Measuring system and method for determining a force and/or a torque on a torque-transmitting shaft

Abstract

The invention relates to a measuring system for determining a force and/or a torque on a torque-transmitting shaft, wherein: the measuring system has at least three, in particular at least four, piezoelectric elements each having a preferred direction and each being arranged at different positions about a rotational axis of the shaft in a force flow transmitted via the shaft, said arrangement being such that a force of the force flow acts, in particular exclusively, on the piezoelectric elements; the preferred directions each lie parallel to or in a single plane which is intersected by the rotational axis; and the preferred directions of at least two, in particular at least three, of the piezoelectric elements are oriented neither parallel nor antiparallel to one other.

Claims

1. A measuring system for determining a force and a torque on a torque-transmitting shaft, wherein the measuring system comprises: at least three piezoelements, each of the at least three piezoelements having a piezoelectric crystal oriented in a preferred direction, wherein each of the at least three piezoelements are arranged at different positions about a rotational axis of the torque-transmitting shaft in a force flow transmitted via the torque-transmitting shaft such that a force of the force flow acts on the at least three piezoelements, wherein each of the preferred directions of the piezoelectric crystals lie parallel to a single plane intersected by the rotational axis or in the single plane intersected by the rotational axis, and wherein the preferred directions of the piezoelectric crystals are oriented neither parallel nor antiparallel to one another; and a signal processing device which is configured to determine the force and the torque using a system of equations for force components and torque components based on measurement signals of individual piezoelements of the at least three piezoelements, wherein measurement signals from all of the piezoelements that have a piezoelectric crystal oriented in a respective preferred direction lying parallel to the single plane intersected by the rotational axis or in the single plane intersected by the rotational axis are used to determine each of the force components and each of the torque components, wherein the systems of equations is:
S1=a.sub.11.Math.Mz+a.sub.12.Math.Fx+a.sub.13.Math.Fy
S2=a.sub.21.Math.Mz+a.sub.22.Math.Fx+a.sub.23.Math.Fy
S3=a.sub.31.Math.Mz+a.sub.32.Math.Fx+a.sub.33.Math.Fy
SN=a.sub.NI.Math.Mz and wherein S1-SN are the measurement signals, Mz represents a torque component, Fx represents a first force component, and Fy represents a second force component.

2. The measuring system according to claim 1, wherein the at least three piezoelements are geometrically arranged such that there is no mirror axis or no point of symmetry in terms of their respective position relative one another in a projection onto the single plane intersected by the rotational axis.

3. The measuring system according to claim 1, wherein the at least three piezoelements are geometrically arranged such that at least two piezoelements of the at least three piezoelements have a different radial distance from the rotational axis or that two circular sectors around the rotational axis span a different angle between two respective piezoelements of the at least three piezoelements.

4. The measuring system according to claim 1, wherein the signal processing device is further configured to decompose the measurement signals into components contributing to the force or the torque to be determined.

5. The measuring system according to claim 1, wherein the signal processing device is further configured to account for a contribution of individual piezoelements of the at least three piezoelements to different force components and torque components.

6. The measuring system according to claim 1, wherein the single plane intersected by the rotational axis is oriented at least substantially perpendicular to the rotational axis of the torque-transmitting shaft.

7. The measuring system according to claim 1, wherein an area of the at least three piezoelements over which the force is introduced lies at least substantially parallel to the single plane intersected by the rotational axis.

8. The measuring system according to claim 1, wherein the at least three piezoelements form a main direct force relative to the force flow, and wherein a force shunt takes in less than 10% of the force of the force flow.

9. The measuring system according to claim 1, wherein a further piezoelement having a piezoelectric crystal oriented in a preferred direction that is not parallel to the single plane intersected by the rotational axis is arranged adjacent to each piezoelement of the at least three piezoelements in a direction of the rotational axis of the torque-transmitting shaft, wherein the at least three piezoelements form pairs with the respective adjacently arranged further piezoelement, wherein the force of the force flow acts on the formed pairs of piezoelements.

10. The measuring system according to claim 1, further comprising a fixing device, wherein the fixing device supports the at least three piezoelements and positions them relative to each other.

