CN100418817C - Method for producing and/or adjusting an electromagnetically controllable actuator - Google Patents
Method for producing and/or adjusting an electromagnetically controllable actuator Download PDFInfo
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- CN100418817C CN100418817C CNB2004800223080A CN200480022308A CN100418817C CN 100418817 C CN100418817 C CN 100418817C CN B2004800223080 A CNB2004800223080 A CN B2004800223080A CN 200480022308 A CN200480022308 A CN 200480022308A CN 100418817 C CN100418817 C CN 100418817C
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Abstract
The invention relates to a method for the calibration or mechanical adjustment, or calculation of a drive current for a solenoid-powered actuator for adjustment of the pressure-differential dependent flow of a fluid. The scale of the pressure effect generated by the actuator can be determined in advance by means of the strength of the electrical drive for the actuator, even without the use of pressure sensors, whereby one or more actuator-specific calibration curves or constants KGind for the actuator are derived, such that a set flow (G) can be specifically achieved using said constants by adjustment with the strength of the current (I). The actuator-specific constants are automatically determined without the use of pressurising the actuator.
Description
Technical field
But the present invention relates generally to a kind of conditioning equipment that is used to calculate at least one electric actuation, the method of the actuating/control current of electromagnetic valve for example, flow G (the Δ P relevant with regulated fluid with pressure reduction, I, KG), this method is used to calibrate or mechanical alignment or calculate the actuating current of the conditioning equipment that at least one can be Electromagnetically actuated, firing current particularly, this conditioning equipment is used for flow G (the Δ P relevant with pressure reduction of regulated fluid, I, KG), electric control intensity by conditioning equipment also can be determined the amount of the pressure influence that caused by conditioning equipment in advance under the situation of applying pressure sensor not in the method, uses the relevant characteristic curve of one or more and conditioning equipment of conditioning equipment in the method, property field or parameter KG
IndThereby, can on purpose regulate rated flow G according to intensity of current I by means of these parameters.The present invention relates in addition and a kind ofly is used to calibrate or method and a kind of conditioning equipment, particularly the hydraulic braking control convenience of the described conditioning equipment of mechanical alignment, it has the hydraulic valve that at least one can be Electromagnetically actuated, described hydraulic valve comprises a magnet coil and a tappet that moves by armature, wherein pass through the mobile armature of control of electric current, to open and/or closed conditioning equipment.
The present invention has also additionally illustrated a kind of method that is used for measuring fluid pressure, this method be used for particularly the brake regulation system of a hydraulic pressure by means of one can be Electromagnetically actuated conditioning equipment measuring fluid pressure under the situation that does not adopt the additonal pressure sensor.
Background technology
Known in the ABS control equipment of brake system of car, also have the ESP of additional function-for example etc.-so-called driving dynamics regulating control in, use can Electromagnetically actuated analog valve be used for improving to be regulated or is used to reduce noise.
In hydraulic regulating device of new generation, use so-called analog switch valve.The analog switch valve is the electromagnetic valve that a kind of electric current activates, and itself is designed for opening or closing fully, but so drives this electromagnetic valve by suitable current setting, even it has the regulating characteristic of simulation.
By EP 0 813 481 B1 (P 7565) but known a kind of switching point that is used to discern the controlled valve of simulated use, especially for the method for determining pressure state by the electric current change curve of the control current of valve.
Therefore can regulate the pressure gradient or the flow G of corresponding analog switch valve according to pressure reduction by the flow through electric current of magnet coil of valve of change in principle.In the scope of regulating, be difficult to adjusted volume flow Q, and this rate of volume flow depends primarily on pressure differential deltap P and the electric current I of the magnet coil of the valve of flowing through.This correlativity can not successfully leave in disposable definite property field.Because lower tolerance valve member, that caused by production just has bigger influence to the functional relation between flow and actuating current.Therefore when producing valve, require to determine property field separately, and described property field leaves in the memory device of electronic machine of control convenience for each valve., need carry out complicated method of measurement with the pressure-loaded that control convenience is determined in supplier or at automaker's Production Line line terminal point in order to set up independent property field.Such as described in WO 01/98124A1 (P 9896), can be used for adjusting the pressure gradient of hope then by the definite property field of the method for measurement of complexity.
Undocumented DE 103 21 783.5 (P 10697) has described a learning method that is used for the valve characteristic curve of analog valve or analog switch valve.Carry out the calibration of hydraulic valve according to this method at abs braking device run duration, being in operation obtains control characteristic or is used to proofread and correct the correcting value of existing actuating characteristic curve accordingly by learning method.The feature of described learning method is that this method continues a plurality of on-cycle latch-up protections and regulates (Blockierschutzregelung).In each suitable circulation, collect the pressure foundation/rising time of needs and improve characteristic curve according to a recursion formula by means of the parameter that obtains by current circulation.This method is used to improve existing actuating characteristic curve, so its prerequisite is to have had characteristic curve.
Previously described, as to be used to obtain property field or characteristic curve method therefore or not accurate enough or only can obtain by complicated method of measurement, described method of measurement must be implemented in suppliers or at the manufacturing line terminal point.Have only just can record in this way and influence single valve parameter KG pressure curve, relevant with manufacturing
Ind, for example can from the property field measured or characteristic curve, obtain this parameter.
Summary of the invention
The objective of the invention is, a kind of method that is used to measure parameter, valve characteristic curve or valve property field is provided, this method makes can accurately activate electromagnetic valve recited above, needn't implement complicated, independent valve calibration during fabrication or at the manufacturing line terminal point.
