CN105277303A - Magnetoelastic torque sensor with self compensation function - Google Patents
Magnetoelastic torque sensor with self compensation function Download PDFInfo
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- CN105277303A CN105277303A CN201010148903.6A CN201010148903A CN105277303A CN 105277303 A CN105277303 A CN 105277303A CN 201010148903 A CN201010148903 A CN 201010148903A CN 105277303 A CN105277303 A CN 105277303A
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Abstract
The invention discloses an improved magnetoelastic torque sensor capable of carrying out self compensation on an external disturbing magnetic field and temperature shift. The magnetoelastic torque sensor comprises a shaft with at least one magnetoelastic region, at least one main magnetic field sensor and at least one auxiliary magnetic field sensor. The magnetic field intensity which is generated because of torque and sensed by the main magnetic field sensor is always higher than the magnetic field intensity sensed by the auxiliary magnetic field sensor. The auxiliary magnetic field sensors can be placed at two sides of the main magnetic field sensor, and can also be only placed at one side of the main magnetic field sensor. Output signals of the torque sensor are acquired by subtracting output signals of the main magnetic field sensor by output signals of the auxiliary magnetic field sensor, and thus influences imposed on the torque sensor by the disturbing magnetic field and the temperature shift are counteracted, and sensitivity drift caused by temperature variation and signal drift caused by rotation can be partially filtered. The sensitivity of the main magnetic field sensor and the sensitivity of the auxiliary magnetic field sensor can also be calibrated and matched in a uniform magnetic field, thereby completely realizing common-mode rejection. Other types of sensors which detect the sensor direction, the speed, existence, the force, the position or the angle by using variations in induced magnetic field can also counteract influences of the disturbing magnetic field by using the method provided by the invention.
Description
Art
The present invention relates to a kind of method that applying a magnetic field sensor is measured the moment of torsion being applied to rotatable shaft.More particularly, the ad-hoc location that the present invention relates to about magnetic field sensor being placed in relative axle measures the moment of torsion be applied on axle, and the impact by external disturbing field in a larger temperature range.
Background technology
Magnetoelastic torque sensor has a lot of type.A lot of publication and patent specification propose and describe various types of magnetoelastic torque sensor.Two kinds are had to utilize magnetoelasticity phenomenon as the induction mechanism of non-contact torque sensor.One is based on magnetic permeability, and another kind is based on pole banding pattern.
In the magnetoelastic torque sensor of magnetic permeability type, the stress produced by moment of torsion and cause magnetic anisotropy to change the magnetic permeability on axle surface, thus affect the magnetic flux path of magnetic source and inductive coil.This sensor institute sensing be the change of the magnetic permeability of axle. output signal is taken from magnetic flux density B, and magnetic flux density B depends on excitation field H and magnetic permeability μ, because B=μ is H, as the stress changes magnetic permeability μ produced by moment of torsion, inductive coil around two sensing units creates different voltage, by measuring the moment of torsion that this voltage difference just can obtain being applied on axle.Such sensor is by axle, and drive coil and measuring coil form.The magnetic anisotropy measurement zone concentric with two groups of coils can differently be based upon on axle, such as: on axle, add a magnetic material sleeve, sleeve has two parallel annular regions, there is to become with surface ± tool the slit at regular intervals (No. 4506554th, United States Patent (USP), the people such as Blomquist) of 45° angle in this region.Or on the plated surface of axle coating, as copper strips.(U.S. Patent number 5646356, Lin Dengren.) another kind of method is on axle, form parallel slot/or the teat that and axis have suitable angle.(the people such as U.S. Patent number 4823620, Yi Dou.)。Or with axle (US Patent Publication Number 2007/0245833A1, the people such as meter Tian of magnetostrictive thin film.) or a pair amorphous tape being bonded on axle.(U.S. Patent number 4907462, the people such as Obama.)
A company producing the magnetoelastic torque sensor of magnetic permeability type is the ABB AB being positioned at Sweden Huishiteluoshi.
