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WO2005071812A1 - Procede pour evaluer des informations de regime et de position de rotation d'un moteur a courant continu - Google Patents

Procede pour evaluer des informations de regime et de position de rotation d'un moteur a courant continu Download PDF

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Publication number
WO2005071812A1
WO2005071812A1 PCT/EP2005/050227 EP2005050227W WO2005071812A1 WO 2005071812 A1 WO2005071812 A1 WO 2005071812A1 EP 2005050227 W EP2005050227 W EP 2005050227W WO 2005071812 A1 WO2005071812 A1 WO 2005071812A1
Authority
WO
WIPO (PCT)
Prior art keywords
electric drive
stage
actuating force
closing
force
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/EP2005/050227
Other languages
German (de)
English (en)
Inventor
Thomas Lux
Holger Pruessel
Thomas Fischer
Stephan Binhack
Ralf-Peter Bergmann
Axel Schwarz
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of WO2005071812A1 publication Critical patent/WO2005071812A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
    • H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
    • H02H7/08—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors
    • H02H7/085—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors against excessive load
    • H02H7/0851—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors against excessive load for motors actuating a movable member between two end positions, e.g. detecting an end position or obstruction by overload signal
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60J—WINDOWS, WINDSCREENS, NON-FIXED ROOFS, DOORS, OR SIMILAR DEVICES FOR VEHICLES; REMOVABLE EXTERNAL PROTECTIVE COVERINGS SPECIALLY ADAPTED FOR VEHICLES
    • B60J7/00—Non-fixed roofs; Roofs with movable panels, e.g. rotary sunroofs
    • B60J7/02—Non-fixed roofs; Roofs with movable panels, e.g. rotary sunroofs of sliding type, e.g. comprising guide shoes
    • B60J7/04—Non-fixed roofs; Roofs with movable panels, e.g. rotary sunroofs of sliding type, e.g. comprising guide shoes with rigid plate-like element or elements, e.g. open roofs with harmonica-type folding rigid panels
    • B60J7/057—Driving or actuating arrangements e.g. manually operated levers or knobs
    • B60J7/0573—Driving or actuating arrangements e.g. manually operated levers or knobs power driven arrangements, e.g. electrical
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
    • H02H1/00—Details of emergency protective circuit arrangements
    • H02H1/0092—Details of emergency protective circuit arrangements concerning the data processing means, e.g. expert systems, neural networks
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
    • H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
    • H02H7/08—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors
    • H02H7/085—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors against excessive load
    • H02H7/0854—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors against excessive load responsive to rate of change of current, couple or speed, e.g. anti-kickback protection

