction based NCT sensor (like the
primary sensor, secondary sensor, and the SCSP electronics), what
the individual components look like, and what choices need to be
made when integrating this technology into an already existing
product.
[0362] In principle the PCME sensing technology can be used to
produce a stand-alone sensor product. However, in already existing
industrial applications there is little to none space available for
a "stand-alone" product. The PCME technology can be applied in an
existing product without the need of redesigning the final
product.
[0363] In case a stand-alone torque sensor device or position
detecting sensor device will be applied to a motor-transmission
system it may require that the entire system need to undergo a
major design change.
[0364] In the following, referring to FIG. 56, a possible location
of a PCME sensor at the shaft of an engine is illustrated.
[0365] FIG. 56 shows possible arrangement locations for the torque
sensor according to an exemplary embodiment of the present
invention, for example, in a gear box of a motorcar. The upper
portion of FIG. 56 shows the arrangement of the PCME torque sensor
according to an exemplary embodiment of the present invention. The
lower portion of the FIG. 56 shows the arrangement of a stand alone
sensor device which is not integrated in the input shaft of the
gear box as is in the exemplary embodiment of the present
invention.
[0366] As may be taken from the upper portion of FIG. 56, the
torque sensor according to an exemplary embodiment of the present
invention may be integrated into the input shaft of the gear box.
In other words, the primary sensor may be a portion of the input
shaft. In other words, the input shaft may be magnetically encoded
such that it becomes the primary sensor or sensor element itself.
The secondary sensors, i.e. the coils, may, for example, be
accommodated in a bearing portion close to the encoded region of
the input shaft. Due to this, for providing the torque sensor
between the power source and the gear box, it is not necessary to
interrupt the input shaft and to provide a separate torque sensor
in between a shaft going to the motor and another shaft going to
the gear box as shown in the lower portion of FIG. 56.
[0367] Due to the integration of the encoded region in the input
shaft it is possible to provide for a torque sensor without making
any alterations to the input shaft, for example, for a car. This
may be important, for example, in parts for an aircraft where each
part has to undergo extensive tests before being allowed for use in
the aircraft. Such torque sensor according to the present invention
may be perhaps even without such extensive testing being corporated
in shafts in aircraft or turbine since, the immediate shaft is not
altered. Also, no material effects are caused to the material of
the shaft.
[0368] Furthermore, as may be taken from FIG. 56, the torque sensor
according to an exemplary embodiment of the present invention may
allow to reduce a distance between a gear box and a power source
since the provision of a separate stand alone torque sensor between
the shaft exiting the power source and the input shaft to the gear
box becomes obvious.
[0369] Next, Sensor Components will be explained.
[0370] A non-contact magnetostriction sensor (NCT-Sensor), as shown
in FIG. 57, may consist, according to an exemplary embodiment of
the present invention, of three main functional elements: The
Primary Sensor, the Secondary Sensor, and the Signal Conditioning
& Signal Processing (SCSP) electronics.
[0371] Depending on the application type (volume and quality
demands, targeted manufacturing cost, manufacturing process flow)
the customer can chose to purchase either the individual components
to build the sensor system under his own management, or can
subcontract the production of the individual modules.
[0372] FIG. 58 shows a schematic illustration of components of a
non-contact torque sensing device. However, these components can
also be implemented in a non-contact position sensing device.
[0373] In cases where the annual production target is in the
thousands of units it may be more efficient to integrate the
"primary-sensor magnetic-encoding-process" into the customers
manufacturing process. In such a case the customer needs to
purchase application specific "magnetic encoding equipment".
