KR102115524B1 - Apparatus for sesnsing rotation - Google Patents

Abstract

According to one embodiment of the present invention, a rotation detecting apparatus comprises: a to-be-detected unit including a first pattern unit having a plurality of first patterns, and a second pattern unit having a plurality of second patterns; a sensor unit including a first sensor disposed opposite to the first pattern unit, a second sensor disposed opposite to the second pattern unit, a third sensor having a predetermined angle difference from the first sensor, and disposed opposite to the first pattern unit, and a fourth sensor having a predetermined angle difference from the second sensor and disposed opposite to the second pattern unit; and a rotation information calculating unit for calculating rotation information on a rotating body in accordance with a first oscillation signal, a second oscillation signal, a third oscillation signal, and a fourth oscillation signal generated based on the output of each of the first sensor, the second sensor, the third sensor, and the fourth sensor. The rotation information calculating unit can compensate for non-linearity of a differential signal generated by differentiating the first and second oscillation signals in accordance with one among the first oscillation signal, the second oscillation signal, the third oscillation signal, and the fourth oscillation signal corresponding to one among the maximum frequency and the minimum frequency. According to the present invention, a process error of a rotating body and a tilt of a rotary shaft can be compensated.

Description

Rotation detection device {APPARATUS FOR SESNSING ROTATION}

The present invention relates to a rotation sensing device.

The rotating body has been applied to various fields, such as a wheel switch of a motor and a wearable device requiring miniaturization and slimness. According to this trend, a sensing circuit that senses the position of the rotating body is also required to detect minute displacement of the rotating body.

An object of the present invention is to provide a rotation sensing device capable of compensating for the process error of the rotating body and the tilt of the rotating shaft.

The rotation detecting apparatus according to an embodiment of the present invention includes a first detection unit including a first pattern unit including a plurality of first patterns, and a second pattern unit including a plurality of second patterns; A first sensor disposed opposite to the first pattern portion, a second sensor disposed opposite to the second pattern portion, and a third sensor disposed opposite to the first pattern portion with a predetermined angle difference from the first sensor , A sensor unit including a fourth sensor having a predetermined angle difference from the second sensor and disposed opposite the second pattern unit; And a first oscillation signal, a second oscillation signal, a third oscillation signal, and a fourth oscillation signal generated based on the output of each of the first sensor, the second sensor, the third sensor, and the fourth sensor. A rotation information calculating unit for calculating rotation information of the rotating body; Including, the rotation information calculating unit, according to the oscillation signal corresponding to one of the maximum frequency and the minimum frequency of the first oscillation signal, the second oscillation signal, the third oscillation signal, and the fourth oscillation signal, The non-linearity of the difference signal generated by differentiating the first oscillation signal and the second oscillation signal may be compensated.

According to an embodiment of the present invention, it is possible to precisely detect the rotation of the rotating body by compensating for the process error of the rotating body and the tilt of the rotating shaft.

1A is a configuration diagram of a rotation sensing device according to an embodiment of the present invention.
1B is a configuration diagram of a modified embodiment of the rotation sensing device according to the embodiment of FIG. 1A.
2A is a schematic diagram of a pattern portion and a sensor portion according to an embodiment of the present invention.
2B is a schematic diagram of a pattern portion and a sensor portion according to another embodiment of the present invention.
3 is a view provided to explain the positional relationship between the detection unit and the sensor unit according to the rotation of the detection unit according to an embodiment of the present invention.
4 is a graph showing sensing values measured by the sensor unit according to the rotation of the detection unit according to an embodiment of the present invention.
5A is a block diagram of a rotation information calculator according to an embodiment of the present invention.
5B is a block diagram of a rotation information calculator according to another embodiment of the present invention.
6 is a simulation graph of a first oscillation signal, a second oscillation signal, a third oscillation signal, and a fourth oscillation signal according to an embodiment of the present invention.
7 is a block diagram of a frequency adjustment unit according to an embodiment of the present invention.
8A is an oscillation signal when the detection unit deviates from a neutral position according to an embodiment of the present invention, FIG. 8B is an average signal according to an embodiment of the present invention, and FIG. 8C is a subtraction signal according to an embodiment of the present invention , FIG. 8D is a simulation graph of an adjustment signal according to an embodiment of the present invention.
9 is a simulation graph of a differential signal according to an embodiment of the present invention.
10A is a simulation graph of a first oscillation signal, a second oscillation signal, a third oscillation signal, a fourth oscillation signal, and a differential signal when the rotating body rotates in the first direction according to an embodiment of the present invention.
10B is a simulation graph of a first oscillation signal, a second oscillation signal, a third oscillation signal, a fourth oscillation signal, and a differential signal when the rotating body rotates in the second direction according to an embodiment of the present invention.
11 is a simulation graph of difference signals before and after applying a compensation algorithm according to an embodiment of the present invention.
12 is a view provided to explain the operation of calculating the angle of the angle calculating unit according to an embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings.

However, embodiments of the present invention may be modified in various other forms, and the scope of the present invention is not limited to the embodiments described below. In addition, embodiments of the present invention are provided to more fully describe the present invention to those skilled in the art. It should be understood that the various embodiments of the present invention are different, but need not be mutually exclusive. As an example, the specific shapes, structures, and properties described herein can be implemented in other embodiments without departing from the spirit and scope of the invention in relation to one embodiment.

Also, 'including' a component means that other components may be further included, not excluded, unless otherwise stated.

1A is a configuration diagram of a rotation detection device according to an embodiment of the present invention, and FIG. 1B is a configuration diagram of a modified embodiment of the rotation detection device according to the embodiment of FIG. 1A. 2A is a schematic diagram of a pattern portion and a sensor portion according to an embodiment of the present invention, and FIG. 2B is a schematic diagram of a pattern portion and a sensor portion according to another embodiment of the present invention.

The rotation detection device according to an embodiment of the present invention may include a detection unit 20, a sensor unit 30, and a rotation information calculation unit 40.

