CN107044819A - The method for sensing and system of a kind of mobile object movement position - Google Patents
The method for sensing and system of a kind of mobile object movement position Download PDFInfo
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- CN107044819A CN107044819A CN201610083830.4A CN201610083830A CN107044819A CN 107044819 A CN107044819 A CN 107044819A CN 201610083830 A CN201610083830 A CN 201610083830A CN 107044819 A CN107044819 A CN 107044819A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/02—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring length, width or thickness
- G01B7/023—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring length, width or thickness for measuring distance between sensor and object
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Abstract
The present invention relates to a kind of method for sensing of mobile object movement position and system, such as clutch plunger position sensing and method, the longer stroke of mobile object is divided into several regions, in each region, sensing element is set respectively, sense when being moved with mobile object by magnetic field signal during each region, and produce the sensing signal of regional respectively.Micro-control unit receive carried out after the sensing signal of segmentation after temperature-compensating, amendment temporally, stroke, order synthesis continuously reflect the mobile object motor message of whole stroke, reach the purpose of sensing long stroke mobile object motion.Sensing system with dormancy control function controls circuit provided with dormancy, and whether monitoring mobile object is driven and provide monitoring signals, makes whole sensing system control interconnected system dormancy or starts running, to save the energy.
Description
Technical field
The present invention relates to a kind of method for sensing of mobile object movement position and the mobile object of system, particularly longer stroke
The method for sensing and device of the method for sensing and system of movement position, such as automobile engine clutch master cylinder piston position.
Background technology
In control technology, sensing device further is commonly used to the movement position of sensing movement object.Gone when mobile object is moved
Journey it is longer beyond the sensing range of sensing device further when, existing sensing device further can not cover such long stroke, therefore can not
Complete the position sensing of such long stroke mobile object.
For example, it is necessary to sense automobile engine clutch position in the control technology of automobile, and produce clutch position
Confidence number.Current clutch position signal can by installed in clutch master cylinder (Clutch Master Cylinder or
CMC the sensor-based system on) is produced.With stepping on for clutch pedal, the existing biography on clutch master cylinder
Sensing system can produce the position signalling that clutch plunger is moved in travel of clutch.
But the oversize vehicle such as truck, the stroke of its clutch master cylinder piston is longer, existing clutch plunger sensing dress
The movement travel that putting to sense can not cover the piston movement of this long stroke.
The content of the invention
An object of the present invention is to provide a kind of method for sensing, solves the above problems, specifically：
A kind of method for sensing of mobile object movement position, for movement position of the sensing movement object in a stroke,
The length of the stroke is divided at least two sections strokes, and the mobile object is moved in the stroke, to produce motive objects
Movement position signal of the body in first paragraph stroke and the movement position signal in second segment stroke；
The mobile object is sensed respectively in the movement position signal and the mobile object of first paragraph stroke in second segment row
The movement position signal of journey, and produce the first sensing signal and the second sensing signal；First sensing signal and second
Sensing signal changes as the mobile object is moved in corresponding the first paragraph stroke and second segment stroke；
First sensing signal and the second sensing signal are synthesized by stroke sequence (or time), to produce whole sense
Signal is surveyed, the whole sensing signal changes as the mobile object is moved in the stroke.
Method for sensing as previously described, in addition to：
The correspondence first paragraph stroke sets the first sensing element, for sensing the mobile object by first paragraph stroke
When motion, and produce first sensing signal；
The correspondence second segment stroke sets the second sensing element, for sensing the mobile object by second segment stroke
When motion, and produce second sensing signal.
Method for sensing as previously described, in addition to：
First sensing element in two-dimensional space direction on sense the mobile object in the first paragraph stroke
Motion produces that reflection mobile object moves in the first paragraph stroke is to believe period 1 of sinusoidal and cosine waveform
Number；
Second sensing element is sensing the fortune in second segment stroke of the mobile object on two-dimensional space direction
The second round signal for sinusoidal and cosine waveform that movable property life reflection mobile object is moved in second segment stroke.
Method for sensing as previously described, in addition to：
The period 1 signal from analog signal that first sensing element is sensed is converted into data signal；
The second round signal from analog signal that second sensing element is sensed is converted into data signal.
Method for sensing as previously described, line is converted into by the period 1 signal of the sine of digital form and cosine waveform
First sensing signal of property form；
The second round signal of the sine of digital form and cosine waveform is converted into the second sensing letter of linear forms
Number.
Method for sensing as previously described, in addition to：
The environment temperature for sensing the sensing element obtains ambient temperature signal；
Temperature-compensating is carried out to first sensing signal and the second sensing signal according to ambient temperature signal, temperature is obtained
The first consistent compensation sensing signal of linear signal slope and the second compensation sensing signal after compensation.
Method for sensing as previously described, the corresponding different temperature compensation coefficient of storage varying environment temperature signal；
Temperature-compensating is carried out to first sensing signal and the second sensing signal according to different temperature parameters respectively；
To the first compensation sensing signal and the second compensation sensing signal.
Method for sensing as previously described, progress temperature-compensating, which is used, is calculated as below formula：
Tang_n=k × ang_n+b；
Wherein K is temperature compensation coefficient, and b is intercept, and n is >=1 integer, and ang_n is the n-th sensing signal, Tang_n
For the n-th compensation sensing signal.
Method for sensing as previously described, in addition to：
The described first compensation sensing signal and the second compensation sensing signal are modified respectively, the first amendment is obtained
Sensing signal and the second amendment sensing signal；
First amendment sensing signal and the second amendment sensing signal are synthesized by stroke sequence；
The whole sensing signal that the linear reaction piston of generation is moved in whole stroke.
Method for sensing as previously described, is modified to the described first compensation sensing signal and the second compensation sensing signal,
Amendment, which is used, is calculated as below formula progress：
Lin_n=Sn × Tang_n+In；
Wherein, Lin_n is the revised n-th amendment sensing signal, and Sn is the Gradient correction of the n-th compensation sensing signal
Coefficient, In is the intercept regulation coefficient of the n-th compensation sensing signal, and n is >=1 integer
Method for sensing as previously described, the first amendment sensing signal linear to revised compensation and compensation are linear
Second amendment sensing signal is merged by stroke sequence；It is described to be obtained by stroke sequence merging by following calculating formula：
Snorm=Lin_1+Lin_2+Lin_3+Lin_4+.....+Lin_n；
Wherein, n is >=1 integer, and Snorm is the movement position signal after merging.
Method for sensing as previously described, in addition to：
The amendment sensing signal is diagnosed；
Diagnosis uses following comparison expression：
If 1) Lin_n<Work range LCL, then export Lin_n=Clamp_Low；
If 2) Lin_n>Work range LCL, then export；Lin_n=Clamp_High；
If 3) Work range LCL>Lin_n<Work range UCL, then export Lin_n=Sn × Tang+In；
Wherein, Clamp_Low represents the low clamper pattern of signal output, and Clamp_High represents the high clamper of signal output
Pattern, Work range LCL represent minimum effectively operation interval, and Work range UCL represent maximum effectively workspace
Between.
Method for sensing as previously described, is fixedly installed magnet arrangement on the mobile object, the magnet arrangement with
The mobile object is moved and moved, and senses the motion of the magnet arrangement to determine the motion of the mobile object.
Method for sensing as previously described, the sensing element is 3D hall sensing elements, the 3D hall sensings member
Part senses magnetic field signal of the magnetic field intensity of the magnet arrangement in two-dimensional space on two directions, and uses its magnetic
Field signal carries out computing as run signal.
Method for sensing as previously described, the mobile object is clutch plunger, the stroke be in piston cylinder can
Displacement.