[0374] In high volume applications, where cost and the integrity of
the manufacturing process are critical, it is typical that NCTE
supplies only the individual basic components and equipment
necessary to build a non-contact sensor: [0375] ICs (surface mount
packaged, Application-Specific Electronic Circuits) [0376]
MFS-Coils (as part of the Secondary Sensor) [0377] Sensor Host
Encoding Equipment (to apply the magnetic encoding on the
shaft=Primary Sensor)
[0378] Depending on the required volume, the MFS-Coils can be
supplied already assembled on a frame, and if desired, electrically
attached to a wire harness with connector. Equally the SCSP (Signal
Conditioning & Signal Processing) electronics can be supplied
fully functional in PCB format, with or without the MFS-Coils
embedded in the PCB.
[0379] FIG. 59 shows components of a sensing device.
[0380] As can be seen from FIG. 60, the number of required
MFS-coils is dependent on the expected sensor performance and the
mechanical tolerances of the physical sensor design. In a well
designed sensor system with perfect Sensor Host (SH or magnetically
encoded shaft) and minimal interferences from unwanted magnetic
stray fields, only 2 MFS-coils are needed. However, if the SH is
moving radial or axial in relation to the secondary sensor position
by more than a few tenths of a millimeter, then the number of
MFS-coils need to be increased to achieve the desired sensor
performance.
[0381] In the following, a control and/or evaluation circuitry will
be explained.
[0382] The SCSP electronics, according to an exemplary embodiment
of the present invention, consist of the NCTE specific ICs, a
number of external passive and active electronic circuits, the
printed circuit board (PCB), and the SCSP housing or casing.
Depending on the environment where the SCSP unit will be used the
casing has to be sealed appropriately.
[0383] Depending on the application specific requirements NCTE
(according to an exemplary embodiment of the present invention)
offers a number of different application specific circuits: [0384]
Basic Circuit [0385] Basic Circuit with integrated Voltage
Regulator [0386] High Signal Bandwidth Circuit [0387] Optional High
Voltage and Short Circuit Protection Device [0388] Optional Fault
Detection Circuit
[0389] FIG. 61 shows a single channel, low cost sensor electronics
solution.
[0390] As may be taken from FIG. 61, there may be provided a
secondary sensor unit which comprises, for example, coils. These
coils are arranged as, for example, shown in FIG. 60 for sensing
variations in a magnetic field emitted from the primary sensor
unit, i.e. the sensor shaft or sensor element when torque is
applied thereto. The secondary sensor unit is connected to a basis
IC in a SCST. The basic IC is connected via a voltage regulator to
a positive supply voltage. The basic IC is also connected to
ground. The basic IC is adapted to provide an analog output to the
outside of the SCST which output corresponds to the variation of
the magnetic field caused by the stress applied to the sensor
element.
[0391] FIG. 62 shows a dual channel, short circuit protected system
design with integrated fault detection. This design consists of 5
ASIC devices and provides a high degree of system safety. The
Fault-Detection IC identifies when there is a wire breakage
anywhere in the sensor system, a fault with the MFS coils, or a
fault in the electronic driver stages of the "Basic IC".
[0392] Next, the Secondary Sensor Unit will be explained.
[0393] The Secondary Sensor may, according to one embodiment shown
in FIG. 63, consist of the elements: One to eight MFS (Magnetic
Field Sensor) Coils, the Alignment- & Connection-Plate, the
wire harness with connector, and the Secondary-Sensor-Housing.
[0394] The MFS-coils may be mounted onto the Alignment-Plate.
Usually the Alignment-Plate allows that the two connection wires of
each MFS-Coil are soldered/connected in the appropriate way. The
wire harness is connected to the alignment plate. This, completely
assembled with the MFS-Coils and wire harness, is then embedded or
held by the Secondary-Sensor-Housing.
[0395] The main element of the MFS-Coil is the core wire, which has
to be made out of an amorphous-like material.
[0396] Depending on the environment where the Secondary-Sensor-Unit
will be used, the assembled Alignment Plate has to be covered by
protective material. This material can not cause mechanical stress
or pressure on the MFS-coils when the ambient temperature is
changing.