Realize described purpose according to the present invention by such method, this method is used to calibrate or mechanical alignment or calculate the actuating current of the conditioning equipment that at least one can be Electromagnetically actuated, firing current particularly, this conditioning equipment is used for flow G (the Δ P relevant with pressure reduction of regulated fluid, I, KG), electric control intensity by conditioning equipment also can be determined the amount of the pressure influence that caused by conditioning equipment in advance under the situation of applying pressure sensor not in the method, uses the relevant characteristic curve of one or more and conditioning equipment of conditioning equipment in the method, property field or parameter KG
IndThereby, can on purpose regulate rated flow G according to intensity of current I by means of these parameters, it is characterized in that, under not to the situation of regulating device loads pressure (pressure differential deltap P=0), determine the described parameter relevant automatically with conditioning equipment.
The term conditioning equipment is interpreted as valve and the guiding valve that is used to adjust fluid flow.Employed conditioning equipment is valve preferably.Can consider to adopt suitable pressure fluid as preferred fluid except air, described pressure fluid is particularly a kind of braking liquid commonly used under the situation of using drg.
This conditioning equipment mainly has a position of opening fully and a closed fully position.Cause by a reposition element by the kind-Chang Kai (SO-V) of conditioning equipment or normally closed (SG-V)-valve and to occupy one of above-mentioned position.Suitable reposition element preferably has the spring of definite power/displacement curve, particularly can be by approximate this curve of an equation of straight line.
Be used for the electro hydraulic gear that automobile brake is regulated according to method advantageous applications of the present invention.
Preferably also relate to a kind of method that is used to adjust or regulate the pressure gradient of a conditioning equipment according to method of the present invention.
The method according to this invention needn't can determine to calibrate required characteristic curve or parameter characteristic quantity in other words to regulating device loads pressure.Therefore can cancel pressure-loaded independent when determining characteristic curve or parameter by means of the pneumatic or hydraulic measurement device that is used for definite characteristic curve.The present invention especially also relates to a kind of method that is used for determining at automotive operation accurate especially characteristic curve of conditioning equipment or parameter, and this car equipment has and particularly has the brake equipment that regulates the valves that is used to regulate brake-pressure.
Mainly contain such advantage according to method of the present invention, needn't as essential so far, under the situation that applies definite pressure, on checkout stand, measure the conditioning equipment of manufacturing or complete hydraulic pressure unit respectively.According to method of the present invention, be connected on the conditioning equipment or the electronically controlled equipment on the hydraulic pressure unit of being connected just to measure the electromechanical properties and the magnetic characteristic of conditioning equipment just enough.Described characteristic particularly is exactly each the magnetic parameter and the mechanical parameter KG of conditioning equipment basically
Ind, the deviation (Streuung) in the characteristic curve that these parameters mainly cause being caused by production.By other, general-duty parameter KG
AllDeviation parameter can disposable definite product line lower, that cause by production and with its longer-term storage in the control convenience of electronics.Can calculate the conditioning equipment characteristic curve then and calculate required, the relevant actuating current of conditioning equipment thus by these parameters with pressure reduction.
In addition, can provide such advantage, promptly arbitrarily repeatedly, particularly after the automobile of packing into, automatically implement preferably method implemented according to the invention with uniform interval according to method of the present invention.Can recalibrate this system with uniform interval thus.Therefore for the first time can consider in this way because the external action that the long period just occurs after the conditioning equipment manufacturing-such as wearing and tearing-and the change of the device that may occur.Without measuring instrument, even the moment after the automobile of packing into also can be by the definite automatically characteristic curve of regulating control.Can advantageously cancel thus in order to determine the additional data transmission step of the measurement mechanism that characteristic curve needs usually.
Normally such situation is for the flow G that determines with the characteristic curve adjustment of determining, for the electric regulator difference of pressure Δ P on the valves known additionally.Preferably pass through known method own based on this pressure reduction of model ground, approximate calculation or measurement of inductance according to this method.If for example in the scope of cascade master cylinder, only there is a pressure sensor, then from the time curve of the amount that influences pressure-as pressure reduction pressure setting time etc.-determine.Particularly in the accuracy rate particular importance of the integration method flow that is used for determining pressure gradient.
As generally the explanation, verified, cause reason characteristic or the particularly residual deviation of its gradient mainly be the mechanical tolerance of conditioning equipment, such as the fluctuation elastic force F
Feder, flux loop tolerance (such as magnetic resistance of a. g. etc.).
According to a preferred implementing form of this method, measure total magnetic resistance of magnetic circuit.Common situation is, replace magnetic resistance also can use respective magnetic circuit inductance L, relate to coil number of turns N, implement the method according to this invention in the corresponding way as the physical quantity of equivalence.
The present invention relates to a kind of valve in addition, it has one or more additional measuring cells, particularly measures coil, this valve is included in conditioning equipment, particularly the hydraulic braking control convenience, this valve comprises a magnet coil and a tappet that moves by armature, wherein pass through the mobile armature of control of electric current, to open and/or closed conditioning equipment, described conditioning equipment has one or more additional measuring cells that are used for determining magnetic flow.
Measure coil and can be independent of actuation coil by electricity.According to a preferred form of implementation, measuring coil can be electrically connected in series with actuation coil.Draw such advantage thus, promptly only need outwards to draw three actuation wire.
The present invention also additionally relates to a kind of be used to the regulate open position of conditioning equipment, particularly a valve and/or the method for flow in addition.
In principle, the properties of flow on pressure reduction and geometric configuration, also can determine the flow G of conditioning equipment or valve by the power on the tappet that acts on associated adjustment equipment (tappet power).Therefore preferably the present invention also relates to a kind of method that is used to adjust or regulate the tappet power of a conditioning equipment.
