CN205403690U - Sensing system of moving object motion position - Google Patents
Sensing system of moving object motion position Download PDFInfo
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- CN205403690U CN205403690U CN201620119238.0U CN201620119238U CN205403690U CN 205403690 U CN205403690 U CN 205403690U CN 201620119238 U CN201620119238 U CN 201620119238U CN 205403690 U CN205403690 U CN 205403690U
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Abstract
The utility model relates to a sensing system of moving object motion position for the motion position of sensing moving object in a length falls into stroke two sections at least in order to produce motion position sigual and the motion position sigual second section stroke in of moving object in first section stroke, still includes in the difference sensing moving object the motion position sigual of first section stroke with moving object is at the motion position sigual of second section stroke and produce a sensing signal and a plurality of sensing element of the 2nd sensing signal, little the control unit receives after the sectionalised sensing signal to carry out it temperature compensating, to revise the back according to the moving object motion signal of the synthetic continuous whole stroke of reflection of time, stroke, order, to reach the purpose that the long stroke moving object of sensing moved. The sensing system that has dormancy control function is equipped with dormancy control circuit, and whether monitoring moving object is driven and provide the monitor signal, makes whole sensing system control interconnected system dormancy or starts the function.
Description
Technical field
This utility model relates to the sensing system of the mobile object movement position of the sensing system, particularly longer stroke of a kind of mobile object movement position, for instance the sensing device of automobile engine clutch master cylinder piston position.
Background technology
In control technology, sensing device is commonly used to the movement position of sensing movement object.When mobile object movement travel longer beyond sensing device sensing range time, existing sensing device cannot cover this type of Long travel, therefore cannot complete the location sensing of this type of Long travel mobile object.
Such as, in the control technology of automobile, it is necessary to sensing automobile engine clutch position, and clutch position signal is produced.Current clutch position signal can be produced by the sensor-based system being arranged on clutch master cylinder (ClutchMasterCylinder or CMC).Along with stepping on of clutch pedal, the existing sensor-based system being arranged on clutch master cylinder can produce the position signalling that clutch plunger moves in travel of clutch.
But the oversize vehicles such as truck, the stroke of its clutch master cylinder piston is longer, and the movement travel that existing clutch plunger sensing device can sense cannot cover the piston movement of this Long travel.
Summary of the invention
The purpose of this utility model is to provide a kind of device, and concrete scheme is as follows:
A kind of sensing system of mobile object movement position, for sensing movement object movement position in a stroke, the length of described stroke is divided at least two sections of strokes, described mobile object moves in described stroke, to produce mobile object movement position signal in first paragraph stroke and the movement position signal in second segment stroke；Including:
Multiple sensing elements, for sensing described mobile object respectively at movement position signal at second segment stroke of the movement position signal of first paragraph stroke and described mobile object, and produce the first sensing signal and the second sensing signal；Described first sensing signal and the second sensing signal move in corresponding described first paragraph stroke and second segment stroke along with described mobile object and change；
Micro-control unit, for described first sensing signal and the second sensing signal are pressed the omnidistance sensing signal of stroke sequence synthesis, described omnidistance sensing signal moves in described stroke along with described mobile object and changes.
Sensing system as previously described, described sensing element includes the first sensing element and the second sensing element；
Described first sensing element is arranged on described first paragraph stroke, for sensing the motion through first paragraph stroke of the described mobile object, and produces described first sensing signal；
Described second sensing element is arranged on described second segment stroke, for sensing the motion through second segment stroke of the described mobile object, and produces described second sensing signal.
Sensing system as previously described, described first sensing element senses the motion in described first paragraph stroke of described mobile object in two-dimensional space and produces the period 1 signal for sine and cosine waveform that reflection magnet arrangement moves in described first paragraph stroke in both direction；
Described second sensing element senses the motion in second segment stroke of described mobile object in two-dimensional space and produces signal second round for sine and cosine waveform that reflection magnet arrangement moves in second segment stroke in both direction.
Sensing system as previously described, described micro-control unit converts the period 1 signal from analog signal sensed to digital signal；
Described micro-control unit converts signal from analog signal second round sensed to digital signal.
Sensing system as previously described, described micro-control unit converts the sine of digital form and the period 1 signal of cosine waveform described first sensing signal of linear forms to；
Described micro-control unit converts the sine of digital form and signal second round of cosine waveform described second sensing signal of linear forms to.
Sensing system as previously described, also includes:
Temperature sensing circuit；
Described temperature sensing circuit senses the ambient temperature of described sensing element and obtains ambient temperature signal；
Described first sensing signal and the second sensing signal are carried out temperature-compensating according to ambient temperature signal by described micro-control unit, and first that after obtaining temperature-compensating, linear signal slope is consistent compensates sensing signal and second and compensate sensing signal.
Sensing system as previously described, the different temperature compensation parameter that described micro-control unit storage varying environment temperature signal is corresponding；
Described first sensing signal and the second sensing signal are carried out temperature-compensating according to different temperature parameters by described micro-control unit respectively；Obtain the first compensation sensing signal and second and compensate sensing signal.
Sensing system as previously described, described micro-control unit carries out temperature-compensating and adopts formula calculated as below:
Tang_n=K × ang_n+b；
Wherein K is temperature compensation coefficient, and b is intercept, and n is the integer of >=1, and ang_n is the n-th sensing signal, and Tang_n is the n-th compensation sensing signal.
Sensing system as previously described, also includes:
Described micro-control unit compensates sensing signal respectively to described first and described second compensation sensing signal is modified, and obtains the first correction sensing signal and second and revises sensing signal；
Described micro-control unit revises sensing signal to first and the second correction sensing signal presses stroke sequence synthesis, generates the omnidistance sensing signal that the described mobile object of reaction linearly moves in whole stroke.