[0397] In applications where the operating temperature will not
exceed +110 deg C. the customer has the option to place the SCSP
electronics (ASIC) inside the secondary sensor unit (SSU). While
the ASIC devices can operated at temperatures above +125 deg C. it
will become increasingly more difficult to compensate the
temperature related signal-offset and signal-gain changes.
[0398] The recommended maximal cable length between the MFS-coils
and the SCSP electronics is 2 meters. When using the appropriate
connecting cable, distances of up to 10 meters are achievable. To
avoid signal-cross-talk in multi-channel applications (two
independent SSUs operating at the same Primary Sensor
location=Redundant Sensor Function), specially shielded cable
between the SSUs and the SCSP Electronics should be considered.
[0399] When planning to produce the Secondary-Sensor-Unit (SSU) the
producer has to decide which part/parts of the SSU have to be
purchased through subcontracting and which manufacturing steps will
be made in-house.
[0400] In the following, Secondary Sensor Unit Manufacturing
Options will be described.
[0401] When integrating the NCT-Sensor into a customized tool or
standard transmission system then the systems manufacturer has
several options to choose from: [0402] custom made SSU (including
the wire harness and connector) [0403] selected modules or
components; the final SSU assembly and system test may be done
under the customer's management. [0404] only the essential
components (MFS-coils or MFS-core-wire, Application specific ICs)
and will produce the SSU in-house.
[0405] FIG. 64 illustrates an exemplary embodiment of a Secondary
Sensor Unit Assembly.
[0406] Next, a Primary Sensor Design is explained.
[0407] The SSU (Secondary Sensor Units) can be placed outside the
magnetically encoded SH (Sensor Host) or, in case the SH is hollow,
inside the SH. The achievable sensor signal amplitude is of equal
strength but has a much better signal-to-noise performance when
placed inside the hollow shaft.
[0408] FIG. 65 illustrates two configurations of the geometrical
arrangement of Primary Sensor and Secondary Sensor.
[0409] Improved sensor performances may be achieved when the
magnetic encoding process is applied to a straight and parallel
section of the SH (shaft). For a shaft with 15 mm to 25 mm diameter
the optimal minimum length of the Magnetically Encoded Region is 25
mm. The sensor performances will further improve if the region can
be made as long as 45 mm (adding Guard Regions). In complex and
highly integrated transmission (gearbox) systems it will be
difficult to find such space. Under more ideal circumstances, the
Magnetically Encoding Region can be as short as 14 min, but this
bears the risk that not all of the desired sensor performances can
be achieved.
[0410] As illustrated in FIG. 66, the spacing between the SSU
(Secondary Sensor Unit) and the Sensor Host surface, according to
an exemplary embodiment of the present invention, should be held as
small as possible to achieve the best possible signal quality.
[0411] Next, the Primary Sensor Encoding Equipment will be
described.
[0412] An example is shown in FIG. 67.
[0413] Depending on which magnetostriction sensing technology will
be chosen, the Sensor Host (SH) needs to be processed and treated
accordingly. The technologies vary by a great deal from each other
(ABB, FAST, FT, Kubota, MDI, NCTE, RM, Siemens, . . . ) and so does
the processing equipment required. Some of the available
magnetostriction sensing technologies do not need any physical
changes to be made on the SH and rely only on magnetic processing
(MDI, FAST, NCTE).
[0414] While the MDI technology is a two phase process, the FAST
technology is a three phase process, and the NCTE technology a one
phase process, called PCM Encoding.
[0415] One should be aware that after the magnetic processing, the
Sensor Host (SH or Shaft), has become a "precision measurement"
device and has to be treated accordingly. The magnetic processing
should be the very last step before the treated SH is carefully
placed in its final location.