Definitions

  • Electric drives are increasingly being used in automotive engineering today, for example to move vehicle seats, window panes or sunroofs, whether closed sunroofs or glass sunroofs.
  • DC motors are used to drive such movable vehicle components, the speed and load condition of which must be recorded in order to be able to control the electric drive in a suitable manner.
  • load states are in fault-free operation, for example, reaching end positions of the drive and, in the case of faulty operation, increased friction due to wear or environmental influences or an obstacle introduced into the drive, such as a user's limbs.
  • Such load conditions must be recognized reliably to protect both the user and the electric drive.
  • a monitoring method of an adjustment system which also guarantees a restraint protection function in the start-up phase of the electric drive.
  • the speed or speed is detected by means of a sensor in the form of a Hall sensor, a period value is stored and compared with a predetermined limit value. Since the engine period changes greatly in the start-up phase, it only becomes steady after about three engine periods, ie, the engine runs smoothly, so that a satisfactory level of security against excessive power delivery is only then guaranteed. Therefore, the initial period limit during the motor start-up phase is changed from the due to the stored reference values previous actuation of the engine.
  • the initial period limit value (PGW) * is preferably based on the last period value (PWvn) of the previous adjustment according to the formula:
  • DE 199 08 658 AI relates to a locking device for moving a locking body, such as a window pane or a roof panel in a motor vehicle.
  • a sensor detects a closing force acting on the closing body, which is monitored by a control circuit and this closing device is reversed when a limit value of the force is exceeded.
  • An evaluation unit integrated in the control circuit varies the limit value depending on a force measured at an earlier point in time.
  • This locking device implements reliable, sensitive pinch protection for a stationary operating state of the drive motor, but it does not enable pinching protection in the start-up phase of the motor, since in this area the measured shear force cannot yet be reliably compared with previous measured values.
  • compliance with the clamping force limit when the electric drive starts is increasingly required.
  • a method for opening and closing an opening has become known from DE 102 24 050 AI.
  • An adjusting motor, a control unit and an operating device are provided, an obstacle which is located in the adjusting path of the moving part being detected when the moving part is closed.
  • a signal is passed on to the control unit in order to stop or reverse the movement of the movable part, wherein when the operating device is actuated to close the opening, the movable part is first moved against the closing direction and then the moving part in the closing direction.
  • the detection of an operating status or a change in an operating status in a system in which at least one analog signal indicating the operating status is present can be carried out as shown below:
  • the analog signal or a signal dependent thereon is sampled and a sampling signal is generated from it.
  • a transformation signal representing a spectral distribution is generated, which is subsequently compared with a least a reference signal representing a spectral distribution.
  • the reference signal was generated from an analog reference signal representing an operating state to be detected.
  • the reference signal can be a transfoimation signal generated on the basis of previous samples.
  • the transformation signal representing a spectral distribution and the reference signal can be discrete Fourier transformed (FFT) signals.
  • a device for detecting the operating state or for detecting the changes in the operating state of a system in which at least one analog signal indicating the operating state is present comprises a sampling device for sampling the analog signal and for providing the sampling signal. Furthermore, a transformation unit is provided to which the scanning signal is fed and which generates a transformation signal from a number N of scanning values of the scanning signal. The device further comprises a comparator arrangement to which the transformation signal is fed and which compares the transformed signal with at least one reference transformation signal representing a spectral distribution and the comparator arrangement provides a status signal]
  • Hall sensors HIC
  • a magnet or a magnetic ring One or more Hall sensors positioned close to the magnet or magnetic ring react to the generated field and thus provide information about the position, direction of rotation and speed of rotation of the electric drive.
  • rotary encoders are used which are arranged on the motor axis or an output component and which return the relative or absolute position of the electric drive.
  • a current ripple is generated by the electrical commutation, which can be detected via a measuring resistor. The evaluation of the current ripple allows conclusions to be drawn about the relative angle of rotation.
  • a method for speed detection in DC motors which enables an evaluation of the current consumption of the electric drive.
  • the fact that current changes are generated by a groove passing a brush of the electric drive is used for this purpose.
  • the current ripple generated is evaluated in the time domain.
  • a discrete signal which indicates the occurrence of a groove, is generated in a circuit or by an algorithm by means of discrete or arithmetic filters.
  • the current fluctuations are relatively weak, so that they can be transformed into the frequency range using a transformation, such as a Fast Fourier Transformation (FFT).
  • FFT Fast Fourier Transformation
  • the periodically recurring current fluctuations due to the passage of the grooves along the brushes can be shown in the form of a spectral line.
  • the position of this spectral line on the frequency axis is directly related to the speed of the electric drive.
  • the supply and induced motor voltage can be superimposed. This overlay is read back and evaluated using a Fast Fourier Transformation (FFT).