Referring to FIG. 1A, the detection unit 20 may be connected to the wheel 10 through the rotation shaft 11. The wheel 10 is employed in an electronic device and can be understood as a rotating body rotated clockwise or counterclockwise by a user. The detection unit 20 may rotate in a clockwise or counterclockwise direction with the wheel 10.

The detected portion 20 may include a first pattern portion 21 and a second pattern portion 22. The first pattern portion 21 and the second pattern portion 22 are formed in the same shape, spaced a predetermined distance along the extending direction of the rotating shaft 11, and can be combined with the rotating shaft 11. The first pattern portion 21 and the second pattern portion 22 coupled to the rotation shaft may rotate at the same direction and the same speed when the rotating body is rotated.

Each of the first pattern portion 21 and the second pattern portion 22 may include a plurality of patterns having the same shape. The first pattern portion 21 includes a plurality of first patterns, and the second pattern portion 22 includes a plurality of second patterns.

In FIG. 1A, protruding regions of the first pattern portion 21 and the second pattern portion 22 correspond to the pattern. For example, the plurality of first patterns of the first pattern portion 21 and the plurality of second patterns of the second pattern portion 22 may be manufactured by processing a disk-shaped metal and a magnetic body to form teeth. Accordingly, the plurality of first patterns of the first pattern portion 21 and the plurality of second patterns of the second pattern portion 22 may be formed of one of metal and magnetic material.

The plurality of first patterns of the first pattern portion 21 extend along the rotational direction, and the plurality of second patterns of the second pattern portion 22 extend along the rotational direction. The extension length in the rotation direction of the first pattern may be defined as the size of the first pattern, and the extension length in the rotation direction of the second pattern may be defined as the size of the second pattern.

The plurality of first patterns of the first pattern portion 21 are arranged at a predetermined distance apart in the rotation direction, and the plurality of second patterns of the second pattern portion 22 are arranged at a predetermined distance apart in the rotation direction do. For example, the separation distances of the plurality of first patterns of the first pattern unit 21 may be the same as the size of the first pattern, and the separation distances of the plurality of second patterns of the second pattern unit 22 may be the same. It can be the same as the size.

For example, referring to FIG. 2A, a plurality of first patterns of the first pattern portion 21 may have a size corresponding to a rotation angle of 90 °, and a separation distance between the plurality of first patterns corresponds to a rotation angle of 90 ° Can be. Therefore, the first pattern portion 21 may include two first patterns having a size of 90 °. Similarly, the plurality of second patterns of the second pattern portion 22 may have a size corresponding to a rotation angle of 90 °, and the separation distance between the plurality of second patterns may correspond to a rotation angle of 90 °. Therefore, the second pattern portion 22 may include two second patterns having a size of 90 °.

Depending on the embodiment, the size and number of the first pattern and the second pattern may be changed. For example, referring to FIG. 2B, the first pattern portion 21 may include three first patterns having a size of 60 °, and the second pattern portion 22 may also have a size of 60 °. Can have two second patterns.

Hereinafter, for convenience of description, the first pattern portion 21 includes two first patterns having a size of 90 °, and the second pattern portion 22 includes two second patterns having a size of 90 °. Assuming to do so, explain it. However, the following description can be applied to a pattern portion having various angle sizes and various numbers of patterns.

The plurality of first patterns of the first pattern portion 21 and the plurality of second patterns of the second pattern portion 22 may be arranged to have a predetermined angle difference. For example, the plurality of first patterns of the first pattern portion 21 and the plurality of second patterns of the second pattern portion 22 are angles corresponding to half the size of the first pattern and half the size of the second pattern It can be arranged to have a car.

Assuming that the first pattern part 21 has two first patterns having a size of 90 °, and the second pattern part 22 has two second patterns having a size of 90 °, the first The plurality of first patterns of the first pattern portion 21 and the plurality of second patterns of the second pattern portion 22 may be arranged to have an angle difference of 45 °. Accordingly, some regions of the plurality of first patterns of the first pattern portion 21 and the plurality of second patterns of the second pattern portion 22 may overlap in a direction in which the rotation shaft 11 extends.

According to the above-described angle difference between the first pattern portion 21 and the second pattern portion 22, the sensing value output from the first sensor 31 and the sensing value output from the second sensor 32 are 90 °. It may have a phase difference. In addition, the sensing value output from the third sensor 33 and the sensing value output from the fourth sensor 34 may have a phase difference of 90 °.

The sensor unit 30 may include a plurality of sensors. For example, the sensor unit 30 may include a first sensor 31, a second sensor 32, a third sensor 33, and a fourth sensor 34. The first sensor 31 and the second sensor 32 are disposed on the first plane along the extending direction of the rotation shaft 11. The first sensor 31 is disposed to face the first pattern portion 21, and the second sensor 32 is disposed to face the second pattern portion 22. Further, the third sensor 33 and the fourth sensor 34 are arranged on the second plane along the extending direction of the rotation shaft 11. The third sensor 33 is disposed to face the first pattern portion 21, and the fourth sensor 34 is disposed to face the second pattern portion 22. The first plane and the second plane may be arranged to have a predetermined angle.

By the rotation of the first pattern portion 21 and the second pattern portion 22, areas of the first sensor 31 and the third sensor 33 overlapping the first pattern of the first pattern portion 21 are The area of the second sensor 32 and the fourth sensor 34 overlapping with the second pattern of the second pattern portion 22 is changed. The first sensor 31 and the third sensor 33 detect a change in the overlapping area with the first pattern portion 21, and the second sensor 32 and the fourth sensor 34 have a second pattern portion The change in the overlapping area with (22) can be detected.

The first sensor 31, the second sensor 32, the third sensor 33, and the fourth sensor 34 may have a predetermined size. Here, the size of the first sensor 31, the second sensor 32, the third sensor 33, and the fourth sensor 34 may be understood as a length corresponding to a direction in which the rotating body rotates. For example, the sizes of the first sensor 31, the second sensor 32, the third sensor 33, and the fourth sensor 34 are the first pattern and the second pattern of the first pattern portion 21 It may correspond to half the size of the second pattern of the part 22.

