DE102010010215A1 - Device for layer acquisition of threaded spindle drive during trajectory running control to adjust actuators of engine, has engine shaft driving spindle, where transmission ratio between shaft and spindle comprises comma value - Google Patents
Device for layer acquisition of threaded spindle drive during trajectory running control to adjust actuators of engine, has engine shaft driving spindle, where transmission ratio between shaft and spindle comprises comma value Download PDFInfo
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- DE102010010215A1 DE102010010215A1 DE102010010215A DE102010010215A DE102010010215A1 DE 102010010215 A1 DE102010010215 A1 DE 102010010215A1 DE 102010010215 A DE102010010215 A DE 102010010215A DE 102010010215 A DE102010010215 A DE 102010010215A DE 102010010215 A1 DE102010010215 A1 DE 102010010215A1
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- threaded spindle
- spindle
- shaft
- angular position
- engine
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- 230000005540 biological transmission Effects 0.000 title claims abstract 4
- 238000011156 evaluation Methods 0.000 claims abstract description 6
- 238000000034 method Methods 0.000 claims abstract description 4
- BGPVFRJUHWVFKM-UHFFFAOYSA-N N1=C2C=CC=CC2=[N+]([O-])C1(CC1)CCC21N=C1C=CC=CC1=[N+]2[O-] Chemical compound N1=C2C=CC=CC2=[N+]([O-])C1(CC1)CCC21N=C1C=CC=CC1=[N+]2[O-] BGPVFRJUHWVFKM-UHFFFAOYSA-N 0.000 description 5
- 238000005259 measurement Methods 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 2
- 238000004026 adhesive bonding Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
Images
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/02—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using mechanical means
- G01D5/04—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using mechanical means using levers; using cams; using gearing
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
- G01D5/142—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices
- G01D5/145—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices influenced by the relative movement between the Hall device and magnetic fields
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D2205/00—Indexing scheme relating to details of means for transferring or converting the output of a sensing member
- G01D2205/20—Detecting rotary movement
- G01D2205/26—Details of encoders or position sensors specially adapted to detect rotation beyond a full turn of 360°, e.g. multi-rotation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D2205/00—Indexing scheme relating to details of means for transferring or converting the output of a sensing member
- G01D2205/20—Detecting rotary movement
- G01D2205/28—The target being driven in rotation by additional gears
Abstract
Description
Die Erfindung betrifft ein Verfahren und eine Vorrichtung zur Lageerfassung eines Linearantriebs, beispielsweise einer auf einer Gewindespindel verfahrbaren Mutter, deren Linearposition sich in Abhängigkeit von der Drehbewegung der Gewindespindel verändert.The invention relates to a method and a device for detecting the position of a linear drive, for example a movable on a threaded nut whose linear position changes depending on the rotational movement of the threaded spindle.
Derartige Linearantriebe werden bei Bahnlaufregelungen zum Verstellen von Stellgliedern eingesetzt und die Kenntnis der genauen Lageposition insbesondere bei Wiederinbetriebnahme der Bahnlaufregelung ist dabei wesentlich.Such linear drives are used in web guiding systems for adjusting actuators and the knowledge of the exact position position, especially when restarting the web guiding is essential.
Durch die Erfindung wird eine sehr einfache und kostengünstige sowie robuste und berührungslose Vorrichtung zur Lageerfassung während der Verstellung oder bei Stillstand des Linearantriebs vorgeschlagen, wobei im Wesentlichen auf der Stirnseite der Welle eines Antriebsmotors und auf der Stirnseite der von diesem angetriebenen Gewindespindel ein Geber, insbesondere ein Magnet angebracht wird, über den durch Sensoren, insbesondere Hallsensoren die Winkelposition der beiden Wellen relativ zueinander ermittelt wird, worauf in einer Auswerteinheit diese Winkelpositionen zueinander in Beziehung gesetzt werden, um die Lageposition der Mutter auf der Gewindespindel exakt festzustellen.The invention proposes a very simple and cost-effective as well as robust and non-contact device for position detection during adjustment or standstill of the linear drive, wherein essentially on the front side of the shaft of a drive motor and on the front side of the threaded spindle driven by this encoder, in particular a Magnet is attached, is determined by the sensors, in particular Hall sensors, the angular position of the two shafts relative to each other, whereupon in an evaluation these angular positions are related to each other to determine the position position of the nut on the threaded spindle exactly.
