CN104104264B - System and method for controlling active material actuator - Google Patents
System and method for controlling active material actuator Download PDFInfo
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- CN104104264B CN104104264B CN201410147887.7A CN201410147887A CN104104264B CN 104104264 B CN104104264 B CN 104104264B CN 201410147887 A CN201410147887 A CN 201410147887A CN 104104264 B CN104104264 B CN 104104264B
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Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/0005—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing non-specific motion; Details common to machines covered by H02N2/02 - H02N2/16
- H02N2/0075—Electrical details, e.g. drive or control circuits or methods
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- Electronic Switches (AREA)
- Dc-Dc Converters (AREA)
- Control Of Direct Current Motors (AREA)
Abstract
The active material actuator that includes being configured to activate when energized for the system for controlling active material actuator, it is configured to the power supply of supply electric power and including multiple loops and is configured to optionally set up the control circuit of the electrical connection between active material actuator and power supply based on the reception of activation signal.The control circuit is configured at least one power-off in the loop when control circuit is not received by activation signal so as to minimize the parasite current drawn from power supply.
Description
Technical field
This disclosure relates to the system and method for the actuating for controlling active material actuator.
Background technology
Active material provides actuating with quality at a relatively low cost.Active material may include marmem（SMA）、
Electroactive polymer（EAP）, piezoelectric, magnetostriction materials and electrical throttle material.It is non-linear due to active material, accurately
The actuating for the active material that ground control provides actuating is difficult.
The content of the invention
This disclosure relates to the system and method for controlling active material actuator.In embodiment, the system includes
The active material actuator that is configured to activate when energized, the power supply of supply electric power and including multiple loops and it is configured to
The control circuit of the electrical connection between active material actuator and power supply is optionally set up based on the receiving of activation signal.Control
Circuit processed is configured to power off at least one loop when control circuit is not received by activation signal, to minimize from power supply
The parasite current drawn.
In embodiment, control circuit includes voltage sensor loop, and the voltage sensor loop is configured to measure power supply confession
The voltage potential for the electric power given.Voltage sensor loop is configured to power off when control circuit is not received by activation signal.Voltage
Sensing loop may include low conducting resistance solid-state switch, such as switch mosfet, and the switch is configured to when control circuit does not have
Optionally from power supply off voltage sensing loop when receiving activation signal.
In embodiment, control circuit includes being electrically connected to the power-supply filter of power supply.Power-supply filter was configured to
The output voltage that filter is supplied by power supply.Power-supply filter may include at least one diode, and the diode is configured to prevent instead
Come across to voltage on the circuit for following input filter.
In embodiment, control circuit includes being electrically connected to the bias adjuster of power-supply filter.Bias adjuster is by structure
Make the output voltage for regulation power supply supply.Bias adjuster is configured to break when control circuit is not received by activation signal
Electricity.
In embodiment, control circuit includes power switch loop, and the power switch loop is configured to work as control circuit
The electrical connection between active material actuator and power supply is optionally set up when being not received by activation signal.Power switch loop
It may include low conducting resistance solid-state switch, such as switch mosfet, to control the electric current through active material actuator.
In embodiment, control circuit includes digital control processor, and the digital control processor is configured to produce tool
There is the pulse width modulating signal of dutycycle.Digital control processor is electrically connected to power switch loop.So, digital control place
Reason device is configured to pulse width modulating signal being delivered to power switch loop.Control circuit also includes point and is connected to digital control
The computer program port of processor processed.Computer program port is configured to allow for digital control processor and remote computer
Between data transfer.
In embodiment, control circuit includes TEMP loop, and the TEMP loop is configured to measure close to work
The environment temperature of dynamic material actuator simultaneously produces the temperature signal for representing environment temperature.
In embodiment, control circuit includes position sensing loop, and the position sensing loop is configured to detect active material
Expect the position of actuator and produce the position signalling for the position for representing active material actuator.
In embodiment, control circuit includes current sense loop, and the current sense loop is configured to measurement through work
Property material actuator electric current and produce the current signal represented by the electric current of actuator.
In embodiment, digital control processor is configured to receive temperature signal, current signal, position signalling and electricity
Press signal.Digital control processor is configured to based on current signal, voltage signal, position signalling and temperature signal regulation arteries and veins
Rush the dutycycle of bandwidth modulation signals.In embodiment, active material actuator includes marmem.Control circuit can wrap
Include the signal processing unit for the activation signal for being configured to filtering by peripheral control unit supply.
The disclosure further relates to the method for controlling active material actuator.In embodiment, this method includes determining activation letter
Number whether received by control circuit.Control circuit may include multiple loops and be configured to optionally set up active material
Electrical connection between actuator and power supply.To be more if this method may also include control circuit and be not received by activation signal
At least one power-off in individual loop is to minimize the parasite current drawn from power supply, and if control circuit receives activation
Signal, then it is powered to multiple loops to establish the electrical connection between active material actuator and power supply, so as to activate active material
Actuator.
In embodiment, methods described includes monitoring close to the environment temperature, active material actuated of active material actuator
The position of device, the voltage of power supply and the electric current through active material actuator.This method may also include to active material actuator
Supply pulse width modulating signal.This method may also include based on environment temperature, the position of active material actuator, power supply electricity
The dutycycle of pressure and current regulation pulse width modulating signal through active material actuator.
When with the accompanying drawings and the appended claims, features described above and advantage of the invention, and other features and excellent
Gesture becomes apparent from from the following detailed description to for realizing the preferred embodiments of the present invention and optimal mode.