The first sensor 31 and the third sensor 33 are arranged to have an angle difference of the size of the first pattern, and the second sensor 32 and the fourth sensor 34 are angled by the size of the second pattern It can be arranged to have a car. The first sensor 31 and the third sensor 33 are arranged to have an angular difference equal to the size of the first pattern, and the sensing value output from the first sensor 31 and the sensing output from the third sensor 33 The value may have a phase difference of 180 °. In addition, the second sensor 32 and the fourth sensor 34 are arranged to have an angular difference equal to the size of the second pattern, and the sensing value output from the second sensor 32 and the output from the fourth sensor 34 The sensed value may have a phase difference of 180 °.

As an example, the first pattern portion 21 has two first patterns having a size corresponding to 90 ° and a separation distance corresponding to 90 °, and a size corresponding to 90 ° of the second pattern part 22 And when two second patterns having a separation distance of 90 ° are provided, as illustrated in FIG. 2A, the third sensor 33 may be arranged to have an angle difference of 90 ° from the first sensor 31. The fourth sensor 34 may be arranged to have an angle difference of 90 ° from the second sensor 32.

As another example, the first pattern part 21 has three first patterns having a size corresponding to 60 ° and a separation distance corresponding to 60 °, and the second pattern part 22 has a size corresponding to 60 ° And 3 second patterns having a separation distance corresponding to 60 °, as shown in FIG. 2B, the third sensor 33 is arranged to have an angle difference of 60 ° from the first sensor 31 The fourth sensor 34 may be arranged to have an angle difference of 60 ° from the second sensor 32.

Each of the first sensor 31, the second sensor 32, the third sensor 33, and the fourth sensor 34 may include sensing coils L1, L2, L3, and L4. The sensing coils L1, L2, L3, and L4 may be provided by forming a circuit pattern on the substrate. According to an embodiment, the sensing coils L1, L2, L3, and L4 may be formed of one of a wound inductor coil and a solenoid coil. The first sensor 31, the second sensor 32, the third sensor 33, and the fourth sensor 34 including the sensing coils L1, L2, L3, and L4 are the first pattern portion 21 And a rotation angle and a rotation direction of the rotating body according to the inductance changing according to the overlapping area with the second pattern portion 22.

The rotation information calculator 40 is implemented as an integrated circuit, and may be electrically connected to the first sensor 31, the second sensor 32, the third sensor 33, and the fourth sensor 34. The rotation information calculator 40 rotates and rotates the rotational direction of the rotating body according to the inductance of the first sensor 31, the second sensor 32, the third sensor 33, and the fourth sensor 34. It is possible to calculate the rotation information including.

Referring to FIG. 1B, the rotation sensing device according to the embodiment of FIG. 1B may further include a support member 23 connected to the rotation shaft 11. Since the rotation detection device according to the embodiment of FIG. 1B is similar to the rotation detection device according to the embodiment of FIG. 1A, redundant description will be omitted and the difference will be mainly described. The support member 23 is connected to the rotating shaft 11 and can rotate clockwise or counterclockwise around the rotating shaft 11 according to the rotation of the wheel 10. For example, the support member 23 may be formed in a cylindrical shape. The detected portion 20 may be disposed on the columnar support member 23. The detected portion 20 may include a first pattern portion 21 and a second pattern portion 22 disposed on a side surface of the columnar support member 23.

The first pattern portion 21 may include a plurality of first patterns extending along a rotational direction in a first height region of the support member 23 formed in a cylindrical shape, and the second pattern portion 22 is a cylindrical shape The second height region of the support member 23 formed in the shape may include a plurality of second patterns extending along the rotational direction. The plurality of first patterns of the first pattern portion 21 and the plurality of second patterns of the second pattern portion 22 may be formed of one of metal and magnetic material.

The support member 23 according to the present embodiment may be formed of a non-metallic material such as plastic, and the first pattern portion 21 and the second pattern portion 22 may be formed of metal. The support member 23 may be made of plastic through an injection molding process, and the first pattern portion 21 and the second pattern portion 22 may be formed through a plating process.

The first pattern portion 21 and the second pattern portion 22 may be disposed on the side surface of the support member 23. When the first pattern portion 21 and the second pattern portion 22 are disposed on the support member 23, the first pattern portion 21 and the second pattern portion ( 22) A groove is formed to be provided. For example, a step may be provided in the support member 23 by a groove extending along the rotational direction. The first pattern portion 21 and the second pattern portion 22 are disposed in a groove provided on a side surface of the support member 23 and may be exposed to the outside. For example, the thickness of the first pattern portion 21 and the second pattern portion 22 may be the same as the thickness of the groove.

The rotation sensing device according to the embodiment of FIG. 1B may produce a thin pattern by a method having excellent mass productivity such as an injection molding process and a plating process, and thus may be advantageous for mass production and cost reduction.

3 is a view provided to explain the positional relationship between the detection unit and the sensor unit according to the rotation of the detection unit according to an embodiment of the present invention, and FIG. 4 is according to rotation of the detection unit according to an embodiment It is a graph showing the sensing value measured by the sensor unit. In FIG. 3, the first sensor 31 and the second sensor 32 are illustrated in the form of a sensing coil, which is an embodiment of the first sensor 31 and the second sensor 32.

Referring to FIG. 3, due to the rotation of the wheel 10, the overlapping area between the detected part 20 and the sensor part 30 may be changed. Specifically, the overlapping area of the first pattern portion 21 and the first sensor 31 and the third sensor 33 and the second pattern portion 22 and the second sensor 32 and the fourth sensor 34 The overlap area can be changed. As the overlapping area of the first pattern portion 21 and the first sensor 31 changes, the sensing value S1 of the first sensor 31 changes, and the first pattern portion 21 and the third sensor ( According to the change of the overlapping area of 33), the sensing value S3 of the third sensor 33 changes, and according to the change of the overlapping area of the second pattern part 22 and the second sensor 32, the second The sensing value S2 of the sensor 32 changes, and according to the change in the overlapping area of the second pattern portion 22 and the fourth sensor 34, the sensing value S4 of the fourth sensor 34 changes. do. The sensing values of the first to fourth sensors may correspond to inductance.