Die Erfindung wird beispielsweise anhand der Zeichnung näher erläutert. Es zeigenThe invention will be explained in more detail for example with reference to the drawing. Show it
In
Auf der Stirnseite des Zahnrads
Den beiden Magneten
Bei der Bahnlaufregelung ist es vor allem wichtig, beim Einschalten der Regelvorrichtung genau zu wissen, an welcher Position sich der Linearantrieb befindet. Aus dem vorhergehenden Betrieb mit Vor- und Rückbewegungen der Mutter kann die exakte Position nur mit größerem Aufwand ermittelt und gespeichert werden. Erfindungsgemäß wird beim Wiedereinschalten der Bahnlaufregelung über den Sensor
Wenn die Gewindespindel B zum Beispiel eine Steigung von 5 mm pro Umdrehung aufweist und für den maximalen Verstellbereich der Mutter von 250 mm 50 Umdrehungen der Gewindespindel benötigt werden, so kann dadurch, dass der Durchmesser des Zahnrades
Wenn man ein Übersetzungsverhältnis zwischen den beiden Zahnrädern
Anstelle des Nachkommawerts von 0,02 bei diesem Beispiel kann auch ein anderer Wert gewählt werden, beispielsweise auch eine Primzahl.Instead of the decimal value of 0.02 in this example, another value can be chosen, for example also a prime number.
Die vorzugsweise bei Stillstand des Linearantriebs ermittelten Winkelpositionen der beiden Wellen A und B werden, wie
Dadurch, dass eine Winkelposition der Antriebs- bzw. Motorwelle A von z. B. 30° nur einer ganz bestimmten Winkelposition plus Umdrehungszahl der Gewindespindel B entspricht, ist bei Kenntnis der Winkelposition der Motorwelle A und der Winkelposition der Spindel B die Linearposition der Mutter rechnerisch exakt bestimmt. Mit anderen Worten kommt das Verhältnis von 30° zu 17° nur einmal bei 50 Umdrehungen der Gewindespindel vor.Due to the fact that an angular position of the drive or motor shaft A of z. B. 30 ° corresponds only to a very specific angular position plus number of revolutions of the threaded spindle B, the linear position of the nut is determined mathematically exact knowledge of the angular position of the motor shaft A and the angular position of the spindle B. In other words, the ratio of 30 ° to 17 ° occurs only once at 50 revolutions of the threaded spindle.
Zur Vereinfachung der Ermittlung der Linearposition der Mutter auf der Gewindespindel kann man ausschließlich, bei der Winkelposition der Motorwelle A von 0° die entsprechende Winkelposition der Gewindespindel B auswerten. Hieraus kann die aktuelle Umdrehungszahl der Spindel zwischen 0 und 50 ermittelt werden. Das absolute Positionssignal für die Position der Mutter ergibt sich aus der Winkelposition der Spindel von z. B. 17° und der zugehörigen Umdrehungszahl. Der Vorteil hierbei ist, dass die genaue Position der Mutter auf der Spindel nur aus der Winkelposition der Spindel resultiert und ein eventuell vorhandenes Spiel zwischen Riemen
Es sind verschiedene Abwandlungen der beschriebenen Bauform möglich. So kann anstelle eines Zahnriemens auch ein Zahnradeingriff zwischen den Zahnrädern
Dadurch, dass die Geber bzw. Dauermagneten
Anstelle eines Gebers in Form von Dauermagneten und eines Sensors in Form von Hall-Winkelsensoren können auch andere Geber mit vorzugsweise berührungslosen Sensoren verwendet werden, wie beispielsweise optische Geber mit optischen Empfängern als Sensoren, mittels denen man die exakte Winkelposition feststellen kann.Instead of a transmitter in the form of permanent magnets and a sensor in the form of Hall-angle sensors and other donors with preferably non-contact sensors can be used, such as optical encoder with optical receivers as sensors, by means of which one can determine the exact angular position.