The second object of the present invention is that concrete scheme is as follows in order to solve foregoing technical problem there is provided a kind of device：
A kind of sensing system of mobile object movement position, for movement position of the sensing movement object in a stroke,
The length of the stroke is divided at least two sections strokes, and the mobile object is moved in the stroke, to produce motive objects
Movement position signal of the body in first paragraph stroke and the movement position signal in second segment stroke；Including：
Multiple sensing elements, for sensing the mobile object respectively in the movement position signal of first paragraph stroke and described
Mobile object and produces the first sensing signal and the second sensing signal in the movement position signal of second segment stroke；It is described
First sensing signal and the second sensing signal are as the mobile object is in corresponding the first paragraph stroke and second segment row
Move and change in journey；
Micro-control unit, for first sensing signal and the second sensing signal to be closed by stroke sequence (or time)
Into whole sensing signal, the whole sensing signal changes as the mobile object is moved in the stroke.
Sensing system as previously described, the sensing element includes the first sensing element and the second sensing element；
First sensing element is arranged on the first paragraph stroke, passes through first paragraph for sensing the mobile object
Motion during stroke, and produce first sensing signal；
Second sensing element is arranged on the second segment stroke, passes through second segment for sensing the mobile object
Motion during stroke, and produce second sensing signal.
Sensing system as previously described, first sensing element senses the shifting in two-dimensional space in both direction
Animal body in the first paragraph stroke motion produce reflection magnet arrangement moved in the first paragraph stroke be
The period 1 signal of sinusoidal and cosine waveform；
Second sensing element sensed in two-dimensional space in both direction the mobile object in second segment stroke
What interior motion generation reflection magnet arrangement was moved in second segment stroke is to believe the sinusoidal second round with cosine waveform
Number.
Sensing system as previously described, the micro-control unit turns the period 1 signal from analog signal sensed
Change data signal into；
The second round signal from analog signal sensed is converted into data signal by the micro-control unit.
Sensing system as previously described, the micro-control unit was by first week of the sinusoidal and cosine waveform of digital form
Phase signal is converted into first sensing signal of linear forms；
The second round signal of the sine of digital form and cosine waveform is converted into linear forms by the micro-control unit
Second sensing signal.
Sensing system as previously described, in addition to：
Temperature sensing circuit；
The environment temperature that the temperature sensing circuit senses the sensing element obtains ambient temperature signal；
The micro-control unit enters trip temperature according to ambient temperature signal to first sensing signal and the second sensing signal
Compensation, obtains the first consistent compensation sensing signal of linear signal slope after temperature-compensating and the second compensation sensing signal.
Sensing system as previously described, the micro-control unit stores the corresponding different temperature of varying environment temperature signal
Spend compensating parameter；
The micro-control unit enters to first sensing signal and the second sensing signal respectively according to different temperature parameters
Trip temperature is compensated；Obtain the first compensation sensing signal and the second compensation sensing signal.
Sensing system as previously described, the micro-control unit progress temperature-compensating, which is used, is calculated as below formula：
Tang_n=k × ang_n+b；
Wherein K is temperature compensation coefficient, and b is intercept, and n is >=1 integer, and ang_n is the n-th sensing signal, Tang_n
For the n-th compensation sensing signal.
Sensing system as previously described, in addition to：
The micro-control unit is repaiied to the described first compensation sensing signal and the second compensation sensing signal respectively
Just, the first amendment sensing signal and the second amendment sensing signal are obtained；
The micro-control unit is synthesized to the first amendment sensing signal and the second amendment sensing signal by stroke sequence, generation
The whole sensing signal that the linear reaction piston is moved in whole stroke.
Sensing system as previously described, the micro-control unit is felt to the described first compensation sensing signal and the second compensation
Survey signal to be modified, amendment, which is used, is calculated as below formula progress：
Lin_n=Sn × Tang_n+In；
Wherein, Lin_n is the revised n-th amendment sensing signal, and Sn is the Gradient correction of the n-th compensation sensing signal
Coefficient, In is the intercept regulation coefficient of the n-th compensation sensing signal, and n is >=1 integer.
Sensing system as previously described, the micro-control unit timesharing to the revised first amendment sensing signal and
Second amendment sensing signal is merged by stroke sequence；It is described to be obtained by stroke sequence merging by following calculating formula：
Snorm=Lin_1+Lin_2+Lin_3+Lin_4+.....+Lin_n；
Wherein, n is >=1 integer, and Snorm is the movement position signal after merging.
Sensing system as previously described, in addition to：
The micro-control unit is diagnosed to the amendment sensing signal；
Diagnosis uses following comparison expression：
If 1) Lin_n<Work range LCL, then export Lin_n=Clamp_Low；
If 2) Lin_n>Work range LCL, then export；Lin_n=Clamp_High；
If 3) Work range LCL>Lin_n<Work range UCL, then export Lin_n=Sn × Tang+In；
Wherein, Clamp_Low represents the low clamper pattern of signal output, and Clamp_High represents the high clamper of signal output
Pattern, Work range LCL represent minimum effectively operation interval, and Work range UCL represent maximum effectively workspace
Between.
Sensing system as previously described, in addition to：
Voltage conversion circuit, for the operating voltage of the sensing system to be adjusted into 5V.
Sensing system as previously described, in addition to：
Dormancy controls circuit, provided with dormancy sensing element, for sensing the position of the mobile object and producing dormancy control
Signal processed, the micro-control unit receives the dormant control signal and controls the sensing system to be in startup or dormancy
Pattern.
Sensing system as previously described, the dormancy controls circuit, senses the position of the mobile object；
When mobile object is driven to a certain setting position, the dormancy control circuit sends startup control signal；
When mobile object is driven to a certain setting position, the dormancy control circuit sends dormant control signal.
Sensing system as previously described, the startup control signal is rising edge step signal, when the microcontroller list
Member is received after the startup control signal, and normal signal is exported after the startup first place symbol for making the sensing system output 1ms；
The dormant control signal is trailing edge step signal, when the micro-control unit receives the dormant control signal
Afterwards, export no signal after the normal signal of the sensing system output 2.5ms.
Sensing system as previously described, is fixedly installed magnet arrangement on the mobile object, the magnet arrangement with
The mobile object is moved and moved.
Sensing system as previously described, the sensing element is 3D hall sensing elements, the 3D hall sensings member
Part senses magnetic field signal of the magnetic field intensity of the magnet arrangement in two-dimensional space on two directions, and uses its magnetic
Field signal carries out computing as run signal.
Sensing system as previously described, the mobile object is clutch plunger, and the stroke is that clutch plunger exists
Movable distance in piston cylinder.
Sensing system as previously described, in addition to：
Collection magnetic part is set up outside the piston cylinder to be used to strengthen the magnetic field extension strength of the magnet arrangement.
Sensing system as previously described, in addition to pcb board,
The multiple sensing element is arranged on the side of pcb board；
The collection magnetic part is arranged on the opposite side of the pcb board, the collection magnetic part and the multiple sensing element position pair
Together.
The sensing system of the mobile object movement position of the present invention, such as clutch plunger position are sensed, for sensing rows
The longer piston movement of journey, the stroke of piston is divided into several regions, and hall sensor sense is set respectively in each region
Magnet when passing through each region with piston movement is surveyed, the sensing signal of regional is produced respectively, micro-control unit is received
Carried out temperature-compensating, amendment after to the sensing signal of segmentation, chronologically merged etc. being superimposed as after processing continuous
Reflect the piston movement signal of whole stroke, reach the purpose of sensing long-stroke piston motion.In addition, the system and
Method is additionally provided with temperature sensing circuit, and the temperature for sensing sensing element provides temperature-compensating corrected parameter；Also in work
Plug cylinder, to strengthen and extend the Distribution of Magnetic Field of piston upper magnet, is additionally provided with dormancy control circuit, prison to be provided with collection magnetic part
Survey whether piston is driven and provide monitoring signals, make whole sensing system control in dormancy or starting state, to save
The energy.Whole invention improves what long-stroke piston was moved in magnetic Circuit Design, circuit design and software algorithm simultaneously
Sensing.