Hereinafter, for convenience of description, the change of the sensing value S1 of the first sensor 31 according to the change in the overlapping area of the first pattern portion 21 and the first sensor 31 will be mainly described. However, it goes without saying that the following description can be applied to changes in the sensing values of the remaining sensors.

Meanwhile, in FIG. 3, it is assumed that the first pattern portion 21 and the second pattern portion 22 rotate from the lower side to the upper side. In the first state (State 1), the first sensor 31 overlaps with the first pattern portion 21. When the first pattern part 21 made of a metallic material is adjacent to the first sensor 31 made of the sensing coil, a current is applied to the first pattern part 21 by the magnetic flux generated by the sensing coil, The magnetic flux is generated in the first pattern portion 21 by the current applied to the first pattern portion 21. At this time, the magnetic flux generated in the first pattern portion 21 cancels the magnetic flux of the sensing coil of the first sensor 31, so that the inductance of the sensing coil of the first sensor 31 decreases. Accordingly, referring to 0 ° of FIG. 4 corresponding to the first state (state 1), the sensing value S1 of the first sensor 31 corresponds to a low level.

After the first state (State 1), the first pattern portion 21 rotates from the lower direction to the upper direction, so that in the second state (State 2), the first sensor 31 is still, the first pattern portion 21 ). Accordingly, referring to 45 ° of FIG. 4 corresponding to the second state (state 2), the sensing value S1 of the first sensor 31 is maintained at a low level.

After the second state (State 2), the first pattern portion 21 rotates from the lower side to the upper side, and in the third state (State 3), the first sensor 31 overlaps the first pattern portion 21 Does not work. Accordingly, referring to 90 ° of FIG. 4 corresponding to the third state (state 3), the sensing value S1 of the first sensor 31 is changed to a high level.

After the third state (State 3), the first pattern portion 21 rotates from the lower side to the upper side, so that in the fourth state (State 4), the first sensor 31 is still in contact with the first pattern portion 21 , Do not overlap. Accordingly, referring to 180 ° of FIG. 4 corresponding to the fourth state (state 4), the sensing value S1 of the first sensor 31 maintains a high level.

5A is a block diagram of a rotation information calculator according to an embodiment of the present invention. 5B is a block diagram of a rotation information calculator according to another embodiment of the present invention.

Referring to Figure 5a, it will be described in detail with respect to the rotating body detection method of the rotation detecting apparatus according to an embodiment of the present invention.

The rotation information calculating unit 40 according to an embodiment of the present invention includes an oscillating unit 410, a frequency calculating unit 420, a maximum / minimum frequency determining unit 430, a frequency adjusting unit 440, a difference calculating unit 450, and a direction. It may include a detection unit 460, a non-linear compensation unit 470, an angle calculation unit 480.

The oscillation unit 410 may include a plurality of oscillation signal generation units. The plurality of oscillation signal generation units may include a first oscillation signal generation unit 411, a second oscillation signal generation unit 412, a third oscillation signal generation unit 413, and a fourth oscillation signal generation unit 414. .

The first oscillation signal generation unit 411 includes a first sensing coil L1 of the first sensor 31 and a first capacitor C1 forming a first oscillation circuit, and the second oscillation signal generation unit 412 ) Includes a second sensing coil L2 of the second sensor 32 and a second capacitor C2 forming a second oscillation circuit, and the third oscillation signal generator 413 includes a third sensor 33 The third sensing coil (L3) and a third capacitor (C3) forming a third oscillation circuit, the fourth oscillation signal generator 414, the fourth sensing coil (L4) of the fourth sensor (34) And a fourth capacitor C4 forming the fourth oscillation circuit.

A pair of sensing coils and capacitors can constitute a given LC oscillator. The plurality of oscillation circuits included in the oscillation unit 410 are schematically illustrated, and the first to fourth oscillation circuits may be configured in various well-known forms of oscillators. The first oscillation signal generator 411 outputs the first oscillation signal OSC1, the second oscillation signal generator 412 outputs the second oscillation signal OSC2, and the third oscillation signal generator 413 ) Outputs the third oscillation signal OSC3, and the fourth oscillation signal generator 414 outputs the fourth oscillation signal OSC4. By the rotation of the wheel 10, the overlapping area of the detection unit 20 and the first sensing coil L1, the second sensing coil L2, the third sensing coil L3, and the fourth sensing coil L4 is If changed, the frequency of the oscillation signal output from the first oscillation signal generator 411, the second oscillation signal generator 412, the third oscillation signal generator 413, and the fourth oscillation signal generator 414 Fluctuates. In the above description, it is described that each of the first sensor 31, the second sensor 32, the third sensor 33, and the fourth sensor 34 forms a capacitor and an oscillation circuit to output an oscillation signal. However, the oscillation signal may correspond to an example of a detection signal output from the first sensor 31, the second sensor 32, the third sensor 33, and the fourth sensor 34, and The sensor 31, the second sensor 32, the third sensor 33, and the fourth sensor 34 may be combined with various elements to generate various sensing signals. However, for convenience of description, the first sensor 31, the second sensor 32, the third sensor 33, and the fourth sensor 34 each form a capacitor and an oscillation circuit to output an oscillation signal. It is assumed to be explained.

The frequency calculator 420 calculates the frequencies of the first oscillation signal OSC1, the second oscillation signal OSC2, the third oscillation signal OSC3, and the fourth oscillation signal OSC4 provided from the oscillation unit 410. can do. The frequency calculator 420 counts the frequencies of the first oscillation signal OSC1, the second oscillation signal OSC2, the third oscillation signal OSC3, and the fourth oscillation signal OSC4, so that the first oscillation signal ( The frequency f_OSC1 of the OSC1), the frequency f_OSC2 of the second oscillation signal OSC2, the frequency f_OSC3 of the third oscillation signal OSC3, and the frequency f_OSC4 of the fourth oscillation signal OSC4 can be calculated. have.

