# US 2021/0333129 A1 · Position sensor system and method, robust against disturbance field

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- Number: US 2021/0333129 A1
- Document ID: US20210333129A1
- Status: Published application
- Kind: A1
- Application number: 17/371,996
- Filed: 2021-07-09
- Published: 2021-10-28
- Earliest claimed: 2018-06-26
- Assignees: Melexis Technologies SA
- Applicants: Melexis Technologies SA
- Inventors: Javier BILBAO DE MENDIZABAL
- Web page: https://patentgrep.com/patent/US20210333129A1

## CPC

- G01D 3/028: mitigating undesired influences, e.g. temperature, pressure
- G01D 5/245: using a variable number of pulses in a train
- G01D 5/145: {influenced by the relative movement between the Hall device and magnetic fields (see G01R33/06)}
- 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

## Abstract

A position sensor system comprising: a magnetic field generator movable relative to two sensor devices or vice versa. The system has at least one processor adapted with a special algorithm for determining a position of the magnetic field generator in a manner which is highly robust against a disturbance field. A method for determining the position of the magnetic field generator based on a set of equations, in particular a set of linear equations which allows to completely eliminate the external disturbance field.

## Claims

### Claim 1

A position sensor system comprising:
a magnetic field generator movable relative to a first and a second sensor device or vice versa, and being adapted for providing a first magnetic field vector to the first magnetic sensor device and for providing a second magnetic field vector different from the first magnetic field vector, to the second magnetic sensor device;
the first magnetic sensor device being adapted for determining first vector data related to a combination of said first magnetic field vector and an external disturbance field, when present;
the second magnetic sensor device being adapted for determining second vector data related to a combination of said second magnetic field vector and said external disturbance field, when present;
the position sensor system further comprising at least one processor adapted for receiving the first vector data and the second vector data, and adapted determining a position of the magnetic field generator relative to the first and the second magnetic sensor device, based on the first vector data and the second vector data in a manner which eliminates the external disturbance field;
wherein
the first magnetic sensor device is configured for measuring, at a first sensor position, a first magnetic field component oriented in a first direction and a second magnetic field component oriented in a second direction; and
the second magnetic sensor device is configured for measuring, at a second sensor position, a third magnetic field component oriented in said first direction and a fourth magnetic field component oriented in said second direction; and
the magnetic field generator is magnetized such that, and the first magnetic sensor device is oriented relative to the magnetic field generator such that the first magnetic field component is substantially 90° phase shifted relative to the second magnetic field component, and
the magnetic field generator is magnetized such that, and the second magnetic sensor device is oriented relative to the magnetic field generator such that the third magnetic field component is substantially 90° phase shifted relative to the fourth magnetic field component; and
the first and the second magnetic sensor device are spaced apart such that the first magnetic field component is phase shifted relative to the third magnetic field component by a value in a range from 30° to 330°.

### Claim 2 (depends on 1)

The position sensor system of claim 1,
wherein the first and the second magnetic sensor device are spaced apart such that the first magnetic field component is phase shifted relative to the third magnetic field component by substantially 180°.

### Claim 3 (depends on 1)

The position sensor system of claim 1,
wherein the position sensor system is a linear position sensor system; and
wherein the position is a linear position; and
wherein the magnetic field generator is movable along a longitudinal axis, or wherein the first and the second sensor are movable along a longitudinal axis; and
wherein the first and the second magnetic sensor device have a predefined first and second position and a predefined first and second orientation relative to said longitudinal axis.

### Claim 4 (depends on 1)

The position sensor system of claim 1,
wherein the position sensor system is an angular position sensor system; and
wherein the position is an angular position; and
wherein the magnetic field generator is rotatable about a longitudinal axis; and
wherein the first and the second magnetic sensor device have a predefined first and second position and a predefined first and second orientation relative to said longitudinal axis.

### Claim 5 (depends on 1)

The position sensor system of claim 1,
wherein the first magnetic sensor device comprises a first substrate defining a first plane;
and wherein the second magnetic sensor device comprises a second substrate defining a second plane;
and wherein the first plane and the second plane are substantially parallel.