Sensing system as previously described, described micro-control unit compensates sensing signal to described first and the second compensation sensing signal is modified, and described correction is undertaken by formula calculated below:
Lin_n=Sn × Tang_n+In；
Wherein, Lin_n is revised n-th correction 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 the integer of >=1, and Tang_n represents the n-th compensation sensing signal.
Sensing system as previously described, described micro-control unit timesharing to revised first revise sensing signal and second revise sensing signal press stroke sequence merging；Described merging by stroke sequence is obtained by formula calculated below:
Snorm=Lin_1+Lin_2+Lin_3+Lin_4+.....+Lin_n；
Wherein, n is the integer of >=1, and Snorm is the movement position signal after merging.
Sensing system as previously described, also includes:
Described correction sensing signal is diagnosed by described micro-control unit；
Diagnosis adopts following comparison expression:
1) if Lin_n < WorkrangeLCL, then Lin_n=Clamp_Low is exported；
2) if Lin_n > WorkrangeLCL, then export；Lin_n=Clamp_High；
3) if WorkrangeLCL>Lin_n<WorkrangeUCL, then Lin_n=Sn × Tang+In is exported；
Wherein, Clamp_Low represents that signal exports low clamper pattern, Clamp_High represents that signal exports high clamper pattern, WorkrangeLCL represents minimum effective operation interval, WorkrangeUCL represents maximum effective operation interval, and Lin_n is revised n-th correction sensing signal, and Tang_n represents the n-th compensation sensing signal, 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.
Sensing system as previously described, also includes:
Voltage conversion circuit, for being adjusted to 5V by the running voltage of described sensing system.
Sensing system as previously described, also includes:
Dormancy control circuit, is provided with dormancy sensing element, and for sensing the position of described mobile object and producing dormant control signal, described micro-control unit receives the described dormant control signal described sensing system of control and is in startup or park mode.
Sensing system as previously described, described dormancy control circuit, sense the position of described mobile object；
When mobile object is driven to a certain setting position, described dormancy control circuit sends startup control signal；
When mobile object is driven to a certain setting position, described dormancy control circuit sends dormant control signal.
Sensing system as previously described, described startup control signal is rising edge step signal, after described micro-control unit receives this startup control signal, exports normal signal after making the startup first place symbol of described sensing system output 1ms；
Described dormant control signal is trailing edge step signal, and after described micro-control unit receives this dormant control signal, after making the normal signal of described sensing system output 2.5ms, no signal exports.
Sensing system as previously described, is fixedly installed magnet arrangement on described mobile object, and described magnet arrangement moves with the motion of described mobile object.
Sensing system as previously described, described sensing element is 3D hall sensing element, the magnetic field intensity of magnet arrangement field signal on two directions in two-dimensional space described in described 3D hall sensing element sensing, and use its this field signal to carry out computing as run signal.
Sensing system as previously described, described mobile object is clutch plunger, and described stroke is clutch plunger movable distance in piston cylinder.
Sensing system as previously described, also includes:
Collection magnetic part is set up for strengthening the magnetic field extension strength of described magnet arrangement outside described piston cylinder.
Sensing system as previously described, also includes pcb board,
The plurality of sensing element is arranged on the side of pcb board；
Described collection magnetic part is arranged on the opposite side of described pcb board, described collection magnetic part and the plurality of sensing element aligned in position.
The sensing system of mobile object movement position of the present utility model, such as clutch plunger location sensing, the piston movement longer in order to sense stroke, the stroke of piston is divided into several regions, hall sensor sensing it is respectively provided with the piston movement Magnet through each region in each region, produce the sensing signal of regional respectively, temperature-compensating is carried out after the sensing signal that micro-control unit receives segmentation, revise, merging etc. chronologically are superimposed as continuous print and reflect the piston movement signal of whole stroke after processing, reach the purpose of sensing long-stroke piston motion.Additionally, this system and method is additionally provided with temperature sensing circuit, the temperature for sensing sensing element provides temperature-compensating corrected parameter；Being also be provided with collection magnetic part to strengthen and to extend the Distribution of Magnetic Field of Magnet on piston at piston cylinder, be additionally provided with dormancy control circuit, whether monitoring piston is driven and is provided monitor signal, makes whole sensing system control at dormancy or starting state, to save the energy.Whole invention improves the sensing to long-stroke piston motion simultaneously in magnetic Circuit Design, circuit design and software algorithm.
Accompanying drawing explanation
Fig. 1 is the structural representation that moving object position sensing system of the present utility model is applied in clutch plunger.
Fig. 2 is the electrical block diagram of this utility model clutch plunger position sensing；
Fig. 3 is micro-control unit chip select circuit structural representation of the present invention；
Fig. 4 is this utility model micro-control unit sheet internal circuit configuration schematic diagram；
Fig. 5 is the electrical block diagram of this utility model temperature sensing circuit；
Fig. 6 A is the periodic signal waves schematic diagram of this utility model one sensing two sines arriving of unit senses and cosine wave form；
Fig. 6 B is the sensing signal waveform diagram that the sine of Fig. 6 A and cosine signal convert linear forms to；
Fig. 7 A is the signal schematic representation of each section of sensing signal that stroke is divided in one embodiment of this utility model 3 sections；
Fig. 7 B is the sensing signal schematic diagram after stroke is divided in this utility model previous embodiment each section of sensing signal of 3 sections carry out temperature-compensating；
Fig. 7 C is the sensing signal schematic diagram after stroke is divided in this utility model previous embodiment each section of sensing signal of 3 sections carry out temperature-compensating；
Fig. 8 is this utility model schematic flow sheet to signal processing；
Fig. 9 is this utility model handling process schematic diagram to revising sensing signal turnover checkout and diagnosis；
Figure 10 is the sensing signal waveform diagram under this utility model different temperatures.