Brief description of the drawings
The structural representation that Fig. 1 applies for the moving object position sensing system of the present invention in clutch plunger.
Fig. 2 is the electrical block diagram of clutch plunger position sensing of the present invention；
Fig. 3 is micro-control unit chip select circuit structural representation of the present invention；
Fig. 4 is micro-control unit piece internal circuit configuration schematic diagram of the present invention；
Fig. 5 is the electrical block diagram of temperature sensing circuit of the present invention；
Two sines and the periodic signal waves of cosine wave form that Fig. 6 A sense for a sensing unit of the invention show
It is intended to；
Fig. 6 B are converted into the sensing signal waveform diagram of linear forms for Fig. 6 A sine and cosine signal；
Fig. 7 A be one embodiment of the invention in stroke is divided into 3 sections each section of sensing signal signal schematic representation；
Fig. 7 B are carried out after temperature-compensating for stroke is divided into 3 sections of each section of sensing signal in present invention
Sensing signal schematic diagram；
Fig. 7 C are carried out after temperature-compensating for stroke is divided into 3 sections of each section of sensing signal in present invention
Sensing signal schematic diagram；
Fig. 8 is schematic flow sheet of the present invention to signal transacting；
Fig. 9 passes in and out the handling process schematic diagram of checkout and diagnosis for the present invention to amendment sensing signal；
Figure 10 is the sensing signal waveform diagram under different temperatures of the present invention.
Embodiment
The various embodiments of the present invention are described below with reference to the accompanying drawing for constituting this specification part.Should
It should be appreciated that, although in the present invention using the term for representing direction, such as "front", "rear", " on ", " under ",
The various example features and element of the description present invention such as "left", "right", but the use of these terms is herein to be
The purpose that convenience illustrates, is determined based on the example orientations shown in accompanying drawing.Due to disclosed embodiment of this invention
It can set according to different directions, so these represent that the term in direction is intended only as illustrating and should not be considered as limitation.
In the conceived case, the identical or similar reference used in the present invention refers to identical part.
In control technology, the movement position of certain mobile object is generally sensed with sensing device further, for example, is fixed on magnet
On mobile object, with the magnetic field signal of the sensing device senses magnet such as hall sensor, the motor message of magnetic field device reflects
The motion of mobile object.But it is longer to work as mobile object movement travel, during beyond the sensing range of sensing device further, existing sense
Such long stroke can not be covered by surveying device, therefore can not complete the position sensing of such long stroke mobile object.In order to solve
This problem, the present invention is demonstrated with the position sensing of automobile clutch reciprocating motion of the pistons for an embodiment, with explanation
The mobile object method for sensing of the present invention is the motion for how sensing long stroke mobile object.Certainly, movement of the invention
Object sensing method and apparatus are not limited only to the sensing of automobile clutch piston position.
The structural representation that Fig. 1 applies for the moving object position sensing system of the present invention in clutch plunger.
By taking the motion of automobile clutch piston as an example, Fig. 1 shows the internal structure and clutch plunger of piston/cylinder 108
109 and the signal matching relationship of piston/cylinder 105.As shown in figure 1, clutch main piston component includes piston/cylinder 108.
There is cavity 108, piston 109 is stretched into piston/cylinder cavity 108, can be in piston/cylinder cavity in piston/cylinder 105
Moved linearly back and forth in 108.For example, the near-end 109a of piston 109 is driven by clutch pedal (not shown),
Stepping on and decontroling with clutch pedal, piston 109 makees straight reciprocating motion.Set on the distal end 109b of piston 109
There is magnet arrangement 166 (can be such as around the annular magnet of piston 109 as one embodiment magnet 166), and should
Magnet arrangement 166 is suitable for as back and forth (or other) motion is made in the rectilinear movement of piston 109 in piston/cylinder 108.
In the embodiment shown in fig. 1, magnet arrangement 166 does reciprocal with piston 109 between cylinder top position and cylinder bottom position
It is mobile.Although not shown in the drawings, the other positions installed in the axial direction of piston 109 also can be set in magnet arrangement 166.Due to
The near-end 109a of piston 109 is driven by clutch pedal, so corresponding positions of the magnet arrangement 166 in piston cylinder 104
The operating position for reflecting clutch pedal is put, so as to reflect the corresponding operating position of clutch.
In Fig. 1, the magnet arrangement 166 on piston 109 is moved in the cavity 108 of piston/cylinder 108,
Moveable total distance is L.It is that L is evenly dividing as three sections by moveable total distance, respectively as one embodiment
It is first paragraph stroke S1, second segment stroke S2, the 3rd section of stroke S3 (can not also divide equally).
Clutch plunger position sensing is provided with multiple sensing elements, the such as first sense on the outer wall of piston/cylinder 105
Survey element 101, the second sensing element 102, the 3rd sensing element 103.First sensing element 101, the second sensing element
102nd, the 3rd sensing element 103 is separately positioned on first paragraph stroke S1, second segment stroke S2, the 3rd section of stroke S3
On stroke.The plurality of sensing element can be set to one kind in a variety of sensing elements, such as 3D hall sensings element.First
Sensing element 101, the second sensing element 102, the 3rd sensing element 103 sense magnet arrangement 166 with piston 109 respectively
Move to magnetic field signal when first paragraph stroke S1, second segment stroke S2, the 3rd section of stroke S3.Sensing element passes through many
The mode of kind is fixed on piston/cylinder 105.For example, sensing element is to be arranged on piston/cylinder 105 by mounting bracket 110
On outer wall.In the embodiment shown in fig. 1, sensing element corresponds to magnet cartridge in the position of the axial direction of piston/cylinder 108
Put 166 between cylinder top position and cylinder bottom position reciprocating region.When magnet arrangement 166 is in cylinder bottom position and cylinder top
During any position between position, the magnetic field (or magnetic flux) that the detection circuit sensing magnet arrangement 166 in sensing element is produced
Change.
In system work process, when magnet arrangement 166 with piston 109 piston/cylinder 105 first paragraph stroke S1,
When being moved between second segment stroke S2, the 3rd section of stroke S3, magnet arrangement 166 is felt in the first sensing element 101, second
Survey magnetic field (or magnetic flux) the generation respective change that element 102, the 3rd sensing element 103 are produced.It is arranged on piston master cylinder
Detection circuit is sensed in the first sensing element 101, the second sensing element 102, the 3rd sensing element 103 on 108 outer walls
To the change in the magnetic field (or magnetic flux) of magnet arrangement 166, pick up corresponding data to produce for referring in special time
Show the signal of clutch position (see Fig. 3).In this embodiment of the invention, with the first sense of 3D hall sensing elements
The signal of instruction clutch position produced by survey element 101, the second sensing element 102, the 3rd sensing element 103 includes
Sensed in two-dimensional space in X, Y (or Z-direction) both direction the magnet arrangement 166 every a trip (S1,
S2, S3) in motion produce sine and cosine waveform periodic signal Bx_1, By_1；Bx_2, By_2 and Bx_3,
By_3 (see Fig. 6 A).
