IP Library › Granted Patent US 10,036,654

Granted Patent B1

US 10,036,654 · App. 15/421,038 · Granted Jul 31, 2018

Fault tolerant servo sensor with linear hall sensors and discrete hall sensors

Inventors: Geoffrey Alan Long (Montara, CA); Brian Robert Viele (Mountain View, CA)

Assignee: Kitty Hawk Corporation

G01D5/145

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Quick Facts

Patent No.: US 10,036,654
App. No.: 15/421,038
Granted: Jul 31, 2018
Kind: B1

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USPTO Patent Center↗ Full Patent PDF↗

Abstract

A first measurement of a magnet that rotates is received from a first set of Hall sensors in a first component. A second measurement is received from a second set of Hall sensors in a second component where the first component and the second component are in a plane that is parallel to an axis of rotation associated with the magnet. An angle associated with the magnet is determined based at least in part on the first measurement and the second measurement.

Claims (111)

1. A system, comprising:

a first discrete integrated circuit component that includes a first set of one or more Hall sensors;

a second discrete integrated circuit component that includes a second set of one or more Hall sensors;

a third discrete integrated circuit component that includes a third set of one or more Hall sensors, wherein:

the first discrete integrated circuit component, the second discrete integrated circuit component, and the third discrete integrated circuit component are together in a plane that is parallel to an axis of rotation associated with a magnet that rotates; and

the first set of one or more Hall sensors, the second set of one or more Hall sensors, and the third set of set of one or more Hall sensors are respectively positioned within the first discrete integrated circuit component, the second discrete integrated circuit component, and the third discrete integrated circuit component, respectively, such that a first measurement of a magnetic field associated with the magnet that rotates, a second measurement of the magnetic field associated with the magnet that rotates, and a third measurement of the magnetic field associated with the magnet that rotates are 120° out of phase with respect to each other;

a processor configured to:

receive, from the first set of one or more Hall sensors in the first discrete integrated circuit component, the first measurement of the magnetic field associated with the magnet that rotates;

receive, from the second set of one or more Hall sensors in the second discrete integrated circuit component, the second measurement of the magnetic field associated with the magnet that rotates;

receive, from the third set of one or more Hall sensors in the third discrete integrated circuit component, the third measurement of the magnetic field associated with the magnet that rotates;

determine an angle associated with the rotation of the magnet based at least in part on the first measurement of the magnetic field associated with the magnet that rotates, the second measurement of the magnetic field associated with the magnet that rotates, and the third measurement of the magnetic field associated with the magnet that rotates;

generate a health status signal based at least in part on the first measurement of the magnetic field associated with the magnet that rotates, the second measurement of the magnetic field associated with the magnet that rotates, and the third measurement of the magnetic field associated with the magnet that rotates;

monitor the health status signal in order to determine if the health status signal indicates bad system health; and

in the event the health status signal indicates bad system health, discontinue use of the angle determined based at least in part on the first measurement of the magnetic field associated with the magnet that rotates, the second measurement of the magnetic field associated with the magnet that rotates, and the third measurement of the magnetic field associated with the magnet that rotates in favor of a second angle determined without taking into consideration any of the first measurement of the magnetic field associated with the magnet that rotates, the second measurement of the magnetic field associated with the magnet that rotates, or the third measurement of the magnetic field associated with the magnet that rotates.

2. The system recited in claim 1 , wherein determining the angle includes using an atan 2 function which inputs the first measurement of the magnetic field associated with the magnet that rotates and the second measurement of the magnetic field associated with the magnet that rotates.

3. The system recited in claim 1 , wherein determining the angle includes using one or more of the following: one or more lookup tables, one or more 3D tables, a Kalman filter, or covariance scheduling.

4. The system recited in claim 1 , wherein:

determining the angle includes:

generating an alpha value, a beta value, and a gamma value using a Clarke transform, the first measurement of the magnetic field associated with the magnet that rotates, the second measurement of the magnetic field associated with the magnet that rotates, and the third measurement of the magnetic field associated with the magnet that rotates; and

performing an atan 2 function on the alpha value and the beta value.

5. The system recited in claim 1 , wherein:

determining the angle includes:

performing an atan 2 function on the alpha value and the beta value; and

one of the first discrete integrated circuit component, the second discrete integrated circuit component, and the third discrete integrated circuit component is closer to the magnet compared to the other discrete integrated circuit components and that discrete integrated circuit component has a different part number compared to the other discrete integrated circuit components.