Another kind of magnetoelastic torque sensor, i.e. pole banding pattern magnetoelastic torque sensor, its principle is based on the steering effect of twisting stress to residue magnetic moment after the magnetization of axle circumference.The moment of torsion be applied on axle create positive negative sense principle stress and by generation magnetic energy, this magnetic energy makes magnetic moment away from its nearest negative principal direction of stress, and rotates to the direction of nearest positive principle stress.Its result turned to makes originally to magnetize at circumferencial direction the magnetic moment formed to produce axial magnetic flux.These flux concentration are in the two poles of the earth belt edge, and formation is the magnetic field being easy to be measured by one or more magnetic field sensor.This sensor can have on magnetoelastic thin sleeve rigid connection to axle by one and forms (U.S. Patent number 5351555, this Garshelis of jar (unit of capacitance) Buddhist relics), or use has magnetoelastic material to make solid or tubular shaft (U.S. Patent number 6047605, this Garshelis of jar (unit of capacitance) Buddhist relics, with U.S. Patent number 658148B1, Mei Dengren).This magnetoelasticity district, also can axial magnetized except can except circumferential magnetization.
The company of a production pole banding pattern magnetoelastic torque sensor magnetic torque sensor is the Mei Suode electronics corporation being positioned at Chicago,U.S.
The basic weakness of existing magnetoelastic torque sensor is, they can not distinguish that the magnetic flux B of institute's sensing produced by twisting stress on earth, or from external disturbing field, or caused by temperature variation, therefore the change of its magnetic flux B measured can not show the change of moment of torsion realizingly.
Most of existing magnetoelastic torque sensor have employed the structure of common mode inhibition to filter out uniform external magnetic field, i.e. far field, as magnetic field of the earth.By providing two different signals depending on magnetic flux B, it produces same moment of torsion has the contrary signal in equal and opposite in direction direction, with the method for merging two signal differences.This just requires that very large effort is to mate the sensitivity of different Magnetic Sensors, makes it identical.This configuration can not eliminate non-homogeneous external magnetic field, as the magnetic field that neighbouring motor produces, or neighbouring mobile ferromagnetic object.
Another kind attempts to avoid the method for external disturbing field to be protect sensor from the interference of external magnetic field with magnetic shielding device, refers to U.S. Patent number 5083359 (people such as A Mi Dare Aminder) and U.S. Patent number 5889215 (people such as Kilmartin Kilmartin).
Also have another kind of method to adopt drive coil to compensate external interference magnetic field, refer to United States Patent (USP) 6826969B1 (plum).
But, for sensor provides shielding and compensating coil to need certain space, bring very large application problem to the place of narrow space, and the shielding of this costliness is difficult to be used in and requires in application with low cost, such as, application on automobile.Further, adopt said method to add complicacy and the cost of sensor, also reduce its general adaptability simultaneously, maintainable and reliability.The output that these methods do not have compensate for temperature drift yet and offset because of rotation.
Summary of the invention
The object of this invention is to provide the magnetoelastic torque sensor that can overcome the problems referred to above, and a magnetoelastic torque sensor with height reliability is provided.
Another object of the present invention is to provide the magnetoelastic torque sensor that an energy oneself filters out outer disturbing magnetic field impact.
Further target of this invention is to provide one can the magnetoelastic torque sensor of compensate for temperature drift.
Another object of the present invention be to provide one can compensate because of rotation offset export and magnetoelastic torque sensor.
Further target of this invention is to provide one can the magnetoelastic torque sensor of compensation temperature sensitivity drift.
Another object of the present invention is to provide the magnetoelastic torque sensor that needs less axial space, and has larger tolerance to axial alignment error.
Another object of the present invention is to provide the magnetoelastic torque sensor that can mate the sensitivity of magnetic field sensor, makes it to realize common mode inhibition completely.
These targets are by providing following magnetoelastic torque sensor to realize: this magnetoelastic torque sensor comprises at least one magnetoelasticity district, the magnetic field (main field sensor) that magnetoelasticity district produces because of moment of torsion measured by least one magnetic field sensor, and the place (auxiliary magnetic field sensor) outside the influence of magnetic field having at least a magnetic field sensor to be positioned over to produce because of moment of torsion, make this sensor can not respond to the magnetic field produced because of moment of torsion.The output signal independent processing of main field sensor and auxiliary magnetic field sensor, if when the main field sensor near magnetoelasticity district detects that magnetic field changes, auxiliary magnetic field sensor does not detect changes of magnetic field, this means that the change in the magnetic field detected by main field sensor all caused by the moment of torsion applied.When main field sensor and auxiliary magnetic field sensor all detect changes of magnetic field, then show there is extraneous magnetic field, namely can't help the magnetic field that moment of torsion produces, no matter it causes because of temperature variation, produce because of the rotation of axle, or such as, from external disturbing field, a motor.
In addition, auxiliary magnetic field sensor can be placed on the position in close magnetoelasticity district, but its magnetic field intensity that can respond to is lower than primary magnetic field sensor, the sensitivity drift produced because of axle rotation and temperature variation with partial-compensation.