In addition, dormancy sensing element 104 (for example, 3D hall sensings element) is additionally provided with the outer wall of piston master cylinder 108,
For sensing the position of piston 109 and producing dormant control signal CTS, dormant control signal CTS represents that clutch is in
By step on to departing from free state, magnet arrangement 166 arrived just to clutch friction plate apply separating force cylinder body top
Portion position (setting position), but now clutch friction plate is in abutment location, and gear-box and engine are in engagement.
Micro-control unit 210 receives dormant control signal CTS control sensing systems and is in startup or park mode (see Fig. 2).
Dormant control signal CTS includes starting control signal and dormant control signal：Startup control signal is rising edge step signal,
After micro-control unit 210 receives the startup control signal, after the startup first place symbol for making the sensing system output 1ms
Export normal signal；Dormant control signal is trailing edge step signal, is stopped when the micro-control unit (210) receives this
After dormancy control signal, export no signal after the normal signal of the sensing system output 2.5ms.When clutch is not stepped on
, need not be again when micro-control unit 210 is transformed into startup transition from resting state in standby resting state when dynamic
All parts are initialized, system start-up time are saved, while system in a dormant state can save energy.
Further, the last one magnetic part 106 is set up outside piston cylinder 105, strong magnetic part 106 is strip iron plate (other
Permeability magnetic material also can), be arranged on magnet arrangement 166 motion stroke side, with the multiple sensing element (101,
102nd, 103) aligned in position, the magnetic field extension strength for strengthening magnet arrangement 166 elongates the distribution in magnetic field.
In addition, sensing system also includes pcb board (being omitted in figure), multiple sensing elements (101,102) are arranged on PCB
The side of plate；Collection magnetic part 106 is arranged on the opposite side of pcb board, collection magnetic part and the multiple sensing element (101,102)
Aligned in position.
Fig. 2 is the electrical block diagram of clutch plunger position sensing of the present invention.As shown in Fig. 2 clutch is lived
The circuit structure of plug position sensing includes the first sensing element 101, the second sensing element 102, the 3rd sensing element
103 and dormancy sensing element 104, micro-control unit 210 etc..As shown in Figure 1, there is the work of motion in piston cylinder 105
Magnet arrangement 166 is fixed with plug 109, piston 109.Have that sensing magnet arrangement 166 moves outside piston cylinder 105 the
One sensing element 101, the second sensing element 102, the 3rd sensing element 103 and dormancy sensing element 104.
First sensing element 101, the second sensing element 102, the 3rd sensing element 103 and dormancy sensing element 104
Independent work, senses magnetic flux density and/or magnetic field that magnet arrangement 166 is produced in diverse location respectively, then produces and defeated
Go out the corresponding analog voltage signal for meeting function line, for example, sinusoidal or cosine-shaped analog voltage signal (are specifically shown in figure
6A).Micro-control unit 210 carries out Treatment Analysis diagnosis (detailed process is shown in Fig. 6 A- Fig. 9) to signal, most handles at last
The piston position signal of completion is sent to ECU 207, and (Electronic Control Unit, electronic control unit are commonly called as driving
Computer), ECU 207 is used for the enforcement for controlling automobile.
In addition, clutch plunger position sensing also includes temperature sensing circuit 206, temperature sensing circuit 206 is felt
The first sensing element 101, the second sensing element 102, the operating temperature of the 3rd sensing element 103 are surveyed, environment temperature is obtained
Signal Temp, and micro-control unit 210 is supplied to by circuit 246.Micro-control unit 210 is according to ambient temperature signal
Temp carries out temperature-compensating (being specifically shown in Fig. 5) to the sensing signal ang_n.
In addition, clutch plunger position sensing also voltage conversion circuit 218, for by the work of whole sensing system
Voltage is adjusted to 5V.
Fig. 3 is micro-control unit chip select circuit structural representation of the present invention.
Magnet arrangement 106 passes through the first sensing element 101, the second sensing element 102, the 3rd sensing in the different time
Position where part 103, micro-control unit 210 needs to choose the sense of the first sensing element 101, second in the different time
The sensing signal that survey element 102, the 3rd sensing element 103 are sent.Serial chip select circuit structure shown in Fig. 3 is to explain
How micro-control unit 210 chooses the signal of different sensing elements sensings different at the time of.As shown in figure 3, first
Sensing element 101 is communicated provided with three PORT COMs with micro-control unit 210, is that piece selects end 311, clock respectively
End 312 and data transmission terminal 313.The same sensing element 103 of second sensing element 102 and the 3rd is each respectively equipped with piece
End 321,331 is selected, clock end 322,332 and data transmission terminal 323,333 are communicated with micro-control unit 210.
By clock end 312, clock end 322 and clock end 332, micro-control unit 210 simultaneously to the first sensing element 101,
Second sensing element 102, the 3rd sensing element 103 send the clock signal SCLK of a same frequency, while different
Moment, or magnet arrangement 166 pass through certain sensing element (the first sensing element 101, second sensing element 102 or the 3rd
Sensing element 103) at the time of, micro-control unit 210 selects end (311,321 or 321) to the sensing element by piece
A chip selection signal SS is sent, chip selection signal SS sensing unit is received, by taking the first sensing unit 101 as an example, i.e.,
One data packet signal is sent to micro-control unit 210 by data transmission terminal 311, a data packet signal is in this implementation
It is 8 (can also 16 or other) in example, is X-direction magnetic field signal, Y-direction magnetic field signal, Z-direction respectively
Magnetic field signal, close magnetic field (X+Y+Z) signal, whether judge signal less than effective magnetic field, whether sentence higher than effective magnetic field
Break signal, whether signal is vacant, power supply whether normal signal.The first sensing that 210 pairs of micro-control unit is continuously received
Part 101, the second sensing element 102, all signal messages of the 3rd sensing element 103 are to dissection process.After this specification
Description includes the piston position sense of X-direction magnetic field signal, Y-direction magnetic field signal, Z-direction magnetic field signal emphatically for continuous part
Signal is surveyed to be analyzed and processed.
Fig. 4 is micro-control unit piece internal circuit configuration schematic diagram of the present invention；
Fig. 4 shows one embodiment block diagram of the concrete structure of microprocessing unit 210.As shown in figure 4, microprocessing unit
210 at least include modulus (A/D) change-over circuit 472 and processor 474.For example, in a preferred embodiment of the present invention
In, the first sensing element 101, the second sensing element 102, the 3rd sensing element 103 are each in the two-dimensional direction (for example
Bx, By or Bz dimension) sensing change in magnetic flux density and/or changes of magnetic field and the simulation for meeting two function lines that produces
Voltage signal (motor message EPB) output is (for example, a curve of output exports for cosine-shaped analog voltage signal, separately
One curve of output exports for sinusoidal analog voltage signal).First sensing element 101, the second sensing element 102,
Each comfortable different moment of three sensing element 103 are defeated by the output of its cosine-shaped analog voltage signal and sinusoidal analog voltage signal
Go out to be sent to modulus (A/D) change-over circuit 472.
Modulus (A/D) change-over circuit 472 will be from the first sensing element 101, the second sensing element 102, the 3rd sensing
Part 103 goes out to receive two cosine-shaped analog voltage signals output for each producing, and (or two sinusoidal analog voltage signals are defeated
Go out) it is converted into data signal output.474 pairs of processor is converted into Bx, By turnover processing of data signal.
Fig. 5 is the electrical block diagram of temperature sensing circuit of the present invention.