Detailed description of the invention
Below with reference to the accompanying drawing constituting this specification part, various detailed description of the invention of the present utility model are described.It should be understood that, although using the term representing direction in this utility model, such as "front", "rear", " on ", D score, "left", "right" etc. various example features of the present utility model and element are described, but use at this these terms to be intended merely to and facilitate descriptive purpose, determine based on the example orientations shown in accompanying drawing.Owing to embodiment disclosed in the utility model can be arranged according to different directions, so these represent that the term in direction is intended only as explanation and should not be considered as restriction.In the conceived case, the identical or similar accompanying drawing labelling used in this utility model refers to identical parts.
In control technology, sense the movement position of certain mobile object typically by sensing device, for instance be fixed on mobile object by Magnet, with the field signal of the sensing device senses Magnet such as hall sensor, the motion of the motor message reflection mobile object of magnetic field device.But when mobile object movement travel is longer, when exceeding the sensing range of sensing device, existing sensing device cannot cover this type of Long travel, therefore cannot complete the location sensing of this type of Long travel mobile object.In order to solve this problem, this utility model is demonstrated with the location sensing of automobile clutch reciprocating motion of the pistons for an embodiment, to illustrate that mobile object sensing system of the present utility model is the motion how sensing Long travel mobile object.Certainly, mobile object sensing system of the present utility model and device are not limited only to the sensing of automobile clutch piston position.
Fig. 1 is the structural representation that moving object position sensing system of the present utility model is applied in clutch plunger.
For the motion of automobile clutch piston, Fig. 1 illustrates the internal structure of piston/cylinder 108 and the signal matching relationship of clutch plunger 109 and piston/cylinder 105.As it is shown in figure 1, clutch main piston assembly includes piston/cylinder 108.Having cavity 108 in piston/cylinder 105, piston 109 stretches in piston/cylinder cavity 108, can move linearly back and forth in piston/cylinder cavity 108.Such as, the near-end 109a of piston 109 is driven by clutch pedal (not shown), and stepping on and decontroling along with clutch pedal, piston 109 does straight reciprocating motion.The far-end 109b of piston 109 is provided with magnet arrangement 166 (can be such as the annular magnet around piston 109 as an embodiment Magnet 166), and this magnet arrangement 166 is suitable for the rectilinear movement along with piston 109 and makees back and forth (or other) motion in piston/cylinder 108.In the embodiment shown in fig. 1, magnet arrangement 166 reciprocatingly moves between position, cylinder top and cylinder bottom position with piston 109.Although not shown in, magnet arrangement 166 also can arrange and be arranged on other position that piston 109 is axial.Owing to the near-end 109a of piston 109 is driven by clutch pedal, so the relevant position that magnet arrangement 166 is in piston cylinder 104 reflects the operating position of clutch pedal, thus reflecting the corresponding operating position of clutch.
In FIG, the magnet arrangement 166 being arranged on piston 109 moves in the cavity 108 of piston/cylinder 108, and moveable total distance is L.As an embodiment, moveable total distance being evenly dividing for L is three sections, is first paragraph stroke S1, second segment stroke S2, the 3rd section of stroke S3 (can not also divide equally) respectively.
Clutch plunger position sensing is provided with multiple sensing element on piston/cylinder 105 outer wall, for instance first sensing element the 101, second sensing element the 102, the 3rd sensing element 103.First sensing element the 101, second sensing element the 102, the 3rd sensing element 103 is separately positioned on the stroke of first paragraph stroke S1, second segment stroke S2, the 3rd section of stroke S3.The plurality of sensing element can be set to the one in multiple sensing element, such as 3D hall sensing element.First sensing element the 101, second sensing element the 102, the 3rd sensing element 103 senses magnet arrangement 166 respectively and moves to field signal when first paragraph stroke S1, second segment stroke S2, the 3rd section of stroke S3 with piston 109.Sensing element is fixed on piston/cylinder 105 in several ways.Such as, sensing element is to be arranged on piston/cylinder 105 outer wall by mounting bracket 110.In the embodiment shown in fig. 1, sensing element corresponds to magnet arrangement 166 reciprocating region between position, cylinder top and cylinder bottom position in the position that piston/cylinder 108 is axial.When the magnet arrangement 166 any position between cylinder bottom position and position, cylinder top, magnetic field (or magnetic flux) change that the detection circuits sense magnet arrangement 166 in sensing element produces.
In system work process, when magnet arrangement 166 moves between the first paragraph stroke S1 of piston/cylinder 105, second segment stroke S2, the 3rd section of stroke S3 along with piston 109, there is respective change in the magnetic field (or magnetic flux) that magnet arrangement 166 produces at first sensing element the 101, second sensing element the 102, the 3rd sensing element 103.Being arranged in first sensing element the 101, second sensing element the 102, the 3rd sensing element 103 on piston master cylinder 108 outer wall and detect the circuits sense change to the magnetic field (or magnetic flux) of magnet arrangement 166, picking up corresponding data at special time thus producing the signal (see Fig. 3) for indicating clutch position.In this embodiment of the present utility model, include periodic signal Bx_1, the By_1 of sine and the cosine waveform sensing the motion generation in every LAP (S1, S2, S3) of described magnet arrangement 166 in two-dimensional space in X, Y (or Z-direction) both direction with the signal of the first produced instruction clutch position of sensing element the 101, second sensing element the 102, the 3rd sensing element 103 of 3D hall sensing element；Bx_2, By_2 and Bx_3, By_3 (see Fig. 6 A).
In addition, piston master cylinder 108 outer wall is additionally provided with dormancy sensing element 104 (such as, 3D hall sensing element), for sensing the position of piston 109 and producing dormant control signal CTS, dormant control signal CTS represents that clutch is in be stepped on to and has arrived, departing from free state, magnet arrangement 166, the cylinder body tip position (setting position) that clutch friction plate just applies separating force, but now clutch friction plate is in abutment location, gear-box and electromotor and is in engagement.Micro-control unit 210 accepts dormant control signal CTS Perceived control examining system and is in startup or park mode (see Fig. 2).Dormant control signal CTS includes starting control signal and dormant control signal: starting control signal is rising edge step signal, after micro-control unit 210 receives this startup control signal, after making the startup first place symbol of described sensing system output 1ms, export normal signal；Dormant control signal is trailing edge step signal, and after described micro-control unit (210) receives this dormant control signal, after making the normal signal of described sensing system output 2.5ms, no signal exports.When clutch is not stepped on, being in standby resting state, need not reinitialize all parts when micro-control unit 210 is transformed into startup transition from resting state, save system start-up time, the system being simultaneously in resting state can save energy.