[0416] The magnetic processing should be an integral part of the
customer's production process (in-house magnetic processing) under
the following circumstances: [0417] High production quantities
(like in the thousands) [0418] Heavy or difficult to handle SH
(e.g. high shipping costs) [0419] Very specific quality and
inspection demands (e.g. defense applications)
[0420] In all other cases it may be more cost effective to get the
SH magnetically treated by a qualified and authorized
subcontractor, such as NCTE. For the "in-house" magnetic processing
dedicated manufacturing equipment is required. Such equipment can
be operated fully manually, semi-automated, and fully automated.
Depending on the complexity and automation level the equipment can
cost anywhere from EUR 20 k to above EUR 500 k.
[0421] In the following, referring to FIG. 68, a position sensor
array 100 according to a first embodiment of the invention will be
described.
[0422] The position sensor array 100 comprises a reciprocating
shaft 101 driven by a motor (not shown in FIG. 68), wherein the
reciprocating shaft 101 reciprocates along a reciprocation
direction 102. Further, the position sensor array 100 comprises a
position sensor device for determining a position of the
reciprocating shaft 101. The position sensor device for determining
a position of the reciprocating shaft 101 comprises one
magnetically encoded region 103 integrated in a surface region of
the reciprocating shaft 101. Further, the position sensor device
comprises one detection coil 104, a measuring unit 105 for
measuring a magnetic field based on the electrical signals provided
by the detection coil 104, and a determining unit 106. The
detection coil 104 is adapted to detect a signal generated by the
magnetically encoded region 103 when the magnetically encoded
region 103 reciprocating with the reciprocating shaft 101 passes a
surrounding area of the detection coil 104. In this surrounding
area, a present magnetic element can be detected by the detection
coil 104. The determining unit 106 is adapted to determine the
position of the reciprocating shaft 101 based on the detected
signal, which is measured by a measuring unit 105 coupled with the
detection coil 104.
[0423] The magnetically encoded region 103 is realized according to
the PCME technology described above. Therefore, the magnetically
encoded region 103 is a permanent magnetic region having a
circumferentially magnetized region of the reciprocating shaft 101
made from industrial steel. The magnetically encoded region 103 is
formed by a first magnetic flow region oriented in a first
direction and by a second magnetic flow region oriented in a second
direction, wherein the first direction is opposite to the second
direction. In a cross-sectional view of the cylindrical
reciprocating shaft 101 perpendicular to the paper plane of FIG. 68
and perpendicular to the reciprocating direction 102 of the
reciprocating shaft 101, there is a first circular magnetic flow
having the first direction and a first radius and the second
circular magnetic flow having the second direction and a second
radius, wherein the first radius is larger than the second
radius.
[0424] When the reciprocating shaft 101, driven by an engine which
is not shown in FIG. 68, reciprocates along the reciprocation
direction 102, i.e. oscillates along a direction 102 from left to
right and vice versa, the magnetic flux through the detection coil
104 generated by the magnetically encoded region 103 varies with
the time, since the magnetically encoded region 103 has a time
dependent distance from the detection coil 104. Thus, depending on
the actual position of the reciprocating shaft 101, the induced
voltage in the detection coil 104 yielding a signal in the
measuring unit 105, varies dependent of the actual position of the
reciprocating shaft 101. Based on this measured signal, the
determining unit 106 determines the actual position of the
reciprocating shaft. The determining unit 106 provides this
position information to the control unit 107 which uses this
information to regulate control signals for controlling the
reciprocation of the reciprocating shaft 101.
[0425] In the following, referring to FIG. 69, a position sensor
array 200 according to a second embodiment of the invention will be
described.
[0426] In contrast to the position sensor array 100, the position
sensor array 200 comprises a plurality of magnetically encoded
regions divided in a first group 201 of magnetically encoded
regions and a second group 202 of magnetically encoded regions
which are provided at different locations on the reciprocating
shaft 101.
[0427] Instead of the detection coil 104, the position sensor array
200 comprises a first Hall-probe 203, a second Hall-probe 204 and
third Hall-probe 205 arranged along the reciprocating shaft 101.