By means of according to another form of implementation of the present invention, the measuring cell that is arranged in the scope of conditioning equipment can be determined the internal physical parameter of conditioning equipment and consider described parameter when the calculated characteristics curve.Can adjust or regulate tappet position, tappet power or the flow of conditioning equipment in this way with special accurate way by aforesaid adjusting.
Except coil, all sensors relevant with magnetic field (such as Hall sensor, MR sensor) can be used as measuring cell in principle, as long as it is suitable for detecting actv. magnetic flow.But owing to can low-costly make, it is suitable especially using coil.
The method according to this invention is preferably determined elastic force in a calibration procedure, also determine maximum tappet stroke in case of necessity.Then described amount is used for the calculating of power.
A feature according to method of the present invention mainly is, preferably implements the measurement of magnetic flow and regulates according to this magnetic flow.This is reasonably, because magnetic force directly depends on magnetic flow.Be that with the key distinction of at present known method the electric current of flowing through coil is to determine amount in present method.
Preferably be determined at the maximum tappet stroke of conditioning equipment in-to-in and particularly measure elastic force by described method.By additional consideration known pressure gradient, then can determine the power-displacement characteristic curve of conditioning equipment very exactly, thus can be with the very high precision adjusting or the flow of control cock.
Except above-mentioned method, the invention still further relates to the method according to this invention and be used to control or improve the quality of production of conditioning equipment, particularly valve, wherein during producing conditioning equipment or valve or producing hydraulic valve assembly or directly measure tappet stroke and/or elastic force after this.
In the preferred form of implementation of another of one section described method, except the electric calibration of additional description in the above, carry out the additional mechanical adjustment of conditioning equipment during manufacture in front.
Here, when the assembling conditioning equipment, only regulate surplus air gap and tappet stroke especially by an electric parameter considering conditioning equipment.This fully particularly preferably realizes thus, magnetic resistance when promptly measuring closed conditioning equipment and the magnetic resistance when opening conditioning equipment.
In the moment after a while, and then this alignment method can preferably add and carry out above-mentioned electricity, stress-free alignment method.So that sharply tuned conditioning equipment is implemented stress-free alignment method in advance, only need to compensate the tolerance in the feature of retracing spring basically by this method.
The present invention not only relates to a kind of alignment method, and relate to a kind of tonometric method, this method be used for particularly the brake regulation system of a hydraulic pressure by means of one can be Electromagnetically actuated conditioning equipment measuring fluid pressure under the situation that does not adopt the additonal pressure sensor, it is characterized in that, utilize the regulating loop of an electricity to regulate the tappet position, and by acting on the tappet, calculate pressure in fluid line and/or the pressure reduction in the conditioning equipment in can electrometric power, in this pressure measurement method, measure pressure in hydraulic fluid by the power on the valve tappet of acting on.In this pressure measurement method, use based on general principle of the present invention, that tappet power is regulated.
Preferred another improvement that obtains like this according to the inventive method is promptly implemented above-mentioned learning method according to adding according to calibration of the present invention, such as known from DE 103 21 783.5.
According to another form of implementation independently of the inventive method, be implemented on the coil tap or the integral measurement in the tap of measuring coil by means of the simple especially so-called electronic squaring circuit of structure.This is a kind of conditioning equipment that is used for induction type that can be by the driver stage electric actuation at least one or very common actr member by by means of the induced voltage U of an electronic metering equipment to conditioning equipment or actr member
IndThe method of magnetic flow is determined in analysis of carrying out or adjustment, wherein the voltage that exists on the conditioning equipment of induction type or actr member remains on a substantially invariable value by the measuring equipment or the electronically actuated equipment of induction conditioning equipment or actr member effectively, and definite time t
1, the electric current that flows to inductive means and measuring equipment in this time is responded to voltage of generation when being switched on or switched off.
Independently mainly determine turnoff time t in the method at this
c, t is connected in this time representation
0With time t
1Between time or the turnon time of definite actr parts.
In conjunction with previously described method, the invention still further relates to a kind of conditioning equipment or the magnetic flow of actr parts or circuit arragement of inductance that is used for determining induction type, comprise a measuring equipment with signal input part and signal output part, wherein signal input part is electrically connected with inductive means, and mouth provides an electric signal, this signal comprises the information about the time, the described time is essential, with under the situation of constant potential, export the energy of storing in induction type conditioning equipment or the actr parts fully make the induction type conditioning equipment or the actr parts in electric current reach the maximum current of hope fully.
In the circuit arragement of Miao Shuing, preferably the signal output of measuring equipment is supplied with a regulating circuit as actual value in front, its regulated quantity is the electric current by inductive means.
Previously described method of measurement and circuit arragement are used for the voltage signal of the integration on the coil tap of the alignment method replacement measuring equipment measuring and adjusting equipment that begins to describe aptly.
Description of drawings
Draw in addition preferred form of implementation in describing by dependent claims and following with reference to the accompanying drawings embodiment.
Diagram:
Fig. 1 is used to regulate magnetic flow, the not additional scheme drawing of measuring the regulating circuit of coil,
Fig. 2 has the embodiment that the magnetic flow of measuring coil is regulated (device),
The cutaway view of the analog/digital valve that Fig. 3 often opens (SO-AD valve),
Fig. 4 is similar to the structure of measuring coil that has of Fig. 2, and difference is that magnetic resistance is used as regulated quantity,
Fig. 5 determines magneto-resistive example when valve is closed,
Fig. 6 determines the example of magneto-resistive method in the EBS control convenience,
Fig. 7 is used for the example of the method for definite electromagnetic valve elastic force,
Fig. 8 is used for the scheme drawing of the method for definite opening of valves current characteristic curve,
Fig. 9 has squarer, is used for the layout of the regulating circuit of valve calibration.