Fig. 5 shows a specific embodiment of the temperature sensing circuit 206 of the present invention, as shown in FIG., temperature sensing electricity
Road 206 includes thermistor 510, fixed resistance 512 and electric capacity 511.Wherein, the lower end 511 of thermistor 510
Connected with the upper end 514 of fixed resistance 512, the upper end 513 of thermistor 510 connects 5V voltages, fixed electricity after series connection
Hinder 512 lower ends 515 to be grounded, the upper end 516 of electric capacity 511 is connected to lower end 511 and the fixed resistance of thermistor 510
512 upper end 514, the lower end 517 of electric capacity 511 is grounded.The connection of lower end 511 microprocessing unit of thermistor 510
210 input 518.The thermistor 510 and fixed resistance 512 of series connection constitute bleeder circuit.Thermistor 510
With the characteristic for changing resistance with ambient temperature, its resistance can be changed during different temperatures, and fixed resistance 512 is connected
When resistance it is bigger, the voltage got is bigger, so different voltage signals can be provided to microprocessing unit 210.To be many
Individual thermistor 510 is separately positioned on the first sensing element 101, the second sensing element 102 and the 3rd sensing element 103
Place, microprocessing unit 210 will obtain the first sensing element 101, the second sensing element 102 and the 3rd sensing element 103
Ambient temperature signal Temp_1, Temp_2 and Temp_3.
Fig. 6 A are the periodic signal waves signal of two sines that a sensing unit of the invention is sensed and cosine wave form
Figure.
Each 3D Hall sensors 101,102,103 can be in multiple dimension directions, such as：X, Y, feel on Z-dimension
Survey magnetic flux density and/or magnetic field that magnet arrangement 166 is produced in diverse location.By taking the first sensing element 101 as an example, 3D
Hall sensing unit 101 can sense magnetic flux density and/or magnetic field on second elder brother's dimension direction (X, Y or Z-dimension), production
Periodic signal Bx_1, By_1 of raw two sines or cosine waveform, microprocessing unit 210 of the invention be applicable the signal in
Calculate the position signalling of piston movement.By taking Bx_1, By_1 as an example, its signal waveform such as Fig. 6 A so, wherein Bx_1
For sinusoidal waveform, By_1 is cosine waveform.
So identical, the second sensing element 102 and the 3rd sensing element 103 can also sense magnet arrangement 166 in X, Y
Or magnetic flux change on Z-dimension and two groups of signal Bx_2, By_2 and Bx_3, By_3, microprocessing unit are produced respectively
210 are applicable the signal as the position signalling for calculating piston movement.
Fig. 6 B are converted into the sensing signal waveform diagram of linear forms for Fig. 6 A sine and cosine signal；
As it was noted above, the position moved back and forth with magnet arrangement 166 in the cavity 108 of piston cylinder, the first sense
Survey element 101, the second sensing element 102, the 3rd sensing element 103 and each sense change in magnetic flux density in the two-dimensional direction
And/or changes of magnetic field and three groups of signals Bx_1, By_1, Bx_2, By_2 and the Bx_3, the By_3 that produce are sent to micro- place
Unit 210 is managed, three groups of signals meet the voltage output of sine and cosine functions line.
Microprocessing unit 210 will with modulus (A/D) change-over circuit 472 by three groups of analog signals be converted into data signal it
Afterwards, two (a cosine-shaped voltage output and a sinusoidal-shaped voltage outputs) in every group of signal are selected to be transported to processing
Device 474.Processor 364 will convey the cosine digital voltage signal come and positive chord number from modulus (A/D) change-over circuit 472
Word voltage signal changes into a Linear voltage output, by taking Bx_1, By_1 that the first sensing element 101 is inputted as an example,
Computational methods are as shown by the following formula：
Ang_1=MOD (atan2 (Bx_1, By_1) * 180/PI, 360)；
In above-mentioned calculation formula, the effective travel Lx2 in piston cylinder cavity 108 of magnet arrangement 166 corresponds to a circle
Cycle；I.e.：The upper half of circumference phase is may correspond to from piston cylinder top to cylinder bottom into stroke, and exits stroke from piston
Cylinder bottom may correspond to the lower half of circumference phase to cylinder top.Ang_1 represents the first sensing signal.ATAN2 function tables in formula
Show and arctangent cp cp operation is carried out to sinusoidal Bx_n and cosine amount By_n, and the codomain of the arctan function is ± Pi radians；
By the way that the arc tangent radian amount * 180/Pi () are obtained into corresponding angular metric ± 180 degree；The angular metric relative 360 is taken again
Remaining, i.e. MOD (ref, 360) function, general ± 180 degree angular range is converted into 0~360 degree of angular range.The line of generation
Property function ang_1 be the data processing side that the second sensing element 102, the 3rd sensing element 103 are sent shown in Fig. 6 B
Method is so identical, repeats no more.
Fig. 7 A carry out the sense before temperature-compensating for stroke is divided into 3 sections of each section of sensing signal in one embodiment of the invention
Survey signal schematic representation,
Microprocessing unit 210 sends the first sensing element 101, the second sensing element 102, the 3rd sensing element 103
Period 1 signal (Bx_1, By_1), second round signal (Bx_2, By_2) and period 3 signal (Bx_3,
By_3) all after Fig. 6 A- Fig. 6 B processing, the signal structure schematic diagram shown in Fig. 7 A is obtained.
Abscissa represents stroke S in figure, respectively first paragraph stroke S1, second segment stroke S2, the 3rd section of stroke S3；It is perpendicular
Coordinate representation signal value V.That represented in figure in first paragraph stroke S1 regions is the first sensing signal ang_1, second segment row
In journey S1 regions represent be the second sensing signal ang_2, the 3rd section of stroke S3 region in represent be the 3rd sensing believe
Number ang_3.If identical sensing element, the motion of the mobile object sensed at that same temperature, is obtained
It between identical, three is parallel that the linear slope of sensing signal, which is,.But because the physical attribute of sensing element is differed,
At different temperatures, it is (specific that the signal value ang_n sensed can vary with temperature generation skew to different hall sensors
Referring to Figure 10).Compared with the signal value V sensed under normal temperature, each sensing element that solid line is represented in Fig. 7 A it is linear
Function slope is all different：The attribute of each sensing element is differed, each caused sensing element during temperature change
Hall coefficient is different, and the linear function slope of generation is also differed.The situation shown in figure occurs in the function that calculating is obtained：
The first sensing signal ang_1, the second sensing signal ang_2 of change and the 3rd sensing signal ang_3 slope are differed.
Rough breakpoint occurs in the different sensing signal of slope in follow-up joint account, can amplify superposition when merging.
Fig. 7 A carry out the sense after temperature-compensating for stroke is divided into 3 sections of each section of sensing signal in one embodiment of the invention
Survey signal schematic representation.
In order to solve foregoing problems, it is necessary to each thanks signal just temperature-compensating amendment, obtain linear signal slope and turn
Consistent function.The temperature signal of each sensing element is gathered using the temperature-compensation circuit shown in Fig. 5, according to each
The attribute of individual sensing element, the different Hall coefficient of different temperature correspondences, the sensing signal ang_n produced to sensing element
Carry out temperature-compensating.By taking the first sensing element 101 as an example, the temperature compensation coefficient table that it is measured in advance is as shown in the table：
Table 1：The temperature compensation coefficient table of first sensing element 101
In table 1, first is classified as the operating temperature of the first sensing element 101, and second is classified as the different resistances of thermistor 510
Value, the 3rd is classified as the voltage signal that microprocessing unit 210 is input to after the partial pressure of thermistor 510, and slope k is corresponding
Temperature compensation coefficient, intercept b is temperature-compensating intercept.
Calculated by taking the first sensing signal ang_1, progress temperature-compensating as an example, calculating formula is as follows：
Tang_1=k × ang_1+b；
Wherein K is temperature compensation coefficient, and b is intercept, and ang_1 is the 1st sensing signal, and Tang_1 is the first compensation sense
Survey signal.