Make the effort that the completely the same needs of the sensitivity of two magnetic field sensors are very large, this is be difficult to realize in reality, does not have the on all four pair of magnetic field sensor of sensitivity, just can not realize common mode inhibition completely.When sensor is placed on uniform magnetic field, the output signal of main field sensor and auxiliary magnetic field sensor is separate, can adjust, make it completely the same to its sensitivity, to realize common mode inhibition completely.
Compared with former magnetoelastic sensor technology, adopt the present invention can reduce the production cost of magnetoelastic sensor, be simple and easy to use, and can work at most of rugged environment.
Accompanying drawing explanation
Fig. 1 shows three-dimensional picture of the present invention.
Fig. 2 shows X-Y scheme of the present invention.
Fig. 3 shows the magnetic field intensity on axial mangneto elastic region.
Fig. 4 shows due to manufacturing tolerance, the error of magnetic field sensor installation site.
Fig. 5 a to 5c shows, and applies the different allocation method of magnetic field sensor in magnetoelastic sensor of the present invention.
Embodiment
Figure.1 and figure.2 respectively illustrate the three peacekeeping X-Y schemes that is embodied pole of the present invention banding pattern magnetoelastic torque sensor.In this example, torque T is applied on the axle 12 with axis 10, axle 12 Shang Youyige magnetoelasticity district 14, have at least a main field sensor 18 to place near magnetoelasticity district 14, to detect the magnetic field 24 produced because of moment of torsion, and have an auxiliary magnetic field sensor at least, 19 or 20, place any side of primary magnetic field sensor 18, auxiliary magnetic field sensor 19 and 20 be placed on from magnetoelasticity district 14 enough away from place, to avoid the magnetic field 24 produced because of moment of torsion being detected.
Figure.3 show the magnetic field that produces because of the torque T intensity along magnetoelasticity district 14 axis, the highest in the central magnetic field intensity in magnetoelasticity district 14, and the closer to the edge in magnetoelasticity district 14, then magnetic field intensity is more weak.Magnetoelasticity district 14 is longer, and magnetic field intensity peaky curve is more smooth.Therefore, longer magnetoelasticity district 14 can be used for reducing the axially-movable of axle to the impact of transducer sensitivity.
The output signal of main field sensor 18 and auxiliary magnetic field sensor 19 and 20 is drawn by electric wire 22, and a kind of method of filtering disturbing magnetic field uses following formula to process these magnetic field sensor output signal:
Wherein
The output signal of output=torque sensor
S
athe output signal of=primary magnetic field sensor 18
S
p19the output signal of=auxiliary magnetic field sensor 19
S
p20the output signal of=auxiliary magnetic field sensor 20
When not applying moment of torsion, when there is not external interference magnetic field yet, S
awith S
p19and S
p20equal, therefore torque sensor exports is 0.If torque T is applied on axle 12, the magnetic field 24 only having main field sensor 18 to detect to produce because of torque T, is pursuant to torque T direction, S
ato increase or reduce, therefore, the output signal of main field sensor 18 is S
a+ S
t, wherein S
tthe signal intensity occurred because of torque T, when there is no external disturbing field, S
p19and S
p20still remain unchanged, the changes of magnetic field that main field sensor 18 senses all is caused by torque T, and its output signal can represent with following formula:
When the magnetic field 26 that auxiliary magnetic field sensor 19 or 20 detects changes to some extent, this shows to also exist the disturbing magnetic field beyond the magnetic flux that produces because of torque T.Disturbing magnetic field has several types.According to the distance of disturbing magnetic field from torque sensor, disturbing magnetic field can be divided into far field and nearly magnetic field two class.When disturbing magnetic field as magnetic field of the earth from torque sensor enough away from time, external disturbing field can be thought identical with the distance between main field sensor 18 and auxiliary magnetic field sensor 19 and 20, namely they all sense identical disturbing magnetic field intensity, and therefore, signal transacting formula is:
Wherein:
S
eathe output signal that=main field sensor 18 produces because of external magnetic field 26
S
ep19the output signal that=auxiliary magnetic field sensor 19 produces because of external magnetic field 26
S
ep20the output signal that=auxiliary magnetic field sensor 20 produces because of external magnetic field 26
Due to S
ea=S
ep19and S
ea=S
ep20, 26 pairs, uniform external magnetic field main field sensor 18 and auxiliary magnetic field sensor 19, and 20 impacts cancel each other.