The frequency calculator 420 includes the frequency f_OSC1 of the first oscillation signal OSC1, the frequency f_OSC2 of the second oscillation signal OSC2, the frequency f_OSC3 of the third oscillation signal OSC3, and the fourth oscillation signal. The frequency (f_OSC4) of (OSC4) is determined together with the first oscillation signal OSC1, the second oscillation signal OSC2, the third oscillation signal OSC3, and the fourth oscillation signal OSC4. It can be provided to each configuration, such as the unit 430, and the frequency adjustment unit 440.

The maximum / minimum frequency determination unit 430 includes the frequency f_OSC1 of the first oscillation signal OSC1, the frequency f_OSC2 of the second oscillation signal OSC2, and the third oscillation signal provided from the frequency calculation unit 420. Depending on the frequency f_OSC3 of the OSC3 and the frequency f_OSC4 of the fourth oscillation signal OSC4, one of the maximum frequency fmax and the minimum frequency fmin for each time zone may be determined. Also, the maximum / minimum frequency determination unit 430 may determine the oscillation signal fmax: OSC corresponding to one of the maximum frequency fmax and the minimum frequency fmin.

The maximum / minimum frequency determination unit 430 includes the first oscillation signal OSC1, the second oscillation signal OSC2, the third oscillation signal OSC3, and the fourth oscillation signal OSC4 and their frequencies generated in real time. Information is received. The maximum / minimum frequency determination unit 430 may determine the maximum frequency (fmax) and minimum frequency (fmin) for each timing or each time zone by using the transmitted oscillation signals and their frequency information, and corresponding to them The oscillation signal can be determined.

Hereinafter, for convenience of description, the operation of the rotation information calculating unit will be described centering on the maximum frequency fmax. However, it goes without saying that the following description may be applied to the minimum frequency fmin.

6 is a simulation graph of a first oscillation signal, a second oscillation signal, a third oscillation signal, and a fourth oscillation signal according to an embodiment of the present invention.

When the first oscillation signal OSC1, the second oscillation signal OSC2, the third oscillation signal OSC3, and the fourth oscillation signal OSC4 having the frequency shown in FIG. 6 are provided, the maximum / minimum frequency determination The unit 430 calculates a maximum frequency fmax for each time zone.

Also, the maximum / minimum frequency determination unit 430 may determine an oscillation signal corresponding to the calculated maximum frequency. For example, the maximum / minimum frequency determination unit 430 determines the first oscillation signal OSC1 as the oscillation signal fmax: OSC1 corresponding to the maximum frequency in the first period T1, and the second period T2. ), The second oscillation signal (OSC2) is determined as the oscillation signal (fmax: OSC2) corresponding to the maximum frequency, and in the third period (T3), the third oscillation signal (OSC3) oscillation signal corresponding to the maximum frequency (fmax: OSC3), and in the fourth section T4, the fourth oscillation signal OSC4 is determined as the oscillation signal fmax: OSC4 corresponding to the maximum frequency.

7 is a block diagram of a frequency adjustment unit according to an embodiment of the present invention, and FIG. 8A is an oscillation signal when the detection unit deviates from a neutral position according to an embodiment of the present invention, and FIG. 8B is an embodiment of the present invention According to the average signal, Figure 8c is a subtraction signal according to an embodiment of the present invention, Figure 8d is a simulation graph of the adjustment signal according to an embodiment of the present invention.

When the user operates the wheel, the detected part may deviate from a horizontal or vertical neutral position by a force in the direction of rotation and a force in an unintended direction. Referring to FIG. 8A, when the detection unit deviates from a horizontal or vertical neutral position, the first oscillation signal OSC1, the second oscillation signal OSC2, the third oscillation signal OSC3, and the fourth oscillation signal OSC4 ), The frequency of the non-uniformly fluctuates, which may cause a problem that the sensing sensitivity of the rotation sensing device is lowered. Therefore, when the detected part deviates from the horizontal or vertical neutral position, it is necessary to compensate for the reduced sensing sensitivity of the rotation sensing device.

The frequency adjusting unit 440 according to an exemplary embodiment of the present invention is first according to the first oscillation signal OSC1, the second oscillation signal OSC2, the third oscillation signal OSC3, and the fourth oscillation signal OSC4. The sensing sensitivity can be improved by generating the adjustment signal OSC1_cal and the second adjustment signal OSC2_cal, and calculating rotation information according to the generated first adjustment signal OSC1_cal and the second adjustment signal OSC2_cal. .

The frequency adjustment unit 440 according to an embodiment of the present invention may include an average signal generation unit 441, a subtraction unit 442, and a normal signal generation unit 443.

The average signal generating unit 441 may include a first averaging unit 441a and a second averaging unit 441b. Referring to FIG. 8B, the first averaging unit 441a includes the first oscillation signal OSC1 and the frequency f_OSC1 of the first oscillation signal OSC1 and the frequency f_OSC3 of the third oscillation signal OSC3. The third oscillation signal OSC3 is averaged to generate the first average signal AVG1. The second averaging unit 441b according to the frequency f_OSC2 of the second oscillation signal OSC2 and the frequency f_OSC4 of the fourth oscillation signal OSC4, the second oscillation signal OSC2 and the fourth oscillation signal OSC4 ) Is averaged to generate a second average signal AVG2. The average signal generator 441 may generate the first average signal AVG1 and the second average signal AVG2 illustrated in FIG. 8B.

The subtractor 442 may include a first subtractor 442a and a second subtractor 442b.

The first subtractor 442a subtracts the first average signal AVG1 from the first oscillation signal OSC1 to generate a first subtraction signal SUB1. For example, the first subtraction signal SUB1 may be generated by subtracting the frequency f_AVG1 of the first average signal AVG1 from the frequency f_OSC1 of the first oscillation signal OSC1.

The second subtractor 442b subtracts the second average signal AVG2 from the second oscillation signal OSC2 to generate the second subtracted signal SUB2. For example, the second subtraction signal SUB2 may be generated by subtracting the frequency f_AVG2 of the second average signal AVG2 from the frequency f_OSC2 of the second oscillation signal OSC2. The first subtraction signal SUB1 and the second subtraction signal SUB2 shown in FIG. 8C may be generated by the subtraction unit 442.