11. The measuring system according to claim 1, wherein the at least three piezoelements are unevenly distributed about the rotational axis.

12. The measuring system according to claim 9, wherein all of the at least three piezoelements and the further piezoelement or the formed pairs of piezoelements within a defined circular sector about the rotational axis are arranged at an approximate angle ? of <300?.

13. The measuring system according to claim 9, wherein the torque-transmitting shaft is supported by a bearing apparatus, an output or input shaft of which is formed by the torque-transmitting shaft, wherein a fixing device supports the at least three piezoelements and further piezoelement or the formed pairs of piezoelements within a defined circular sector about the rotational axis and the fixing device is designed such that a force is measurable between the bearing apparatus and a supporting apparatus for supporting the bearing apparatus via the at least three piezoelements and further piezoelement.

14. The measuring system according to claim 13, wherein the fixing device is further designed such that the force can be introduced parallel to end faces of the at least three piezoelements and the further piezoelement or the formed pairs of piezoelements by way of a non-positive connection.

15. The measuring system according to claim 1, being configured to measure forces acting both tangential to a rotational direction of the torque-transmitting shaft, which contribute to the torque, as well as transverse forces, which act perpendicular to the rotational direction of the torque-transmitting shaft.

16. A measuring arrangement for determining a force or a torque on a torque-transmitting shaft which comprises: the measuring system based on the piezoelectric effect according to claim 1; and the torque-transmitting shaft, wherein the at least three piezoelements of the measuring system are arranged between a first part of the torque-transmitting shaft and a second part of the torque-transmitting shaft such that a force can be measured between the first part and the second part by means of the at least three piezoelements.

17. The measuring arrangement according to claim 16, wherein the torque-transmitting shaft consists of two sections able to be connected via a coupling device, wherein the measuring system determines the force or the torque on one of the two sections.

18. A measuring arrangement for determining a force or a torque on a torque-transmitting shaft which comprises: the measuring system according to claim 1 and based on the piezoelectric effect; the torque-transmitting shaft; a bearing apparatus; and a supporting apparatus of the bearing apparatus, wherein the bearing apparatus supports the torque-transmitting shaft, and wherein the measuring system does not alter a rotating mass of the torque-transmitting shaft or a rotating mass of rotating parts of an aggregate consisting of the torque-transmitting shaft and the bearing apparatus.

19. A method for calibrating the measuring system according to claim 1, the method comprising: applying a first defined force in a first direction parallel to the single plane; applying a second defined force in a second direction parallel to the single plane; detecting at least one of a first signal of a first piezoelectric sensor, a second signal of a second piezoelectric sensor, and a third signal of a third piezoelectric sensor while the first defined force and/or the second defined force is being applied; and deriving the preferred directions of the at least three piezoelements on the basis of the detected first signal, second signal, and/or third signal, and the first and second directions of the first and second defined forces.

20. A method for calibrating the measuring system according to claim 1, the method comprising: applying a defined torque about the rotational axis of the torque-transmitting shaft; detecting at least one of a first signal of a first piezoelectric sensor, a second signal of a second piezoelectric sensor, and a third signal of a third piezoelectric sensor; and deriving distances of the at least three piezoelements from the rotational axis on the basis of the detected first signal, second signal, and/or third signal, and the defined torque.

21. A method for determining a torque applied to a shaft and a force applied to the shaft by means of a measuring system comprising at least three piezoelements, each of the at least three piezoelements having a piezoelectric crystal oriented in a preferred direction, and wherein each of the at least three piezoelements are arranged at different positions about a rotational axis of the shaft in a force flow transmitted via the shaft such that a force of the force flow acts on the at least three piezoelements, wherein the preferred directions of the piezoelectric crystals are oriented neither parallel nor antiparallel to one another, wherein the torque and the force are determined by means of a system of equations for force components and torque components on the basis of measurement signals of individual piezoelements of the at least three piezoelements, wherein measurement signals from all of the piezoelements that have a piezoelectric crystal oriented in a respective preferred direction lying parallel to a single plane intersected by the rotational axis or in the single plane intersected by the rotational axis are used to determine each of the force components and each of the torque components, is:
S1=a.sub.11.Math.Mz+a.sub.12.Math.Fx+a.sub.13.Math.Fy
S2=a.sub.21.Math.Mz+a.sub.22.Math.Fx+a.sub.23.Math.Fy
S3=a.sub.31.Math.Mz+a.sub.32.Math.Fx+a.sub.33.Math.Fy
SN=a.sub.NI.Math.Mz and wherein S1-SN are the measurement signals, Mz represents a torque component, Fx represents a first force component, and Fy represents a second force component.