Further, the last one magnetic part 106 is set up outside piston cylinder 105, strong magnetic part 106 is a strip iron plate (other permeability magnetic materials also can), be arranged on magnet arrangement 166 motion stroke side, with the plurality of sensing element (101,102,103) aligned in position, for strengthening the magnetic field extension strength of magnet arrangement 166, the distribution in magnetic field is elongated.
Additionally, sensing system also includes pcb board (omitting in figure), multiple sensing elements (101,102) are arranged on the side of pcb board；Collection magnetic part 106 is arranged on the opposite side of pcb board, collection magnetic part and the plurality of sensing element (101,102) aligned in position.
Fig. 2 is the electrical block diagram of this utility model clutch plunger position sensing.As in figure 2 it is shown, the circuit structure of clutch plunger position sensing includes first sensing element the 101, 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 piston 109 of motion in piston cylinder 105, piston 109 is fixed with magnet arrangement 166.The first sensing element the 101, second sensing element the 102, the 3rd sensing element 103 and dormancy sensing element 104 of sensing magnet arrangement 166 motion is had outside piston cylinder 105.
First sensing element the 101, second sensing element the 102, the 3rd sensing element 103 and dormancy sensing element 104 independent work, sensing magnet arrangement 166 produces at diverse location respectively magnetic flux density and/or magnetic field, then produce and export the analog voltage signal meeting function line of correspondence, such as, sinusoidal or cosine-shaped analog voltage signal (being specifically shown in Fig. 6 A).Signal is carried out Treatment Analysis diagnosis (detailed process is shown in Fig. 6 A-Fig. 9) by micro-control unit 210, the piston position signal processed the most at last is sent to ECU207 (ElectronicControlUnit, electronic control unit, it is commonly called as car running computer), ECU207 is for controlling the enforcement of automobile.
In addition, clutch plunger position sensing also includes temperature sensing circuit 206, temperature sensing circuit 206 senses the operating temperature of first sensing element the 101, second sensing element the 102, the 3rd sensing element 103, obtain ambient temperature signal Temp, and be supplied to micro-control unit 210 by circuit 246.Described sensing signal ang_n is carried out temperature-compensating (being specifically shown in Fig. 5) according to ambient temperature signal Temp by micro-control unit 210.
Additionally, clutch plunger position sensing also voltage conversion circuit 218, for the running voltage of whole sensing system is adjusted to 5V.
Fig. 3 is this utility model micro-control unit chip select circuit structural representation.
Magnet arrangement 106 is in the position through first sensing element the 101, second sensing element the 102, the 3rd sensing element 103 place of the different time, and micro-control unit 210 needs to choose, in the different time, the sensing signal that first sensing element the 101, second sensing element the 102, the 3rd sensing element 103 sends.Namely serial chip select circuit structure shown in Fig. 3 explains how micro-control unit 210 chooses, in the different moment, the signal that different sensing elements senses.As it is shown on figure 3, the first sensing element 101 is provided with three PORT COM carries out communication with micro-control unit 210, it is chip select end 311, clock end 312 and data transmission terminal 313 respectively.Same second sensing element 102 and the 3rd sensing element 103 are each respectively equipped with chip select end 321,331, clock end 322,332 and data transmission terminal 323,333 and micro-control unit 210 carries out communication.nullBy clock end 312、Clock end 322 and clock end 332，Micro-control unit 210 is simultaneously to the first sensing element 101、Second sensing element 102、3rd sensing element 103 sends the clock signal SCLK of a same frequency，Simultaneously when different when，Or magnet arrangement 166 is through certain sensing element (the first sensing element 101、Second sensing element 102 or the 3rd sensing element 103) moment，Micro-control unit 210 is by chip select end (311、321 or 321) a chip selection signal SS is sent to this sensing element，Receive the sensing unit of chip selection signal SS，Unit 101 is sensed for first，Namely a data packet signal is sent to micro-control unit 210 by data transmission terminal 311，One data packet signal be 8 in the present embodiment (can also 16 or other)，It is X-direction field signal respectively、Y-direction field signal、Z-direction field signal、Close magnetic field (X+Y+Z) signal、Whether judge signal lower than effective magnetic field、Whether judge signal higher than effective magnetic field、Whether signal is vacant、Power whether normal signal.All signal messages of the micro-control unit 210 first sensing element the 101, second sensing element the 102, the 3rd sensing element 103 to continuously receiving are to dissection process.This specification further part describe emphatically include X-direction field signal, Y-direction field signal, Z-direction field signal piston position sensing signal be analyzed processing.
Fig. 4 is this utility model micro-control unit sheet internal circuit configuration schematic diagram；
Fig. 4 shows an embodiment block diagram of microprocessing unit 210 concrete structure.As shown in Figure 4, microprocessing unit 210 at least includes modulus (A/D) change-over circuit 472 and processor 474.Such as, in a preferred embodiment of the present utility model, the analog voltage signal (motor message EPB) meeting two articles of function lines that first sensing element the 101, second sensing element 102, the 3rd sensing element 103 respective (such as Bx, By or Bz dimension) in the two-dimensional direction sense change in magnetic flux density and/or changes of magnetic field and produce exports (such as, article one, curve of output is the output of cosine-shaped analog voltage signal, and another curve of output is the output of sinusoidal analog voltage signal).The output of its cosine-shaped analog voltage signal and the output of sinusoidal analog voltage signal are sent to modulus (A/D) change-over circuit 472 by first sensing element the 101, second sensing element the 102, the 3rd sensing element 103 each comfortable different moment.