According to an exemplary embodiment, the first subtractor 442a subtracts the first average signal AVG1 from the third oscillation signal OSC3, and the second subtractor 442b the second average signal from the fourth oscillation signal OSC4. (AVG2) can be subtracted. However, for convenience of description, the first subtractor 442a subtracts the first average signal AVG1 from the first oscillation signal OSC1, and the second subtractor 442b averages the second average from the second oscillation signal OSC2. It is assumed that the signal AVG2 is subtracted.

The normal signal generation unit 443 may include a first normalization unit 443a and a second normalization unit 443b.

The first normalization unit 443a normalizes the first subtraction signal SUB1 to generate a first adjustment signal OSC1_cal. The first normalizer 443a may normalize the first subtracted signal SUB1 according to the first average signal AVG1 and the maximum frequency fmax. For example, the first normalization unit 443a is the frequency of the first subtraction signal SUB1 to the difference between the maximum frequency fmax and the frequency f_AVG1 of the first average signal AVG1 according to Equation 1 below. According to the ratio of (f_SUB1), the frequency (f_OSC1_cal) of the first adjustment signal OSC1_cal may be calculated to generate the first adjustment signal OSC1_cal.

The second normalization unit 443b normalizes the second subtraction signal SUB2 to generate a second adjustment signal OSC2_cal. The second normalization unit 443b may normalize the second subtraction signal SUB2 according to the second average signal AVG2 and the maximum frequency fmax. For example, the second normalization unit 443b has a frequency of the second subtraction signal SUB2 with respect to the difference between the maximum frequency fmax and the frequency f_AVG2 of the second average signal AVG2 according to Equation 2 below. According to the ratio of (f_SUB2), the second adjustment signal OSC1_cal2 may be generated by calculating the frequency f_OSC2_cal of the second adjustment signal OSC2_cal.

The first adjustment signal OSC1_cal and the second adjustment signal OSC2_cal shown in FIG. 8D may be generated by the regular signal generation unit 443.

8A and 8D, the first oscillation signal OSC1 and the second oscillation signal OSC2 have a non-uniform frequency by the detection unit out of the neutral position, while the first adjustment signal OSC1_cal And it can be seen that the second adjustment signal (OSC2_cal) has a constant frequency range. Therefore, the rotation detection apparatus according to an embodiment of the present invention can accurately calculate rotation information of the rotating body even when the detected part deviates from the neutral position.

Referring again to FIG. 5A, the difference calculator 450 may calculate a difference signal Diff by calculating a difference between the first adjustment signal OSC1_cal and the second adjustment signal OSC2_cal.

9 is a simulation graph of a differential signal according to an embodiment of the present invention.

Referring to FIG. 9, the difference calculator 450 may differentiate the first adjustment signal OSC1_cal and the second adjustment signal OSC2_cal to generate a difference signal Diff that increases or decreases with time.

Meanwhile, referring to FIG. 5B, the frequency adjusting unit 440 of the rotation information calculating unit 40 according to the embodiment of FIG. 5A may be omitted. When the frequency adjustment unit 440 is omitted, the first oscillation signal OSC1 and the second oscillation signal OSC2 are provided to the difference calculating unit 450 instead of the first adjustment signal OSC1_cal and the second adjustment signal OSC2_cal. Thus, a difference signal Diff may be generated according to a difference between the first oscillation signal OSC1 and the second oscillation signal OSC2.

10A illustrates a first oscillation signal OSC1, a second oscillation signal OSC2, a third oscillation signal OSC3, and a fourth oscillation signal when the rotating body rotates in the first direction according to an embodiment of the present invention. (OSC4) and a simulation graph of the difference signal Diff, and FIG. 10B is a first oscillation signal OSC1 and a second oscillation signal OSC2 when the rotating body rotates in the second direction according to an embodiment of the present invention. ), The third oscillation signal OSC3, the fourth oscillation signal OSC4, and the difference graph Diff.

The direction detector 460 may sense the rotation direction of the rotating body according to the section of the oscillation signal corresponding to the maximum frequency and the difference signal Diff increasing or decreasing.

Referring to FIG. 10A, when the rotating body rotates in the first direction, when the first oscillation signal OSC1 or the second oscillation signal OSC2 has the maximum frequency, the difference signal Diff increases. Further, when the rotating body rotates in the first direction, when the third oscillation signal OSC3 or the fourth oscillation signal OSC4 has the maximum frequency, the difference signal Diff is reduced.

When the rotating body rotates in a second direction different from the first direction, when the first oscillation signal OSC1 or the second oscillation signal OSC2 has the maximum frequency, the difference signal Diff is reduced. Further, when the rotating body rotates in the second direction, when the third oscillation signal OSC3 or the fourth oscillation signal OSC4 has the maximum frequency, the difference signal Diff increases.

Accordingly, when the first oscillation signal OSC1 or the second oscillation signal OSC2 corresponds to the maximum frequency and the difference signal Diff increases, the direction detecting unit 460 rotates the rotating body in the first direction. I judge it. In addition, when the third oscillation signal OSC3 or the fourth oscillation signal OSC4 corresponds to the maximum frequency, and the differential signal Diff decreases, the rotation information calculator 40 rotates in the first direction. I judge it.

On the other hand, when the first oscillation signal OSC1 or the second oscillation signal OSC2 corresponds to the maximum frequency, and the difference signal Diff decreases, the direction detecting unit 460 has a different rotational body from the first direction. It is determined to rotate in the second direction. In addition, when the third oscillation signal OSC3 or the fourth oscillation signal OSC4 corresponds to the maximum frequency, and the difference signal Diff increases, the rotation information calculator 40 rotates in the second direction. I judge it.

The nonlinear compensation unit 470 may compensate for the nonlinearity of the differential signal Diff according to the oscillation signal having the maximum frequency.

When the first oscillation signal OSC1 or the second oscillation signal OSC2 has a maximum frequency, the difference signal Diff has a first nonlinearity. Referring to FIG. 10A, when the first oscillation signal OSC1 or the second oscillation signal OSC2 has a maximum frequency, the differential signal Diff has a first nonlinearity that increases approximately in steps, see FIG. 10B When the first oscillation signal OSC1 or the second oscillation signal OSC2 has a maximum frequency, the differential signal Diff has a first nonlinearity that decreases approximately in steps.