Description

(1) FIG. 1 a first exemplary embodiment of a measuring arrangement for determining a force and/or a torque on a torque-transmitting shaft;

(2) FIG. 2 an arrangement of piezoelements of a first exemplary embodiment of a measuring system;

(3) FIG. 3 an arrangement of piezoelements of a second exemplary embodiment of a measuring system;

(4) FIG. 4 an arrangement of piezoelements of a third exemplary embodiment of a measuring system;

(5) FIG. 5 a perspective view of a fourth exemplary embodiment of a measuring system;

(6) FIG. 6 a second exemplary embodiment of a measuring arrangement;

(7) FIG. 8 a fourth exemplary embodiment of a measuring arrangement;

(8) FIG. 9 a perspective view of a detail of a measuring arrangement with a measuring apparatus as per the fourth exemplary embodiment according to FIG. 8;

(9) FIG. 10a a plan view and a cross-sectional view of a fifth exemplary and 10b embodiment of a measuring system;

(10) FIG. 11a a perspective view and a cross-sectional view of a sixth exemplary and 11b embodiment of a measuring system; and

(11) FIG. 12 a circuit diagram of a measuring system corresponding to all the exemplary embodiments.

(12) FIG. 1 shows a plan view of a first exemplary embodiment of a measuring arrangement 9 for determining a force and/or a torque on a torque-transmitting shaft 3a, 3b on a drive test bench 15. The shaft 3a, 3b thereby connects a motor 2, which among other things serves as a bearing apparatus for the shaft 3a, 3b, to a gearbox and differential 13, which is in turn connected to wheel dynamometers 14a, 14b via axle sections.

(13) A measuring system 1 having a measuring flange 5a, 5b consisting of two parts is arranged as a fixing device between a first section 3a of the shaft and a second section 3b of the shaft. The first section 3a of the shaft is non-rotatably connected to a first part 5a of the measuring flange and the second section 3b of the shaft is non-rotatably connected to a second part 5b of the measuring flange. Three piezoelements 4a, 4b, 4c are arranged between the two parts 5a, 5b of the measuring flange and likewise fixedly attached to the parts 5a, 5b of the measuring flange, in particular by means of a non-positive connection.

(14) With this measuring arrangement 9, a force can flow from a supporting apparatus 10 (not depicted) via the motor 2, the first section of the shaft 3a, the first part 5a of the measuring flange, the three piezoelements 4a, 4b, 4c, the second part 5b of the measuring flange and the second section 3b of the shaft, the gearbox and differential 13 and the axle components to the wheel dynamometers 14a, 14b, themselves in turn supported by suitable means. A potential power flow thereby runs from the motor 2 to the wheel dynamometers 14a, 14b via the shaft 3a, 3b and the measuring flange 5a, 5b as well as the gearbox and differential 13.

(15) An applied force is introduced into the piezoelements or respectively applied to the piezoelements 4a, 4b, 4c, in particular by way of end faces of the piezoelements 4a, 4b, 4c, via the components of the measuring flange 5a, 5b. The measuring system 1 is shown in FIG. 1 in a plan view of a plane spanned by the y-axis and the z-axis of a depicted reference system.

(16) FIG. 2 shows an arrangement of piezoelements 4a, 4b, 4c of a first exemplary embodiment of a measuring system 1 as can be used for example in the first exemplary embodiment of a measuring arrangement 9 according to FIG. 1.