When the reciprocating shaft 101 reciprocates along a reciprocation
direction 102, the plurality of magnetically encoded regions 201,
202 pass the Hall-probes 203 to 205 to produce a significant and
unique time dependent signal pattern detected by the Hall-probes
203 to 205 and measured by the measuring unit 105, so that the
determining unit 106 can calculate the position of the
reciprocating shaft 101 based on the sequence of signals.
[0428] Thus, the position sensor array 200 allows to sense the
actual position of the reciprocating shaft 101 on the basis of the
PCME technology in cascading sequence. The PCME encoding field
group 201, 202 magnetically encoded regions have a different length
along the reciprocation direction 102, whereby on one side of the
reciprocating shaft 101 the shorter PCME encoding region 201 is
placed and at the other end of the shaft 101 is the wider PCME
encoding region 202.
[0429] The reciprocating shaft 101 is a hydraulic work cylinder. As
can be seen from FIG. 69, the short magnetic position markers 201
are cascaded, and the long magnetic position markers 202 are
cascaded.
[0430] In the following, referring to FIG. 70, a position sensor
array 300 according to a third embodiment of the invention will be
described.
[0431] The position sensor array 300 differs from the position
sensor array 100 in that a plurality of equal-width magnetically
encoded regions 301 are provided. Each of the magnetically encoded
regions 301 has an equal width, l, along the reciprocating shaft
101. The magnetically encoded regions 301 are provided at different
distances from one another, namely a distances of d, 2d, and 3d. In
contrast to the horizontally aligned detection coil 104 of FIG. 68,
FIG. 70 shows a plurality of vertically aligned detection coils 302
having their coil axis arranged vertically according to the drawing
of FIG. 70. The different distances between adjacent magnetically
encoded regions and adjacent detection coils 302 yield a time
dependent pattern of signals generated in the detection coils 302
which allow to retrieve the actual position and velocity of the
reciprocating shaft 101.
[0432] The arrangement of the coils 302 with respect to the
magnetically encoded regions 301 is symmetric, i.e. in a reference
state of the reciprocating shaft 101 shown in FIG. 70, a central
axis of each of the coils 302 equals to a central axis of a
corresponding one of the magnetically encoded regions 301.
[0433] In the following, referring to FIG. 71, a position sensor
array 400 according to a fourth embodiment of the invention will be
described.
[0434] In the case of the position sensor array 400, a single
horizontally aligned detection coil 104 is provided, and three
equal-width magnetically encoded regions 301. When the shaft 101
reciprocates along direction 102, a detection signal is detected by
the horizontally aligned detection coil 104 each time that one of
the equal-width magnetically encoded regions 301 passes a close
vicinity of the horizontally aligned detection coil 104. Thus, a
sequence of signals is detected at the detection coil 104 which
allows to recalculate the actual position of the shaft 101.
[0435] In the following, referring to FIG. 72, a position sensor
array 500 according to a fifth embodiment of the invention will be
described.
[0436] The position sensor array 500 includes two ferromagnetic
rings 501 attached on different portions of the reciprocating shaft
101. These ferromagnetic rings 501 made of iron material are
separate ferromagnetic elements which are attached on the
reciprocating shaft 101 to form magnetically encoded regions.
Further, two horizontally aligned detection coils 104 are provided
to measure a time dependent magnetic field via an induction voltage
which is generated in a respective one of the coils 104 when one of
the ferromagnetic rings 501 passes one of the horizontally aligned
detection coils 104. As can be seen from the reference position of
the reciprocating shaft 101 shown in FIG. 72, the ferromagnetic
rings 501 are provided at positions of the shaft 101 which are
non-symmetric with respect to the detection coils 104. In other
words, in a configuration in which the position of the detection
coil 104 shown on the left hand side of FIG. 72 corresponds to the
position of the ferromagnetic ring 501 shown on the left hand side
of FIG. 72, there is an offset between the position of the centre
of the detecting coil 104 shown on the right hand side of FIG. 72
and the position of the central axis of the ferromagnetic ring 501
shown on the right hand side of FIG. 72. Consequently, the
detection signals of the different coils 104 are timely shifted
with respect to each other. Such a time offset yields further
position information of the reciprocating shaft 101.