  • FFT Fast Fourier Transformation
  • the speed and direction of rotation of the DC motor can be deduced from the characteristic frequencies.
  • the electric drive is usually controlled by mechanical switches, such as relays or semiconductor switches (field effect transistors). It is controlled by a control logic, which uses the information obtained from the FFT for different requirements. stanchions used. In this way, the absolute position of an actuator on the engine output can be determined. Furthermore, fluctuations in speed can be compensated for and a pinch protection can be implemented.
  • Figure 1 is a block diagram of an evaluation circuit for rotational position and speed detection of an electric drive
  • Figure 2 is a representation of the relays' or FFT's with which the electric drive can be controlled.
  • FIG. 1 shows a block circuit diagram which shows the components of an evaluation circuit for evaluating the speed or the rotational position of an electric drive, such as a direct current motor (DC motor).
  • DC motor direct current motor
  • FIG. 1 shows an electric drive 1 from which two brushes 2, 3 positioned opposite one another in this case can be seen.
  • the electric drive 1 is controlled via a power unit 4.
  • the power section 4 in turn is controlled via a control logic 7.
  • the voltage U_, U 2 which prevail in the lines 5, 6 running from the power section 4 to the motor brushes 2, 3, are tapped and fed to an FFT stage 8 on the input side.
  • the detected voltages Ui, U 2 in the lines 5, 6 to the motor brushes 2, 3 are converted in the FFT stage 8 into a first frequency spectrum and a second frequency spectrum.
  • the first and second frequency spectra obtained are fed to an evaluation logic 11.
  • the input side of the FFT stage 8 is designated by reference number 9.
  • the evaluation logic 11 is followed by a closing force limiting stage 13 and a component 154 for detecting a position of the electric drive 1.
  • the closing force limiting stage 13 becomes a dn / dt signal, ie. a speed change signal 12 supplied, while the component 15 (position detection stage) a direction of rotation signal 14 is supplied
  • the closing force calculated in the shear force limitation stage 13 or the position of the electric drive 1 calculated in the position detection stage 15 is input to the control logic 7 for the power unit 4, i.e.
  • the power section 4 controlling the electric drive 1 is controlled, by means of which the voltages prevailing in the first line 5 and in the second line 6 can be influenced
  • the closing force limiting signal 17 (SKB signal) obtained in the shear force limiting stage 13 is applied to the input side 16 of the control logic 7.
  • the control logic 7 transmits this signal to the power unit 4, so that the maximum permissible closing force is known there as the operating parameter of the electric drive 1.
  • the dynamic information of the electric drive 1 is evaluated by an algorithm implemented in the leveling force limitation stage 13.
  • a tripping force limitation parameter dn / ds is formed.
  • additional feeding functions can be taken into account, taking into account a rough road distance, taking into account hard blows on pane surfaces and signs of aging in order to influence the triggering parameter dn / ds for the limitation of the force of the force.
  • the closing force limitation can then be adapted adaptively so that signs of aging can be taken into account and a closing force that takes into account better environmental conditions and aging parameters that are required to trigger a shutdown of the electric drive 1 via the power unit 4 are available there in every operating position.
  • the triggering parameter for the limitation of the tensile force is determined within the evaluation logic 11.
  • Position-dependent disturbance variables are filtered with the aid of an adaptive measured value adaptation, further filtering can be carried out using an additional filter to take into account a poor road distance; this allows the respective driving situation of the vehicle to be taken into account.
  • the limit value formation within the evaluation logic is determined as a function of the battery voltage Ubat and the kinetic energy of the electric drive 1. Thus, its dynamic behavior is also taken into account.
  • both the path and the time can be specified in such a way that the electric drive 1 has reached its stationary operating state in the direction of compression. Regardless of the measurement parameter used (amount and ripple of the motor current, speed n, frequency or torque), this ensures that the anti-trap function is guaranteed from the start position of the closing process, regardless of the evaluation method used. If the electric grinder 1 is controlled by means of pulse width modulation, it can first be driven with low power in the direction of compression and later, in a subsequent operating phase, with maximum power in the direction of compression.
  • Pinching situations can also occur which do not occur when opening or closing an opening, but also when adjusting a part relative to another part or person, e.g. b. with seat control in the vehicle.
  • Both the front passengers when adjusting the seats or seat parts against the steering wheel or the roof of the vehicle, as well as the rear passengers between the rear seat and the front seat part moved backwards can be pinched.
  • the electric drive 1 is controlled by means of a control logic 7. If an encroachment is detected when an absolute or relative limit value is exceeded or undershot, the control logic 7 sends a signal to the electric drive 1. Since the measured values change very strongly in the motor start-up phase, there is no reliable clamping force limitation in this operating phase According to the proposed method, however, the moving part has already reached the stationary operating state at the starting point of the closing process, so that a comparison of the measured values with an absolute or relative limit value of the anti-interference function is already possible.
  • the opening to be sealed can be divided into different opening areas, so that an anti-trap area can be defined. If the moving part is outside this area when a closing process is started, the electric drive is actuated immediately in the closing direction.