When disturbing magnetic field from torque sensor very close to time, undesired signal from the nearest auxiliary magnetic field sensor of outside magnetic source exports maximum, undesired signal from outside magnetic source auxiliary magnetic field sensor farthest exports minimum, the undesired signal size of main field sensor 18 is between both, because it arrives the distance of outside magnetic source between auxiliary magnetic field sensor 19 and 20.For a known main nearly disturbing magnetic field, auxiliary magnetic field sensor 19 and 20 can be arranged on such position, the signal of the external disturbing field that main field sensor sensing is arrived, be the mean value of the signal of the external disturbing field that auxiliary magnetic field sensor 19 and 20 senses, therefore the impact of this known nearly disturbing magnetic field can be offset completely.Certainly, the impact of the disturbing magnetic field that such layout different near can not offsetting completely simultaneously, but great majority application all allows torque sensor to have certain measuring error.
For the application that accuracy requirement is very high, with another kind of algorithm, the impact of neighbouring disturbing magnetic field can be reduced to bottom line.If the output signal change of auxiliary magnetic field sensor 19 and 20 is equal within the very little time interval, then show that main field sensor 18 also runs into the disturbing magnetic field of identical intensity, also have identical undesired signal and export.If the output signal change of one of them auxiliary magnetic field sensor is greater than other auxiliary magnetic field sensor, disturbing magnetic field is there is near then showing, according to the relative position between auxiliary magnetic field sensor 19 and 20, and the relative position of they and main field sensor 18, the change of the output signal that main field sensor 18 produces because of neighbouring disturbing magnetic field is just by calculating, then filter out this disturbing magnetic field signal, only have torque signal to be just converted into the last signal of torque sensor and export.
Due to manufacturing tolerance, fine distinction is had between sensitivity between different magnetic field sensor, in addition, magnetic field sensor assembling be welded in the process of a complete torque sensor, again because manufacturing tolerance, these magnetic field sensors can not be in ideal position completely, as shown in Figure 4, when they are in the environment of same magnetic field intensity, the different signal that will export.This defect is the sensitivity of each magnetic field sensor sets after can calibrating assembling by the following method, complete torque sensor is placed in a uniform magnetic field, such as be placed in Helmholtz coils, and respectively organize the output signal of magnetic field sensor, if they are not identical, just adjusted, make them export identical signal when same uniform magnetic field.After such adjustment, often organize when magnetic field sensor is placed on same magnetic field and there is identical signal output.The adjustment work of this Species sensitivity, can carry out on X, Y and Z-direction.Then just common mode inhibition can be realized completely.
If torque sensor has uniform temperature to change, so all magnetic field sensors comprise main field sensor 18 and auxiliary magnetic field sensor 19,20 all can have identical output offset, if have temperature along the length graded of sensor, then main field sensor 18 output offset will close to the average output offset of the aiding sensors 19 and 20 of mean temperature field, in both cases, use above-mentioned signal processing algorithm, the sensor offset produced because of temperature variation is by automotive resistance.
In addition, auxiliary magnetic field sensor 19 and 20 also can be placed near magnetoelasticity district 14, low than main field sensor 18 of its magnetic field intensity produced because of moment of torsion that can detect, as shown in Figure 5 a, this arrangement has several advantage, need less axial space, and it also can partly compensation temperature sensitivity drift, and the output shift that partial-compensation causes because of rotation, because the temperature control drift that any primary magnetic field sensor 18 detects and the output shift caused because of rotation, aiding sensors 19 and 20 also can detect.Although such arrangement can reduce torque sensor sensitivity, because it has self-compensating function, this torque sensor still can provide accurate measurement, not by the interference of external magnetic field.
Fig. 5 b and Fig. 5 c shows the other arrangement of magnetic field sensor, only has an auxiliary magnetic field sensor 19 to be placed on the side of primary magnetic field sensor 18.This arrangement can be applied in the place not having disturbing magnetic field.
Although show with pole banding pattern magnetoelastic torque sensor and explain the arrangement of these magnetic field sensors, they also can be used in the magnetoelastic torque sensor of magnetic permeability type.In addition, other magnetic field induction devices, as magnetic speed probe, magnetic position sensor, magnetic obliquity sensor, magnetic force sensor etc., also can use the arrangement of these magnetic field sensors, filter external interference magnetic field, and carry out temperature compensation.
In a word, describe summary of the invention above, wherein, some merits attention especially.