(17) The arrangement of the piezoelements 4a, 4b, 4c is thereby shown in a plane spanned by the y-axis and the x-axis of the reference system according to FIG. 1. The end faces 17a, 17b, 17c of the piezoelements are therefore visible.

(18) The center points of the piezoelements 4a, 4b, 4c are all arranged at a distance d from the center point through which the rotational axis D of a shaft 3 (not depicted) runs. Each of the piezoelements 4a, 4b, 4c thereby occupies a different position about the rotational axis D or the center point respectively. The dash/dotted circle encircles the shaft, or center point respectively, and indicates the rotational direction of the piezoelements 4a, 4b, 4c at each point about the rotational axis D, or center point respectively, upon rotation of the shaft 3 (not depicted).

(19) Each of the piezoelements 4a, 4b, 4c, exhibit a different preferred direction V.sub.a, V.sub.b, V.sub.c in a plane spanned by the x-axis and the y-axis. Preferably, the three preferred directions V.sub.a, V.sub.b, V.sub.c point in different directions and are thus oriented neither parallel nor antiparallel. Further preferably, however, only two of the three preferred directions V.sub.a, V.sub.b are oriented neither parallel nor antiparallel. The third preferred direction V.sub.c can in this case be oriented parallel to one of the two other preferred directions V.sub.a, V.sub.b.

(20) Angular sectors 19a, 19b, 19c in relation to rotational axis D span between the positions of the individual piezoelements 4a, 4b, 4c. Angular sector 19a between a first piezoelement 4a and a second piezoelement 4b thereby exhibits angle ?.sub.ab, angular sector 19b between the second piezoelement 4b and a third piezoelement 4c exhibits angle ?.sub.bc, and angular sector 19c between the third piezoelement 4c and the first piezoelement 4a exhibits angle ?.sub.ca.

(21) Preferably, at least two of the angles ?.sub.ab, ?.sub.bc, ?.sub.ca of the angular sectors have different values.

(22) All of the piezoelements 4a, 4b, 4c have a bore 21a, 21b, 21c through which a fixing means, in particular a bolt or a screw (not depicted), can be guided. A shear force can be introduced via the end faces 17a, 17b, 17c.

(23) FIG. 3 shows an arrangement of piezoelements 4a, 4b, 4c of a second exemplary embodiment of a measuring system 1.

(24) As in FIG. 2, the piezoelements are depicted in a plan view onto the end faces 17a, 17b, 17c, 17d. The viewing direction in FIG. 3 is likewise perpendicular to the plane spanned by the x-axis and the y-axis of the reference system (?.sub.ab, ?.sub.bc, ?.sub.ca) and the arrangement according to FIG. 2 can also be used in a measuring arrangement 9 of FIG. 1.

(25) The preferred directions V.sub.a, V.sub.b, V.sub.c, V.sub.d of the individual piezoelements 4a, 4b, 4c, 4d point in different directions in the arrangement of piezoelements 4a, 4b, 4c, 4d and are not tangential to the direction of rotation, indicated by the dashed circle, yet also lie, as in FIG. 2, in a plane spanned by the x-axis and the y-axis of the reference system and thus perpendicular to a shaft 3 (not depicted), the rotational axis D of which runs through the center point out of the image plane.

(26) The preferred direction V.sub.b of the second piezoelement 4b is oriented antiparallel to the preferred direction V.sub.d of the fourth piezoelement 4d in the depicted arrangement.

(27) As in FIG. 2, all of the piezoelements 4a, 4b, 4c, 4d have a bore 21a, 21b, 21c, 21d through which a fixing means, in particular a bolt or a screw (not depicted), can be guided. A shear force can be introduced via the end faces 17a, 17b, 17c, 17d.

(28) FIG. 4 shows a third arrangement of four piezoelements 4a, 4b, 4c, 4d for a third exemplary embodiment of a measuring system, as can likewise be used in a measuring arrangement 9 according to FIG. 1.

(29) In contrast to the arrangements of FIGS. 2 and 3, the piezoelements 4a, 4b, 4c, 4d are at different distances R.sub.a, R.sub.b, R.sub.c, R.sub.d from the center point D of the arrangement through which the shaft 3 (not depicted) would run in a measuring system. Rotational direction of the piezoelements 4a, 4b, 4c, 4d about rotational axis D, or the center point respectively, is again indicated by dashed/dotted circles.