The specific embodiment
The example that describes below is used for the electric hydaulic control apparatus of manned vehicle drg.Corresponding control apparatus (EBS control convenience) comprises a regulator shell (ECU) with a micro control system 18 usually, as schematically showing among Fig. 1,2 and 4, also comprise one with the regulating control bonded assembly, have the valve module (HCU) of the valve 1 of the Electromagnetic Drive that is used for the controlling liquid flow.This regulating control also comprises an actuation circuit (current source 3) in addition, utilizes circuit to adjust and to measure the valve electric current I in pulse duration modulation ground individually for each valve.In the automobile control convenience that is not shown specifically for each valve is provided with a corresponding valve actuator, but described actuator is realized by means of the PWM driver stage of individually actuating.One measuring equipment 4 is set on the terminal of coil, utilizes this measuring equipment can measure induced voltage U
IndOne and U are provided on the mouth of measuring equipment 4
Ind(t) be integrated into the ratiometric signal Phi
Ist
In order to further specify the present invention, it is rational providing following relationship:
Draw magnetic force by following formula
μ wherein
0Be permeability parameter (air), A
AnkerBe the armature area, Φ is a magnetic flow.
Calculate magnetic flow according to formula
Wherein I is a coil current, and N is the number of turns of valve coil, RM
GesamtIt is total magnetic resistance of magnetic circuit in valve.
Be suitable in addition:
The variation that in fragmentary 1, draws magnetic flow in valve 1 during the valve electric current I, by with valve 1 bonded assembly measuring equipment 4 by induced voltage U
IndCan measure this variation.Measuring equipment 4 forms induced voltage U
IndThe time integral of curve and integral signal are supplied to microcontroller 18.This signal is proportional with the magnetic flux phi that is caused by valve coil.In conjunction with Fig. 9 a kind of optional measuring equipment that is used for determining this integration has been described in addition.
Therefore by giving microcontroller, can realize magnetic flow control or magnetic flow adjusting with the signal feedback of measuring equipment.Flow through the valve electric current of valve 1 at the inner real adjustment amount that forms this adjusting of valve.
Can compensate existing independent valve production tolerance (a. g. in elasticity modulus and the magnetic circuit) by control or adjusting magnetic flow.By regulating the pressure gradient G that regulation should be adjusted at calculating unit μ C (EBS control convenience) in-to-in ABS/EPS.For calculating unit pressure reduction is known.According to the configuration difference of brake regulation system,, utilize sensor or part to determine this pressure reduction fully by pressure model by known mode itself.(calibrate) correlativity of determining elastic force, maximum tappet stroke and magnetic flow and valve electric current constantly more once or in difference according to the measurement procedure that the following describes.So known all application forces and the valve tappet power/displacement function that calculates; Can calculate the required valve electric current of required pressure gradient.
Fig. 2 illustrate be used to realize of the present invention, have another possibility of additional coil regulating circuit.There is the required pressure gradient G in calculating unit (μ C) inside equally.For calculating unit pressure reduction is known.Determine elastic force and maximum tappet stroke by measurement procedure described below.Utilize measurement coil 2 to record magnetic flow.This measurement coil is arranged and is made the effective flux of its measurement by yoke and armature.When switching on and off valve coil, induction formation voltage U in measuring coil
Ind, its integration and existing magnetic flow are proportional.The signal Phi of from the integrated value that produces by level 4, deriving
IstWith signal Phi
SollIn asking difference level 5, merge, and form the rated quantity of valve driver stage.
As already mentioned, can be at any time, also can be in automotive operation, repeat the measurement procedure of the parameter that (calibration again) be used for determining that valve is relevant, variation or wearing and tearing that for example cause by operation, mechanical part or electric parts with compensation.Electrical operating device, which has improves coil current by actuator 3, and the magnetic flow in magnetic circuit is consistent with the magnetic flow that calculates.Example also is a kind of tappet apparatus for adjusting force shown in figure 2, and wherein valve upward pressure state is depended in the tappet position.
Fig. 3 illustrates the structure that can be used on the electromagnetic valve in the ABS/EPS valve module according to the present invention.The valve of example is a normally open valve according to the present invention, drives this valve by known mode own by means of the current setting ground that a PWM regulates.Corresponding valve is known, is called the digital valve " AD valve " of simulation.Describe the magnetic line of force of fundamental component of the structure, particularly magnetic circuit of this SO-AD valve below in detail.The valve coil 6 that has electric current to flow through is used to move the armature 7 that axially is directed in valve housing 13, armature acts in the valve seat 9 hermetically by tappet 8.Hydraulic fluid flows to valve seat 9 through valve inlet 10 and flows out through outlet 12.Short of electric current flowing through coil 6, then spring 11 is pressed into open position to tappet or armature.When electric current flow through coil 6, magnetic line of force passed yoke 14 and enters shell 13.Intermediate location between yoke 14 and the shell 13 forms magnetic resistance RM
LR2Pass a. g. 15 between armature 7 and the shell 13 at magnetic line of force on another distribution link, wherein with RM
AThe magnetic resistance of representing this position.Also form another a. g. between armature 7 and yoke 14, the magnetic resistance in this gap is expressed as RM
LR1
Basically can also pass through and RM
Ges=RM
LR2+ RM
A+ RM
LR1Determine the magnetic resistance of magnetic circuit.Here as can be seen, magnetic resistance depends primarily on the amount and the tappet position of a. g. that is caused by manufacturing.Magnetic resistance also can be expressed as the magnetic resistance RM that measures under the state of closure
VentilWith the magnetic resistance RMLuft's of a. g. and:
RM
gesamt＝RM
Ventil+RM
Luft
Amount RM
VentilCan under the state of closure, measure, and amount RM
LuftFrom formula RM
Luft=l/ μ
0* A
AnkerIn draw A wherein
AnkerBe magnetic payload space (the parameter K that product line is relevant of the armature 7 relevant with the valve product line
Gall), and l is the tappet stroke.Real method of measurement is not directly to determine RM
LuftValue, but determine by the magnetic resistance when valve is opened fully, measured and the magnetic resistance that deducts the valve of closing.Also can determine the tappet stroke in this way.
