NZ768202B2 - Fault tolerant servo sensor with linear hall sensors and discrete hall sensors - Google Patents
Fault tolerant servo sensor with linear hall sensors and discrete hall sensorsInfo
- Publication number
- NZ768202B2 NZ768202B2 NZ768202A NZ76820217A NZ768202B2 NZ 768202 B2 NZ768202 B2 NZ 768202B2 NZ 768202 A NZ768202 A NZ 768202A NZ 76820217 A NZ76820217 A NZ 76820217A NZ 768202 B2 NZ768202 B2 NZ 768202B2
- Authority
- NZ
- New Zealand
- Prior art keywords
- output shaft
- hall sensors
- angle
- rotation
- shaft angle
- Prior art date
Links
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D3/00—Indicating or recording apparatus with provision for the special purposes referred to in the subgroups
- G01D3/02—Indicating or recording apparatus with provision for the special purposes referred to in the subgroups with provision for altering or correcting the law of variation
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
- G01D5/142—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices
- G01D5/145—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices influenced by the relative movement between the Hall device and magnetic fields
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P13/00—Indicating or recording presence, absence, or direction, of movement
- G01P13/02—Indicating direction only, e.g. by weather vane
- G01P13/04—Indicating positive or negative direction of a linear movement or clockwise or anti-clockwise direction of a rotational movement
Abstract
system, comprising: a motor shaft; an output shaft coupled to the motor shaft via a set of one or more gears; a plurality of discrete Hall sensors; and a processor configured to: initialize at least an output shaft angle associated with the output shaft to a known value; determine a direction of rotation associated with the motor shaft using the plurality of discrete Hall sensors; and update the output shaft angle using an incremental value and the direction of rotation.
Claims (18)
1. A system, comprising: a motor having a motor shaft; an output shaft coupled to the motor shaft via a set of one or more gears; a plurality of discrete Hall sensors provided in the motor; and a processor configured to: initialize at least an output shaft angle associated with the output shaft to a known value; determine a direction of rotation associated with the motor shaft using the plurality of discrete Hall sensors in the motor by: receiving, from the plurality of discrete Hall sensors, a current rotor position, wherein the current rotor position is one of a plurality of sectors, and comparing the current rotor position against a previous rotor position in order to determine the direction of rotation; and update the output shaft angle from the known value using an incremental value and the direction of rotation; wherein a rotor position is determined by a particular combination of discrete Hall sensor output values indicating one of the plurality of sectors.
2. The system recited in claim 1, wherein updating the output shaft angle includes: in the event the direction of rotation is a first direction, incrementing a previous output shaft angle with the incremental value in order to obtain a current output shaft angle; and in the event the direction of rotation is a second direction, decrementing the previous output shaft angle with the incremental value in order to obtain the current output shaft angle.
3. The system recited in claim 1, wherein updating the output shaft angle includes: in the event the direction of rotation is a first direction, incrementing a previous output shaft angle with the incremental value in order to obtain a current output shaft angle; in the event the direction of rotation is a second direction, decrementing the previous output shaft angle with the incremental value in order to obtain the current output shaft angle.
4. The system recited in claim 3, wherein the incremental value is based at least in part on: an angular size of one of the plurality of sectors and a gear reduction associated with the set of one or more gears.
5. The system recited in claim 4, wherein the set of one or more gears has a backlash that is less than or equal to a fourth of a degree.
6. The system recited in claim 4, wherein the angular size of one of the plurality of sectors divided by the gear reduction associated with the set of one or more gears is less than or equal to a third of a degree.
7. The system recited in claim 1, wherein the plurality of discrete Hall sensors are configured to output a position of the motor shaft as defined by which one of a plurality of angular sectors the motor shaft is in.
8. The system recited in claim 1, wherein the motor further includes: a first servo sensor arrangement having a plurality of linear Hall sensors configured to output an estimate of an angle of the output shaft; and a second servo sensor arrangement having the plurality of discrete Hall sensors.