(30) The preferred directions V.sub.a, V.sub.b, V.sub.c, V.sub.d of the piezoelements 4a, 4b, 4c, 4d respectively run tangential to the direction of rotation.

(31) In contrast to FIG. 3, the piezoelements 4a, 4b, 4c, 4d are furthermore unevenly arranged over the circumference around the rotational axis D, or the center point respectively.

(32) FIG. 5 shows a further arrangement of sensors of a fourth exemplary embodiment of the measuring system 1.

(33) In the depicted measuring system 1, the individual piezoelements 4a, 4b, 4c, 4d are supported by a fixing device 5. The preferred directions V.sub.a, V.sub.b, V.sub.c, V.sub.d of the piezoelements 4a, 4b, 4c, 4d are preferably oriented to the course of the fixing device 5, although can also point in other directions as long as each of the preferred directions V.sub.a, V.sub.b, V.sub.c, V.sub.d lies parallel to or in a single plane, in particular that plane which is also defined by the fixing device 5.

(34) The rotational axis D of a shaft 3 (not depicted) to which a force and/or torque is applied (not depicted) is arranged in this exemplary embodiment in an area to the left of the fixing device 5 in relation to FIG. 5. The dashed/dotted line indicates one such possible rotational axis D.

(35) The rotational axis D does not thereby have to be arranged at the same distance from each of the piezoelements 4a, 4b, 4c, 4d, nor does the rotational axis D have to run through a center point defined as applicable by the curvature of the fixing device 5.

(36) FIG. 6 shows a second exemplary embodiment of a measuring arrangement 9 on a test bench 15.

(37) Differing from the measuring arrangement 9 according to FIG. 1, the measuring arrangement 9 of FIG. 6 further comprises a coupling 6a, 6b. A first coupling part 6a is thereby non-rotatably connected to the second part 5b of the measuring flange and can be releasably brought into non-positive contact with a second coupling part 6b.

(38) Depending on the position of the coupling plates 6a, 6b relative to one another and the outputs to be transmitted in the force flow from the motor 2 to the wheel dynamometers 14a, 14b, a torque to be determined is applied to the measuring flange 5a, 5b.

(39) FIG. 7 shows a third exemplary embodiment of a measuring arrangement 9 on a test bench 15.

(40) Unlike with the measuring arrangement 9 according to FIGS. 1 and 6, force and/or torque is not measured in the power flow between the motor 2 and the wheel dynamometers 14a, 14b, or between the motor 2 and the gearbox and differential 13 respectively. Instead, the torque and/or forces acting on the torque-transmitting shaft 3 are determined outside of the power flow via the reactive forces with which the motor 2 is supported on the test bench by a supporting apparatus 10.

(41) The piezoelements are accordingly arranged in the flow of force between the supporting apparatus 10 and the motor 2.

(42) As in the other exemplary embodiments having a measuring flange 5a, 5b in the shaft 3, a torque-transmitting connection is also established here between the piezoelements 4a, 4b, 4c and the motor 2 as well as the supporting apparatus 10 by the piezoelements 4a, 4b, 4c, or their end faces respectively, forming a non-positive connection with corresponding sections of the motor 2 and the supporting apparatus 10.

(43) FIG. 8 shows a fourth exemplary embodiment of a measuring arrangement 9 which can in particular be used in a vehicle.

(44) In contrast to the exemplary embodiment according to FIG. 7, the supporting apparatus 10 in this exemplary embodiment is designed as a type of bell housing. The motor 2 is therefore supported on a housing 8 of the gearbox and differential 13.

(45) The flow of force in this exemplary embodiment thus runs from the gearbox housing 13 via the bell housing 10 to the motor 2 and from there via the torque-transmitting shaft and the gearbox and differential 13 to the wheel dynamometers 14a, 14b.