Also illustrate among this external Fig. 3 and be implemented in the necessary measurement coil 2 of embodiment illustrated in fig. 2, described coil location is in the zone of yoke 14.
Fig. 4 schematically shows another example of regulating circuit, directly adjusts tappet position l in this circuit.As mentioned above, magnetic resistance RM
GesamtForm by the magnetic resistance of the valve of closure and the magnetic resistance of a. g..Can determine the magnetic resistance of closed valve by disposable measurement procedure.RM
GesamtBe by Θ (=I*N) and the merchant that obtains of magnetic flux phi.By the tappet stroke divided by μ
0* get output RM among the A
Luft(μ
0=permeability parameter, A=sectional area).Be suitable in addition: RM
Ist Gesamt=Θ
Ist/ Φ
IstCalculate this amount by divider 17.The mouth of divider 17 is connected with difference channel 5.By measuring the definite amount of the voltage curve Φ that determines on the coil and carry out time integral by means of integration stages 4
IstThis amount is proportional with pressure reduction.Because RM
GesamtProportional with the tappet stroke, thus described to RM
GesamtAdjusting cause directly regulating tappet stroke l.Here calculating unit μ C is converted to definite flow cross section or tappet stroke to the required pressure gradient, and converts specified magnetic resistance RM thus to
SollThe prerequisite of this calculating is known fluid dynamic eigenwert KG itself
AllAnd the relevant parameter KG of valve
Ind, described eigenwert KG
AllBe applicable to whole valve product line and therefore can permanent storage in calculating unit μ C, described parameter KG
IndDetermine individually by the method for equally here describing.The parameter that described valve is relevant for example is the total magnetic resistance and the elastic force (referring to square frame 16) of closed valve.As mentioned above, also need current pressure reduction for this adjusting in addition.Determine current valve electric current simultaneously and multiply each other with the number of turns of excitation coil.This product is magnetic potential Θ (magneto motive force).Current magneto motive force is divided by current magnetic flow.The result is current magnetic resistance.In order to regulate, to carry out rated value/actual value relatively, and produce regulated quantity I (coil current) thus.
Method according to the example among Fig. 4 provides such possibility in addition, promptly needn't the additonal pressure sensor, in each pressure sensor, determine to be connected the pressure in the fluid line of valve.When must be by the tappet position that regulating control keeps constant constant, can be by at the tappet power of this tappet position actual measurement general parameter KG in conjunction with known valve
AllCalculate pressure by being similar to above-mentioned method.
In brake system of car, for example determine input pressure by the brake pedal operation.Known for example in the ABS control process input pressure different with the pressure in the hydraulic power line that leads to brake cylinder at each.Because only can determine the pressure reduction that on valve, exists according to the fwd mensuration in principle, so need utilize sensor to determine precompressed compression (for example pressure sensor on the cascade master cylinder).But also can be by considering that model calculates definite precompressed compression.Can needn't accurately understand precompressed compression by the running state that the investigation brake system is determined in addition and determine pressure.Can realize that pressure is definite in fully pressure-free force gauge ground in this way.In the ABS/EPS automatic control device, saved the expense of additonal pressure sensor thus greatly.
Figure line among Fig. 5 is illustrated in the turn-off current electric current change curve in the valve coil in the valve of closure afterwards.Under the known situation of wire circle N, can determine magnetic resistance RM by the integration of current curve below
GesDraw physical relation in the formula that provides in the square frame by Fig. 5, wherein W
LBe the magnetic energy of magnetic circuit, R is the ohmage in electric coil loop.
In Fig. 6, the example of implementing to be used for determining magneto-resistive method of measurement according to the principle of Fig. 5 is shown with sketch.In first step, set current value I by EBS control convenience (through regulating)
0, valve is reliably closed in this step.So set the dutycycle that PWM adjusts then, no longer exist current fed coil actuator.Because the recirculation possibility of output stage decays gradually by the electric current of inductance storage.Next at t
1To t
2Time gap measure electric current change curve (I with same interval in the moment of regulation
1, I
2, I
3...).Store the value of measuring by the software that in control convenience, moves.The formula that provides in the square frame of Fig. 6 illustrates by summation and forms integration W
LPossibility.
Begin progressively to improve electric current from for example I ≈ 0, suitable less electric current at first progressively according to the method that in Fig. 7, briefly shows.Component a) in electric current at first remain on a value I who just opens valve
1, promptly valve can be closed under higher electric current.At moment t
1Turn-off current and Measuring Time τ
1, drop to (moment t below the threshold value S up to actual current value
2).Open position according to valve obtains lower inductance, and draws short timeconstant thus when the current index drop-down curve
1
When so that the electric current I of valve closure
2When activating corresponding valve, at component b) shown in the electric current change curve.From the described as can be seen closing course of the of short duration elevated portion 71 of the electric current in the constant current scope.At moment t
1Electric current disconnects as mentioned above, and electric current decays to below the threshold value S again gradually.But different with the valve of opening, at component b) in because lower magnetic resistance (higher inductance) timeconstant of closed valve at first
2Than component a) in corresponding time constant height.Opening of the valve that can find out from the rising of electric current change curve equally causes time constant to prolong equally in addition.
