Angle detecting apparatus and angle detecting method

• US 8,106,649 B2
• Filed: 07/10/2009
• Issued: 01/31/2012
• Est. Priority Date: 07/14/2008
• Status: Expired due to Fees

• Current Assignee: TDK Corporation
• Original Assignee: TDK Corporation
• Inventors: Kaita, Yoshio, Miyamoto, Hirokazu, Kido, Toshinao
• Primary Examiner(s): Aurora, Reena
• Application Number:
  US12/458,416
• Publication Number:
  US 20100007340A1
• Time in Patent Office: 935 Days
• Field of Search: 324/207.25
• US Class Current: 324/207.25
• CPC Class Codes: G01D 18/001 Calibrating encoders
• CPC Class Codes: G01D 5/145 influenced by the relative movement between the Hall device and magnetic fields see G01R33/06
• CPC Class Codes: G01D 5/24476 Signal processing G01D5/2448 - G01D5/24495 take precedence
• CPC Class Codes: G01D 5/2448 Correction of gain, threshold, offset or phase control
• CPC Class Codes: G01D 5/2449 using hard-stored calibration data

Abstract

An angle detecting apparatus includes a rotor fixed to a rotating shaft, a pair of magnetic sensors arranged opposite each other so as to output a first detection signal and a second detection signal, respectively, each of which contains information on the angle of rotation of the rotor, a differential operational circuit performing differential operation on the first detection signal and the second detection signal, and an angle calculating circuit calculating the angle of rotation of the rotating shaft based on the result of the differential operation by the differential operational circuit. Here, the distance between two points where a straight line passing through the center of rotation of the rotor crosses the outer periphery of the rotor is constant.

Claims

1. An angle detecting apparatus comprising:

a rotor fixed to a rotating shaft, the rotor being such that a distance between two points where a straight line passing through a center of rotation of the rotor crosses an outer periphery of the rotor is constant;

a first magnetic sensor and a second magnetic sensor arranged opposite each other and close to the outer periphery of the rotor, the first magnetic sensor detecting a change in a magnetic field corresponding to a change in a first distance between the outer periphery of the rotor and the first magnetic sensor which distance varies periodically in conjunction with rotation of the rotor, thereby outputting a first detection signal, the second magnetic sensor detecting a change in a magnetic field corresponding to a change in a second distance between the outer periphery of the rotor and the second magnetic sensor which distance varies complementarily in conjunction with the variation in the first distance, thereby outputting a second detection signal;

differential operation means for performing differential operation on the first detection signal and the second detection signal; and

angle calculating means for calculating an angle of rotation of the rotating shaft based on a result of the differential operation by the differential operation means.

2. The angle detecting apparatus according to claim 1, wherein the shape of the rotor projected on a plane of rotation is a combination of two different semiellipses.

3. The angle detecting apparatus according to claim 1, wherein the rotor is made of a ferromagnetic material,

the first magnetic sensor comprises a first magnet generating a magnetic field between the outer periphery of the rotor and the first magnetic sensor, and a first magnetoresistance effect element outputting the first detection signal in response to the magnetic field varying in response to variation in the first distance, and

the second magnetic sensor comprises a second magnet generating a magnetic field between the outer periphery of the rotor and the second magnetic sensor, and a second magnetoresistance effect element outputting the second detection signal in response to the magnetic field varying in response to variation in the second distance.

4. The angle detecting apparatus according to claim 3, wherein the first magnetoresistance effect element comprises a first free magnetic layer whose longitudinal direction is set to align with a direction of the center of rotation of the rotor, and

the second magnetoresistance effect comprises a second free magnetic layer whose longitudinal direction is set to align with the direction of the center of rotation of the rotor.

5. An angle detecting method of detecting an angle of rotation of a rotating shaft using a first magnetic sensor and a second magnetic sensor arranged opposite each other and close to an outer periphery of a rotor fixed to the rotating shaft, the method comprising the steps of:

rotating the rotor together with the rotating shaft, the rotor being such that a distance between two points where a straight line passing through a center of rotation of the rotor crosses the outer periphery of the rotor is constant;

allowing a first detection signal to be output by the first magnetic sensor detecting a change in a magnetic field corresponding to a change in a first distance between the outer periphery of the rotor and the first magnetic sensor which distance varies periodically in conjunction with rotation of the rotor;

allowing a second detection signal to be output by the second magnetic sensor detecting a change in a magnetic field corresponding to a change in a second distance between the outer periphery of the rotor and the second magnetic sensor which distance varies complementarily in conjunction with the variation in the first distance;

performing differential operation on the first detection signal and the second detection signal; and

calculating the angle of rotation of the rotating shaft based on a result of the differential operation.