[0437] Referring to FIG. 73, a diagram 600 will be described
showing a signal curve 603 which can be detected by the coils 104
shown in FIG. 71 when one of the magnetically encoded regions 301
passes the respective coil 104. Along an abscissa 601 of diagram
600, the position x of the reciprocating shaft 101 is shown, and
along an ordinate 602, a signal amplitude A(x) is shown. Thus, the
signal curve 603 allows to determine the position of the
reciprocating shaft 101.
[0438] In the following, referring to FIG. 74, a position sensor
array 700 according to a sixth embodiment of the invention will be
described. In contrast to the position sensor array 100, the
position sensor array 700 shows an entirely magnetized shaft 701,
i.e. a shaft which is entirely made of ferromagnetic material or a
shaft which is magnetized along its entire length according to the
PCME technology.
[0439] FIG. 75 shows a diagram 800 having an abscissa 801 along
which the position x of the entirely magnetized shaft 701 having a
total length L is shown. Along an ordinate 802 of diagram 800, the
amplitude A(x) of a signal detected by the determining unit 106 is
shown. Thus, the signal of FIG. 75 allows a unique identification
of the actual position of the entirely magnetized shaft 701 of FIG.
74.
[0440] In the following, referring to FIG. 76, a position sensor
array 900 according to a seventh embodiment of the invention will
be described.
[0441] In the case of the position sensor array 900, the
reciprocating shaft 101 is divided into a plurality of equally
spaced first to fourth segments 901 to 904. Each segment 901 to 904
comprises one magnetically encoded region 301, the magnetically
encoded regions 301 being arranged in an asymmetric manner along
the segments 901 to 904. The magnetically encoded region 301 of the
first segment 901 is arranged in the very left part, the
magnetically encoded region 301 of the second segment 902 is
arranged in the middle-left part, the magnetically encoded region
301 of the third segment 903 is arranged in the middle-right part
and the magnetically encoded region 301 of the fourth segment 904
is arranged at the very right part of the respective segment. Thus,
the arrangement of the magnetically encoded regions 301 is shifted
from segment to segment 901 to 904. This yields a unique signal
pattern detectable by the coils 302 which allows an accurate
estimation of the actual position of the shaft 101.
[0442] The equally spaced segments 901, 904 with different
locations of the markers 301 allow an estimation of the position of
the reciprocating shaft 101 by evaluating the signals detected by
the coils 302.
[0443] In the following, referring to FIG. 77, a concrete
processing apparatus 1000 according to a first embodiment of the
invention will be described.
[0444] The concrete processing apparatus 1000 is provided on a
truck (not shown) equipped with a concrete mixer pump for mixing
concrete material using a reciprocating shaft having the magnetic
encoding of the invention. Thus, a concrete pump is equipped with a
hydraulically driven work cylinder, i.e. a reciprocating shaft. In
order to securely control the function of the reciprocating shaft,
the position of the shaft should be known exactly. The invention
provides a method of determining the exact position of the
reciprocating cylinder of the concrete processing apparatus
1000.
[0445] FIG. 77 shows the concrete processing apparatus 1000 having
a concrete processing chamber 1001 which includes an inlet 1003 for
supplying concrete material 1005 in the concrete processing chamber
1001. A reciprocating work cylinder 1002 mixes the concrete
material 1005 by reciprocating along a reciprocation direction 102
and transports the concrete material 1005 to a concrete outlet 1004
connected to a pipeline (not shown) via which the concrete is
supplied to a concrete consumer.