Brief description of the drawings
Figure 1A be include active material actuator, power supply and the switch being in the open position actuating system it is schematic
View；
Figure 1B is the explanatory view of Figure 1A actuating system, and it shows to switch in the close position；
Fig. 2 is the schematic chart of the control circuit of Figure 1A actuating system；
Fig. 3 is the detailed schematic chart of the control circuit in accordance with an embodiment of the present disclosure shown in Fig. 2；
Fig. 4 is the current sense loop and power switch loop according to the control circuit of another embodiment of the disclosure
Detailed schematic chart；And
Fig. 5 is the flow chart for the method for showing the actuation means shown in control figure 1A and 1B.
Embodiment
Referring now to accompanying drawing, wherein similar reference represents corresponding part in several views, this disclosure relates to control
The system and method for the actuating of active material actuator processed.Term " active material used（active material）" refer to
Be when by or meet with its property when such as thermostimulation activate stimulation and can undergo the material of reversible change.Active material
Including but not limited to marmem（SMA）, electroactive polymer（EAP）, piezoelectric, magnetostriction materials and electrical throttle
Material etc..For example, SMA is the energy for showing the shape limited before some are returned to when by appropriate thermostimulation or size
The a group material of power.Specifically, SMA can undergo crystal-phase transformation, in phase transformation, their yield strength, rigidity, size and/
Or shape is based on temperature and changed.SMA is present in the phase of several different temperature-independents.For example, some SMA are due to martensite
Mutually change the crystal between austenite phase and show recoverable strain greatly.Suitable SMA includes but is not limited to NiTi base
Alloy, indium titanium-base alloy, nickel-aluminum base alloy, nickel gallium-base alloy, acid bronze alloy（For example, ormolu, albronze, copper gold close
Gold and signal bronze）, golden cadmium base alloy, silver-colored cadmium base alloy, indium cadmium base alloy, copper-manganese based alloy, iron platinum base alloy, iron platinum base
Alloy etc..
Figure 1A and 1B schematically shows the actuating system 28 including actuation means 30.Actuation means 30 include being constructed
For the active material actuator 36 activated when energized.Actuating system 28 includes actuation means 30.Active material actuator 36 can
To be the part of actuation means 30, and it is made up whole or in part of at least one such as SMA active material.Following institute is in detail
State, active material actuator 36 can change its shape or size to move the another of actuation means 30 under different temperature conditionss
One part.Except active material actuator 36, actuation means 30 include housing 32, the movable member being arranged in housing 32
34th, the biasing member 34 of system controller 38 and such as spring.Movable member 34 is moveably coupled to housing 32.So,
Movable member 34 first or can not activated position relative to housing 32（Figure 1A）With second or actuated position（Figure 1B）
Between move.In the embodiment shown, movable member 34 is rotatably coupled to housing 32.Then, the energy of movable member 34
It is enough to be rotated relative to housing 32 not activateding between position and actuated position.Pin 39 or any other suitable fastener can
Movable member 34 is rotationally coupled to housing 32.Pin 39 can be connected to the inner surface 33 of housing 32.
Actuation means 30 also include position sensor 41, and position sensor 41 is configured to detect the position of movable member 34
Put.In the embodiment shown, position sensor 41 is such as rotary digital encoder or potentiometric rotational position sensor, and
And it is coupled to pin 39.Position sensor 41 is electrically connected with system controller 38 and therefore can provided to system controller 38
Position feed back signal.Position feed back signal represents the position of movable member 34 or active material actuator 36 relative to housing 32
Put.
Active material actuator 36 can be electric wire and including the first actuator end 35 and the second actuator end 37.Activity
Material actuator 36 can be generally U-shaped and therefore the first actuator end 35 is close to the second actuator end 37.It is contemplated, however, that
Be that the second actuator end 37 can be opposite with the first actuator end 35.First actuator end 35 is mechanically coupled to removable structure
Part 34, and the second actuator end 37 is mechanically coupled to the inner surface 33 of housing 32.In one embodiment, it is active material actuated
Device 36 is made up of SMA whole or in part.However, active material actuator 36 can be whole or in part by such as electroactive poly-
Compound（EAP）, piezoelectric, magnetostriction materials, other suitable active material systems of electrical throttle material or combinations thereof
Into.Although accompanying drawing shows the electric wire of substantial linear, active material actuator 36 can the function based on desired actuation means 30
The actuating power needed with active material actuator 36 has other shapes.No matter it is any shape, active material actuator 36
It is electrically connected to such as electrical storage device（ESD）Power supply 42.Switch 44 be connected electrically in power supply 42 and active material actuator 36 it
Between.Power supply 42 is configured to supply electric power.Switch 44 can be in opening（Figure 1A）With closure state（Figure 1B）Between change.
In open position, active material actuator 36 is advanced to from power supply 42 without electricity.It is on the contrary, enough from electricity in closing position, electric energy
Source 42 advances to active material actuator 36.Thus, active material actuator 36 can be when switch 44 be in the close position
It is energized.If active material actuator 36 is made up of SMA material whole or in part, electrical current flows through active material cause
Move device 36 and cause the temperature change in active material actuator 36 to cause the strain in active material actuator 36.Knot
Fruit, retract the first actuator end 35 and the second actuator end 37 of active material actuator 36 keep fixing, thus in removable structure
Apply moment of torsion on part 34.
The biasing member 40 of actuation means 30 can be wind spring and be connected in the part of movable member 34 and housing 32
Between.In the embodiment shown, biasing member 40 limits the first offset side 43 and the opposite with the first offset side 43 second biasing
End 45.First offset side 43 is mechanically coupled to movable member 34, and the second offset side 45 is mechanically coupled to housing 32
Inner surface 33.When actuation means 30 are not activated（Figure 1A）, biasing member 40 applies biased torque on movable member 34
94.Biased torque 94 produces the stress for applying strain in the active material actuator 36 not being activated and thus elongates active material
Expect actuator 36.On the other hand, when actuation means 30 are activated（Figure 1B）, active material actuator 36 is because power supply 42 is with living
Electrical connection between property material actuator 36 and be activated.When actuation means 30 are activated, the active material actuator of energization
36 recover the strain of application and power 96 corresponding to applying on movable member 34, and the power is delivered to resistance biased torque again
94 biasing member 40.