Alternatively, when the third oscillation signal OSC3 or the fourth oscillation signal OSC4 has a maximum frequency, the differential signal Diff has a second nonlinearity. Referring to FIG. 10A, when the third oscillation signal OSC3 or the fourth oscillation signal OSC4 has a maximum frequency, the differential signal Diff has a second nonlinearity that decreases approximately exponentially, and FIG. 10B Referring to, when the third oscillation signal OSC3 or the fourth oscillation signal OSC4 has a maximum frequency, the differential signal Diff has a second nonlinearity that increases approximately exponentially. The first non-linearity and the second non-linearity are due to the process error of the pattern portion provided in the detection unit 20, the angle, position, and size of the sensor provided in the sensor unit 30, and the process error according to the tilt of the rotation axis. Caused by. Here, the process error can be understood as the difference between the design value and the actual measurement value. The first nonlinearity and the second nonlinearity of the difference signal Diff are identified in advance to compensate for the first nonlinearity and the second nonlinearity. Even if a compensation algorithm and a compensation parameter are provided, in order to apply the compensation algorithm and the compensation parameter, it is necessary to determine which nonlinearity of the first nonlinearity and the second nonlinearity of the differential signal in the increase and decrease intervals is Is required.

The nonlinear compensation unit 470 according to an embodiment of the present invention may determine the nonlinearity of the differential signal Diff according to the oscillation signal having the maximum frequency.

When the first oscillation signal OSC1 or the second oscillation signal OSC2 has a maximum frequency, the nonlinear compensation unit 470 determines that it has the first nonlinearity and applies the first nonlinearity to the difference signal Diff. A first compensation algorithm to compensate can be applied.

In addition, when the third oscillation signal OSC3 or the fourth oscillation signal OSC4 has a maximum frequency, the nonlinear compensation unit 470 determines that the second nonlinearity is present, and the second nonlinearity is applied to the differential signal Diff. A second compensation algorithm that compensates for sex can be applied.

11 is a simulation graph of difference signals before and after applying a compensation algorithm according to an embodiment of the present invention.

11 (a) is a simulation graph of the difference signal after applying the compensation algorithm, and FIG. 11 (b) is a simulation graph of the difference signal before applying the compensation algorithm.

11 (a) and 11 (b), compared to the differential signal of FIG. 11 (b) having the first nonlinearity decreasing approximately stepwise and the second nonlinearity increasing approximately exponentially, It can be seen that the differential signal of 11 (a) is less nonlinearity and linearly increases or decreases with time.

12 is a view provided to explain the operation of calculating the angle of the angle calculating unit according to an embodiment of the present invention.

5A and 12, the angle calculator 480 calculates a plurality of comparison values according to the target detection angle and the sizes of the first pattern and the second pattern, and calculates the plurality of comparison values with a difference signal. By comparison, the rotation angle can be calculated.

According to an embodiment of the present invention, even when the target sensing angle is changed or the size of the sensing coil / pattern is changed, a plurality of comparison values are calculated and calculated according to the determined target sensing angle and the size of the sensing coil / pattern By comparing the difference signal with the compared value, it is possible to accurately detect the target detection angle.

The plurality of comparison values may be located within a range of a maximum value (Max) and a minimum value (Min) of the difference signal Diff. On the other hand, the difference between adjacent comparison values among the plurality of comparison values is the same, and the difference between the maximum value of the maximum value of the difference signal Diff and the maximum value of the difference signal Diff among the plurality of comparison values is the adjacent comparison value among the plurality of comparison values. The difference between the difference between the minimum size of the plurality of comparison values and the minimum value (Min) of the difference signal Diff corresponds to twice the difference between adjacent comparison values among the plurality of comparison values. can do.

Referring to FIG. 12, two comparison values are illustrated, but the two comparison values are exemplary, and the number of comparison values may be determined according to the target detection angle and the size of the pattern.

The plurality of comparison values may be determined according to the target detection angle and the sizes of the first pattern and the second pattern. The number of the plurality of comparison values may be determined according to the ratio of the angle corresponding to the size of the first pattern and the second pattern and the target detection angle, and the level of the plurality of comparison values corresponds to the size of the first pattern and the second pattern The angle may be determined to be divided by a target detection angle.

When the size of the pattern corresponds to 90 degrees and the target detection angle is 7.5 degrees, 12 (= 90 / 7.5) comparison values can be calculated. By 12 comparison values, 90 degrees corresponding to the size of the pattern can be equally divided into 7.5 degrees corresponding to the target detection angle.

In addition, when the size of the pattern corresponds to 45 degrees and the target detection angle is 7.5 degrees, 6 (= 45 / 7.5) comparison values may be calculated. By six comparison values, 45 degrees corresponding to the size of the pattern can be equally divided into 7.5 degrees corresponding to the target detection angle.

In addition, when the size of the pattern corresponds to 15 degrees and the target detection angle is 7.5 degrees, two (= 15 / 7.5) comparison values can be calculated. By two comparison values, 15 degrees corresponding to the size of the pattern can be equally divided into 7.5 degrees corresponding to the target detection angle.

The angle calculator 480 may generate an output value OUTPUT by comparing the difference signal Diff and a plurality of comparison values. The angle calculator 480 may switch the state of the output value OUTPUT at a time when the level of the difference signal Diff is equal to the level of each of the first comparison value and the second comparison value, thereby calculating the output value OUTPUT. have.

For example, assuming that two first comparison values and a second comparison value are provided from the angle calculation unit 480 and the output value OUTPUT is low level before comparison with the first comparison value, the angle calculation unit ( 480) sets the difference signal Diff above the first comparison value to a high level, the difference signal Diff below the second comparison value to a high level, and the difference signal Diff above the second comparison value below the first comparison value. By determining the low level, the output value OUTPUT can be calculated.

The angle calculating unit 480 may calculate the rotation angle of the detection unit from each of the intervals of the high level and the low level of the output value OUTPUT. For example, the angle calculator 480 may calculate the rotation angle from the interval of the high level and low level of the output value OUTPUT.