6. The system recited in claim 1 , wherein:

determining the angle includes generating an alpha value, a beta value, and a gamma value using a Clarke transform, the first measurement of the magnetic field associated with the magnet that rotates, the second measurement of the magnetic field associated with the magnet that rotates, and the third measurement of the magnetic field associated with the magnet that rotates; and

generating the health status signal includes monitoring an amplitude of an alpha-beta vector, associated with the alpha value and the beta value, for variation from a fixed value using a maximum amplitude deviation.

7. The system recited in claim 1 , wherein:

generating the health status signal includes monitoring the gamma value for variation from a zero value using a maximum gamma deviation.

8. The system recited in claim 1 , wherein:

generating the health status signal includes:

monitoring an amplitude of an alpha-beta vector, associated with the alpha value and the beta value, for variation from a fixed value using a maximum amplitude deviation; and

monitoring the gamma value for variation from a zero value using a maximum gamma deviation.

9. The system recited in claim 1 , wherein the processor is further configured to:

initialize 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;

determine a direction of rotation associated with the motor shaft using a plurality of discrete Hall sensors in the motor; and

update the output shaft angle using an incremental value and the direction of rotation.

10. The system recited in claim 1 , wherein:

the processor is further configured to:

initialize 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;

determine a direction of rotation associated with the motor shaft using a plurality of discrete Hall sensors in the motor; and

update the output shaft angle using an incremental value and the direction of rotation.

11. The system recited in claim 1 , wherein

generating the health status signal includes monitoring the gamma value for variation from a zero value using a maximum gamma deviation; and

the processor is further configured to:

initialize 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;

determine a direction of rotation associated with the motor shaft using a plurality of discrete Hall sensors in the motor; and

update the output shaft angle using an incremental value and the direction of rotation.

12. The system recited in claim 1 , wherein

generating the health status signal includes:

monitoring an amplitude of an alpha-beta vector, associated with the alpha value and the beta value, for variation from a fixed value using a maximum amplitude deviation; and

monitoring the gamma value for variation from a zero value using a maximum gamma deviation; and

the processor is further configured to:

initialize 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;

determine a direction of rotation associated with the motor shaft using a plurality of discrete Hall sensors in the motor; and

update the output shaft angle using an incremental value and the direction of rotation.

13. A method, comprising:

providing a first discrete integrated circuit component that includes a first set of one or more Hall sensors;

providing a second discrete integrated circuit component that includes a second set of one or more Hall sensors;

providing a third discrete integrated circuit component that includes a third set of one or more Hall sensors, wherein:

the first discrete integrated circuit component the second discrete integrated circuit component, and the third discrete integrated circuit component are together in a plane that is parallel to an axis of rotation associated with a magnet that rotates; and

receiving, from the first set of one or more Hall sensors in the first discrete integrated circuit component, the first measurement of the magnetic field associated with the magnet that rotates;

receiving, from the second set of one or more Hall sensors in the second discrete integrated circuit component, the second measurement of the magnetic field associated with the magnet that rotates;

receiving, from the third set of one or more Hall sensors in the third discrete integrated circuit component, the third measurement of the magnetic field associated with the magnet that rotates;

determining an angle associated with the rotation of the magnet based at least in part on the first measurement of the magnetic field associated with the magnet that rotates, the second measurement of the magnetic field associated with the magnet that rotates, and the third measurement of the magnetic field associated with the magnet that rotates;

generating a health status signal based at least in part on the first measurement of the magnetic field associated with the magnet that rotates, the second measurement of the magnetic field associated with the magnet that rotates, and the third measurement of the magnetic field associated with the magnet that rotates;

monitoring the health status signal in order to determine if the health status signal indicates bad system health; and

in the event the health status signal indicates bad system health, discontinuing use of the angle determined based at least in part on the first measurement of the magnetic field associated with the magnet that rotates, the second measurement of the magnetic field associated with the magnet that rotates, and the third measurement of the magnetic field associated with the magnet that rotates in favor of a second angle determined without taking into consideration any of the first measurement of the magnetic field associated with the magnet that rotates, the second measurement of the magnetic field associated with the magnet that rotates, or the third measurement of the magnetic field associated with the magnet that rotates.

14. The method recited in claim 13 , wherein determining the angle includes:

performing an atan 2 function on the alpha value and the beta value.

15. The method recited in claim 13 , wherein determining the angle includes:

performing an atan 2 function on the alpha value and the beta value, wherein one of the first discrete integrated circuit component, the second discrete integrated circuit component, and the third discrete integrated circuit component is closer to the magnet compared to the other discrete integrated circuit components and that discrete integrated circuit component has a different part number compared to the other discrete integrated circuit components.