System controller 38 can be printed circuit board (PCB)（PCB）And it is connected to housing 32.For example, in illustrated embodiment
In, system controller 38 is arranged on the outer surface 31 of housing 32.However, it is envisioned that system controller 38 can be installed
Or can be positioned at the outside of actuation means 30 on the inner surface 33 of housing 32.No matter its position where, system controller
38 are all configured to receive the activation signal from peripheral control unit based on some vehicle conditions to start or close actuation means
30。
For example, system controller 38 can start actuation means based on the activation signal for representing vehicle hatch door opening is received
30（And thus active material actuator 36 is set to be powered）.Therefore, actuation means 30 can be used for the portion of mobile vehicle on one's own initiative
Part.For example, movable member 34（Or another part of actuation means 30）Hatch door hole is operatively coupled to based on certain
A little vehicle conditions are turned on and off hatch door hole on one's own initiative.It is well known that vehicle includes limiting such as driving cabin space or luggage compartment
The vehicle body of the inner space in space etc.Closed by the hatch door of such as door or luggage-boot lid inner space.Hatch door or vehicle
Main body includes seal tightly to seal hatch door relative to vehicle body to prevent fragment, water, noise etc. from entering in vehicle
Portion space is everywhere.These seals also prevent air from being spilt when hatch door is closed, in the inner space for thus causing vehicle
Air pressure increase.The closing of increased air pressure resistance hatch door, thereby increases the strength closed required for hatch door in inner space.
In order to alleviate the increase of the air pressure when hatch door is closed in the inner space of vehicle, vehicle may include to move with optionally
The aperture member for the fluid communication established between the outside environment of inner space.Thus, aperture member may include one or more
The blade of open position can be moved to from detent position（vane）To allow air to be left from the inner space of vehicle.First causes
Dynamic device end 35（Or another part of actuation means 30）Blade is operatively coupled to make leaf based on some vehicle conditions
Piece is selectively moved between unlatching and detent position.For example, vehicle may include that one or more is configured to detect hatch door
Whether the hatch door sensor of opening and closing of fault position is in.The hatch door sensor can send activation letter to system controller 38
Number.Thus, the reception for the activation signal being in the open position based on expression hatch door, system controller 38 can order actuation means 30
The blade of aperture member is moved to open position.On the contrary, being in the activation signal of detent position in response to expression hatch door, it is
System controller 38 can order actuation means 30 blade of aperture member is moved to detent position.Alternatively, system controller 38 can
Start or disabling actuation means 30 are with the other parts based on the selectively moved vehicle of other vehicle conditions.
As detailed below, system controller 38 is configured to receive electric power and effectively followed the trail of the time.In addition, system control
Device 38 processed can monitor the voltage from power supply 42, environment temperature close to active material actuator 36, through active material actuated
The electric current and movable member 34 of device 36 or active material actuator 36 relative to housing 32 position.Thus, system controller
38 are configured to via different electrical signal line or LAN（LAN）Bus receive come from sensor on temperature, voltage,
The information of electric current and active material actuator history.LAN buses provide the structuring between sensor and system controller 38
Communication signal.System controller 38, which is configured to produce, is converted into the pulse width modulation through active material actuator 36
（PWM）The voltage of dutycycle.Therefore, by controlling the PWM duty cycle through the voltage through active material actuator 36, activity
The root mean square of material actuator 36（RMS）Electric current effectively and can be accurately controlled.Alternatively, system controller 38 is being controlled
The micro controller unit that can also be integrated into while making other actuation means in actuation means 30（MCU）.
As described above, active material actuator 36 can change its shape or size based on the reception of electric energy.If for example,
Active material actuator 36 is made up of SMA material whole or in part, and active material actuator changes its shape with response current
Flow through heat caused by it.However, because some situations, the electric current that active material actuator 36 may need to change is with effectively
Operation.For example, environment temperature, the desired locations of movable member 34 and the active material actuator such as opened or shortened
36 or obstruction vehicle part（For example, the hole of obstruction）Etc unusual situation can influence the row of active material actuator 36
For.It is then desired to the system that can control actuation means 30 is developed in view of status.
In addition, backward voltage and overvoltage from power supply can be bad influence the operating of active material actuator 36.Cause
And, it is necessary to develop being capable of the system that prevents backward voltage and overvoltage from power supply of protection activity material actuator 36.In addition,
Unacceptable high electric current can also influence the operating of active material actuator 36 badly.Can be regardless of it is then desired to develop
The system that the electric current of active material actuator 36 is flowed through in mains voltage variations regulation.Also need to exploitation and can minimize draw power supply
Parasite current system.As described above, active material actuator 36 can be based on the activation as caused by external electrical controller
Signal is received and is activated.However, when active material actuator 36 is not activated, system can close one or more
Loop is to minimize the parasite current drawn from power supply.In addition, it is necessary to cause can be efficiently controlled under different situations by developing
Programmable, low cost the system of dynamic device 30.In some large-scale applications of such as motor vehicles application, exploitation can have
Imitate ground and efficiently the inexpensive system of control actuation means 30 is important.