[0446] The reciprocating work cylinder 1002 has, on its
reciprocating shaft, three magnetically encoded regions 301
manufactured according to the PCME technology. Sealing elements
1007 are provided to prevent an undesired mixture of concrete
material 1005 with a hydraulic fluid 1006 provided to drive the
reciprocating work cylinder 1002. When the magnetically encoded
regions 301 pass a detection coil 104, an induction voltage is
generated in the coil 104 which is supplied to the measuring unit
105 and which allows the determining unit 106 to estimate the
present position of the reciprocating work cylinder 1002. A
position indicating signal, in which the actual position of the
cylinder 1002 is encoded, is provided to a control unit 107 which
uses the position information to optimize a driving control signal
to drive the reciprocating work cylinder 1002.
[0447] Thus, the invention improves the quality of the generated
concrete 1005 and the operation of the reciprocating work cylinder
1002, by enabling an improved way of driving the work cylinder 1002
based on position information of the cylinder 1002.
[0448] In the following, referring to FIG. 78, a concrete
processing apparatus 1100 according to a second embodiment of the
invention will be described.
[0449] FIG. 78 shows a twin cylinder pump arrangement having a
first working cylinder 1002 and a second work cylinder 1102 which
allows a combination of steady and gentle pumping patterns.
Hydraulic oil 1006 is pumped under pressure to the working
cylinders 1002, 1102. At one time, one of the working cylinders
1002, 1102 extends, while the other one retracts at the same time.
Thus, one cylinder 1002, 1102 pumps and draws in concrete material
1005, and the other cylinder 1102, 1002 pumps concrete material
1005 into a connected pipeline (not shown). The assembly of FIG. 78
is mounted on a truck to form a machine which is applicable in the
construction and civil engineering fields.
[0450] In contrast to the concrete processing apparatus 1000, two
instead of one work cylinders 1002, 1102 are provided in the case
of the concrete processing apparatus 1100, namely the reciprocating
work cylinder 1002 and a further reciprocating work cylinder 1102.
Moreover, a further concrete inlet 1101 for supplying concrete
material in a symmetric manner is provided. Both of the
reciprocating work cylinders 1002, 1102 are hydraulically driven
using the hydraulic fluid 1006.
[0451] According to the operation mode shown in FIG. 78, the
reciprocating work cylinder 1002 moves along a first direction
1103, whereas the further reciprocating work cylinder 1102 moves
along a second direction 1104 which is opposite to the first
direction 1103. A separation wall 1105 separates the reciprocating
work cylinders 1002, 1102 from each other. Along the shaft of each
of the reciprocating cylinders 1002, 1102, a plurality of magnetic
encoded regions 301 are provided which produce magnetic signals on
coils 104. Each reciprocating cylinder 1002, 1102 has assigned a
pair of coils 104 having opposed coil axis, so that an evaluation
of the signals generated in the coils 104 of each pair of coils
allow to eliminate the influence of the magnetic field of the earth
to further improve the accuracy of the detected positions.
[0452] In the following, further embodiments of the invention will
be described which may or may not be realized with PCME
technology.
[0453] FIG. 79 and FIG. 80 show schematic views illustrating a
sequence of signals 6810 captured by three magnetic field detectors
6800, 6801, 6802 generated by six magnetic encoded regions (see "1"
to "6") provided with (from left to right) increasing distances
from one another on a reciprocating shaft (not shown) of a position
sensor array according to an eighth embodiment of the invention. A
first pickup location 6820 and a second pickup location 6830 are
shown. The six magnetic encoded regions (markers) have the same
physical dimension (width of the markers is constant), but the
location in relation to each other is changing.
[0454] As can be seen from FIG. 80, when using three pickup modules
6800, 6801, 6802, then the usable axial-measurement range is much
larger than in a scenario of using one or two pickup modules, since
there are no "dead" areas (at least two pickup devices have a
usable signal at any given location, at any point of time).