Modulus (A/D) change-over circuit 472 converts digital signal output to by going out to receive two the cosine-shaped analog voltage signal outputs (or two sinusoidal analog voltage signal outputs) each produced from first sensing element the 101, second sensing element the 102, the 3rd sensing element 103.Bx, By turnover converting digital signal to is processed by processor 474.
Fig. 5 is the electrical block diagram of this utility model temperature sensing circuit.
Fig. 5 illustrates a specific embodiment of temperature sensing circuit 206 of the present utility model, and as shown in FIG., temperature sensing circuit 206 includes critesistor 510, fixed resistance 512 and electric capacity 511.Wherein, connect in the lower end 511 of critesistor 510 and the upper end 514 of fixed resistance 512, after series connection, critesistor 510 upper end 513 connects 5V voltage, fixed resistance 512 lower end 515 ground connection, the upper end 516 of electric capacity 511 is connected to the lower end 511 of critesistor 510 and the upper end 514 of fixed resistance 512, lower end 517 ground connection of electric capacity 511.The lower end 511 of critesistor 510 connects the input 518 of the 210 of microprocessing unit.Critesistor 510 and the fixed resistance 512 of series connection constitute bleeder circuit.Critesistor 510 has the characteristic changing resistance with ambient temperature, and during different temperatures, its resistance can change, and when fixed resistance 512 is connected, resistance is more big, and the voltage got is more big, so different voltage signal can be provided to microprocessing unit 210.Multiple critesistor 510 are separately positioned on the first sensing element the 101, second sensing element 102 and the 3rd sensing element 103 place, and microprocessing unit 210 will obtain ambient temperature signal Temp_1, Temp_2 and the Temp_3 of first sensing element the 101, second sensing element 102 and the 3rd sensing element 103.
Fig. 6 A is the periodic signal waves schematic diagram of this utility model one sensing two sines arriving of unit senses and cosine wave form.
Each 3D Hall sensor 101,102,103 can in multiple dimension directions, as: X, Y, Z-dimension sense magnetic flux density and/or magnetic field that magnet arrangement 166 produces at diverse location.For the first sensing element 101,3D hall sensing unit 101 can sense the magnetic flux density on second elder brother's dimension direction (X, Y or Z-dimension) and/or magnetic field, producing periodic signal Bx_1, By_1 of two sines or cosine waveform, microprocessing unit 210 of the present utility model is suitable for this signal in the position signalling calculating piston movement.For Bx_1, By_1, its signal waveform such as Fig. 6 A so, wherein Bx_1 is sinusoidal wave form, and By_1 is cosine waveform.
So identical, second sensing element 102 and the 3rd sensing element 103 also can sense the magnet arrangement 166 magnetic flux change on X, Y or Z-dimension and produce two groups of signals Bx_2, By_2 and Bx_3, By_3 respectively, and microprocessing unit 210 is suitable for this signal as the position signalling calculating piston movement.
Fig. 6 B is the sensing signal waveform diagram that the sine of Fig. 6 A and cosine signal convert linear forms to；
As mentioned before, along with the magnet arrangement 166 position moved back and forth in the cavity 108 of piston cylinder, three groups of signals Bx_1, By_1, Bx_2, By_2 and Bx_3, By_3 that first sensing element the 101, second sensing element 102, the 3rd sensing element 103 each sense change in magnetic flux density and/or changes of magnetic field in the two-dimensional direction and produce are sent to microprocessing unit 210, and three groups of signals meet the voltage output of sine and cosine functions line.
After microprocessing unit 210 will convert three groups of analogue signals to digital signal with modulus (A/D) change-over circuit 472, two (a cosine-shaped voltage output and sinusoidal-shaped voltage outputs) in every group signal are selected to be transported to processor 474.The cosine digital voltage signal come from the conveying of modulus (A/D) change-over circuit 472 and sinusoidal digital voltage signal are changed into a Linear voltage output by processor 364, for first sensing element 101 input Bx_1, By_1, computational methods as shown by the following formula:
Ang_1=MOD (atan2 (Bx_1, By_1) * 180/PI, 360)；
In above-mentioned computing formula, magnet arrangement 166 effective travel Lx2 in piston cylinder cavity 108 corresponds to a circumferential periodic；That is: enter stroke from piston cylinder top to cylinder bottom, may correspond to the upper half of circumference phase, and exit stroke from the lower half that may correspond to the circumference phase at the bottom of piston cylinder to cylinder top.Ang_1 represents the first sensing signal.In formula, sinusoidal Bx_n and cosine amount By_n is carried out arctangent cp cp operation by ATAN2 function representation, and the codomain of this arctan function is ± Pi radian；By this arc tangent radian amount * 180/Pi () being obtained angular metric ± 180 degree of correspondence；Again to relative 360 remainders of this angular metric, namely MOD (ref, 360) function, converts ± 180 degree of angular ranges to 0～360 degree of angular range.The linear function ang_1 generated is shown in Fig. 6 B, and the data processing method that the second sensing element the 102, the 3rd sensing element 103 sends is so identical, repeats no more.
Fig. 7 A is the sensing signal schematic diagram before stroke is divided in one embodiment of this utility model each section of sensing signal of 3 sections carry out temperature-compensating,
Period 1 signal (Bx_1, By_1), signal second round (Bx_2, By_2) and period 3 signal (Bx_3, By_3) that first sensing element the 101, second sensing element the 102, the 3rd sensing element 103 is sent by microprocessing unit 210, all after the process of Fig. 6 A-Fig. 6 B, obtain the signal structure schematic diagram shown in Fig. 7 A.