Fig. 2 and 3 schematically shows the control system 49 for controlling active material actuator 36.Control system 49 is wrapped
Control circuit 50 is included, the control circuit 50 is the part of system controller 38.Control circuit include multiple loops and with such as
The electrical communication of peripheral control unit 58 of vehicle body controller etc.Therefore, control circuit 50 is configured to receive from outside
The activation signal 78 of controller 58.Activation signal 78 can be based on some situations, such as vehicle condition, in these situations
In, active material actuator 36 must be activated to meet the situation.For example, when vehicle doorn or hatch door open or close,
Peripheral control unit 58, which can produce and send activation signal 78, arrives control circuit 50.Control circuit 50 is configured to be based on activation signal
The electrical connection established between active material actuator 36 and power supply 42 78 receiver selectivity.In addition, control circuit 50 is by structure
Make to power off at least one loop when control circuit 50 is not received by activation signal 78, drawn with minimizing from power supply 42
Parasite current.
With continued reference to Fig. 2 and 3, activation signal 78 is sent to signal processing unit 60.Signal processing unit 60 can be
The part of control circuit 50 and can handle activation signal 78 with activation signal 78 apply limit.For example, signal transacting
Unit 60 can be used as traffic filter, voltage/current limiter or combinations thereof.Therefore, signal processing unit 60 can be by
It is configured to reduce amplitude of the frequency higher than the signal of cut-off frequency.Alternatively or additionally, signal processing unit 60 can be by structure
Make to apply the upper limit on the voltage/current of activation signal 78.Returned as shown in figure 3, signal processing unit 60 may be structured to electricity
Road and it can therefore be referred to as signal conditioning circuit.In the embodiment shown, signal processing unit 60 returns including low pass filter
One or more diodes of road 80 and such as Zener diode 82 etc, limited with applying on activation signal 78, and by
This produces control signal 114.Low pass filter loop 80 may include one or more resistors 84 and such as non-electrolytic capacitor
One or more capacitors of device 86 etc.In the disclosure, control signal 114 can also refer to the activation signal of filtration.
Control signal 114 can connect with bias voltage adjustment device 56.When bias voltage adjustment device 56 receives activation control
During signal 114, bias voltage adjustment device 56 is capable of the output voltage 98 of the supply of regulation power supply 42.Bias voltage adjustment device 56 is by structure
Make as when the power supply 42 of service voltage and peripheral control unit 58 are activated, suitable voltage is distributed by control circuit 50.Electricity
Pressure adjuster 56 is configured to disconnect adjusted voltage 102 when control signal 114 is not activated（That is, bias voltage 102）With
Reduce the parasitic circuit consumption of control circuit 50.
Power supply 42, which is electrically connected to control circuit 50 and therefore can supply output voltage 98, arrives control circuit 50.It should imagine
To power supply 42 may be, for example, the battery, alternating current generator or any dress that can store electric energy of such as Vehicular battery etc
Put.Thus, power supply 42 can also refer to vehicle power supply.Output voltage 98 is sent to power-supply filter 54.Power-supply filter
54 are configured to alleviate backward voltage.Alternatively or additionally, power-supply filter 54 is configured to suppression electromagnetic interference（EMI）.
In Fig. 3 institutes illustrated embodiment, power-supply filter 54 is configured to power-supply filter loop and including being configured to prevent instead
One or more diodes of such as p-n or low pressure drop Schottky diode 88 to voltage etc.Alternatively or additionally,
Power-supply filter 54 may include the one or more EMI transient filters for being configured to suppression electromagnetic interference.In implementation shown in Fig. 3
In example, the EMI transient filters of power-supply filter 54 include one or more capacitors, such as non-polarized capacitor 86 and electrolysis
Capacitor 90, and at least one transient voltage suppress（TVS）Diode 92.Specifically, in the embodiment shown, power filter
Device 54 includes 86, two electrolytic capacitors 90 of a non-polarized capacitor and a TVS diode 92 being arranged in parallel.Therefore
Power-supply filter 54 can filter the output voltage 98 of the supply of power supply 42 and its own supplies protected voltage 100 and arrives biased electrical
Press adjuster 56.
Power-supply filter 54 is electrically connected to bias voltage adjustment device 56.Thus, protected voltage 100 can be fed into partially
Put voltage regulator 56.Bias voltage adjustment device 56 is configured to adjust protected voltage 100 and to whole control circuit 50
Supply adjusted voltage 102.As described above, bias voltage adjustment device 56 can apply the upper limit on protected voltage 100, so as to
Suitable voltage is distributed by control circuit 50（That is, adjusted voltage 102）.By doing so it is possible, bias voltage adjustment device 56 supplies
Voltage to substantial equalization（That is, adjusted voltage 102）To the loop for including control circuit 50.
With continued reference to Fig. 2 and 3, the position sensor that control circuit 50 also includes being electrically connected to bias voltage adjustment device 56 returns
Road 68.Therefore, adjusted voltage 102 can be passed to position sensor loop 68.Position sensor loop 68 includes position
Sensor 41（Figure 1A）And position sensor loop is configured to determine the position of active material actuator 36 and provides position
Confidence number 104 is to digital control processor 66.Position signalling 104 represents the position of active material actuator 36.Digital control place
Manage the information control active material actuator 36 that device 66 can utilize position signalling 104 to provide.