In Fig. 8, be illustrated schematically in and be used in the electrohydraulic control setup 82 by means of according to the parameter KG that determines that at the example of Fig. 5 to 7 valve is relevant
Ind(method of measurement 81) calculates algorithm 82 examples of opening of valves current characteristic curve.Each parameter KG that valve is relevant
IndThe normally characteristic curve of valve or parameter.Has the ABS function and in case of necessity in the deceleration of electrons control convenience of other function ratio such as ASR, ESP etc., in order to regulate the valves, to need one and be illustrated in the curve of opening the required electric current of valve (the opening of valves current characteristic curve f (Δ P) relevant) under the predetermined pressure difference Δ P with pressure reduction with high accuracy.For algorithm 82, be defined in the general parameter KG of the sign valve product line of storing in the regulating control at input side
AllDescribed parameter can be in more detail by the relevant armature area A of product line
AnkerWith valve seal area A
AbdichtExpression.In addition the actual pressure differential Δ P on the related valves input end is defined as variable (Var), this variable is determined by sensor or is measured approximate calculation by the EBS system by other.
Corresponding algorithm 82 is according to the sealing cross-sectional plane A that determines in regulating control
Abdicht(blanket valve parameter) at first passes through F
Hydraulik=Δ P*A
AbdichtCalculate hydraulic coupling F
HydraulikUtilize the armature area A of regulation
AnkerCan calculate the magnetic force F that depends on electric current with magnetic resistance RM
Magn(I).Valve just still is closed under state of equilibrium.Required for this reason magnetic force F
MagnThe expression holding current:
F
Feder+F
Hydraulik＝F
magn
Therefore utilize this formula can be under the situation of considering valve seal area and sealing cross-sectional plane to calculate holding current with pressure correlation for discrete pressure reduction (in valve, not having rate of volume flow) more exactly.
In addition for the application in the EBS system for, additionally carry out following corrective action A) to C) be rational with the accuracy rate of the determined holding current of further raising:
A) firing current/holding current is proofreaied and correct
According to equation of equilibrium F
Feder+ F
Hydraulik=F
MagnThe so-called holding current that under the pressure reduction of determining, draws also with opening valve required actual firing current inconsistent because this actual current is because hydrodynamic effect is always low than the holding current that calculates.Verified, preferably can obtain firing current characteristic curve more accurately like this
, promptly in the differential pressure range of necessity, give holding current characteristic curve I
Halte(Δ P) adds a constant negative current compensation I
Korr ConstCan determine this current compensation without difficulty by suitable experiment:
B) magnetic is proofreaied and correct
The calculating of above-mentioned holding current characteristic curve is assumed to be departure point by such simplification, and promptly magnetic resistance does not depend on electric current when valve is closed.But because the influence of the ferromagnetic material that exists in the magnetic circuit of threshold, in order further to improve precision, such correction term is reasonably, utilizes this correction term can proofread and correct the above-mentioned this influence in " iron loop ".In order to proofread and correct this influence, be used for equation of straight line RM (the I)=m*I+b of magneto-resistive magnetic resistance change rate curve for the valve of closure, particularly by first approximation.Can pass through in different electric current I
1, I
2, I
nFollowing measure R M determines this curve, wherein all I
nAll greater than the closing current of respective valve.Draw 10 in this example
6* the slope m in the Vs/I scope.Like this by being used to calculate F
MagnFormula in use described correction term can draw calibrated holding current characteristic curve, this holding current characteristic curve has been removed the influence of ferromagnetic material as far as possible.
C) thermal recalibration
As from showing in the formula that provides the square frame of Fig. 5,, promptly only determine the resistance of circuit, magnetic resistance RM by coil resistance if in order to simplify as departure point
GesWith l/R
LProportional, R wherein
LIt is coil resistance.In the above in the method for Miao Shuing so far all the time as departure point, i.e. R
LRelevant with product line, do not need the parameter considered.But the temperature traverse of coil also undesirably exerts an influence to the magnetic resistance of having measured through coil resistance now.One method of calculating of eliminating the correction term of this influence so causing also should further improving.Preferably can carry out the magneto-resistive this thermal recalibration to having measured like this, promptly the dutycycle of the valve actuation (equipment) by pulse duration modulation is determined coil resistance.A method that be suitable for this, that be used for determining coil resistance has been described in WO 03/074338A1.
Above described content relate to a kind of normally open valve.Described in a similar fashion method also can be used for normally closed valve.
Embodiment shown in Fig. 9 a relates to a kind of such as the circuit arragement described in Fig. 1, and difference is, in order to simplify the measurement of induced voltage, a micropulser shown in Figure 11 19 is set.Can use this micropulser 19 advantageously to replace measuring equipment 4 among Fig. 2 equally.As mentioned above, the EBS regulating control comprises a driving circuit 3 (current source), utilizes this circuit to adjust also for each valve pulse duration modulation ground individually and can also measure the valve electric current I.In conjunction with micropulser 19, in simple mode by at component b) in the time measurement that briefly shows can measure induced voltage U
IndAt moment t
0, when turn-off current, the flux sensing formation voltage U in the coil 1 of conditioning equipment
L(terminal voltage), so at off period at time t
cInterior electric current drops to and is approximately 0.Be shown specifically U at Figure 10 in a)
LThe change of voltage curve.The electric current change curve that causes by PWM valve activated apparatus is at Figure 10 b during this period) shown in.
For calculating unit 18 amount R
L(coil resistance), U
L(adjusted commutation voltage) and I
0(valve electric current) is known.Record and the proportional time t of inductance L by means of micropulser 19
cOn the mouth of micropulser 19, there are one and t
cProportional electric signal.This signal is supplied with calculating unit 18 as the actual amount of regulating through transmission line 20.
