# US 2014/0195117 A1 · Torque Detecting Device and Electric Power Steering Device

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- Number: US 2014/0195117 A1
- Document ID: US20140195117A1
- Status: Published application
- Kind: A1
- Application number: 13/581,238
- Filed: 2012-03-21
- Published: 2014-07-10
- Earliest claimed: 2011-06-21
- Assignees: Nsk Ltd.
- Inventors: Masaki Kuwahara; Takayuki Kobayashi; Kazuhiro Yoshida; Toshiyuki Onizuka; Takayoshi Sugawara; Nobuhiko Andou
- Web page: https://patentgrep.com/patent/US20140195117A1

## CPC

- B62D 5/0481: {monitoring the steering system, e.g. failures}
- B62D 5/049: {detecting sensor failures}
- G01L 3/101: {involving magnetic or electromagnetic means}
- G01L 3/105: {involving inductive means (G01L3/102, G01L3/104 take precedence)}
- G01L 25/006: {for measuring work or mechanical power or mechanical efficiency}
- B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M)
- G01L: MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE (weighing G01G)

## Abstract

There is provided a torque detecting device for providing a highly accurate torque signal, and an electric power steering device using the torque detecting device. A torque sensor is provided with a first coil pair and a second coil pair, which detect a relative displacement between an input shaft and an output shaft by corresponding the relative displacement to a change in impedance. Magnetization signal generating units supply exciting currents with different magnetization frequencies to the first coil pair and a second coil pair, respectively. The magnetization frequency difference is set to 3.5 kHz or higher. Moreover, low-pass filters for intercepting passage of a frequency equivalent to the magnetization frequency difference are deployed in signal processing circuits respectively.

## Claims

### Claim 1

A torque detecting device comprising:
at least two sets of coil pairs for detecting a relative displacement between a first rotary shaft and a second rotary shaft, which are connected to each other via a torsion bar that generates a twist due to an input torque, by corresponding the relative displacement to a change in impedance;
a plurality of oscillators, independently provided for each of the coil pairs, each for supplying a magnetization signal with a different magnetization frequency to each of the coil pairs, and
a signal processing unit, independently provided for each of the coil pairs, each having a torque detection function for processing an output signal from each of the coil pairs and outputting a torque detection signal,
wherein a magnetization frequency difference, which is a difference between the magnetization frequencies, is set to 3.5 kHz or higher.

### Claim 2 (depends on 1)

The torque detecting device according to claim 1, wherein:
the magnetization frequency difference is set to a value greater than a maximum value within a frequency band of the torque signal detected, and
the signal processing unit intercepts passage of a frequency corresponding to the magnetization frequency difference, and comprises a low-pass filter for allowing the passage of a frequency corresponding to the maximum value.

### Claim 3 (depends on 1)

The torque detecting device according to claim 1, further comprising:
a monitoring unit for monitoring an abnormality of the torque detection function regularly; and
an initial diagnostic unit for inputting a diagnosis signal to the monitoring unit and determining that the monitoring unit is operating normally before the torque detection function starts its operation.

### Claim 4 (depends on 3)

The torque detecting device according to claim 3, wherein the initial diagnostic unit inputs to the monitoring unit a normal signal and an abnormal signal alternately, as diagnosis signals, and determines that the monitoring unit is operating normally when the monitoring unit carries out a normality diagnosis in response to an input of the normal signal, and the monitoring unit carries out an abnormality diagnosis in response to the input of the abnormal signal.

### Claim 5 (depends on 4)

The torque detecting device according to claim 4, wherein the initial diagnostic unit inputs to the monitoring unit, the normal signal, the abnormal signal, and the normal signal in this order as diagnosis signals.

### Claim 6 (depends on 3)

The torque detecting device according to claim 3, wherein:
the monitoring unit is a magnetization signal monitoring unit for monitoring a waveform of the magnetization signal; and
the initial diagnostic unit inputs a normal signal with an ideal waveform of the magnetization signal, and an abnormal signal different in frequency from the normal signal as diagnosis signals for the magnetization signal monitoring unit instead of the magnetization signal to be monitored.

### Claim 7 (depends on 6)

The torque detecting device according to claim 6, wherein the initial diagnostic unit inputs as the abnormal signal, a signal with a half the frequency of the normal signal.

### Claim 8 (depends on 3)

The torque detecting device according to claim 3, wherein:
the monitoring unit is a phase monitoring unit for monitoring whether or not the torque detection signal has a phase shifted relative to the magnetization signal; and
the initial diagnostic unit inputs as the diagnosis signals for the phase monitoring unit, the magnetization signal and a signal having a phase of the magnetization signal is shifted via a phase shift circuit, instead of the torque detection signal to be monitored.

### Claim 9 (depends on 3)

The torque detecting device according to claim 3, wherein:
the signal processing unit is configured to A/D convert the torque detection signal to be output,
the monitoring unit is an ADC monitoring unit for monitoring an output value from an A/D converted voltage value to be monitored, and
the initial diagnostic unit inputs as diagnosis signals for the ADC monitoring unit, a plurality of normal voltage values including a central voltage value within a regularly used voltage region of the torque detection signal and a plurality of abnormal voltage values different from the normal voltage value, instead of the voltage value to be monitored.

### Claim 10 (depends on 3)

The torque detecting device according to claim 3, wherein:
each of the oscillators includes a counter for dividing a frequency of a clock signal to generate a pulse with the magnetization frequency, and
the monitoring unit comprises a CR oscillator and a pulse width memory unit for calculating a width of an output pulse of the CR oscillator using the clock signal, and is a clock monitoring unit for monitoring the abnormality of the clock signal by calculating the width of the output pulse of the CR oscillator using the clock signal and comparing the calculated value to the width of the output pulse stored in the pulse width memory unit.

