Sensor for measuring yaw, pitch or roll movements

Details Sensor for measuring yaw, pitch or roll movements Sensor for measuring yaw, pitch or roll movements

1999-12-08

2001-04-24

Kwok, Helen (Department: 2856)

Measuring and testing

Speed, velocity, or acceleration

Acceleration determination utilizing inertial element

C073S514090

Reexamination Certificate

active

06220095

ABSTRACT:

BACKGROUND OF THE INVENTION
The invention relates to a sensor for angular motion, in particular for the use as a yaw rate sensor.
There are motor vehicle control systems that require information on the yawing motion of the vehicle, specifically through the vehicle's movements around the vertical axis. These include, for example, vehicle stability control systems (FSR, ASMS). Other motor vehicle control systems, such as anti-lock braking systems (ABS), drive slip control systems (ASR), etc. can be improved by accounting for yawing motion. Information on pitching and rolling motions is also advantageous for certain motor vehicle control systems.
However, measuring yawing motion presents difficulties. Yawing motion sensors are expensive, especially when they are expected to provide a high degree of reliability, resolution and measuring precision. However, the price of the individual components plays a decisive role, particularly in motor vehicle control systems.
Proposals have already been made involving the use of the balance weights and rotating masses already present in the vehicle to measure yaw rates or yaw torques as input variables for motor vehicle control systems. According to these proposals, measuring and analysis equipment can be used to transform the balance weights and rotating masses into yaw rate and yaw torque sensors. example, the centrifugal mass of the vehicle engine or of a rotating mass located in a tape recorder, CD player or other electronic device may be used to achieve the desired outcome.
If no cost-effective yaw rate sensors are available, shear forces in anti-lock control systems are determined indirectly using complex calculations that are based on wheel RPM data (RPM=rotations per minute). Based on the current level of technology, however, yaw rate sensors are indispensable in other control systems, such as vehicle stability control systems.
The objective of the invention is to develop a sensor for measuring yawing, pitching or rolling motion, i.e. angular motion, particularly for measuring yaw rates or yaw torques, that is relatively inexpensive, operates reliably and delivers signals that can be processed relatively easily.
SUMMARY OF THE INVENTION
It has become evident that this objective can be achieved with a sensor with a rotating mass which is a magnetic fluid located in an annular or ring-like hollow object, and that it is set into motion by an electromagnetic field.
Consequently, the invention is based on the knowledge that a yaw rate sensor that can also be used to measure other angular motion pitching and rolling motion, can be constructed on the basis of a rotating magnetic fluid. This type of sensor is already used, for example, to obtain input control variables for a vehicle stability control system. The use of the sensor output signals to improve and/or monitor the control variables and control processes in an anti-lock braking system (ABS) or drive slip control system (ASR), etc. is also conceivable. In practice, this type of application is only worthwhile if it is possible to manufacture the sensor at little cost.
When yawing, pitching or rolling motion occurs, the magnetic fluid rotating in the hollow object is displaced relative to the vehicle on which the sensor is located. The forces or changes in forces associated with this motion can be measured and converted into analyzable electronic signals.
According to an advantageous embodiment of the invention, the electromagnetic field that sets the magnetic fluid into rotation is generated by means of coils located outside the casing. It is advantageous to use several coils that are distributed along both sides and around the circumference of the casing. Information on yawing motion, etc., can be obtained by measuring and changing individual field components.
According to another embodiment of the invention, the hollow object or hollow space in which the magnetic fluid is located is secured to the body or to the vehicle near the rotational axis of the rotating mass. The forces or moments acting on the rotational axis of the mass are measured and analyzed to determine yawing motions or yaw torques. On the other hand, it is also possible to attach the hollow object used as a casing for the magnetic fluid to the vehicle by means of diametrically engaging fastening elements, and to measure the forces acting on these fastening elements to determine yawing motion, etc.
Furthermore, in many cases it is particularly advantageous if the electromagnetic rotary field is generated by a multitude of coils and if the forces produced as a result of yawing motion are compensated for by changing the components of the electromagnetic rotary field; these field changes can be measured to determine the yawing motion of the vehicle and the yaw torque. An electric signal representing the motion being measured can be obtained in this manner.
The sensor according to the invention is particularly suitable for measuring the yawing motion of a motor vehicle. To this end, it is arranged near the vehicle's center of gravity and is oriented in such a way that the rotational plane of the magnetic fluid runs in the vehicle's direction of motion and perpendicular to the driving plane, or in a position approximating this one.
Additional features, advantages and possible applications of the invention are evident in the following discussion of further details, which is based on the enclosed figures.


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Article from Electro-Technology, 66 (1960.12), 6,11 entitled “The Magnetohydrodynamic Gyroscope”.

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