(46) The piezoelements 4a, 4b, 4c here are also arranged outside of the power flow between the motor 2 and the bell housing 10 in order to transmit a reactive force and/or torque. Here as well, a non-positive connection is formed between the corresponding surfaces of the motor 2 and bell housing 10 and the piezoelements 4a, 4b, 4c.

(47) Preferably, each of the arrangements of piezoelements 4a, 4b, 4c, 4d of the different exemplary embodiments of a measuring system 1 shown in FIGS. 2 to 5 can be used in the exemplary embodiments for measuring arrangements 9 shown in FIGS. 6 to 8.

(48) As an example, FIG. 9 shows the use of a measuring system according to FIG. 5 in the fourth exemplary embodiment of a measuring arrangement 9 according to FIG. 8. The measuring system 1 with the fixing device 5 and piezoelements 4a, 4b, 4c, 4d is arranged on a bell housing 10 in this plan view.

(49) Preferably, the measuring system 1 is thereby supported on the bell housing 10 by fixing means 16a, 16b, 16c, 16d. Moreover, the fixing means 16a, 16b, 16c, 16d serve to produce a pretensioning between the motor 2 (not shown) and the bell housing 10 so that the respective end faces of the piezoelements 4a, 4b, 4c, 4d come into contact with a surface of the bell housing 10 and a surface of the motor 2 to form a non-positive connection.

(50) Due to the friction between the piezoelements 4a, 4b, 4c, 4d and the motor 2 and supporting apparatus 10, shear forces can be introduced to the piezoelements via the end faces of said piezoelements which effect a separation of charge in the piezoelements 4a, 4b, 4c, 4d. As a result, there are shear force-dependent potentials on the charge dissipators or electrical lines 22 respectively.

(51) A shaft 3 (not depicted) can extend through the bell housing 10 in the direction of the gearbox and the differential 13 through an opening 11 in said bell housing 10.

(52) FIGS. 10a and 10b show a fifth exemplary embodiment of a measuring system 1 having piezoelement pairs 18a, 18b, 18c, 18d supported by a fixing device 5.

(53) FIG. 10a thereby shows a plan view onto the measuring system 1 and FIG. 10b shows a cross-sectional view along line Y-Y. The piezoelement pairs 18a, 18b, 18c, 18d are in each case formed by two piezoelements 4b, 4e; 4d, 4f arranged adjacent one another in the direction of the rotational axis D of a torque-transmitting shaft 3 (not shown), the applied force and/or applied torque of which are to be determined.

(54) A first piezoelement 4b, 4d of each piezoelement pair 18a, 18b, 18c, 18d thereby exhibits a preferred direction which is parallel to or in a single plane intersected by the rotational axis D of the shaft 3, wherein the plane is preferably oriented perpendicular to the rotational axis D, as depicted in FIG. 10b. Preferably forces and/or torque acting in this plane can be determined by means of these first sensors 4b, 4d.

(55) The further piezoelements 4e, 4f of the piezoelement pairs 18a, 18b, 18c, 18d preferably exhibit preferred directions which are not parallel to the plane and are further preferably perpendicular to said plane. Preferably compressive or tensile forces which are oriented substantially perpendicular to the direction of rotation D can therefore be measured with the further piezoelements 4e, 4f.

(56) As depicted in FIG. 10b, each piezoelement pair has two end faces 17b, 20b; 17d, 20d respectively formed by one of the piezoelements 4b, 4e; 4d, 4f.

(57) The one end face 20b, 20d in each case is as a result seated in the fixing device 5. The other end face 17b, 17d can come into contact with a component in respect of which a force is to be measured. Both end faces 17b, 17d as well as second end faces 20b, 20d thereby form a preferably non-positive, in particular frictional, connection with the fixing device and the other component.

(58) As previously described, fixing means, in particular tensioning screws, can to that end be guided into the bores in the piezoelements through bores 21a, 21b, 21c, 21d in the piezoelement pairs 18a, 18b, 18c, 18d, by means of which the fixing device and the respective other component and thereby also the piezoelement pairs 18a, 18b, 18c, 18d can be braced. Preferably, fixing device 5 as well exhibits cavities 12 in order to accommodate the fixing means.