9. The system recited in claim 1, wherein the motor further includes: a first servo sensor configuration having a first plurality of separate sensor components each having a first set of one or more linear Hall sensors, the first servo sensor configuration being configured to output a primary estimate of an angle of the output shaft; and a second servo sensor configuration having a second plurality of separate sensor components each having a second set of one or more Hall sensors of a second type, the second set of one or more Hall sensors including the plurality of discrete Hall sensors, the second servo sensor configuration being configured to output a secondary estimate of the angle of the output shaft, the secondary estimate of the angle of the output shaft being based on updating the output shaft angle using the incremental value and the direction of rotation.
10. A method, comprising: initializing at least an output shaft angle associated with an output shaft to a known value, wherein the output shaft is coupled to a motor shaft via a set of one or more gears; determining a direction of rotation associated with the motor shaft using a plurality of discrete Hall sensors in the motor by: receiving, from the plurality of discrete Hall sensors, a current rotor position, wherein the current rotor position is one of a plurality of sectors, and comparing the current rotor position against a previous rotor position in order to determine the direction of rotation; and updating the output shaft angle using an incremental value and the direction of rotation, wherein a rotor position is determined by a particular combination of discrete Hall sensor output values indicating one of the plurality of sectors.
11. The method recited in claim 10, wherein updating the output shaft angle includes: in the event the direction of rotation is a first direction, incrementing a previous output shaft angle with the incremental value in order to obtain a current output shaft angle; and in the event the direction of rotation is a second direction, decrementing the previous output shaft angle with the incremental value in order to obtain the current output shaft angle.
12. The method recited in claim 10, wherein: updating the output shaft angle includes: in the event the direction of rotation is a first direction, incrementing a previous output shaft angle with the incremental value in order to obtain a current output shaft angle; in the event the direction of rotation is a second direction, decrementing the previous output shaft angle with the incremental value in order to obtain the current output shaft angle.
13. The method of claim 12, wherein the incremental value is based at least in part on: an angular size of one of the plurality of sectors and a gear reduction associated with the set of one or more gears.
14. The method recited in claim 13, wherein the set of one or more gears has a backlash that is less than or equal to a fourth of a degree.
15. The method recited in claim 13, wherein the angular size of one of the plurality of sectors divided by the gear reduction associated with the set of one or more gears is less than or equal to a third of a degree.
16. The method of claim 10, further comprising: determining which one of a plurality of angular sectors the motor shaft is in using the plurality of discrete Hall sensors; and outputting a position of the motor shaft as defined by which one of a plurality of angular sectors the motor shaft is in.
17. The method of claim 11, wherein the motor further includes a first servo sensor arrangement having a plurality of linear Hall sensors, and a second servo sensor arrangement having the plurality of discrete Hall sensors, the method further comprising: outputting, by the first servo sensor arrangement, an estimate of an angle of the output shaft.
18. The method of claim 11, wherein the motor further include a first servo sensor configuration having a first plurality of separate sensor components each having a first set of one or more linear Hall sensors, and a second servo sensor configuration having a second plurality of separate sensor components each having a second set of one or more Hall sensors of a second type, the second set of one or more Hall sensors including the plurality of discrete Hall sensors, the method further comprising: outputting, by the first servo sensor configuration, a primary estimate of an angle of the output shaft; and outputting, by the second servo sensor configuration, a secondary estimate of the angle of the output shaft, the secondary estimate of the angle of the output shaft being based on updating the output shaft angle using the incremental value and the direction of rotation.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US15/421,038 US10036654B1 (en) | 2017-01-31 | 2017-01-31 | Fault tolerant servo sensor with linear hall sensors and discrete hall sensors |
| NZ755102A NZ755102B2 (en) | 2017-01-31 | 2017-02-01 | Fault tolerant servo sensor with linear hall sensors and discrete hall sensors |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| NZ768202A NZ768202A (en) | 2024-01-26 |
| NZ768202B2 true NZ768202B2 (en) | 2024-04-30 |
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