A) one is born moment of torsion, axle with at least one magnetoelasticity district can be used as torque sensor, the moment of torsion be applied on axle is detected in the magnetic field produced because of moment of torsion by measuring magnetoelasticity district, because the magnetic field that the magnetoelasticity district of axle produces changes with the change of the moment of torsion be applied on axle.
B) at least one main field sensor and at least one auxiliary magnetic field sensor arrangement are in so a kind of position, the magnetic field intensity produced because of moment of torsion that main field inductor is sensed always than auxiliary magnetic field sensor can sense higher.Auxiliary magnetic field sensor can be placed on the both sides of main field inductor, or only places the side of main field inductor.The output signal of torque sensor obtains by the output of auxiliary magnetic field sensor is deducted from the output of main field sensor, thus offset the impact of disturbing magnetic field, compensate the skew that produces because of temperature variation, and the sensitivity drift that causes because of temperature variation of partial-compensation and the signal that produces because axle rotates offset.
C) in most of the cases, due to manufacturing tolerance, the sensitivity of different magnetic field sensors is incomplete same, and complete torque sensor is placed in a uniform magnetic field, adjust their output signal, make often to organize and there is when magnetic field sensor is placed on same magnetic field identical signal export.Then torque sensor just can be made to realize common mode inhibition completely.
D) several dissimilar magnetic field sensor is had, as fluxgate, solid-state magnetic field sensor, hall effect sensor, magnetic device, magnetometer, compass, telefault, magneto-optical sensor etc., one or more magnetic field sensors can be applied on magnetoelastic torque sensor simultaneously.
E) above-mentioned magnetic field sensor allocation method may be used for pole banding pattern magnetoelastic torque sensor, and it also may be used for the magnetoelastic torque sensor of magnetic permeability type.
F) in addition, the change of induced field that utilizes of other types comes detecting sensor direction, speed, exist, power, position, or the sensor of angle also can utilize said method to offset the impact of disturbing magnetic field.
Although disclose the preferred embodiments of the present invention, it will be understood by those skilled in the art that some improvement can fall into scope of the present invention.Therefore, true scope of the present invention and content should be determined by claim below.
Claims (10)
1. a magnetoelastic torque sensor-based system, comprising:
A) for bearing the matrix of torque load.
B) described matrix has a magnetoelasticity region at least, and described region can be an an integral part of described matrix, or is connected to described matrix directly or indirectly.
C) described magnetoelasticity region can be magnetized, and its magnetic property changes along with the change applying moment of torsion, and has clear and definite relation with the moment of torsion applied.
D) setting of magnetic field sensor, comprise the peak value place of at least one main field sensor placement in the magnetic field produced because of moment of torsion near described magnetoelasticity district, and have at least an auxiliary magnetic field sensor to be placed on the peak value place in the magnetic field produced because of moment of torsion away from described magnetoelasticity district, make main field sensor sensing to the magnetic field of the generation because of moment of torsion be better than the magnetic field of the generation because of moment of torsion that auxiliary magnetic field sensor can sense.
E) method of signal transacting, main field sensor and auxiliary magnetic field sensor couple together the impact of offsetting external disturbing field or temperature, reduce cause because of rotation signal drift and temperature control drift, and export and represent the signal of executed moment of torsion.
2. assembly according to claim 1, is characterized in that, described assembly comprises the magnetoelastic torque sensor of pole banding pattern magnetoelastic torque sensor and magnetic permeability type, and utilizing induced field to carry out direction of measurement, speed, exists, power, position, or the sensor of angle.
3. assembly according to claim 2, is characterized in that, has a main field sensor placement at least at described magnetoelasticity areas adjacent.
4. assembly according to claim 3, is characterized in that, has an auxiliary magnetic field sensor placement at least in every side of the described main field sensor of described magnetoelasticity areas adjacent.
5. assembly according to claim 3, is characterized in that, has an auxiliary magnetic field sensor placement at least in the side of the described main field sensor of described magnetoelasticity areas adjacent.
6. offset a method for the impact of external disturbing field and temperature variation, comprising:
A) settle at least one main field sensor in magnetoelastic sensor region.
B) at least one auxiliary magnetic field sensor magnetic field intensity outside magnetoelastic sensor district or in magnetoelastic sensor district is settled can to sense than main field sensor the place that magnetic field intensity is lower.
C) magnetic field that main field sensor and auxiliary magnetic field sensor can sense is measured respectively.
D) magnetic field intensity of main field sensor and auxiliary magnetic field sensor whereabouts is calculated respectively.