(59) Each of the piezoelements 4a, 4b, 4c, 4d, 4e, 4f generates a measurement signal S1, S2, S3, S4, S5, S6 able to be picked up via charge dissapators 22.

(60) FIGS. 11a and 11b show a sixth exemplary embodiment of an inventive measuring system 1. FIG. 11a is thereby a perspective plan view and FIG. 11b a cross-sectional view.

(61) The measuring system 1 in this exemplary embodiment is characterized in that the piezoelements 4a, 4b, 4c, 4d are arranged between a first part of the flange 5a and a second part of the measuring flange 5b, wherein a pretensioning is applied in the radial direction to the rotational axis D. This is in contrast to the exemplary embodiments of FIGS. 1 to 5 and 10a/10b where the pretensioning and consequently the frictional connection is generated in the direction of rotational axis D.

(62) Each of the piezoelements 4a, 4b, 4c, 4d generates a measurement signal S1, S2, S3, S4 able to be picked up via charge dissipators.

(63) Alternatively to a measuring flange 5a, 5b, the depicted components respectively connected to the piezoelements 4a, 4b, 4c, 4d can also be a bearing apparatus 2 and a supporting apparatus 10 of a shaft 3 (not depicted).

(64) As shown in FIG. 12, a measuring system 1 preferably comprises a signal processing device 7 for processing measurement signals S1 of the first piezoelement 4a, measurement signals S2 of the second piezoelement 4b, measurement signals S3 of the third piezoelement 4c and measurement signals S4 of the fourth piezoelement 4d.

(65) In order to be able to calculate the torque Mz on the shaft as well as transverse forces Fx, Fy, the signal processing device 7 preferably renders an orthogonal decomposition of the respective preferred direction V.sub.a, V.sub.b, V.sub.c, V.sub.d of the piezoelements 4a, 4b, 4c, 4d, the measurement signals S1, S2, S3, S4 and/or the measured forces.

(66) The parameters Mz, Fx, Fy to be determined are thereby the solution to a system of equations, wherein an equation as follows applies to each measurement signal:

(67) $S 1 = a_{11} .Math. Mz + a_{12} .Math. Fx + a_{13} .Math. Fy$ $S 2 = a_{21} .Math. Mz + a_{22} .Math. Fx + a_{13} .Math. Fy$ $S 3 = a_{31} .Math. Mz + a_{32} .Math. Fx + a_{23} .Math. Fy$ $.Math.$ $SN = a_{N 1} .Math. Mz$

(68) Each coefficient a thereby depends on multiple factors such as, for example, the respective position of the sensor and the orientation of the preferred direction V.sub.a, V.sub.b, V.sub.c, V.sub.d in the reference system, a sensitivity of the respective piezoelement 4a, 4b, 4c, 4d, and a potential signal loss due to a force shunt from fixing means.

(69) Solving such a system of equations for the torque component Mz, a first transverse force component Fx and a second transverse force component Fy requires measurement signals from at least three piezoelements 4a, 4b, 4c, with preferred directions V.sub.a, V.sub.b, V.sub.c oriented so as to lie in a single plane. Moreover, at least two of the preferred directions V.sub.a, V.sub.b, V.sub.c may not be in either parallel or antiparallel orientation.

(70) For this general case described by N=3; i.e. with three piezoelements 4a, 4b, 4c, the solution to the above-depicted system of equations is unique. Should further piezoelements be added to the measuring system 1, the system of equations having three parameters Mz, Fx, Fy to be determined is overdetermined, although the measuring accuracy can be further improved.

(71) In the case of N=4, four different systems of equations F (S1, S2, S3), F (S1, S2, S4), F (S1, S3, S4), F (S2, S3, S4) can be established. The values determined for the individual parameters Mz, Fx, Fy to be determined can then be totaled and averaged; i.e. divided by four in the case of four piezoelements 4a, 4b, 4c, 4d. Similarly, an overdetermined system of equations F (S1, S2, . . . , SN), which is solved by means of a minimization task, can be established.