The method that second sensing signal ang_2 and the 3rd sensing signal ang_3 carries out temperature-compensating calculating is similar therewith.When
During using identical sensing element, the temperature-compensating computational methods of each sensing signal are also identical.
The first compensation sensing signal Tang_1, the second compensation sensing signal Tang_2 and the 3rd obtained after temperature-compensating
Sensing signal Tang_3 is compensated as shown in real segment in Fig. 7 B.As shown in Figure 7 B, to the first sensing signal ang_1,
Two sensing signal ang_2 and the 3rd sensing signal ang_3 carry out obtaining first of linear signal slope unanimously after temperature-compensating
Compensate sensing signal Tang_1, the second compensation sensing signal Tang_2 and the 3rd compensation sensing signal Tang_3.
It is of the invention final need to obtain an ending to be mutually linked one reacting piston 109 of composition transported in whole stroke
Dynamic linear function, it is obviously desirable to the first compensation sensing signal Tang_1, the second compensation sensing signal Tang_2 and the
Three compensation sensing signal Tang_3 are adjusted amendment.Equally by taking the first compensation sensing signal Tang_1 as an example, it is corrected
The calculation formula of adjustment is：
Lin_1=S1 × Tang_1+I1；
Wherein, Lin_1 is the revised first amendment sensing signal, and S1 is that the slope adjustment of the first compensation sensing signal is repaiied
Positive coefficient, I1 is the intercept regulation coefficient of the first compensation sensing signal.Slope adjusts correction factor Sn and intercept adjustment system
Number In is that processor calculating is obtained.
Second compensation sensing signal Tang_2 and the 3rd compensation sensing signal Tang_3 are also suitable same correction formula and carried out
Adjustment, the first amendment sensing signal Lin_1, the second amendment sensing signal Lin_2 and the 3rd amendment sensing signal after adjustment
Lin_3 is as seen in figure 7 c.
Fig. 7 C carry out the sense after temperature-compensating for stroke is divided into 3 sections of each section of sensing signal in present invention
Survey signal schematic representation.
As seen in figure 7 c, it is the first amendment sensing signal Lin_1, the second amendment sensing signal Lin_2 after adjustment and the
Three amendment sensing signal Lin_3, and slope is consistent, continuous connected, the middle motion bit confidence without breakpoint of ending.By
One amendment sensing signal Lin_1, the second amendment sensing signal Lin_2 and the 3rd amendment sensing signal Lin_3 press stroke sequence
Synthesis obtains final output signal Snorm, and specific formula for calculation is：
Snorm=Lin_1+Lin_2+Lin_3
Wherein, Snorm for merge after according to piston movement stroke, the continuous movement position signal of sequential,.
Piston movement position signalling Snorm after merging is sent to ECU 207 by microprocessing unit 210.
Fig. 8 is schematic flow sheet of the present invention to signal processing method；
As indicated earlier, three 3D Hall sensors 101,102,103 sensing obtain period 1 signal (Bx_1,
By_1), second round signal (Bx_2, By_2) and period 3 signal (Bx_3, By_3, Bz_3) pass through formula：
1. Ang_n=MOD (ATAN2 (Bx_1, By_1) * 180/PI, 360；N is >=1 integer；
The first sensing signal ang_1, the second sensing signal ang_2 and the 3rd sensing signal ang_3 are obtained, while temperature temperature
Degree compensation circuit 206 collects the temperature signal of each sensing element, tables look-up and obtains the temperature-compensating of each sensing element
COEFFICIENT K and temperature-compensating intercept b, pass through formula：
2. Tang_n=k × ang_n+b；N is >=1 integer；
Obtain the first compensation sensing signal Tang_1, the second compensation sensing signal Tang_2 and the 3rd compensation sensing signal
Tang_3, because needing to the first compensation sensing signal Tang_1, the second compensation sensing signal Tang_2 and the 3rd compensation sense
Survey signal Tang_3 and merge superposition, therefore need to be adjusted it again, pass through formula：
3. Lin_n=Sn × Tang_n+In；N is >=1 integer；.
The first amendment sensing signal Lin_1, the second amendment sensing signal Lin_2 and the 3rd amendment sensing signal Lin_3 are obtained,
By the first amendment sensing signal Lin_1, the second amendment sensing signal Lin_2 and the 3rd amendment sensing signal Lin_3 according to
Stroke sequence is superimposed, and passes through formula：
4. Snorm=Lin_1+Lin_2+Lin_3+Lin_4+.....+Lin_n；N is >=1 integer；
Obtain finally being output to piston movement position signalling Snorm after ECU 207 merging from microprocessing unit 210.
Fig. 9 passes in and out the handling process schematic diagram of checkout and diagnosis for the present invention to amendment sensing signal；
As shown in figure 9,210 couples of amendment sensing signal Lin_n of micro-control unit are diagnosed, diagnosis is used compares as follows
Formula：
If 1) Lin_n<Work range LCL, then export Lin_n=Clamp_Low；
If 2) Lin_n>Work range LCL, then export；Lin_n=Clamp_High；
If 3) Work range LCL>Lin_n<Work range UCL, then export Lin_n=Sn × Tang+In；
Wherein, Clamp_Low represents the low clamper pattern of signal output, and Clamp_High represents the high clamper mould of signal output
Formula, Work range LCL represent minimum effectively operation interval, and Work range UCL represent maximum effectively operation interval.
Therefore be that just output is striven when amendment sensing signal Lin_n is between minimum effectively operation interval and maximum effectively operation interval
Lin_n=Sn × Tang+In the signals taken.
Figure 10 is the sensing signal waveform diagram under different temperatures of the present invention.
As described in Fig. 7 A above, because the attribute of each sensing element is differed, different operating temperatures can cause
The Hall coefficient of each sensing element is different, and the linear function slope of generation is also differed.Three curves 1001 in Figure 10,
The sensing signal of 1002 and 1003 point of half expression temperature same Hall sensor at -40 DEG C, 25 DEG C and 150 DEG C
Ang_n output, temperature is lower, and slope is height, and vice versa.Exported by measuring the sensing element under different temperatures
Signal, you can set up the temperature compensation coefficient table of each sensing element, the different correction factor of correspondence.
Although present invention is described for the embodiment shown in refer to the attached drawing, but it is to be understood that do not carrying on the back
From present invention teach that spirit and scope and background under, clutch plunger position sensor of the invention and system can have perhaps
Many versions.It is disclosed in this invention to change that art technology those of ordinary skill will additionally appreciate different modes
The type of parameter in embodiment, such as size, shape or element or material, each falls within the present invention and claim
In spirit and scope.
Claims (36)
1. a kind of method for sensing of mobile object movement position, for sensing movement object (109) in a stroke (105) movement position, the length of the stroke (105) is divided at least two sections strokes (S1, S2), the mobile object (109) is moved in the stroke (105), to produce movement position signal (yd1) of the mobile object (109) in first paragraph stroke (S1) and the movement position signal (yd2) in second segment stroke (S2)；
It is characterized in that including：
The mobile object (109) is sensed respectively in the movement position signal (yd1) and the mobile object (109) of first paragraph stroke (S1) in the movement position signal (yd2) of second segment stroke (S2), and produces the first sensing signal (ang_1) and the second sensing signal (ang_2)；First sensing signal (ang_1) and the second sensing signal (ang_2) change as the mobile object (109) is moved in the corresponding first paragraph stroke (S1) and second segment stroke (S2)；
First sensing signal (ang_1) and the second sensing signal (ang_2) are synthesized by stroke sequence (or time), to produce whole sensing signal (Snorm), the whole sensing signal (Snorm) changes as the mobile object (109) is moved in the stroke (105).