In the above, the present invention has been described by specific matters such as specific components, etc. and limited embodiments and drawings, which are provided to help the overall understanding of the present invention, but the present invention is not limited to the above embodiments , Those skilled in the art to which the present invention pertains can make various modifications and variations from these descriptions.

Therefore, the spirit of the present invention is not limited to the above-described embodiment, and should not be determined, and all claims that are equally or equivalently modified with the claims as described below belong to the scope of the spirit of the present invention. Would say

10: rotating body
20: detection unit
21: first pattern portion
22: second pattern portion
30: sensor unit
31: first sensor
32: second sensor
33: third sensor
34: fourth sensor
40: rotation information calculation unit

Claims (16)

A detection unit including a first pattern portion having a plurality of first patterns, and a second pattern portion having a plurality of second patterns;
A first sensor disposed opposite to the first pattern portion, a second sensor disposed opposite to the second pattern portion, and a third sensor disposed opposite to the first pattern portion with a predetermined angle difference from the first sensor , A sensor unit including a fourth sensor having a predetermined angle difference from the second sensor and disposed opposite the second pattern unit; And
The first oscillation signal, the second oscillation signal, the third oscillation signal, and the fourth oscillation signal generated based on the output of each of the first sensor, the second sensor, the third sensor, and the fourth sensor A rotation information calculation unit for calculating overall rotation information; Including,
The rotation information calculation unit, the first oscillation signal, the second oscillation signal, the third oscillation signal, and the first oscillation according to the oscillation signal corresponding to one of the maximum frequency and minimum frequency of the fourth oscillation signal A rotation sensing device compensating for nonlinearity of a differential signal generated by differentiating a signal and the second oscillation signal.
According to claim 1, The rotation information calculation unit,
When the oscillation signal corresponding to one of the maximum frequency and the minimum frequency corresponds to one of the first oscillation signal and the second oscillation signal, the rotation detection device determines that the differential signal has a first nonlinearity.
According to claim 2, The rotation information calculation unit,
When the oscillation signal corresponding to one of the maximum frequency and the minimum frequency corresponds to one of the third oscillation signal and the fourth oscillation signal, the differential signal has a second nonlinearity different from the first nonlinearity. Rotation detection device to judge.
According to claim 3, The rotation information calculation unit,
When it is determined that the differential signal has the first nonlinearity, a first compensation algorithm for compensating the first nonlinearity is applied to the differential signal, and it is determined that the differential signal has the second nonlinearity. In case, the rotation detection device applies a second compensation algorithm that compensates the second nonlinearity to the difference signal.
According to claim 1, The rotation information calculation unit,
A rotation sensing device for averaging the first oscillation signal and the second oscillation signal to generate a first average signal, and averaging the third oscillation signal and the fourth oscillation signal to generate a second average signal.
According to claim 5, The rotation information calculation unit,
A rotation sensing device generating a first subtraction signal by subtracting the first average signal from the first oscillation signal, and generating a second subtraction signal by subtracting the second average signal from the second oscillation signal.
The rotation information calculating unit according to claim 6,
According to the ratio of the frequency of the first subtracted signal to the difference between the maximum frequency and the frequency of the first average signal, a first adjustment signal is generated, and a second subtraction of the difference between the maximum frequency and the frequency of the second average signal A rotation sensing device that generates a second adjustment signal according to the ratio of the frequency of the signal.
According to claim 7, The rotation information calculation unit,
A rotation sensing device that generates the difference signal by differentiating the first adjustment signal and the second adjustment signal.
According to claim 1,
The first oscillation signal and the third oscillation signal has a phase difference of 180 °, the second oscillation signal and the fourth oscillation signal has a phase difference of 180 ° rotation sensing device.
The method of claim 9,
The first oscillation signal and the second oscillation signal has a phase difference of 90 °, the third oscillation signal and the fourth oscillation signal has a phase difference of 90 ° rotation sensing device.
A first sensor disposed opposite to the plurality of first patterns, a second sensor disposed opposite to the plurality of second patterns having a predetermined angle difference from the plurality of first patterns, and having a predetermined angle difference from the first sensor , A sensor unit including a third sensor disposed opposite to the plurality of first patterns, a fourth sensor having a predetermined angular difference from the second sensor, and disposed opposite to the plurality of second patterns; And
According to the first detection signal, the second detection signal, the third detection signal, and the fourth detection signal generated based on the output of each of the first sensor, the second sensor, the third sensor, and the fourth sensor A rotation information calculating unit for calculating rotation information of the rotating body; Including,
The rotation information calculating unit, the first detection signal, the second detection signal, the third detection signal, and the first detection according to the detection signal corresponding to one of the maximum frequency and the minimum frequency of the fourth detection signal, the first detection A rotation sensing device compensating for nonlinearity of a differential signal generated by differentiating a signal and the second detection signal. 12. The method of claim 11, The rotation information calculation unit,
When the detection signal corresponding to one of the maximum frequency and the minimum frequency corresponds to one of the first detection signal and the second detection signal, the rotation detection device determines that the differential signal has a first nonlinearity.
The rotation information calculating unit of claim 12,
When the detection signal corresponding to one of the maximum frequency and the minimum frequency corresponds to one of the third detection signal and the fourth detection signal, the differential signal has a second nonlinearity different from the first nonlinearity Rotation detection device to judge.
The rotation information calculating unit of claim 13,
When it is determined that the differential signal has the first nonlinearity, a first compensation algorithm for compensating the first nonlinearity is applied to the differential signal, and it is determined that the differential signal has the second nonlinearity. In case, the rotation detection device applies a second compensation algorithm that compensates the second nonlinearity to the difference signal.
The method of claim 11,
The first sensing signal and the third sensing signal has a phase difference of 180 °, the second sensing signal and the fourth sensing signal has a phase difference of 180 °.
The method of claim 15,
The first sensing signal and the second sensing signal has a phase difference of 90 °, and the third sensing signal and the fourth sensing signal have a phase difference of 90 °.

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