### Claim 6 (depends on 5)

The position sensor system of claim 5,
wherein the first direction is parallel to the first substrate and the second direction is perpendicular to the first substrate and the third direction is parallel to the second substrate and the fourth direction is perpendicular to the second substrate;
or wherein the first direction is parallel to the first substrate and the second direction is parallel to the first substrate and the third direction is parallel to the second substrate and the fourth direction is parallel to the second substrate.

### Claim 7 (depends on 1)

The position sensor system of claim 1,
wherein said determining a position of the magnetic field generator relative to the first and second sensor comprises calculating the position based on the following set of formulas:
{
B
⁢
1
⁢
magx
=
(
v
⁢
1
⁢
x
-
v
⁢
2
⁢
x
)
/
2
;
B
⁢
1
⁢
magz
=
(
v
⁢
1
⁢
z
-
v
⁢
2
⁢
z
)
/
2
;
α
=
arctan
⁡
(
B
⁢
1
⁢
magz
/
B
⁢
1
⁢
magx
)
;
wherein α is an angular position of the first or the second sensor device relative to the magnetic field generator, (v1x, v1z) are vector coordinates of the first magnetic field vector measured by the first magnetic sensor device, (v2x, v2z) are vector coordinates of the second magnetic field vector measured by the second magnetic sensor device, and (B1magx, B1magz) are vector-coordinates of a magnetic field created solely by the magnetic field generator.

### Claim 8 (depends on 1)

The position sensor system of claim 1,
wherein the first magnetic sensor device comprises one Horizontal Hall element for measuring the second magnetic field component and one vertical Hall element for measuring the first magnetic field component; and
wherein the second magnetic sensor device comprises one Horizontal Hall element for measuring the fourth magnetic field component and one vertical Hall element for measuring the third magnetic field component.

### Claim 9 (depends on 1)

The position sensor system of claim 1,
wherein the first magnetic sensor device comprises a first and a second horizontal Hall element arranged on opposite sides of a first circular integrated magnetic concentrator;
wherein the second magnetic sensor device comprises a third and a fourth horizontal Hall element arranged on opposite sides of a second circular integrated magnetic concentrator;
wherein the second magnetic concentrator is spaced from the first magnetic concentrator;
wherein the first magnetic field component is determined by calculating a difference of signals obtained from the first and the second Hall element;
wherein the second magnetic field component is determined by calculating a sum of signals obtained from the first and the second Hall element;
wherein the third magnetic field component is determined by calculating a difference of signals obtained from the third and the fourth Hall element;
wherein the fourth magnetic field component is determined by calculating a sum of signals obtained from the third and the fourth Hall element.

### Claim 10

An angular position sensor system comprising:
a multipole ring magnet movable with respect to a printed circuit board, or vice versa,
the printed circuit board comprising a first magnetic sensor device and a second magnetic sensor device;
the multipole ring magnet being adapted for providing a first magnetic field vector to the first magnetic sensor device and for providing a second magnetic field vector different from the first magnetic field vector to the second magnetic sensor device;
the first magnetic sensor device being adapted for determining first vector data related to a combination of said first magnetic field vector and an external disturbance field, when present;
the second magnetic sensor device being adapted for determining second vector data related to a combination of said second magnetic field vector and said external disturbance field, when present;
the angular position sensor system further comprising at least one processor adapted for receiving the first vector data and the second vector data, and adapted for determining a position of the multipole ring magnet relative to the first and the second magnetic sensor device, based on the first vector data and the second vector data in a manner which eliminates the external disturbance field.

### Claim 11 (depends on 10)

The angular position sensor system of claim 10,
wherein the multipole ring magnet is rotatable about a rotation axis, and has an inner radius and an outer radius and an upper surface and a bottom surface;
and wherein the printed circuit board is oriented parallel to said upper surface;
and wherein a centre of the first magnetic sensor device and a centre of the second magnetic sensor device is located between said inner radius and said outer radius.