2. method for sensing as claimed in claim 1, it is characterised in that also include：
The correspondence first paragraph stroke (S1) sets the first sensing element (101), for sensing the mobile object (109) by motion during first paragraph stroke (S1), and produce first sensing signal (ang_1)；
The correspondence second segment stroke (S2) sets the second sensing element (102), for sensing the mobile object (109) by motion during second segment stroke (S2), and produce second sensing signal (ang_2).
3. method for sensing as claimed in claim 2, it is characterised in that also include：
First sensing element (101) in two-dimensional space direction on sense the mobile object (109) motion in the first paragraph stroke (S1) produce reflection mobile object (109) in the first paragraph stroke (S1) motion be sinusoidal and cosine waveform period 1 signal (Bx_1, By_1)；
Second sensing element (102) produces the second round signal (Bx_2, By_2) for sinusoidal and cosine waveform of reflection mobile object (109) motion in second segment stroke (S2) in the motion in second segment stroke (S2) that the mobile object (109) is sensed on two-dimensional space direction.
4. method for sensing as claimed in claim 3, it is characterised in that also include：
The period 1 signal (Bx_1, By_1) that first sensing element (101) is sensed is converted into data signal from analog signal；
The second round signal (Bx_2, By_2) that second sensing element (102) is sensed is converted into data signal from analog signal.
5. method for sensing as claimed in claim 4, it is characterised in that：
The period 1 signal (Bx_1, By_1) of the sine of digital form and cosine waveform is converted into first sensing signal (ang_1) of linear forms；
The second round signal (Bx_2, By_2) of the sine of digital form and cosine waveform is converted into second sensing signal (ang_2) of linear forms.
6. method for sensing as claimed in claim 5, it is characterised in that also include：
The environment temperature for sensing the sensing element obtains ambient temperature signal (Temp)；
Temperature-compensating is carried out to first sensing signal (ang_1) and the second sensing signal (ang_2) according to ambient temperature signal (Temp), linear signal slope after temperature-compensating consistent the first compensation sensing signal (Tang_1) and the second compensation sensing signal (Tang_2) is obtained.
7. method for sensing as claimed in claim 6, it is characterised in that：
Store the corresponding different temperature compensation coefficient of varying environment temperature signal；
Temperature-compensating is carried out to first sensing signal (ang_1) and the second sensing signal (ang_2) according to different temperature parameters respectively；Obtain the first compensation sensing signal (Tang_1) and the second compensation sensing signal (Tang_2).
8. method for sensing as claimed in claim 7, it is characterised in that：
Progress temperature-compensating, which is used, is calculated as below formula：
Tang_n=k × ang_n+b；
Wherein K is temperature compensation coefficient, and b is intercept, and n is >=1 integer, and ang_n is the n-th sensing signal, and Tang_n is the n-th compensation sensing signal.
9. method for sensing as claimed in claim 7, it is characterised in that also include：
The described first compensation sensing signal (Tang_1) and the second compensation sensing signal (Tang_2) are modified respectively, the first amendment sensing signal (Lin_1) and the second amendment sensing signal (Lin_2) is obtained；
First amendment sensing signal (Lin_1) and the second amendment sensing signal (Lin_2) are synthesized by stroke sequence；
The whole sensing signal (Snorm) that the linear reaction piston (109) of generation is moved in whole stroke.
10. method for sensing as claimed in claim 9, it is characterised in that：
Described first compensation sensing signal (Tang_1) and the second compensation sensing signal (Tang_2) are modified, amendment, which is used, is calculated as below formula progress：
Lin_n=Sn × Tang_n+In；
Wherein, Lin_n is the revised n-th amendment sensing signal, and Sn is the Gradient correction coefficient of the n-th compensation sensing signal, and In is the intercept regulation coefficient of the n-th compensation sensing signal, and n is >=1 integer.
11. method for sensing as claimed in claim 9, it is characterised in that：
The first amendment sensing signal (Lin_1) linear to revised compensation and the linear second amendment sensing signal (Lin_2) of compensation are merged by stroke sequence；It is described to be obtained by stroke sequence merging by following calculating formula：
Snorm=Lin_1+Lin_2+Lin_3+Lin_4+.....+Lin_n；
Wherein, n is >=1 integer, and Snorm is the movement position signal after merging.
12. method for sensing as claimed in claim 10, it is characterised in that also include：
The amendment sensing signal (Lin_n) is diagnosed；
Diagnosis uses following comparison expression：
If 1) Lin_n<Work range LCL, then export Lin_n=Clamp_Low；
If 2) Lin_n>Work range LCL, then export；Lin_n=Clamp_High；
If 3) Work range LCL>Lin_n<Work range UCL, then export Lin_n=Sn × Tang+In；
Wherein, Clamp_Low represents the low clamper pattern of signal output, and Clamp_High represents the high clamper pattern of signal output, and Work range LCL represent minimum effectively operation interval, and Work range UCL represent maximum effectively operation interval.
13. the method for sensing as described in any one of claim 1 to 12, it is characterised in that：
Magnet arrangement (166) is fixedly installed on the mobile object (109), the magnet arrangement (166) is moved and moved with the mobile object (109), senses the motion of the magnet arrangement (166) to determine the motion of the mobile object (109).
14. method for sensing as claimed in claim 13, it is characterised in that：
The sensing element is 3D hall sensing elements, magnetic field signal (Bx_n, By_n) of the magnetic field intensity of magnet arrangement (166) described in the 3D hall sensings element sensing in two-dimensional space on two directions, and its magnetic field signal (Bx_n, By_n) is used as run signal progress computing.
15. method for sensing as claimed in claim 13, it is characterised in that：
The mobile object is clutch plunger (109), and the stroke (105) is the movable distance in piston cylinder (105).
16. a kind of sensing system of mobile object movement position, for sensing movement object (109) in a stroke (105) movement position, the length of the stroke (105) is divided at least two sections strokes (S1, S2), the mobile object (109) is moved in the stroke (105), to produce movement position signal (yd1) of the mobile object (109) in first paragraph stroke (S1) and the movement position signal (yd2) in second segment stroke (S2)；
It is characterized in that including：
Multiple sensing elements (101,102), for sensing movement position signal (yd1) and the mobile object (109) of the mobile object (109) in first paragraph stroke (S1) respectively in the movement position signal (yd2) of second segment stroke (S2), and the first sensing signal (ang_1) and the second sensing signal (ang_2) is produced；First sensing signal (ang_1) and the second sensing signal (ang_2) change as the mobile object (109) is moved in the corresponding first paragraph stroke (S1) and second segment stroke (S2)；
Micro-control unit (210), for first sensing signal (ang_1) and the second sensing signal (ang_2) to be synthesized into whole sensing signal (Snorm) by stroke sequence (or time), the whole sensing signal (Snorm) changes as the mobile object (109) is moved in the stroke (105).
17. sensing system as claimed in claim 16, it is characterised in that：
The sensing element (101,102) includes the first sensing element (101) and the second sensing element (102)；
First sensing element (101) is arranged on the first paragraph stroke (S1), for sensing the mobile object (109) by motion during first paragraph stroke (S1), and produce first sensing signal (ang_1)；
Second sensing element (102) is arranged on the second segment stroke (S2), for sensing the mobile object (109) by motion during second segment stroke (S2), and produce second sensing signal (ang_2).