From the circuit arragement of Figure 11, draw the principle of work of micropulser 19.Current source 3 comprises a current driver 21 and a recirculation circuit 22, and described recirculation circuit is at moment t
0Utilize a controollable resistance adjustment recirculation electric current after the turn-off current, wherein activate recirculation circuit 22 by calculating unit 18.From patent application DE 102004017239.0, become known for activating the related circuit of hydraulic valve.By resistance R
1And 9R
1First bleeder 51 and terminal U that forms
0Connect, this bleeder makes higher voltage value U
0On the signal input part S+ of comparator circuit 53, reduce about 10 times.Second bleeder 52 forms one and equals half reference voltage of logic power supply voltage on the input end S-of comparator circuit 53.Therefore the difference of comparator circuit 53 assessing signal S+ and S-produces suitable rectangular signal thus.
By means of recirculation circuit 22 can be after disconnecting in the time (being lower than 1ms) of lacking current of comuntation, as Figure 10 b) as shown in.This moment can be with terminal voltage U
LAdjust to a constant value U
Const(Figure 10 a).During the adjusting (PWM) of the valve electric current being carried out known pulse duration modulation own, U
0On voltage rise to the most about 18V, thereby input end S+ never can be greater than 2.5V.The output of comparator circuit (end) therefore remains on " logical zero ".Voltage U when the commutation beginning
0Rise to for example 35V, the S+ of 3.5V is apparently higher than S-thus.Consequently comparator circuit is transformed into " logical one ", up to voltage U
0End with commutation drops to 0V once again.Comparator circuit also is transformed into " logical zero " once again then.Therefore " logical one " time length on the comparator circuit mouth just with the commutation time length t
cConsistent.
According to this formula
At moment t
0With moment t
1Between commutation during calculate the inductance of coil from the electric current change curve.
By special actuating, U in actuation process
LAt time t
0And t
1Between keep constant, the time integral to electric current that must calculate for the inductance of determining coil is simple especially.Can pass through especially simply then
Determine the inductance of valve coil.
Claims (17)
1. be used to calibrate or mechanical alignment or calculate the method for the actuating current of the conditioning equipment that at least one can be Electromagnetically actuated, this conditioning equipment is used for the flow G relevant with pressure reduction (Δ P, I, KG) of regulated fluid, electric control intensity by conditioning equipment also can be determined the amount of the pressure influence that caused by conditioning equipment in advance under the situation of applying pressure sensor not in the method, uses relevant characteristic curve, property field or the parameter KG of one or more and conditioning equipment of conditioning equipment in the method
IndThereby, can on purpose regulate rated flow G according to intensity of current I by means of these parameters, it is characterized in that, under not to the situation of regulating device loads pressure (pressure differential deltap P=0), determine the described parameter relevant automatically with conditioning equipment.
2. according to the method for claim 1, it is characterized in that,, determine the unlatching displacement l and/or the elastic force F of conditioning equipment in order to calculate the described parameter relevant with conditioning equipment
Feder
3. according to the method for claim 1 or 2, it is characterized in that, except the described parameter KG relevant with conditioning equipment
IndIn addition, also be used for the calculation control electric current, general-duty, the parameter KG relevant with product line
All
4. according to the method for claim 1 or 2, it is characterized in that, according to actuating current I according to formula G=G
0The functional relation of the approximate flow G of+m*I, wherein, in electric current I=0 o'clock, by opening and/or measuring at least one independent magnetic parameter during closed valve and determine pressure gradient G
0
5. according to the method for claim 3, it is characterized in that, at the general-duty of the medium-term and long-term stored adjustment equipment of a memory device, the parameter KG relevant with product line
All, wherein said parameter is transferred in the memory device at the manufacturing line terminal point later.
6. according to the method for claim 1 or 2, it is characterized in that, determine that tappet power or magnetic resistance RM are as the parameter relevant with conditioning equipment.
7. according to the method for claim 1 or 2, it is characterized in that, determine the position of tappet by tappet power or magnetic resistance.
8. according to the method for claim 1 or 2, it is characterized in that, measure the result who on control coil, changes and respond to the voltage of generation as electric current.
9. according to the method for claim 1 or 2, it is characterized in that, regulate magnetic flux phi or magnetic resistance RM by regulating loop.
10. according to the method for claim 1 or 2, it is characterized in that, determine the holding current and/or the firing current of conditioning equipment by the described parameter relevant with conditioning equipment.
11. the method according to claim 1 or 2 is characterized in that, proofreaies and correct the opening of valves electric current by a correction term, this correction term has been considered the influence of depending on electric current of ferromagnetic magnetic circuit simultaneously.
12. the method according to claim 1 or 2 is characterized in that, at first calculates the valve holding current, and determines the opening of valves electric current by means of other correction term or deviation from the result.
13. the method according to claim 1 or 2 is characterized in that, by means of the electric current PWM actuating conditioning equipment of pulse duration modulation, wherein the dutycycle that activates by PWM is determined coil resistance, and is calculating the parameter K G relevant with conditioning equipment
IndThe time consider coil resistance.
14. the method according to claim 1 is characterized in that, described actuating current is a firing current.
15. the method according to claim 4 is characterized in that, by measuring magnetic resistance when the open and close valve and/or measuring elastic force and determine described at least one parameter.
16. the method according to claim 6 is characterized in that, determine tappet power or magnetic resistance RM as the parameter relevant with conditioning equipment conditioning equipment open fully and/or fully the position of closure carry out.
17. the method according to claim 8 is characterized in that, described voltage is carried out integration.