6. The angle detecting method according to claim 5, wherein the shape of the rotor projected on a plane of rotation is a combination of two different semiellipses.

7. The angle detecting method according to claim 5, wherein the rotor is made of a ferromagnetic material,

the first magnetic sensor comprises a first magnet generating a magnetic field between the outer periphery of the rotor and the first magnetic sensor, and a first magnetoresistance effect element outputting the first detection signal in response to the magnetic field varying in response to variation in the first distance, and

the second magnetic sensor comprises a second magnet generating a magnetic field between the outer periphery of the rotor and the second magnetic sensor, and a second magnetoresistance effect element outputting the second detection signal in response to the magnetic field varying in response to variation in the second distance.

8. The angle detecting method according to claim 7, wherein the first magnetoresistance effect element comprises a first free magnetic layer whose longitudinal direction is set to align with a direction of the center of rotation of the rotor, and

the second magnetoresistance effect element comprises a second free magnetic layer whose longitudinal direction is set to align with the direction of the center of rotation of the rotor.

9. An angle detecting apparatus comprising:

a rotor fixed to a rotating shaft, the rotor being such that a distance between two points where a straight line passing through a center of rotation of the rotor crosses an outer periphery of the rotor is constant;

a first magnetic sensor and a second magnetic sensor arranged at an equal distance from the center of rotation so as to have a phase difference of 90 degrees with respect to the center of rotation of the rotor, the first magnetic sensor detecting a change in a magnetic field corresponding to a change in a first distance between the outer periphery of the rotor and the first magnetic sensor which distance varies periodically in conjunction with rotation of the rotor, thereby outputting a first detection signal, the second magnetic sensor detecting a change in a magnetic field corresponding to a change in a second distance between the outer periphery of the rotor and the second magnetic sensor which distance varies periodically in conjunction with the rotation of the rotor, thereby outputting a second detection signal;

a conversion table storing an angle of rotation of the rotating shaft corresponding to each of the first and second detection signals; and

angle calculating means for comparing the conversion table with each of the first and second detection signals output by the first and second magnetic sensors to output the angle of rotation of the rotor.

10. The angle detecting apparatus according to claim 9, wherein each of the first and second detection signals is a substantial sine wave signal, and

the angle calculating means compares the conversion table with one of the first and second detection signals which falls within an angular range of ±

45 degrees from an angle at which the detection signal takes an intermediate value, thereby outputting the angle of rotation of the rotor.

11. An angle detecting method of detecting an angle of rotation of a rotating shaft using a first magnetic sensor and a second magnetic sensor arranged at an equal distance from a center of rotation of a rotor fixed to the rotating shaft so as to have a phase difference of 90 degrees with respect to the center of rotation, the method comprising the steps of:

rotating the rotor together with the rotating shaft, the rotor being such that a distance between two points where a straight line passing through the center of rotation of the rotor crosses the outer periphery of the rotor is constant;

allowing a first detection signal to be output by the first magnetic sensor detecting a change in magnetic field corresponding to a change in first distance between the outer periphery of the rotor and the first magnetic sensor which distance varies periodically in conjunction with rotation of the rotor;

allowing a second detection signal to be output by the second magnetic sensor detecting a change in magnetic field corresponding to a change in second distance between the outer periphery of the rotor and the second magnetic sensor which distance varies periodically in conjunction with the rotation of the rotor; and

comparing a conversion table with each of the first and second detection signals output by the first and second magnetic sensors, thereby outputting the angle of rotation of the rotor, wherein the conversion table stores the angle of rotation of the rotating shaft corresponding to each of the first and second detection signals.

12. The angle detecting method according to claim 11, wherein each of the first and second detection signals is a substantial sine wave signal, and

outputting the angle of rotation comprises comparing the conversion table with one of the first and second detection signals which falls within an angular range of ±

45 degrees from an angle at which the detection signal takes an intermediate value, thereby outputting the angle of rotation of the rotor.