Clutch actuator, sensing system and method for sensing an angular position of a rotational component
A first sensor signal and a second sensor signal are provided by a sensor unit to an evaluation unit. The first sensor signal is dependent on the angular position and is associated with a first detection position, and the second sensor signal is associated with a second detection position lying about the rotational axis perpendicular to the first detection position. An angular position of a rotational component is determined by the evaluation unit based on output from an atan2-function that takes the first and second sensor signals as input. A harmonic error is determined by the evaluation unit based on a periodic error signal that is superimposed on each of the sensor signals. An angular error of the angular position is determined by the evaluation unit based on the harmonic error. The angular position is updated by the evaluation unit based on the angular error.
1. A method for detecting an angular position of a rotational component rotatable about a rotational axis, the method comprising:
providing, via a sensor unit, a first sensor signal and a second sensor signal to an evaluation unit, wherein the first sensor signal is dependent on the angular position and is associated with a first detection position, and the second sensor signal is associated with a second detection position lying about the rotational axis perpendicular to the first detection position;
determining via the evaluation unit, the angular position based on output from an atan2-function that takes the first and second sensor signals as input;
determining, via the evaluation unit, a harmonic error based on a periodic error signal that is superimposed on each of the sensor signals;
determining, via the evaluation unit, an angular error of the angular position based on the harmonic error; and
updating, via the evaluation unit, the angular position based on the angular error.
2. The method according to claim 1 , further comprising, determining, via the evaluation unit, an error amplitude and an error phase of each periodic error signal via a gradient-based method.
3. The method according to claim 1 , further comprising determining via the evaluation unit, an error amplitude and an error phase of each periodic error signal via a least squares method.
4. The method according to claim 3 , further comprising determining, via the evaluation unit, the error amplitude and the error phase additionally via a gradient-based method.
5. The method according to any one of the preceding claim 1 , further comprising determining, via the evaluation unit, the angular error based on an error amplitude of each periodic error signal and a signal amplitude of each sensor signal.
6. The method according to claim 5 , wherein the angular error is determined via a first calculation method when the respective periodic error signal changes concurrently with the corresponding sensor signal and via a second calculation method when the respective periodic error signal changes oppositely to the corresponding sensor signal.
7. The method according to claim 1 , further comprising:
assigning, via the evaluation unit, an error frequency to each periodic error signal, wherein the error frequency is integrally dependent on a rotational frequency of the corresponding sensor signal; and
determining the angular error based on the error frequency.
8. The method according to claim 1 , further comprising, prior to determining at least one of the angular position or the angular error, correcting, via the evaluation unit, at least one of the sensor signal based on at least one of an amplitude error, a phase error, or an orthogonal error.
9. A detection system for detecting an angular position of a rotational component rotatable about a rotational axis, the detection system comprising:
an evaluation unit, and
a sensor unit configured to provide a first sensor signal and a second sensor signal to the evaluation unit, wherein the first sensor signal is dependent on the angular position and is associated with a first detection position, and the second sensor signal is associated with a second detection position lying about the rotational axis perpendicular to the first detection position;
wherein the evaluation unit is configured to:
determine the angular position based on output from an atan2-function that takes the first and second sensor signals as input;
determine a harmonic error based on a periodic error signal that is superimposed on each of the sensor signals;
determine an angular error of the angular position based on the harmonic error; and
update the angular position based on the angular error.
10. A clutch actuator for clutch actuation, comprising a detection system according to claim 9 .
11. The method according to claim 1 , wherein the sensor unit includes:
a fixed sensor element; and
a rotational element that can rotate relative to the sensor element and jointly with the rotational component.
12. The method according to claim 11 , wherein the sensor element is axially spaced from the rotational element.
13. The detection system according to claim 9 , wherein the evaluation unit is further configured to determine an error amplitude and an error phase of each periodic error signal via a gradient-based method.
14. The detection system according to claim 9 , wherein the evaluation unit is further configured to determine an error amplitude and an error phase of each periodic error signal via a least squares method.
15. The detection system according to claim 14 , wherein the evaluation unit is further configured to determine the error amplitude and the error phase additionally via a gradient-based method.
16. The detection system according to claim 9 , wherein the evaluation unit is further configured to determine the angular error based on an error amplitude of each periodic error signal and a signal amplitude of each sensor signal.
17. The detection system according to claim 16 , wherein the angular error is determined via a first calculation method when the respective periodic error signal changes concurrently with the corresponding sensor signal and via a second calculation method when the respective periodic error signal changes oppositely to the corresponding sensor signal.
18. The detection system according to claim 9 , wherein the evaluation unit is further configured to:
assign an error frequency to each periodic error signal, wherein the error frequency is integrally dependent on a rotational frequency of the corresponding sensor signal; and
determine the angular error based on the error frequency.
19. The detection system according to claim 9 , wherein the evaluation unit is further configured to, prior to determining at least one of the angular position or the angular error, correct at least one of the sensor signals based on at least one of an amplitude error, a phase error, or an orthogonal error.
20. The detection system according to claim 9 , wherein the sensor unit includes:
a fixed sensor element; and
a rotational element that can rotate relative to the sensor element and jointly with the rotational component;
wherein the sensor element is axially spaced from the rotational element.