# US 12,000,716 B2 · Determining the position of a movable component relative to a stationary component

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- Number: US 12,000,716 B2
- Document ID: US12000716B2
- Status: Granted
- Kind: B2
- Application number: 17/780,682
- Filed: 2020-11-27
- Published: 2023-05-25
- Granted: 2024-06-04
- Earliest claimed: 2019-11-29
- Assignees: B&R Industrial Automation GmbH
- Applicants: B&R Industrial Automation GmbH
- Inventors: Manuel Plainer; Andreas Weber; Alexander Almeder
- Web page: https://patentgrep.com/patent/US12000716B2

## CPC

- G01D 5/145: {influenced by the relative movement between the Hall device and magnetic fields (see G01R33/06)}
- G01D 5/2449: {using hard-stored calibration data}
- G01D 5/2451: {Incremental encoders (G01D5/2454 takes precedence)}
- G01D 5/249: using pulse code
- G05B 1/01: electric
- G06F 17/17: Function evaluation by approximation methods, e.g. inter- or extrapolation, smoothing, least mean square method ({G06F17/18 takes precedence } ; interpolation for numerical control G05B19/18)
- H02K 11/215: Magnetic effect devices, e.g. Hall-effect or magneto-resistive elements
- H02K 41/031: {of the permanent magnet type}
- H02P 6/006: {Controlling linear motors}
- 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
- G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G)
- G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N)
- H02K: DYNAMO-ELECTRIC MACHINES (dynamo-electric relays H01H53/00; conversion of DC or AC input power into surge output power {H03K3/53})
- H02P: CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS

## Abstract

For determination of the position of a movable component with a plurality of position magnets relative to a stationary component with a plurality of position sensors, it is provided that the sensor responses are detected for a group of position sensors in the region of the movable component, sensor model responses of the group of position sensors are determined from a sensor model for a plurality of assumed different relative positions of the movable component relative to the stationary component, the sensor model responses are compared with the sensor responses and the assumed relative position with the smallest deviation between the sensor model responses and the sensor responses is used as the relative position of the movable component.

## Claims

### Claim 1

A method for determination of a position of at least one movable component relative to a stationary component, wherein an array of a plurality of position magnets with a pole pitch is arranged on the movable component and an arrangement with a plurality of position sensors with a sensor pitch is arranged on the stationary component, the method comprising:
detecting, with one of the plurality of position sensors, a magnetic field of one of the plurality of position magnets in a region of the one position sensor in a form of a sensor response, wherein sensor responses are detected for a group of the plurality of position sensors in a region of the movable component considered for position determination,
supplying, via a sensor model, sensor model responses for the at least one movable component and a position sensor, the sensor model responses being a function of a relative position of the movable component relative to the position sensor,
wherein for a plurality of assumed different relative positions of the at least one movable component relative to the stationary component, determining sensor model responses of all position sensors of the group of position sensors with the sensor model,
comparing the sensor model responses with the sensor responses detected with the group of position sensors, and
at least one of:
determining a relative position of the movable component from the plurality of assumed different relative positions with a smallest deviation between the sensor model responses from the sensor model and the detected sensor responses or
determining a relative position of the movable component or an absolute position of the movable component relative to a stationary reference point from the determined relative position of the movable component from the plurality of assumed different relative positions with the smallest deviation between the sensor model responses from the sensor model and the detected sensor responses.

### Claim 2 (depends on 1)

The method according to claim 1, wherein the sensor model is determined by detecting a profile of the sensor model responses when the array of the plurality of position magnets is moved past the one position sensor on the stationary component.

### Claim 3 (depends on 1)

The method according to claim 1, wherein for the comparing of the sensor model responses with the sensor responses detected by the group of position sensors, the method further comprises formulating a cost function that evaluates a deviation between the detected sensor responses and the sensor model responses of the group of position sensors, and
wherein at least one of:
one of the plurality of different relative positions, which optimizes a value of the cost function, is used as the relative position of the movable component or,
from used relative position, the relative position of the movable component or an absolute position of the movable component related to a stationary reference point is determined.

### Claim 4 (depends on 1)

The method according to claim 1, wherein the plurality of the assumed different relative positions is determined by varying the relative position of the movable component with a predetermined position increment.

### Claim 5 (depends on 3)

The method according to claim 3, wherein the plurality of the assumed different relative positions is determined by performing a mathematical optimization of the cost function with respect to the relative position, wherein the relative position is varied by the optimization.

### Claim 6 (depends on 1)

The method according to claim 1, wherein the plurality of the assumed different relative positions is determined by varying the relative position of the movable component by at least one pole pitch.

### Claim 7 (depends on 6)

The method according to claim 6, wherein the relative position of the movable component is varied by a number of pole pitches that corresponds to at most the number of position magnets on the movable component.

### Claim 8 (depends on 7)

The method according to claim 7, wherein the relative position of the movable component is varied by the number of pole pitches that corresponds to the number of position magnets on the movable component.

### Claim 9 (depends on 1)

The method according to claim 1, wherein at least one further group of position sensors is used and the method further comprises:
comparing the sensor model responses with the sensor responses detected by the at least one further group of position sensors, and
determining the relative position of the movable component, or an absolute position of the movable component related to a stationary reference point with reference to the group of position sensors which has the smallest deviation between the sensor model responses from the sensor model and the detected sensor values.

### Claim 10

A movement arrangement with at least one movable component which is arranged movably relative to a stationary component, comprising:
an array of a plurality of position magnets with a pole pitch is arranged on the at least one movable component; and
an arrangement with a plurality of position sensors with a sensor pitch is arranged on the stationary component,
wherein, via one of the plurality of the position sensors, a magnetic field of one of the plurality of the position magnets in a region of the one position sensor is detectable in a form of a sensor response;
a computing unit is configured to process sensor responses from position sensors to determine a position of the movable component relative to the stationary component,
wherein, for a group of position sensors considered for position determination in the region of the movable component, the computing unit detects the sensor response;
a memory unit is configured to store a sensor model, which, for the at least one movable component and a position sensor, supplies sensor model responses as a function of a relative position of the movable component relative to the position sensor,
wherein for a plurality of assumed different relative positions of the movable component relative to the stationary component, the computing unit determines sensor model responses of the group of position sensors with the sensor model,
wherein the computing unit is configured to compare the sensor model responses with the sensor responses detected by the group of position sensors, and
wherein the computing unit is configured to determine at least one of:
a relative position of the movable component from the plurality of assumed different relative positions with a smallest deviation between the sensor model responses from the sensor model and the detected sensor responses, or
a relative position of the movable component or an absolute position of the movable component related to a stationary reference point from the determined relative position of the movable component from the plurality of assumed different relative positions with the smallest deviation between the sensor model responses from the sensor model and the detected sensor responses.

### Claim 11 (depends on 10)

The movement arrangement according to claim 10, wherein the computing unit is a microprocessor-based component.