In the embodiment shown in fig. 3, position sensor loop 68 includes the potentiometer 106 as position sensor 41.Electricity
Position meter 106 can have high cycle life and be supplied with the adjusted voltage 102 from bias voltage adjustment device 56.Current potential
Meter 106 can be connected to active material actuator 36 and therefore be configured to determine the position of active material actuator 36.If
Movable member 34（Or any other part of actuation means 30）Hatch door aperture member is connected to, potentiometer 106 can determine cabin
Whether aperture of door component is in the open position or detent position.Except potentiometer 106, position sensing loop 68 may also include one or
Multiple wave filters are to minimize signal noise.For example, in the embodiment shown, position sensing loop 68 includes such as non-electrolytic electricity
One or more capacitors of container 86 etc, capacitor are configured to be used as wave filter to minimize signal noise.In position
The non-polarized capacitor 86 of sensing loop 68 at least two can be pressed down by being arranged in parallel with the noise realized in wide frequency range
System.Except non-polarized capacitor 86, position sensing loop 68 may also include at least one buffer amplifier, for example amplifier buffering is put
Big device 108, to minimize position signalling impedance.As described above, position sensing loop 68 is electrically connected with digital control processor 66.
Thus, position signalling 104 can be passed to digital control processor 66.
With continued reference to Fig. 2 and 3, control circuit 50 also includes being configured to measurement close to the environment of active material actuator 36
Temperature and the TEMP loop 70 for producing the temperature signal 110 for representing this environment temperature.TEMP loop 70 electrically connects
To bias voltage adjustment device 56 and therefore it can receive adjusted voltage 102 from bias voltage adjustment device 56.In addition, TEMP
Loop 70 is also connected electrically to digital control processor 66 and can therefore transmit temperature signal 110 to arrive digital control processor 66.
Digital control processor 66 can control active material actuator 36 based on the information included in temperature signal 110.
As shown in figure 3, TEMP loop 70 may include such as negative temperature coefficient（NTC）Thermal resistor 112, by structure
Make to sense the temperature sensor close to the environment temperature of active material actuator 36.Temperature sensor is alternately positive temperature
Coefficient（PTC）Thermal resistor.Temperature sensor（For example, thermal resistor 112）May be configured as close to the first actuator end 35,
Second actuator end 37, or both, to sense the environment temperature of neighbouring active material actuator 36 and any due to shortening
Abnormal temperature caused by actuator end.TEMP loop 70 can extraly include at least one resistor 84 with predetermined
The accuracy of temperature survey is improved in temperature range.Resistor 84 is arranged in series with thermal resistor 112, and is selected
Its resistance value is selected with predetermined temperature range（For example, between -40 degrees Celsius and 125 degrees Celsius）It is upper that accurately temperature is provided
Measurement.In addition, TEMP loop 70 may include the capacitor of one or more such as non-polarized capacitors 86, capacitor is by structure
Make is wave filter to minimize signal noise.In addition, TEMP loop 70 may include at least one buffer amplifier, for example transport
Buffer amplifier 108 is put, to minimize temperature signal impedance.
With continued reference to Fig. 2 and 3, control circuit 50 extraly includes being electrically connected to power-supply filter 54 and signal processing unit
60 voltage sensor loop 62.Therefore voltage sensor loop 62 can receive the signal 100 of protection and from letter from power-supply filter 54
Number processing unit 60 receives control signal 114（That is, filtered activation signal）.Voltage sensor loop 62 is configured to monitoring electricity
Source filter 54 and voltage potential in signal processing unit 60 and produce voltage signal 120.Voltage sensor loop 62 electrically connects
To digital control processor 66 and voltage signal 120 can be transferred to digital control processor 66.
In the embodiment shown in fig. 3, voltage sensor loop 62 includes divider 136, and divider 136 is by cloth in a series arrangement
At least two resistors 84 put are formed.Extraly, voltage sensor loop 62 includes at least one capacitor, such as non-electrolytic electricity
Container 86, and one or more Zener diodes 82, to limit transient voltage peak value.In addition, voltage sensor loop 62 includes
The electronic switch 138 of such as p-type channel mosfet 116 and related gate circuit element, they are jointly configured to when sharp
Signal 78 living cuts off voltage sensor loop so as to limit the parasite current drawn from power supply 42 when not being activated.In other words, it is electric
Sub switch 138 is configured to optionally pass from the off voltage of power supply 42 when control circuit 50 is not received by activation signal 78
Feel loop 62.Gate circuit element includes resistor 84, diode 88, Zener diode 82 and NPN transistors 118.Control
Bias voltage adjustment device 56 can also be powered off and drawn with limiting from power supply 42 by circuit 50 when it is not received by activation signal 78
Parasite current.
Referring again to Fig. 2 and 3, control circuit 50 also includes power switch loop 76, and power switch loop 76 is configured to
Optionally disable the electrical connection between active material actuator 36 and power supply 42.Power switch loop 76 is also structured to select
The electrical connection established between active material actuator and power supply 42 to property, and it is connected electrically in active material actuator 36 and power supply
Between 42.For example, power switch loop 76 may be electrically connected to power-supply filter 54, and can be thereby configured to receive from electricity
The protection voltage 100 of source filter 54.
In the embodiment shown in fig. 3, power switch loop 76 includes low on-resistance solid-state switch 140, such as downside
MOSFET116, the conducting resistance solid-state switch 140 are configured to optionally control the electric current confession to active material actuator 36
Give.In addition, power switch loop 76 may include the fly-wheel diode of such as diode 88 etc, the fly-wheel diode is constructed
To prevent due to voltage spikes by providing the path for dissipative load induction energy when MOSFET116 disconnects.In addition, electric power is opened
Closing loop 76 includes switching speed limiting part, such as resistor 84 and capacitor 86, to minimize in power switch loop 76
Caused electromagnetic interference.