[0455] FIG. 81 and FIG. 82 show schematic views illustrating a
sequence of signals 7000 captured by two magnetic field detectors
6800, 6801 generated by six magnetic encoded regions (see "1" to
"6") provided with (from left to right) increasing distances from
one another provided on a reciprocating shaft (not shown) of a
position sensor array according to a ninth embodiment of the
invention.
[0456] When using two pickup devices 6800, 6801, the axial
measurement range expands considerably than when using only one
pickup device. However, there are still "dead" areas 7100 between
the markers where there is no sufficient information available
through the pickup system. Apart from the "dead" areas 7100, the
axial position can be determined accurately. Two pickups enable to
determine accurately the axial position when two signals are
present at any given location.
[0457] FIG. 83 shows a schematic view illustrating a sequence of
signals 6810 captured by one magnetic field detector 6800 generated
by six magnetic encoded regions (see "1" to "6") provided with
(from left to right) increasing distances from one another provided
on a reciprocating shaft (not shown) of a position sensor array
according to a tenth embodiment of the invention. This embodiment
allows to obtain axial position information with low effort.
[0458] FIG. 84 to FIG. 86 show a hollow tube 7300 as reciprocating
object with different embodiments for magnetic encoded regions
arranged inside the hollow tube. The magnetic field generated
inside the tube 7300 has to be strong enough to penetrate the outer
tube wall.
[0459] According to the embodiment shown in FIG. 84, a permanent
magnet 7301 (synthetic magnet) is placed inside the tube.
[0460] According to the embodiment shown in FIG. 85, a coil 7400
(inductor) is placed inside the tube which can be magnetized by an
electrical power source 7401.
[0461] According to the embodiment shown in FIG. 86, a helical coil
7500 is placed inside the tube which can be magnetized by an
electrical power source 7401.
[0462] FIG. 87, FIG. 88 show a position sensor array 7600 according
to an eleventh embodiment of the invention.
[0463] In an automatic automotive gearbox system, as shown in FIG.
87, FIG. 88, the position of the various tooth-wheels (gear-wheels)
are changed by push-pull-rods 7601. In a passenger car gearbox
system may be particularly four or more push-pull-rods 7601 to
control the gear positions of the cars transmission system. The
push-pull-rods 7601 may be operated by an electric or pneumatic or
hydraulic actuator. The actuators operate a hook 7602 which is
inserted into a hole from the push-pull-rod 7601.
[0464] The push-pull-rod may 7601 move as little as +/-10 mm
(passenger car gearbox) or much more (truck gearbox). The optimal
operation of the gearbox requires that the push-pull-rods 7601 are
moved to precise positions with little tolerances.
[0465] As the axial measurement range is relatively short (+/-10
mm, up to +/-20 mm) only one magnetic marker 103 is required for
measuring the position of the push-pull-rod 7601. The magnetic
marker 103 can be placed at any desired location of the
push-pull-rod 7601 whereby the cross-section of the push-pull-rod
7601 where the marker 103 will be placed can be round, square,
rectangle, or any other desired shape. As the push-pull-rod 7601
does not rotate, a non-uniform (non-round) shape of the rod's cross
section is acceptable.
[0466] FIG. 87 shows a typical gearbox push-pull-rod 7601 design,
required to change the gear (tooth-wheel) position inside the
gearbox by means of an externally placed actuator. The actuator is
attached to the hook 7602 which is attached to the end of the
push-pull-rod 7601.
[0467] FIG. 88 shows a detailed view of the push-pull-rod 7601 with
an magnetic marker encoding 103 and at least one magnetic field
detecting device 104. The magnetic field detecting device 104
(example: coil) will detect the exact axial (linear) position of
the push-pull-rod 7601 in relation to the position of the magnetic
field detecting device 104.
[0468] It should be noted that the term "comprising" does not
exclude other elements or steps and the "a" or "an" does not
exclude a plurality. Also elements described in association with
different embodiments may be combined.
* * * * *