### Claim 12 (depends on 10)

The angular position sensor system of claim 10,
wherein the multipole ring magnet is rotatable about a rotation axis, and has an inner radius and an outer radius and an upper surface and a bottom surface;
and wherein the printed circuit board is oriented perpendicular to said upper surface;
and wherein a centre of the first magnetic sensor device and a centre of the second magnetic sensor device is located at an axial position between said upper surface and said bottom surface.

### Claim 13 (depends on 12)

The angular position sensor system of claim 12,
wherein the printed circuit board is situated at a distance from the rotation axis, said distance being larger than the outer radius of the multipole ring magnet.

### Claim 14 (depends on 12)

The angular position sensor system of claim 12,
wherein the printed circuit board is situated at a distance from the rotation axis, said distance being smaller than the inner radius of the multipole ring magnet.

### Claim 15 (depends on 10)

The angular position sensor system of claim 10,
wherein said determining the position of the multipole ring magnet comprises calculating an angular position based on the following set of formulas:
{
B
⁢
1
⁢
magx
=
(
v
⁢
1
⁢
x
-
v
⁢
2
⁢
x
)
/
2
;
B
⁢
1
⁢
magz
=
(
v
⁢
1
⁢
z
-
v
⁢
2
⁢
z
)
/
2
;
α
=
arctan
⁡
(
B
⁢
1
⁢
magz
/
B
⁢
1
⁢
magx
)
;
wherein α is an angular position of the first or the second magnetic sensor device relative to the magnet, (v1x, v1z) are vector coordinates of the first magnetic field vector measured by the first magnetic sensor device, (v2x, v2z) are vector coordinates of the second magnetic field vector measured by the second magnetic sensor device, and (B1magx, B1magz) are vector-coordinates of a magnetic field created solely by the multipole ring magnet.

### Claim 16

A linear position sensor system comprising:
an elongated magnetic source comprising a plurality of alternating poles, said elongated magnetic source being movable relative to a printed circuit board;
said printed circuit board comprising a first magnetic sensor device and a second magnetic sensor device;
the elongated magnetic source being adapted for providing a first magnetic field vector to the first magnetic sensor device and for providing a second magnetic field vector different from the first magnetic field vector to the second magnetic sensor device;
the first magnetic sensor device being adapted for determining first vector data related to a combination of said first magnetic field vector and an external disturbance field, when present;
the second magnetic sensor device being adapted for determining second vector data related to a combination of said second magnetic field vector and said external disturbance field, when present;
the linear position sensor system further comprising at least one processor adapted for receiving the first vector data and the second vector data, and adapted for determining a position of the elongated magnetic source relative to the first and the second magnetic sensor device, based on the first vector data and the second vector data in a manner which eliminates the external disturbance field.

### Claim 17 (depends on 16)

The linear position sensor system of claim 16,
wherein the elongated magnetic source has a longitudinal extension in a first direction, and is magnetized in a second direction perpendicular to the first direction;
and wherein the printed circuit board is oriented parallel to said first direction but perpendicular to said second direction;
and wherein the first magnetic sensor device and the second magnetic sensor device are spaced apart in said first direction.

### Claim 18 (depends on 16)

The linear position sensor system of claim 16,
wherein the elongated magnetic source has a longitudinal extension in a first direction, and is magnetized in a second direction perpendicular to the first direction;
and wherein the printed circuit board is oriented parallel to said first direction and parallel to said second direction;
and wherein the first magnetic sensor device and the second magnetic sensor device are spaced apart in said first direction.

### Claim 19 (depends on 17)

The linear position sensor system of claim 17,
wherein the first magnetic sensor device and the second magnetic sensor device are spaced apart in said first direction by a distance in a range from about 0.1 to about 1.9 pole distances.

### Claim 20 (depends on 18)

The linear position sensor system of claim 18,
wherein the first magnetic sensor device and the second magnetic sensor device are spaced apart in said first direction by a distance in a range from about 0.1 to about 1.9 pole distances.