In figure, abscissa represents stroke S, respectively first paragraph stroke S1, second segment stroke S2, the 3rd section of stroke S3；Ordinate represents signal value V.That represent in first paragraph stroke S1 region in figure is the first sensing signal ang_1, and that represent in second segment stroke S1 region is the second sensing signal ang_2, and that represent in the 3rd section of stroke S3 region is the 3rd sensing signal ang_3.If identical sensing element, the motion of the mobile object sensed at that same temperature, the linear slope of sensing signal obtained is identical, is parallel between three.But due to sensing element physical attribute differ, different hall sensors at different temperatures, the signal value ang_n sensed can vary with temperature generation skew (referring specifically to Figure 10).Compared with the signal value V of sensing under room temperature, the linear function slope of each sensing element that in Fig. 7 A, solid line represents is all different: the attribute of each sensing element differs, the Hall coefficient of each sensing element caused during temperature change is different, and the linear function slope of generation also differs.Calculated function there will be the situation shown in figure: the first sensing signal ang_1 of change, the second sensing signal ang_2 and the three sensing signal ang_3 slope differ.The different sensing signal of slope there will be rough breakpoint in follow-up joint account, can amplify superposition when merging.
Fig. 7 A is the sensing signal schematic diagram after stroke is divided in one embodiment of this utility model each section of sensing signal of 3 sections carry out temperature-compensating.
In order to solve foregoing problems, it is necessary to each thanks signal just temperature-compensating correction, obtain the function that linear signal slope turns consistent.Namely adopting the temperature-compensation circuit shown in Fig. 5 to gather the temperature signal of each sensing element, the attribute according to each sensing element, the Hall coefficient that different temperature is corresponding different, the sensing signal ang_n that sensing element is produced carries out temperature-compensating.For the first sensing element 101, the temperature compensation coefficient table that it records in advance is as shown in the table:
Table 1: the first sensing element 101 temperature compensation coefficient table
In table 1, first operating temperature being classified as the first sensing element 101, second is classified as the different resistances of critesistor 510, the 3rd be classified as critesistor 510 dividing potential drop after be input to the voltage signal of microprocessing unit 210, slope K is corresponding temperature compensation coefficient, and intercept b is temperature-compensating intercept.
For the first sensing signal ang_1, carrying out temperature-compensating and be calculated, 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 sensing signal.
The method that second sensing signal ang_2 and the three sensing signal ang_3 carries out temperature-compensating calculating is similar with it.When adopting identical sensing element, the temperature-compensating computational methods of each sensing signal are also identical.
In the first compensation sensing signal Tang_1, second compensation sensing signal Tang_2 and the three compensation sensing signal Tang_3 such as Fig. 7 B that obtain after temperature-compensating shown in real segment.As shown in Figure 7 B, the first sensing signal ang_1, the second sensing signal ang_2 and the three sensing signal ang_3 obtain after carrying out temperature-compensating the first consistent compensation sensing signal Tang_1 of linear signal slope, the second compensation sensing signal Tang_2 and the three compensates sensing signal Tang_3.
This utility model finally needs to obtain an ending and is mutually linked the linear function that one reacting piston 109 of composition moves in whole stroke, it is obviously desirable to compensate sensing signal Tang_1 to first, the second compensation sensing signal Tang_2 and the three compensates sensing signal Tang_3 and be adjusted revising.Same for the first compensation sensing signal Tang_1, its computing formula revising adjustment is:
Lin_1=S1 × Tang_1+I1；
Wherein, Lin_1 is revised first correction sensing signal, and the slope that S1 is the first compensation sensing signal adjusts correction factor, and I1 is the intercept regulation coefficient of the first compensation sensing signal.It is that processor calculating obtains that slope adjusts correction factor Sn and intercept regulation coefficient In.
Second compensation sensing signal Tang_2 and the three compensation sensing signal Tang_3 is also suitable same correction formula and is adjusted, and first after adjustment revises sensing signal Lin_1, the second correction sensing signal Lin_2 and the three revises sensing signal Lin_3 as seen in figure 7 c.
Fig. 7 C is the sensing signal schematic diagram after stroke is divided in this utility model previous embodiment each section of sensing signal of 3 sections carry out temperature-compensating.
As seen in figure 7 c, revise sensing signal Lin_3 for the first correction sensing signal Lin_1 after adjusting, the second correction sensing signal Lin_2 and the three, and slope is consistent, the continuous motion bit confidence without breakpoint connected, middle of ending.Revise sensing signal Lin_1 by first, the second correction sensing signal Lin_2 and the three is revised sensing signal Lin_3 and is synthetically derived final output signal Snorm by stroke sequence, and specific formula for calculation is:
Snorm=Lin_1+Lin_2+Lin_3
Wherein, Snorm be merge after according to piston movement stroke, sequential continuous print movement position signal,.
Merging back piston movement position signal Snorm is sent to ECU207 by microprocessing unit 210.
Fig. 8 is this utility model schematic flow sheet to signal processing method；
As indicated earlier, three 3D Hall sensor 101,102,103 sensings obtain period 1 signal (Bx_1, By_1), signal second round (Bx_2, By_2) and period 3 signal (Bx_3, By_3, Bz_3) through formula:
1. Ang_n=MOD (ATAN2 (Bx_1, By_1) * 180/PI, 360；N is the integer of >=1；
Obtain the first sensing signal ang_1, the second sensing signal ang_2 and the three sensing signal ang_3, temperature compensates circuit 206 and collects the temperature signal of each sensing element simultaneously, table look-up and obtain the temperature compensation coefficient K and temperature-compensating intercept b of each sensing element, pass through formula:
2. Tang_n=K × ang_n+b；N is the integer of >=1；
Obtain the first compensation sensing signal Tang_1, the second compensation sensing signal Tang_2 and the three compensates sensing signal Tang_3, because the first compensation sensing signal Tang_1, the second compensation sensing signal Tang_2 and the three are compensated sensing signal Tang_3 and merge superposition by needs, therefore need it is adjusted again, pass through formula:
3. Lin_n=Sn × Tang_n+In；N is the integer of >=1；.
Obtain the first correction sensing signal Lin_1, the second correction sensing signal Lin_2 and the three revises sensing signal Lin_3, revise sensing signal Lin_1 by first, the second correction sensing signal Lin_2 and the three revises sensing signal Lin_3 according to stroke sequence superposition, passes through formula:
4. Snorm=Lin_1+Lin_2+Lin_3+Lin_4+.....+Lin_n；N is the integer of >=1；
Obtain the final merging back piston movement position signal Snorm exporting ECU207 from microprocessing unit 210.