### Claim 11 (depends on 10)

The torque detecting device according to claim 10, wherein the initial diagnostic unit determines that the clock monitoring unit is operating normally, when the clock monitoring unit inputs as the diagnosis signals for the clock monitoring unit, the pulse of the magnetization frequency generated by the counter instead of the clock signal to be monitored, counts width of the output pulse from the CR oscillator using the pulse of the magnetization frequency generated by the counter, and compares the resulting counted value to width of an output pulse stored in the pulse width memory unit, and diagnoses the abnormality.

### Claim 12 (depends on 3)

The torque detecting device according to claim 3, wherein:
the oscillators each generate the magnetization signal with a sinusoidal waveform for the coil pair, based on the clock pulse, and
the monitoring unit comprises a low-pass filter for monitoring, which inputs the magnetization signal output from the oscillation unit, and is a clock frequency change monitoring unit for detecting a change in amplitude of an output from the low-pass filter as the change in the frequency of the clock pulse.

### Claim 13 (depends on 12)

The torque detecting device according to claim 12, wherein the clock frequency change monitoring unit has a configuration for detecting whether or not at least either a peak value along an upper half wave or a lower half wave of the output from the low-pass filter for monitoring falls within a normal amplitude range.

### Claim 14 (depends on 13)

The torque detecting device according to claim 13, wherein the initial diagnostic unit comprises a clock frequency selecting unit for selecting and supplying a regular clock signal and an abnormal clock signal different in magnetization frequency from the regular clock signal to the magnetization signal generating unit, and
wherein the clock frequency change monitoring unit is diagnosed based on the detected and output result from the clock frequency change monitoring unit, when the regular clock signal and the abnormal clock signal are supplied as the diagnosis signals for the clock frequency selecting unit to the magnetization signal generating unit.

### Claim 15 (depends on 14)

The torque detecting device according to claim 14, wherein the abnormal clock signal includes two kinds of signals: an abnormal high frequency clock signal with a frequency higher than a highest permissible frequency of the regular clock signal; and an abnormal low frequency clock signal with the frequency lower than a lowest permissible frequency for the regular clock signal.

### Claim 16 (depends on 1)

The torque detecting device according to claim 1, wherein the signal processing unit further comprises:
an AD converter for converting an analog signal corresponding to the torque to a digital signal;
a memory unit for storing beforehand a gain correcting value and an offset correcting value for correcting a gain and an offset for the digital signal converted by the AD converter; and
a first correction and calculation unit for correcting the digital signal converted by the AD converter based on the gain correcting value and the offset correcting value stored in the memory unit, and outputting the corrected value as the torque detection signal.

### Claim 17 (depends on 3)

The torque detecting device according to claim 3, wherein the signal processing unit further comprises:
an AD converter for converting an analog signal corresponding to the torque to a digital signal;
a memory unit for storing beforehand a gain correcting value and an offset correcting value for correcting a gain and an offset for the digital signal converted by the AD converter;
a first correction and calculation unit for correcting the digital signal converted by the AD converter based on the gain correcting value and the offset correcting value stored in the memory unit, and outputting the corrected value as the torque detection signal; and
a second correction and calculation unit for performing the same correcting operation as that of the first correction and calculation unit,
wherein the monitoring unit is an operating logic monitoring unit for inputting the same signal to the first and second correction and calculation units, and comparing both calculated results to monitor whether or not the operating logic of the first correction and calculation unit is functioning normally.

### Claim 18 (depends on 17)

The torque detecting device according to claim 17, wherein the initial diagnostic unit determines that the calculation logic monitoring unit is functioning normally by inputting to the second correction and calculation unit a signal different from the signal input to the first correction and calculation unit as a diagnosis signal, and determining that the calculated results differ.

### Claim 19 (depends on 18)

The torque detecting device according to claim 18, wherein the initial diagnostic unit uses an inverted signal of the input signal to the first correction and calculation unit as a different signal to be input to the second correction and calculation unit from that to be input to the first correction and calculation unit.

### Claim 20 (depends on 3)

The torque detecting device according to claim 3, wherein the signal processing unit is provided to correspond to two sets of coil pairs, is configured to output a main torque signal based on each of the output signals from the two sets of coil pairs, respectively, and comprises a diagnostic information output unit for outputting diagnostic information including the abnormality diagnosis result from the monitoring unit.

### Claim 21 (depends on 20)

The torque detecting device according to claim 20, wherein:
the signal processing unit is configured to calculate a main torque signal and the sub torque signal based on output signals from the coil pairs and to output only the main torque signal, and
the monitoring unit is a torque signal monitoring unit for monitoring an abnormality of the signal processing unit by comparing the main torque signal to the sub torque signal.

### Claim 22 (depends on 20)

The torque detecting device according to claim 20, wherein
the diagnostic information output unit outputs as the diagnostic information at least three kinds of information including: information that the abnormality diagnosis result from the monitoring unit is normal; information that the abnormality diagnosis result from the monitoring unit is abnormal; and information that the initial diagnostic unit is conducting an initial diagnosis.

### Claim 23 (depends on 22)

The torque detecting device according to claim 22, wherein the diagnostic information output unit outputs as the diagnostic information, a pulse signal with a fixed period when the abnormality diagnosis result from the monitoring unit is normal, a high level signal when the abnormality diagnosis result from the monitoring unit is abnormal, and a low level signal when the initial diagnostic unit is conducting initial diagnosis.

### Claim 24 (depends on 1)

An electric power steering device, comprising:
the torque detecting device of claim 1 for detecting a steering torque input to a steering mechanism; and
a motor control unit for drive-controlling an electric motor to supply to a steering system a steering auxiliary power that reduces a driver's steering burden, based on at least a steering torque detected by the torque detecting device.