Power switch loop 76 is electrically connected to digital control processor 66 and can thus received from digital control place
Manage the pulse width modulation of device 66（PMW）Signal, as described below.The MOSFET116 in power switch loop 76 can act as electric power
Switch and can disable or the electrical connection between power-on 42 and active material actuator 36.The one of active material actuator 36
Side is electrically connected to the first terminal 122 in power switch loop 76, and the opposite side of active material actuator 36 is electrically connected to electric power
The Second terminal 124 of switching circuitry 76.The first terminal 122 is electrically connected to power-supply filter 54 or is directly connected to power supply 42.The
Two-terminal 124 is electrically connected to the low on-resistance solid-state switch 140 in power switch loop 76（For example, MOSFET116).Specifically
Ground, Second terminal 124 are electrically connected to the MOSFET116 in power switch loop 76 drain terminal 142.In power switch loop 76
In, MOSFET116 source terminal 144（Or any other suitable switch return terminal）It is electrically connected to the ground connection of power supply 42
Terminal 146.In power switch loop 76, MOSFET116 gate terminal 148 is electrically connected to digital control processor 66 to connect
Receive the pwm signal 132 from digital control processor 66.Thus, the MOSFET116 in power switch loop 76 operation depends on
Pwm signal 132 caused by digital control processor 66.
Herein referring to Fig. 2 and 3, control circuit 50 also includes the current sense loop for being electrically connected to power switch loop 76
74.Current sense loop 74 includes shunt circuit（shunt）126 and measurement is configured to through active material actuator 36
Electric current.Electric current can be measured on shunt circuit 126, to produce the signal 128 represented through the electric current of active material actuator 36.
Because the resistance of shunt circuit 126 is known, electric current can be by measuring the pressure drop through shunt circuit 126 and true
It is fixed.Current sense loop 74 may also include one or more diodes, such as one or more Zener diodes 82, and one or
Multiple resistors 84 are to limit transient voltage spike.
Referring to Fig. 4, in another embodiment, current sense loop 74A is determined through power switch loop 76
MOSFET116 electric current.In fact, can during PMW signals 132 are activated sensing MOSFET116 voltage to determine electricity
Stream.Specifically, current sense loop 74A is switched including non-polarized capacitor 86, resistor 84 and diode 88 with induction power
The MOSFET116 in loop 76 voltage.In the embodiment shown, PMW signals 132 may be additionally referred to as MOSFET control signals.
Referring again to Fig. 2 and 3, control circuit 50 includes being electrically connected to current sense loop 74（Or 74A）It is digital control
Processor 66, power switch loop 76, bias voltage adjustment device 56, voltage sensor loop 62, TEMP loop 70 and position
Sensing loop 68.Thus, digital control processor 66 can receive several inputs, that is, adjust voltage 102, voltage signal 120, electricity
Flow signal 128, position signalling 104 and temperature signal 110.
Digital control processor 66 can be microprocessor, digital signal processor, field programmable gate array（FPGA)、
PLD（PLD）Or the computer-readable instruction for being able to carry out being stored in computer scale storaging medium is any
Suitable processor.In embodiment, digital control processor 66 includes onboard clock, programmable storage（For example, for storing up
Deposit the EPROM of computer program instructions（EPROM））, data storage（For example, random access memory
（RAM））, timer, the pwm signal maker for producing pwm signal and for receive analog signal and by these signals turn
Change the multichannel analog digital quantizer of data signal into（A/D converter）.Operating room, once control circuit 50 receives activation
Signal 78 and bias voltage adjustment device 56 is by being connected electrically between digital control processor 66 and bias voltage adjustment device 56
Reset loop part caused by reset signal set delay after substantial equalization, then digital control processor 66 activate.Can
As seen from Figure 3, reset loop part may include one or more resistors 84, non-polarized capacitor 86 and diode 88.Number
Word control processor 66 can utilize the signal of sensing（For example, position signalling 104, current signal 128, the and of voltage signal 120
Temperature signal 110）With predetermined control parameter to produce the pwm signal 132 of the operating condition of suitable active material actuator 36.
In other words, digital control processor 66 can utilize the signal of sensing and the execution of predetermined output parameter to be programmed into it and deposit
Computer instruction in reservoir（For example, sequential logic）, to produce pwm signal 132.These induced signals can be simulation letter
Number, and the A/D converter of digital control processor 66 can be passed to.The A/D converter of digital control processor 66 can
The analog signal of these sensings is converted into digital form.It should be envisioned that, it is digital control in non-limiting embodiment
The A/D converter of processor 66 can have the resolution ratio of minimum 10 bytes to realize the powerful control of active material actuator 36.
Include in addition, digital control processor 66 can receive via director demon port 64 from remote computer
Computer program instructions（That is, control program）Data 150.Therefore, system controller 38 includes being electrically connected to digital control place
Manage the director demon port 64 of device 66.Before assembly, the data 150 of such as computer program instructions can be via controller journey
Sequence port 64 is passed to digital control processor 66.In other words, the initial program of digital control processor 66 can pass through
Data 150 are delivered to digital control processor 66 to realize by director demon port 64 from outer computer.Thus, storage
The data 150 on outer computer be present（That is, control program）Actuation means 30 can be fitted into system controller 38
In before be downloaded in the memory of digital control processor 66.In addition, data 150 can be via control for diagnostic purposes
Device program port 64 is delivered to remote computer from digital control processor 66.During operation, digital control processor 66 utilizes control
The normal or abnormal situation of Programmable detection control circuit 50 or active material actuator 36 processed, and thus regulation or terminate
Pwm signal 132.These normal or abnormal situations include：Pass through the overcurrent, overvoltage, power supply of active material actuator 36
Whether 42 under-voltage, active material actuator 36 are immovable（That is, situation about blocking）, the active material actuator that shortens
36th, damaged active material actuator 36 etc..If actuation means 30 are connected to aperture member, the energy of digital control processor 66
Enough whether it is plugged using control program detection hole in " situation about blocking " based on active material actuator 36.In addition,
Digital control processor 66 can utilize the abnormal operating of control program detection sensor or active material actuator 36 and
Diagnostic feedback is provided.