Fig. 9 is this utility model handling process schematic diagram to revising sensing signal turnover checkout and diagnosis；
As it is shown in figure 9, micro-control unit 210 diagnoses revising sensing signal Lin_n, diagnosis adopts following comparison expression:
1) if Lin_n < WorkrangeLCL, then Lin_n=Clamp_Low is exported；
2) if Lin_n > WorkrangeLCL, then export；Lin_n=Clamp_High；
3) if WorkrangeLCL>Lin_n<WorkrangeUCL, then Lin_n=Sn × Tang_n+In is exported；
Wherein, Clamp_Low represents that signal exports low clamper pattern, and Clamp_High represents that signal exports high clamper pattern, and WorkrangeLCL represents minimum effective operation interval, and WorkrangeUCL represents maximum effective operation interval.Therefore be when correction sensing signal Lin_n is between minimum effective operation interval and maximum effective operation interval, just exports the Lin_n=Sn × Tang_n+In signal striven for.
Figure 10 is the sensing signal waveform diagram under this utility model different temperatures.
As described in Fig. 7 A above, because the attribute of each sensing element differs, different operating temperatures can cause that the Hall coefficient of each sensing element is different, and the linear function slope of generation also differs.1001,1002 and 1003 point of half expression temperature output of the sensing signal ang_n of same Hall sensor at-40 DEG C, 25 DEG C and 150 DEG C of three curves in Figure 10, temperature is more low, and slope is high, and vice versa.By measuring the sensing element output signal under different temperatures, the temperature compensation coefficient table of each sensing element, corresponding different correction factors can be set up.
Although this utility model will be described with reference to the detailed description of the invention shown in accompanying drawing, it is to be understood that, under the spirit and scope instructed without departing substantially from this utility model and background, clutch plunger position sensing system of the present utility model can have many versions.Art technology those of ordinary skill will additionally appreciate different modes to change the parameter in embodiment disclosed in the utility model, for instance the type of size, shape or element or material, each falls within this utility model and spirit and scope by the claims.
Claims (21)
1. the sensing system of a mobile object movement position, for the sensing movement object (109) movement position in a stroke (105), the length of described stroke (105) is divided at least two sections of strokes (S1, S2), described mobile object (109) is motion in described stroke (105), to produce the mobile object (109) movement position signal (yd1) 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 described mobile object (109) respectively at movement position signal (yd2) at second segment stroke (S2) of the movement position signal (yd1) of first paragraph stroke (S1) and described mobile object (109), and produce the first sensing signal (ang_1) and the second sensing signal (ang_2)；Described first sensing signal (ang_1) and the second sensing signal (ang_2) move in corresponding described first paragraph stroke (S1) and second segment stroke (S2) along with described mobile object (109) and change；
Micro-control unit (210), for described first sensing signal (ang_1) and the second sensing signal (ang_2) are synthesized omnidistance sensing signal (Snorm) by stroke sequence, described omnidistance sensing signal (Snorm) is moved in described stroke (105) along with described mobile object (109) and is changed.
2. sensing system as claimed in claim 1, it is characterised in that:
Described sensing element (101,102) includes the first sensing element (101) and the second sensing element (102)；
Described first sensing element (101) is arranged on described first paragraph stroke (S1), for sensing the described mobile object (109) motion when first paragraph stroke (S1), and produce described first sensing signal (ang_1)；
Described second sensing element (102) is arranged on described second segment stroke (S2), for sensing the described mobile object (109) motion when second segment stroke (S2), and produce described second sensing signal (ang_2).
3. sensing system as claimed in claim 2, it is characterised in that:
Described first sensing element (101) senses the motion in described first paragraph stroke (S1) of described mobile object (109) in two-dimensional space and produces the period 1 signal (Bx_1, By_1) for sine and cosine waveform that reflection magnet arrangement (166) is moved in described first paragraph stroke (S1) in both direction；
Described second sensing element (102) senses the motion in second segment stroke (S2) of described mobile object (109) in two-dimensional space and produces signal second round (Bx_2, By_2) for sine and cosine waveform that reflection magnet arrangement (166) is moved in second segment stroke (S2) in both direction.
4. sensing system as claimed in claim 3, it is characterised in that:
Described micro-control unit (210) converts, from analogue signal, the period 1 signal (Bx_1, By_1) sensed to digital signal；
Described micro-control unit (210) converts, from analogue signal, signal second round (Bx_2, By_2) sensed to digital signal.
5. sensing system as claimed in claim 4, it is characterised in that:
Described micro-control unit (210) converts the sine of digital form and the period 1 signal (Bx_1, By_1) of cosine waveform described first sensing signal (ang_1) of linear forms to；
Described micro-control unit (210) converts the sine of digital form and signal second round (Bx_2, By_2) of cosine waveform described second sensing signal (ang_2) of linear forms to.
6. sensing system as claimed in claim 5, it is characterised in that also include:
Temperature sensing circuit (206)；
Described temperature sensing circuit (206) senses the ambient temperature of described sensing element (101,102) and obtains ambient temperature signal (Temp)；
Described first sensing signal (ang_1) and the second sensing signal (ang_2) are carried out temperature-compensating according to ambient temperature signal (Temp) by described micro-control unit (210), and first that after obtaining temperature-compensating, linear signal slope is consistent compensates sensing signal (Tang_1) and second and compensate sensing signal (Tang_2).