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  • Engineering & Computer Science (AREA)
  • Artificial Intelligence (AREA)
  • Evolutionary Computation (AREA)
  • Mechanical Engineering (AREA)
  • Power-Operated Mechanisms For Wings (AREA)
  • Control Of Direct Current Motors (AREA)

Abstract

La présente invention concerne un procédé pour ouvrir et fermer une ouverture au moyen d'une pièce mobile motorisée qui se trouve notamment sur un véhicule, à l'aide d'un mécanisme d'entraînement électrique (1), d'une unité de commande (4, 7) et d'un dispositif d'opération. Lors de l'ouverture et/ou de la fermeture de la pièce mobile, un obstacle se trouvant sur la trajectoire de déplacement de la pièce mobile est détecté et un signal est transmis à l'unité de commande (4, 7), afin de stopper ou d'inverser le déplacement de la pièce mobile. Cette invention est caractérisée en ce que, après mesure d'une variable représentant la force de réglage du mécanisme d'entraînement électrique (1), cette variable est soumise dans une étape de TFR (8) à une transformée de Fourier rapide avec une tension d'alimentation U0 fournie par une source de tension (22), dont le résultat est évalué dans un système logique d'évaluation (11) et à partir duquel la force de fermeture du mécanisme d'entraînement électrique (1) est déterminée dans une étape de limitation de force de fermeture (13).
PCT/EP2005/050227 2004-01-27 2005-01-20 Procede pour evaluer des informations de regime et de position de rotation d'un moteur a courant continu Ceased WO2005071812A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE200410004198 DE102004004198A1 (de) 2004-01-27 2004-01-27 Verfahren zur Auswertung von Drehzahl- und Drehlageinformation eines DC-Motors
DE102004004198.9 2004-01-27

Publications (1)

Publication Number Publication Date
WO2005071812A1 true WO2005071812A1 (fr) 2005-08-04

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ID=34745174

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Application Number Title Priority Date Filing Date
PCT/EP2005/050227 Ceased WO2005071812A1 (fr) 2004-01-27 2005-01-20 Procede pour evaluer des informations de regime et de position de rotation d'un moteur a courant continu

Country Status (2)

Country Link
DE (1) DE102004004198A1 (fr)
WO (1) WO2005071812A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2006000432A1 (fr) * 2004-06-24 2006-01-05 Brose Fahrzeugteile Gmbh & Co. Kommanditgesellschaft, Coburg Dispositif de commande et procede de commande d'un dispositif de reglage dans un vehicule automobile
EP3940910A1 (fr) * 2020-07-16 2022-01-19 Inalfa Roof Systems Group B.V. Procédés et systèmes de détection d'obstruction

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6404158B1 (en) * 1992-04-22 2002-06-11 Nartron Corporation Collision monitoring system
DE10126167A1 (de) * 2001-05-30 2002-12-05 Kostal Leopold Gmbh & Co Kg Verfahren zum Korregieren einer Drehstellungsbestimmung einer Antriebswelle eines kommutierten Gleichstrommotors
WO2003036774A1 (fr) * 2001-10-26 2003-05-01 Lear Automotive (Eeds) Spain,S.L. Procede permettant de detecter les blocages occasionnes par des leve-glace electriques et analogues en se basant sur l'ondulation du courant
US20030234543A1 (en) * 2002-04-23 2003-12-25 Aisin Seiki Kabushiki Kaisha Opening and closing control device for opening and closing member of vehicle

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6404158B1 (en) * 1992-04-22 2002-06-11 Nartron Corporation Collision monitoring system
DE10126167A1 (de) * 2001-05-30 2002-12-05 Kostal Leopold Gmbh & Co Kg Verfahren zum Korregieren einer Drehstellungsbestimmung einer Antriebswelle eines kommutierten Gleichstrommotors
WO2003036774A1 (fr) * 2001-10-26 2003-05-01 Lear Automotive (Eeds) Spain,S.L. Procede permettant de detecter les blocages occasionnes par des leve-glace electriques et analogues en se basant sur l'ondulation du courant
US20030234543A1 (en) * 2002-04-23 2003-12-25 Aisin Seiki Kabushiki Kaisha Opening and closing control device for opening and closing member of vehicle

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2006000432A1 (fr) * 2004-06-24 2006-01-05 Brose Fahrzeugteile Gmbh & Co. Kommanditgesellschaft, Coburg Dispositif de commande et procede de commande d'un dispositif de reglage dans un vehicule automobile
EP3940910A1 (fr) * 2020-07-16 2022-01-19 Inalfa Roof Systems Group B.V. Procédés et systèmes de détection d'obstruction
US11718163B2 (en) 2020-07-16 2023-08-08 Inalfa Roof Systems Group B.V. Method and system for obstruction detection

Also Published As

Publication number Publication date
DE102004004198A1 (de) 2005-08-11

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