Die beschriebene Vorrichtung kann auch so eingesetzt werden, dass zunächst die Relativstellung der beiden Wellen zueinander wie beschrieben ermittelt wird und danach der Sensor
Auch kann ein Kalibrierlauf des Linearantriebs vorgesehen werden, wobei die Mutter auf der Spindel zwischen Endanschlägen an den Enden des Verstellbereichs bewegt wird. Hierbei kann bei jeder Umdrehung oder jeder Winkelmessung (z. B mit einer Schrittweite von 1°) der Motorachse der zugehörigen Winkel an der Spindelachse ermittelt und gespeichert werden, wobei der theoretische Wert der Winkelposition der Spindelachse mit dem tatsächlichen Wert der Spindelachse verglichen wird. Aus einer ermittelten Differenz kann ein auftretendes Spiel an dem Antrieb zwischen den Wellen einerseits und der Mutter auf der Spindel andererseits herausgerechnet werden.Also, a calibration of the linear drive can be provided, wherein the nut is moved on the spindle between end stops at the ends of the adjustment. In this case, during each revolution or every angle measurement (eg with a step width of 1 °) of the motor axis, the associated angle on the spindle axis can be determined and stored, the theoretical value of the angular position of the spindle axis being compared with the actual value of the spindle axis. From a determined difference, an occurring game on the drive between the waves on the one hand and the mother on the spindle on the other hand be calculated out.
Claims (5)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102010010215A DE102010010215A1 (en) | 2010-03-04 | 2010-03-04 | Device for layer acquisition of threaded spindle drive during trajectory running control to adjust actuators of engine, has engine shaft driving spindle, where transmission ratio between shaft and spindle comprises comma value |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102010010215A DE102010010215A1 (en) | 2010-03-04 | 2010-03-04 | Device for layer acquisition of threaded spindle drive during trajectory running control to adjust actuators of engine, has engine shaft driving spindle, where transmission ratio between shaft and spindle comprises comma value |
Publications (1)
Publication Number | Publication Date |
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DE102010010215A1 true DE102010010215A1 (en) | 2011-09-08 |
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DE102010010215A Ceased DE102010010215A1 (en) | 2010-03-04 | 2010-03-04 | Device for layer acquisition of threaded spindle drive during trajectory running control to adjust actuators of engine, has engine shaft driving spindle, where transmission ratio between shaft and spindle comprises comma value |
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DE (1) | DE102010010215A1 (en) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102014222354A1 (en) * | 2014-11-03 | 2016-05-04 | Schaeffler Technologies AG & Co. KG | Method for calibrating an absolute displacement measuring device of a spindle actuator for a hydraulic transmitter unit, method for controlling the position of a spindle nut of a spindle actuator for a hydraulic transmitter unit and spindle actuator for a hydraulic transmitter unit |
WO2021105741A1 (en) * | 2019-11-25 | 2021-06-03 | Vishay S.A. | Multi-turn contactless position sensing system and method |
DE102021111644A1 (en) | 2021-05-05 | 2022-11-10 | Schaeffler Technologies AG & Co. KG | Steering actuator and method for processing sensor signals |
-
2010
- 2010-03-04 DE DE102010010215A patent/DE102010010215A1/en not_active Ceased
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102014222354A1 (en) * | 2014-11-03 | 2016-05-04 | Schaeffler Technologies AG & Co. KG | Method for calibrating an absolute displacement measuring device of a spindle actuator for a hydraulic transmitter unit, method for controlling the position of a spindle nut of a spindle actuator for a hydraulic transmitter unit and spindle actuator for a hydraulic transmitter unit |
EP3215810B1 (en) * | 2014-11-03 | 2019-04-10 | Schaeffler Technologies AG & Co. KG | Method for calibrating an absolute displacement measurement device of a spindle actuator for a hydraulic master unit, method for controlling the position of a spindle nut of a spindle actuator for a hydraulic master unit, and spindle actuator for a hydraulic master unit |
WO2021105741A1 (en) * | 2019-11-25 | 2021-06-03 | Vishay S.A. | Multi-turn contactless position sensing system and method |
DE102021111644A1 (en) | 2021-05-05 | 2022-11-10 | Schaeffler Technologies AG & Co. KG | Steering actuator and method for processing sensor signals |
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R002 | Refusal decision in examination/registration proceedings | ||
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Effective date: 20140808 |