E) drift in magnetic field calculating external disturbing field intensity or cause because of temperature variation, and its from main field sensor measurement to field value deduct, the final magnetic field obtained is converted to the output signal of magnetoelastic torque sensor system.
7. one kind adjusts and mates the method for the sensitivity of the multiple magnetic field sensors in a magnetoelastic torque sensor:
A) settle two or more magnetic field sensors in same magnetoelastic torque sensor.
B) described magnetoelastic torque sensor is placed in a uniform magnetic field.
C) measure each respectively or often organize the output signal of magnetic field sensor.
D) adjust each output signal often organizing magnetic field sensor, make their output signal identical.
8. method according to claim 7, is characterized in that, the sensitivity of described magnetic field sensor can be mated in X-direction.
9. method according to claim 7, is characterized in that, the sensitivity of described magnetic field sensor can be mated in the Y direction.
10. method according to claim 7, is characterized in that, the sensitivity of described magnetic field sensor can be mated in Z-direction.
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| CN108225633A (en) * | 2016-12-22 | 2018-06-29 | 株式会社电装 | For detecting the equipment of moment values |
| CN108675207A (en) * | 2018-07-20 | 2018-10-19 | 芜湖清柏白露智能信息科技有限公司 | A kind of double-cylinder hydraulic lifting gear |
| CN109387796A (en) * | 2017-08-11 | 2019-02-26 | 本特利内华达有限责任公司 | Improved backlash compensation for magnetostrictive torque sensor |
| CN110088583A (en) * | 2016-12-12 | 2019-08-02 | 康斯博格股份有限公司 | Double frequency-band magnetoelastic torque sensor |
| CN111065881A (en) * | 2017-09-06 | 2020-04-24 | 株式会社村田制作所 | Displacement detection device |
| CN112109798A (en) * | 2019-06-20 | 2020-12-22 | 操纵技术Ip控股公司 | Stray magnetic field cancellation for steering torque sensors |
| CN113710997A (en) * | 2019-02-18 | 2021-11-26 | Xela Robotics株式会社 | Magnetic sensing system, detection device and magnetic interference biasing method |
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| US12025521B2 (en) | 2020-02-11 | 2024-07-02 | Brp Megatech Industries Inc. | Magnetoelastic torque sensor with local measurement of ambient magnetic field |
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| US11821763B2 (en) | 2016-05-17 | 2023-11-21 | Kongsberg Inc. | System, method and object for high accuracy magnetic position sensing |
| US11486776B2 (en) | 2016-12-12 | 2022-11-01 | Kongsberg Inc. | Dual-band magnetoelastic torque sensor |
| CN110088583A (en) * | 2016-12-12 | 2019-08-02 | 康斯博格股份有限公司 | Double frequency-band magnetoelastic torque sensor |
| CN108225633B (en) * | 2016-12-22 | 2021-01-05 | 株式会社电装 | Device for detecting torque values |
| CN108225633A (en) * | 2016-12-22 | 2018-06-29 | 株式会社电装 | For detecting the equipment of moment values |
| CN109387796A (en) * | 2017-08-11 | 2019-02-26 | 本特利内华达有限责任公司 | Improved backlash compensation for magnetostrictive torque sensor |
| CN109387796B (en) * | 2017-08-11 | 2022-06-03 | 本特利内华达有限责任公司 | Improved backlash compensation for magnetostrictive torque sensors |
| CN111065881A (en) * | 2017-09-06 | 2020-04-24 | 株式会社村田制作所 | Displacement detection device |
| CN108675207A (en) * | 2018-07-20 | 2018-10-19 | 芜湖清柏白露智能信息科技有限公司 | A kind of double-cylinder hydraulic lifting gear |
| CN113710997A (en) * | 2019-02-18 | 2021-11-26 | Xela Robotics株式会社 | Magnetic sensing system, detection device and magnetic interference biasing method |
| CN112109798A (en) * | 2019-06-20 | 2020-12-22 | 操纵技术Ip控股公司 | Stray magnetic field cancellation for steering torque sensors |
| US11500040B2 (en) | 2019-06-20 | 2022-11-15 | Steering Solutions Ip Holding Corporation | Stray magnetic field cancellation for steering torque sensor |
| US12292350B2 (en) | 2019-09-13 | 2025-05-06 | Brp Megatech Industries Inc. | Magnetoelastic torque sensor assembly for reducing magnetic error due to harmonics |
| US12025521B2 (en) | 2020-02-11 | 2024-07-02 | Brp Megatech Industries Inc. | Magnetoelastic torque sensor with local measurement of ambient magnetic field |
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