18. sensing system as claimed in claim 17, it is characterised in that：
First sensing element (101) senses the mobile object (109) in the two-dimensional space motion in the first paragraph stroke (S1) in both direction produces the period 1 signal (Bx_1, By_1) for sinusoidal and cosine waveform that reflection magnet arrangement (166) is moved in the first paragraph stroke (S1)；
Second sensing element (102) produces the second round signal (Bx_2, By_2) for sinusoidal and cosine waveform of reflection magnet arrangement (166) motion in second segment stroke (S2) in the motion in second segment stroke (S2) for sensing the mobile object (109) in both direction in two-dimensional space.
19. sensing system as claimed in claim 18, it is characterised in that：
The period 1 signal (Bx_1, By_1) sensed is converted into data signal by the micro-control unit (210) from analog signal；
The second round signal (Bx_2, By_2) sensed is converted into data signal by the micro-control unit (210) from analog signal.
20. sensing system as claimed in claim 19, it is characterised in that：
The period 1 signal (Bx_1, By_1) of the sine of digital form and cosine waveform is converted into first sensing signal (ang_1) of linear forms by the micro-control unit (210)；
The second round signal (Bx_2, By_2) of the sine of digital form and cosine waveform is converted into second sensing signal (ang_2) of linear forms by the micro-control unit (210).
21. sensing system as claimed in claim 20, it is characterised in that also include：
Temperature sensing circuit (206)；
The environment temperature that the temperature sensing circuit (206) senses the sensing element (101,102) obtains ambient temperature signal (Temp)；
The micro-control unit (210) carries out temperature-compensating according to ambient temperature signal (Temp) to first sensing signal (ang_1) and the second sensing signal (ang_2), obtains linear signal slope after temperature-compensating consistent the first compensation sensing signal (Tang_1) and the second compensation sensing signal (Tang_2).
22. sensing system as claimed in claim 21, it is characterised in that：
The micro-control unit (210) stores the corresponding different temperature compensation parameter of varying environment temperature signal；
The micro-control unit (210) carries out temperature-compensating to first sensing signal (ang_1) and the second sensing signal (ang_2) respectively according to different temperature parameters；Obtain the first compensation sensing signal (Tang_1) and the second compensation sensing signal (Tang_2).
23. sensing system as claimed in claim 21, it is characterised in that：
Micro-control unit (210) the progress temperature-compensating, which is used, is calculated as below formula：
Tang_n=k × ang_n+b；
Wherein K is temperature compensation coefficient, and b is intercept, and n is >=1 integer, and ang_n is the n-th sensing signal, and Tang_n is the n-th compensation sensing signal.
24. sensing system as claimed in claim 21, it is characterised in that also include：
The micro-control unit (210) is modified to the described first compensation sensing signal (Tang_1) and the second compensation sensing signal (Tang_2) respectively, obtains the first amendment sensing signal (Lin_1) and the second amendment sensing signal (Lin_2)；
The micro-control unit (210) is synthesized to the first amendment sensing signal (Lin_1) and the second amendment sensing signal (Lin_2) by stroke sequence, generates the whole sensing signal (Snorm) that the linear reaction piston (109) is moved in whole stroke.
25. the sensing system stated such as claim 24, it is characterised in that：
The micro-control unit (210) is modified to the described first compensation sensing signal (Tang_1) and the second compensation sensing signal (Tang_2), and amendment, which is used, is calculated as below formula progress：
Lin_n=Sn × Tang_n+In；
Wherein, Lin_n is the revised n-th amendment sensing signal, and Sn is the Gradient correction coefficient of the n-th compensation sensing signal, and In is the intercept regulation coefficient of the n-th compensation sensing signal, and n is >=1 integer.
26. sensing system as claimed in claim 24, it is characterised in that：
The sensing signal (Lin_1) and second of being corrected to revised first of micro-control unit (210) timesharing corrects sensing signal (Lin_2) by stroke sequence merging；It is described to be obtained by stroke sequence merging by following calculating formula：
Snorm=Lin_1+Lin_2+Lin_3+Lin_4+.....+Lin_n；
Wherein, n is >=1 integer, and Snorm is the movement position signal after merging.
27. sensing system as claimed in claim 24, it is characterised in that also include：
The micro-control unit (210) diagnoses to the amendment sensing signal (Lin_n)；
Diagnosis uses following comparison expression：
If 1) Lin_n<Work range LCL, then export Lin_n=Clamp_Low；
If 2) Lin_n>Work range LCL, then export；Lin_n=Clamp_High；
If 3) Work range LCL>Lin_n<Work range UCL, then export Lin_n=Sn × Tang+In；
Wherein, Clamp_Low represents the low clamper pattern of signal output, and Clamp_High represents the high clamper pattern of signal output, and Work range LCL represent minimum effectively operation interval, and Work range UCL represent maximum effectively operation interval.
28. sensing system as claimed in claim 16, it is characterised in that also include：
Voltage conversion circuit, for the operating voltage of the sensing system to be adjusted into 5V.
29. sensing system as claimed in claim 16, it is characterised in that also include：
Dormancy controls circuit, provided with dormancy sensing element (104), for sensing the position of the mobile object (109) and producing dormant control signal, the micro-control unit (210) receives the dormant control signal and controls the sensing system to be in startup or park mode.
30. sensing system as claimed in claim 29, it is characterised in that：
The dormancy controls circuit, senses the position of the mobile object (109)；
When mobile object (109) is driven to a certain setting position, the dormancy control circuit sends startup control signal；
When mobile object (109) is driven to a certain setting position, the dormancy control circuit sends dormant control signal.
31. sensing system as claimed in claim 30, it is characterised in that：
The startup control signal is rising edge step signal, after the micro-control unit (210) receives the startup control signal, and normal signal is exported after the startup first place symbol for making the sensing system output 1ms；
The dormant control signal is trailing edge step signal, after the micro-control unit (210) receives the dormant control signal, exports no signal after the normal signal of the sensing system output 2.5ms.
32. the sensing system as described in any one of claim 16 to 31, it is characterised in that：
Magnet arrangement (166) is fixedly installed on the mobile object (109), the magnet arrangement (166) is moved and moved with the mobile object (109).
33. method for sensing as claimed in claim 32, it is characterised in that：
The sensing element is 3D hall sensing elements, magnetic field signal (Bx_n, By_n) of the magnetic field intensity of magnet arrangement (166) described in the 3D hall sensings element sensing in two-dimensional space on two directions, and its magnetic field signal (Bx_n, By_n) is used as run signal progress computing.
34. sensing system as claimed in claim 32, it is characterised in that：
The mobile object is clutch plunger (109), and the stroke (105) is movable distance of the clutch plunger (109) in piston cylinder (105).
35. sensing system as claimed in claim 34, it is characterised in that also include：
Collection magnetic part (106) is set up outside the piston cylinder (105) to be used to strengthen the magnetic field extension strength of the magnet arrangement (166).
36. sensing system as claimed in claim 35, it is characterised in that：Also include pcb board,
The multiple sensing element (101,102) is arranged on the side of pcb board；
The collection magnetic part (106) is arranged on the opposite side of the pcb board, the collection magnetic part and the multiple sensing element (101,102) aligned in position.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
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| CN201610083830.4A CN107044819A (en) | 2016-02-06 | 2016-02-06 | The method for sensing and system of a kind of mobile object movement position |
| US15/423,967 US20170227422A1 (en) | 2016-02-06 | 2017-02-03 | Method and system for sensing position of moving object and clutch piston position sensing system wtih sleep function |
| DE202017100617.4U DE202017100617U1 (en) | 2016-02-06 | 2017-02-06 | A system for detecting the position of a moving object and clutch piston position detection system with sleep function |
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| CN112325755A (en) * | 2020-11-03 | 2021-02-05 | 上海艾为电子技术股份有限公司 | Position sensing system, method for acquiring position sensing signal and electronic equipment |
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