Fig. 5 is the flow chart of the method 200 for the actuating for showing control active material actuator 36.Method 200 can be used
The dutycycle of the pwm signal 132 of active material actuator 36 is delivered in control, so as to control the row of active material actuator 36
For.For example, digital control processor 66 can be based on multiple induced signals（For example, position signalling 104, current signal 128, electricity
Press signal 120 and temperature signal 110）Deng execution method 200 to control the operation of active material actuator 36.
With continued reference to Fig. 5, method 200 is since square frame 202.Then, in square frame 204, system controller 38 is not swashed
Living（" sleep pattern "）, and electric current is not supplied with active material actuator 36.In square frame 206, digital control processing
Device 66 detects the peripheral control unit 58 of such as vehicle body controller, and whether warp-wise control circuit 50 sends activation signal 78.Change
Sentence is talked about, and in square frame 206, control circuit 50 determines whether control circuit 50 has been received by activation signal 78.If do not examine
Activation signal 78 is measured, method 200 returns to square 204 and system controller 38 keeps not being activated.If detect
Activation signal 78, in square frame 206, digital control processor 66 alternatively determine activation signal 78 whether in square frame 208 by first
It is secondary to detect.If this is to receive activation signal 78 first time of control circuit 50, digital control processor 66 is executable to be prolonged
When（For example, about 2.5 seconds）To allow control circuit 50 to make the stabilization of square frame 210.After delay, the initialization for causing of square frame 212.System
The initialization of controller 38 to need all loops of control circuit 50 to be powered, initialize microprocessor records device, Yi Jijian
Depending on and record the initial position of active material actuator 36.The initial position of active material actuator 36 can be returned by position sensing
Road 68 determines.Thus, if method 200 have received the activation signal 78 from peripheral control unit 58 including control circuit 50,
Be then control circuit 50 loop be powered to establish the electrical connection between active material actuator 36 and power supply 42, thus actuating live
Property material actuator 36.
After initialization, system controller 38 monitors in square frame 214 and records the position of active material actuator 36, close
The environment temperature of active material actuator 36, the voltage of power supply 42, and the electric current through active material actuator 36.Especially
Ground, in square frame 214, the signal that several sensing loops transmissions sense to digital control processor 66, and digital control processor
66 read and store these induced signals.Specifically, position sensing loop 68 sends position signalling 104 to digital control processor
66.Voltage sensor loop 62 sends voltage signal 120 and arrives digital control processor 66.Current sense loop 74 sends current signal
128 to digital control processor 66.TEMP loop 70 sends temperature signal 110 to digital control processor 66.
Square frame 208 is returned to, if digital control processor 66 determines that this is not to receive activation signal 78 for the first time,
Not execution system delaying step（That is, square frame 208）And system initialization step（That is, square frame 212）, and digital control processor
66 as more than square frame 214 it is described continue to read and record the temperature from sensing loop, position, electric current and voltage believe
Breath.
After that, in square frame 216, digital control processor 66 determines the value of temperature, electric current, position and the voltage sensed
Whether in defined limitation.If at least one not in defined limitation, digital control processing in the value of these sensings
Device 66 performs " run-time error operation " in square frame 218." run-time error operation " may to need, for example, cutting system controls
The electric power of device 38 simultaneously waits until several seconds, then again returns to square frame 206.For example, if environment temperature is higher than some predetermined temperature
Bottom valve value, then digital control processor 66 can order power switch loop 76 cut off active material actuator 36 electric power, so as to
Prevent active material actuator 36 from activateding.Alternatively, " run-time error operation " may be such that and need the electricity of system controller 38
It is horizontal that power is reduced to some.
If digital control processor 66 determines that the value of voltage, temperature, position and electric current in defined limitation, counts
Whether word control processor 66 determines system controller 38 in the defined time in square frame 220（For example, about 4 seconds）Interior behaviour
Make.If the operation of system controller 38 has exceeded the defined time, the electricity of active material actuator 36 is cut off in square frame 222
Power, and then method 200 returns to square frame 206.On the contrary, if digital control processor 66 determines that system controller 38 exists
Operated in the defined time, then digital control processor 66 is based on position signalling caused by position sensing loop 68 in square frame 224
Whether 104 determination active material actuators 36 can not move（That is, the situation blocked or blocked）.
If detecting the situation of blocking, digital control processor 66 produces PWM in square frame 226 with the first dutycycle
Signal 132.First dutycycle of pwm signal 132 can allow the remains stationary within the most of the time of active material actuator 36, together
When active material actuator 36 be powered.If not detecting stopping state, digital control processor 66 is with different from first
Second dutycycle of dutycycle produces pwm signal 132.Digital control processor 66 is based on and voltage, position, electricity in square frame 228
The related induced signal of stream, temperature or combinations thereof determines the first and second dutycycles of pwm signal 132.
Then, digital control processor 66 will have identified output duty cycle in square frame 230（I.e. first or second accounts for
Empty ratio）Pwm signal 132 be delivered to power switch loop 76.By controlling the PWM duties through active material actuator 36
Than the root mean square of active material actuator 36（RMS）Electric current can be controlled.
These detailed descriptions and diagram or figure are supportive and descriptive, and of the invention for the present invention
Scope be only defined by the claims.It is of the invention although the optimal mode for realizing the present invention is described in detail
Various equivalent modifications will be recognized to be related to and real for implementing a variety of replacements of the present invention within the scope of the appended claims
Apply example.