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE10335586 | 2003-07-31 | ||
| DE10335586.3 | 2003-07-31 | ||
| DE10355836.5 | 2003-11-26 | ||
| DE102004024058.2 | 2004-05-13 |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2008101300027A Division CN101445100B (en) | 2003-07-31 | 2004-07-28 | Method of determining a control current in an electric actuator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1842452A CN1842452A (en) | 2006-10-04 |
| CN100418817C true CN100418817C (en) | 2008-09-17 |
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ID=36994633
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2008101300027A Active CN101445100B (en) | 2003-07-31 | 2004-07-28 | Method of determining a control current in an electric actuator |
| CNB2004800223023A Expired - Fee Related CN100408400C (en) | 2003-07-31 | 2004-07-28 | Method and device for measuring a fluid pressure by means of a regulating device |
| CNB2004800223080A Active CN100418817C (en) | 2003-07-31 | 2004-07-28 | Method for producing and/or adjusting an electromagnetically controllable actuator |
| CNB2004800222707A Expired - Fee Related CN100408399C (en) | 2003-07-31 | 2004-07-28 | Method and device for producing and/or adjusting an electromagnetically controllable actuator |
Family Applications Before (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2008101300027A Active CN101445100B (en) | 2003-07-31 | 2004-07-28 | Method of determining a control current in an electric actuator |
| CNB2004800223023A Expired - Fee Related CN100408400C (en) | 2003-07-31 | 2004-07-28 | Method and device for measuring a fluid pressure by means of a regulating device |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2004800222707A Expired - Fee Related CN100408399C (en) | 2003-07-31 | 2004-07-28 | Method and device for producing and/or adjusting an electromagnetically controllable actuator |
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| ITGE20080036A1 (en) * | 2008-04-30 | 2009-11-01 | Dott Ing Mario Cozzani Srl | METHOD FOR THE CONTROL OF THE POSITION OF AN ELECTROMECHANICAL ACTUATOR FOR VALVES OF ALTERNATIVE COMPRESSORS. |
| EP2281725B1 (en) * | 2008-05-23 | 2017-10-11 | Bosch Corporation | Vehicle abs control device with internal parameter auto-calibration function |
| JP5081938B2 (en) * | 2010-03-11 | 2012-11-28 | 日立オートモティブシステムズ株式会社 | Hydraulic control device |
| DE102010045504A1 (en) * | 2010-09-15 | 2012-03-15 | Robert Bosch Gmbh | Method for controlling a ballistic movement of a blocking body of a valve |
| DE102011101294B4 (en) * | 2011-05-10 | 2014-03-06 | Fette Compacting Gmbh | Device and method for calibrating and balancing a measuring device of a tablet press and tablet press |
| CN103277563B (en) * | 2013-06-06 | 2016-08-10 | 贵州师范大学 | A kind of fast opening and closing method of high-speed solenoid valve |
| DE102015104010B4 (en) * | 2014-03-20 | 2022-05-05 | GM Global Technology Operations LLC (n. d. Gesetzen des Staates Delaware) | ELECTROMAGNETIC FUEL INJECTOR WITH INTEGRATED FLOW SENSOR |
| DE102014226505A1 (en) | 2014-12-18 | 2016-06-23 | Robert Bosch Gmbh | Electrical determination of characteristics of magnetic switching valves |
| DE102015119512A1 (en) * | 2015-11-12 | 2017-05-18 | Eaton Electrical Ip Gmbh & Co. Kg | Method and device for controlling an electromagnetic drive of a switching device |
| DE102018206114A1 (en) | 2018-04-20 | 2019-10-24 | Robert Bosch Gmbh | Method for driving a valve and corresponding device |
| JP6964039B2 (en) * | 2018-04-20 | 2021-11-10 | 株式会社荏原製作所 | Electromagnet controller and electromagnet system |
| US11365828B2 (en) * | 2018-07-06 | 2022-06-21 | Danfoss Power Solutions Ii Technology A/S | System and method for detecting position of a valve driven by a solenoid linear actuator |
| CN108839434B (en) * | 2018-07-09 | 2024-03-29 | 温州光明印刷机械有限公司 | Novel side-pulling gauge structure of laminating machine |
| DE102018211751A1 (en) * | 2018-07-13 | 2020-01-16 | Robert Bosch Gmbh | Method and device for determining a temperature of a liquid in a brake system, method for operating a brake system and brake system |
| EP3632760B1 (en) * | 2018-10-05 | 2021-12-08 | Chr. Mayr GmbH + Co. KG | Preventive function control for an electromagnetic spring pressure brake |
| DE102018217352A1 (en) * | 2018-10-10 | 2020-04-16 | Conti Temic Microelectronic Gmbh | Actuator device and method for compensating a magnetic stray field in an actuator device |
| US11667272B2 (en) * | 2019-01-24 | 2023-06-06 | ZF Active Safety US Inc. | Vehicle brake system with adaptive pressure calibration |
| CN110318143A (en) * | 2019-05-15 | 2019-10-11 | 浙江万利纺织机械有限公司 | A kind of switched reluctance machines direct-driving type loom bar-connected beat up unit |
| DE102019120126B4 (en) * | 2019-07-25 | 2021-08-05 | Straub Kg | Adjustment device and method for determining a hydraulic threshold value of a valve |
| DE102020109880A1 (en) * | 2020-04-08 | 2021-10-14 | Wabco Europe Bvba | Method and device for controlling a fluid solenoid valve |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN100408400C (en) | 2008-08-06 |
| CN101445100B (en) | 2013-11-13 |
| CN101445100A (en) | 2009-06-03 |
| CN100408399C (en) | 2008-08-06 |
| CN1832877A (en) | 2006-09-13 |
| CN1842452A (en) | 2006-10-04 |
| CN1832878A (en) | 2006-09-13 |
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