(72) If a general solution to the system of equations has been found, calculation of the components Fx, Fy, Mz to be determined can be reduced to matrix multiplication. Same has three rows and as many columns as available measuring signals S1, S2, S3, . . . SN. The matrix elements or coefficients respectively represent the respective contributions of the individual sensors to the parameters Fx, Fy, Mz to be determined.

(73) $(\begin{matrix} Fx \\ Fy \\ Mz \end{matrix}) = (\begin{matrix} c 11 & c 12 & c 13 & c 14 \\ c 21 & c 22 & c 23 & c 24 \\ c 31 & c 32 & c 33 & c 34 \end{matrix}) (\begin{matrix} s 1 \\ s 2 \\ s 3 \\ s 4 \end{matrix})$

(74) Decomposing the measurement signals S1, S2, S3, S4 into components contributing to the respective parameters Mz, Fx, Fy to be determined requires knowing the position of the piezoelements 4a, 4b, 4c and the orientation of the preferred directions V.sub.a, V.sub.b, V.sub.c, V.sub.d.

(75) The geometric parameters can be determined either from a design drawing of a measuring system 1 or from knowledge of the preferred directions of the piezoelements 4a, 4b, 4d.

(76) The orientation of preferred directions V.sub.a, V.sub.b, V.sub.c, V.sub.d of piezoelements 4a, 4b, 4c, 4d can however also be determined by determining the preferred directions V.sub.a, V.sub.b, V.sub.c, V.sub.d by way of calibration measurement. Preferably, the measuring system 1 is to that end fixed between two flat plates. In a next step, external transverse forces with a known direction are applied. The preferred direction V.sub.a, V.sub.b, V.sub.c, V.sub.d of piezoelements 4a, 4b, 4c, 4d in the plane spanned by the preferred direction V.sub.a, V.sub.b, V.sub.c, V.sub.d of the piezoelements 4a, 4b, 4c, 4d can be determined from the magnitude of the individual measurement signals S1, S2, S3, S4 relative to the magnitude and direction of the transverse forces introduced.

(77) Similarly, by applying a defined torque Mz and measuring the individual measurement signals S1, S2, S3, S4, a respective distance r.sub.a, r.sub.b, r.sub.c, r.sub.d of the piezoelements 4a, 4b, 4c, 4d from a rotational axis D can be determined when the preferred directions V.sub.a, V.sub.b, V.sub.c, V.sub.d of the individual piezoelements 4a, 4b, 4c, 4d are known.

(78) The described exemplary embodiments are merely examples which are in no way to be limiting of protective scope, application and configuration. Rather, the preceding description affords one skilled in the art a guideline for the implementation of at least one exemplary embodiment, whereby various modifications can be made, in particular with regard to the function and arrangement of the described components, without departing from the protective scope as results from the claims and equivalent combinations of features. In particular, individual exemplary embodiments can be combined with each other.

LIST OF REFERENCE NUMERALS

(79) measuring system 1 bearing apparatus/motor 2 shaft 3 piezoelement 4a, 4b, 4c, 4d, 4e, 4f fixing device 5, 5a, 5b, 5c, 5d coupling 6a, 6b signal processing device 7 housing 8 measuring arrangement 9 supporting apparatus 10 opening 11 cavity 12 gearbox and differential 13 wheel dynamometer 14a, 14b test bench 15 fixing means 16a, 16b, 16c, 16d first end face 17a, 17b, 17c, 17d piezoelement pair 18a, 18b angular sector 19a, 19b, 19c second end face 20b, 20d bore 21a, 21b, 21c, 21d charge dissipator/electrical line 22, 22a, 22b, 22c, 22d preferred direction V.sub.a, V.sub.b, V.sub.c, V.sub.d measurement signal S1, S2, S3, S4 rotational axis D

Measuring system and method for determining a force and/or a torque on a torque-transmitting shaft

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G01L5/167

PHYSICS

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G01L5/0042

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G01L3/1464

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G01L3/1457

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G01L3/108

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G01L3/10

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G01L5/162

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G01L5/0019

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G01L1/16

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International classification

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G01L1/16

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G01L3/10

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G01L3/14

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G01L5/00

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G01L5/162

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G01L5/167

PHYSICS

Abstract

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Description