7. sensing system as claimed in claim 6, it is characterised in that:
The different temperature compensation parameter that described micro-control unit (210) storage varying environment temperature signal is corresponding；
Described first sensing signal (ang_1) and the second sensing signal (ang_2) are carried out temperature-compensating according to different temperature parameters by described micro-control unit (210) respectively；Obtain the first compensation sensing signal (Tang_1) and second and compensate sensing signal (Tang_2).
8. sensing system as claimed in claim 6, it is characterised in that:
Described micro-control unit (210) carries out temperature-compensating and adopts formula calculated as below:
Tang_n=K × ang_n+b；
Wherein K is temperature compensation coefficient, and b is intercept, and n is the integer of >=1, and ang_n is the n-th sensing signal, and Tang_n is the n-th compensation sensing signal.
9. sensing system as claimed in claim 6, it is characterised in that also include:
Described micro-control unit (210) compensates sensing signal (Tang_1) respectively to described first and described second compensation sensing signal (Tang_2) is modified, and obtains the first correction sensing signal (Lin_1) and second and revises sensing signal (Lin_2)；
Described micro-control unit (210) is revised sensing signal (Lin_1) and second and is revised sensing signal (Lin_2) by stroke sequence synthesis first, generates the omnidistance sensing signal (Snorm) that the described mobile object of reaction (109) linearly is moved in whole stroke.
10. sensing system as claimed in claim 9, it is characterised in that:
Described micro-control unit (210) compensates sensing signal (Tang_1) to described first and the second compensation sensing signal (Tang_2) is modified, and described correction is undertaken by formula calculated below:
Lin_n=Sn × Tang_n+In；
Wherein, Lin_n is revised n-th correction 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 the integer of >=1, and Tang_n represents the n-th compensation sensing signal.
11. sensing system as claimed in claim 9, it is characterised in that:
The sensing signal (Lin_1) and second of revising revised first of described micro-control unit (210) timesharing revises sensing signal (Lin_2) by stroke sequence merging；Described merging by stroke sequence is obtained by formula calculated below:
Snorm=Lin_1+Lin_2+Lin_3+Lin_4+.....+Lin_n；
Wherein, n is the integer of >=1, and Snorm is the movement position signal after merging.
12. sensing system as claimed in claim 9, it is characterised in that also include:
Described correction sensing signal (Lin_n) is diagnosed by described micro-control unit (210)；
Diagnosis adopts following comparison expression:
1) if Lin_n < WorkrangeLCL, then Lin_n=Clamp_Low is exported；
2) if Lin_n > WorkrangeLCL, then export；Lin_n=Clamp_High；
3) if WorkrangeLCL>Lin_n<WorkrangeUCL, then Lin_n=Sn × Tang_n+In is exported；
Wherein, Clamp_Low represents that signal exports low clamper pattern, Clamp_High represents that signal exports high clamper pattern, WorkrangeLCL represents minimum effective operation interval, WorkrangeUCL represents maximum effective operation interval, and Lin_n is revised n-th correction sensing signal, and Tang_n represents the n-th compensation sensing signal, 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.
13. sensing system as claimed in claim 1, it is characterised in that also include:
Voltage conversion circuit, for being adjusted to 5V by the running voltage of described sensing system.
14. sensing system as claimed in claim 1, it is characterised in that also include:
Dormancy control circuit, it is provided with dormancy sensing element (104), for sensing the position of described mobile object (109) and producing dormant control signal, described micro-control unit (210) receives the described dormant control signal described sensing system of control and is in startup or park mode.
15. sensing system as claimed in claim 14, it is characterised in that:
Described dormancy control circuit, senses the position of described mobile object (109)；
When mobile object (109) is driven to a certain setting position, described dormancy control circuit sends startup control signal；
When mobile object (109) is driven to a certain setting position, described dormancy control circuit sends dormant control signal.
16. sensing system as claimed in claim 15, it is characterised in that:
Described startup control signal is rising edge step signal, after described micro-control unit (210) receives this startup control signal, exports normal signal after making the startup first place symbol of described sensing system output 1ms；
Described dormant control signal is trailing edge step signal, and after described micro-control unit (210) receives this dormant control signal, after making the normal signal of described sensing system output 2.5ms, no signal exports.
17. the sensing system as described in any one of claim 1 to 16, it is characterised in that:
Being fixedly installed magnet arrangement (166) on described mobile object (109), described magnet arrangement (166) moves with described mobile object (109) motion.
18. sensing system as claimed in claim 17, it is characterised in that:
Described sensing element is 3D hall sensing element, the field signal (Bx_n, By_n) on two directions in two-dimensional space of the magnetic field intensity of magnet arrangement (166) described in described 3D hall sensing element sensing, and use its this field signal (Bx_n, By_n) to carry out computing as run signal.
19. sensing system as claimed in claim 17, it is characterised in that:
Described mobile object is clutch plunger (109), and described stroke (105) is the clutch plunger (109) movable distance in piston cylinder (105).
20. sensing system as claimed in claim 19, it is characterised in that also include:
Outside described piston cylinder (105), set up collection magnetic part (106) be used for strengthening the magnetic field extension strength of described magnet arrangement (166).
21. sensing system as claimed in claim 20, it is characterised in that: also include pcb board,
The plurality of sensing element (101,102) is arranged on the side of pcb board；
Described collection magnetic part (106) is arranged on the opposite side of described pcb board, described collection magnetic part and the plurality of sensing element (101,102) aligned in position.
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| CN107044819A (en) * | 2016-02-06 | 2017-08-15 | 泰科电子(上海)有限公司 | The method for sensing and system of a kind of mobile object movement position |
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| CN107044819A (en) * | 2016-02-06 | 2017-08-15 | 泰科电子(上海)有限公司 | The method for sensing and system of a kind of mobile object movement position |
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