The cross reference of related application
This application claims the priority of 61/811, No. 890 of U.S. Provisional Application filed in 15 days April in 2013, the Shen
Please it is hereby incorporated by entirely through reference.
Claims (8)
1. a kind of system for controlling active material actuator, it includes：
Power supply, it is configured to supply electric power；
Control circuit, it includes multiple loops, and is configured to optionally set up the work based on the reception of activation signal
Electrical connection between property material actuator and the power supply, the active material actuator are configured to activate when energized；
Wherein, the control circuit is configured in multiple loops when the control circuit is not received by activation signal
At least one power-off, so as to minimize the parasite current drawn from power supply；
Wherein, the multiple loop includes the voltage sensor loop for being configured to measure the voltage potential of the electric power of power supply supply, institute
Voltage sensor loop is stated to be configured to power off when control circuit is not received by activation signal；And
Wherein, the voltage sensor loop includes low conducting resistance solid-state switch, the low conducting resistance solid-state switch quilt
It is configured to optionally disconnect voltage sensor loop and power supply when control circuit is not received by activation signal.
2. the system as claimed in claim 1, wherein the multiple loop includes being electrically connected to the power-supply filter of the power supply,
The power-supply filter is configured to filter the output voltage of the power supply supply.
3. system as claimed in claim 2, wherein the power-supply filter includes being configured to prevent backward voltage at least
One diode.
4. system as claimed in claim 2, wherein the multiple loop includes being electrically connected to the biasing of the power-supply filter
Voltage regulator, the bias voltage adjustment device are constructed the output voltage for adjusting the power supply supply.
5. system as claimed in claim 4, wherein the bias voltage adjustment device is configured to when control circuit does not receive
Powered off during to activation signal.
6. the system as claimed in claim 1, wherein the multiple loop includes power switch loop, the power switch loop
It is configured to optionally set up between the active material actuator and power supply when control circuit receives activation signal
Electrical connection.
7. system as claimed in claim 6, wherein the power switch loop includes low conducting resistance solid-state switch to control
Make the electric current through active material actuator.
8. system as claimed in claim 6, wherein the multiple loop includes being configured to produce the pulse with dutycycle
The digital control processor of bandwidth modulation signals, the digital control processor, which is configured to be electrically connected to power switch loop, to be made
The digital control processor is obtained to be configured to pulse width modulating signal being delivered to power switch loop.
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US201361811890P | 2013-04-15 | 2013-04-15 | |
| US61/811,890 | 2013-04-15 | ||
| US14/226,875 | 2014-03-27 | ||
| US14/226,875 US9732736B2 (en) | 2013-04-15 | 2014-03-27 | System and method for controlling an active material actuator |
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| Publication Number | Publication Date |
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| CN104104264A CN104104264A (en) | 2014-10-15 |
| CN104104264B true CN104104264B (en) | 2018-02-09 |
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| DE102015220545A1 (en) * | 2015-10-21 | 2017-04-27 | Robert Bosch Gmbh | Actuator device for a motor vehicle, motor vehicle |
| RU2762347C2 (en) * | 2017-01-23 | 2021-12-20 | Конинклейке Филипс Н.В. | Executive device based on electroactive material |
| CN113452283A (en) * | 2020-03-27 | 2021-09-28 | 伟创力有限公司 | Vibration energy harvesting system, circuit for the system and method of operating the system |
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| CN101557159A (en) * | 2008-04-11 | 2009-10-14 | 台达电子工业股份有限公司 | Power supply conversion circuit for reducing power supply consumption and electronic device suitable for same |
| CN102084159A (en) * | 2008-07-11 | 2011-06-01 | 丰田自动车株式会社 | Vehicle control device and control method |
| CN202150024U (en) * | 2011-02-23 | 2012-02-22 | 日玖科技股份有限公司 | Control device of actuator |
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| JP3913687B2 (en) * | 2003-02-17 | 2007-05-09 | 株式会社デンソー | Piezo actuator driving circuit and fuel injection device |
| JP4353781B2 (en) * | 2003-02-27 | 2009-10-28 | 株式会社日本自動車部品総合研究所 | Piezo actuator drive circuit |
| JP4348710B2 (en) * | 2005-06-10 | 2009-10-21 | 株式会社デンソー | Piezo injector drive device |
| DE102007059540A1 (en) * | 2007-12-11 | 2009-06-25 | Robert Bosch Gmbh | Method e.g. for operating piezoelectric actuator, involves operating piezoelectric actuator such as fuel injection valve of burning engine of motor vehicle |
| DE202009007299U1 (en) * | 2009-05-20 | 2009-08-27 | Bürkert Werke GmbH & Co. KG | Circuit arrangement for controlling a capacitive load |
| US8436571B2 (en) * | 2009-06-25 | 2013-05-07 | GM Global Technology Operations LLC | Actuator system including an active material |
| US8744603B2 (en) * | 2009-06-26 | 2014-06-03 | GM Global Technology Operations LLC | Method for position feedback based control for overload protection |
| JP2013055778A (en) * | 2011-09-02 | 2013-03-21 | Nikon Corp | Motor device and robot device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101557159A (en) * | 2008-04-11 | 2009-10-14 | 台达电子工业股份有限公司 | Power supply conversion circuit for reducing power supply consumption and electronic device suitable for same |
| CN102084159A (en) * | 2008-07-11 | 2011-06-01 | 丰田自动车株式会社 | Vehicle control device and control method |
| CN202150024U (en) * | 2011-02-23 | 2012-02-22 | 日玖科技股份有限公司 | Control device of actuator |
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| DE102014104959A1 (en) | 2014-10-16 |
| CN104104264A (en) | 2014-10-15 |
| DE102014104959B4 (en) | 2021-05-12 |
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