16. The method recited in claim 13 , wherein:

determining the angle includes generating an alpha value, a beta value, and a gamma value using a Clarke transform, the first measurement, the second measurement, and the third measurement; and

17. The method recited in claim 13 , wherein:

generating the health status signal includes monitoring the gamma value for variation from a zero value using a maximum gamma deviation.

18. The method recited in claim 13 , wherein:

generating the health status signal includes:

monitoring an amplitude of an alpha-beta vector, associated with the alpha value and the beta value, for variation from a fixed value using a maximum amplitude deviation; and

monitoring the gamma value for variation from a zero value using a maximum gamma deviation.

19. A computer program product, the computer program product being embodied in a non-transitory computer readable storage medium and comprising computer instructions for: obtaining data from a sensor arrangement, comprising: first discrete integrated circuit component that includes a first set of one or more Hall sensors; second discrete integrated circuit component that includes a second set of one or more Hall sensors; third discrete integrated circuit component that includes a third set of one or more Hall sensors, wherein: the first discrete integrated circuit component, the second discrete integrated circuit component, and the third discrete integrated circuit component are together in a plane that is parallel to an axis of rotation associated with a magnet that rotates; and the first set of one or more Hall sensors, the second set of one or more Hall sensors, and the third set of set of one or more Hall sensors are respectively positioned within the first discrete integrated circuit component, the second discrete integrated circuit component, and the third discrete integrated circuit component, respectively, such that a first measurement of a magnetic field associated with the magnet that rotates, a second measurement of the magnetic field associated with the magnet that rotates, and a third measurement of the magnetic field associated with the magnet that rotates are 120° out of phase with respect to each other; receiving, from the first set of one or more Hall sensors in the first discrete integrated circuit component, the first measurement of the magnetic field associated with the magnet that rotates; receiving, from the second set of one or more Hall sensors in the second discrete integrated circuit component, the second measurement of the magnetic field associated with the magnet that rotates; receiving, from the third set of one or more Hall sensors in the third discrete integrated circuit component, the third measurement of the magnetic field associated with the magnet that rotates; determining an angle associated with the rotation of the magnet based at least in part on the first measurement of the magnetic field associated with the magnet that rotates, the second measurement of the magnetic field associated with the magnet that rotates, and the third measurement of the magnetic field associated with the magnet that rotates; generating a health status signal based at least in part on the first measurement of the magnetic field associated with the magnet that rotates, the second measurement of the magnetic field associated with the magnet that rotates, and the third measurement of the magnetic field associated with the magnet that rotates; monitoring the health status signal in order to determine if the health status signal indicates bad system health; and in the event the health status signal indicates bad system health, discontinuing use of the angle determined based at least in part on the first measurement of the magnetic field associated with the magnet that rotates, the second measurement of the magnetic field associated with the magnet that rotates, and the third measurement of the magnetic field associated with the magnet that rotates in favor of a second angle determined without taking into consideration any of the first measurement of the magnetic field associated with the magnet that rotates, the second measurement of the magnetic field associated with the magnet that rotates, or the third measurement of the magnetic field associated with the magnet that rotates.

20. The computer program product recited in claim 19 , wherein determining the angle includes:

performing an atan 2 function on the alpha value and the beta value.

21. The computer program product recited in claim 19 , wherein determining the angle includes:

22. The computer program product recited in claim 19 , wherein:

determining the angle includes generating an alpha value, a beta value, and a gamma value using a Clarke transform, the first measurement, the second measurement, and the third measurement; and

23. The computer program product recited in claim 19 , wherein:

generating the health status signal includes monitoring the gamma value for variation from a zero value using a maximum gamma deviation.

24. The computer program product recited in claim 19 , wherein:

generating the health status signal includes:

monitoring an amplitude of an alpha-beta vector, associated with the alpha value and the beta value, for variation from a fixed value using a maximum amplitude deviation; and

monitoring the gamma value for variation from a zero value using a maximum gamma deviation.

Assignments (7)

RELEASE OF SECURITY INTEREST Recorded May 22, 2023

From: ONE AERO, LLC

To: KITTY HAWK CORPORATION

Reel/Frame 063713/0367 →

CHANGE OF NAME Recorded Dec 17, 2019

From: CORA AERO LLC

To: WISK AERO LLC

Reel/Frame 051328/0757 →

ASSIGNMENT OF ASSIGNOR'S INTEREST Recorded Sep 13, 2019

From: KITTY HAWK CORPORATION