DE102015225401A1 - Method and device for the rotation angle adaptation in a rotation angle sensor of a DC motor - Google Patents

Method and device for the rotation angle adaptation in a rotation angle sensor of a DC motor

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Publication number
DE102015225401A1
DE102015225401A1 DE102015225401.1A DE102015225401A DE102015225401A1 DE 102015225401 A1 DE102015225401 A1 DE 102015225401A1 DE 102015225401 A DE102015225401 A DE 102015225401A DE 102015225401 A1 DE102015225401 A1 DE 102015225401A1
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Germany
Prior art keywords
rotation angle
angle
rotation
gm
adaptation
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Pending
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DE102015225401.1A
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German (de)
Inventor
Matthias Delp
Christopher Haas
Axel Weber
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Continental Automotive GmbH
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Continental Automotive GmbH
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Application filed by Continental Automotive GmbH filed Critical Continental Automotive GmbH
Priority to DE102015225401.1A priority Critical patent/DE102015225401A1/en
Publication of DE102015225401A1 publication Critical patent/DE102015225401A1/en
Pending legal-status Critical Current

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    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02PCONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14Electronic commutators
    • H02P6/16Circuit arrangements for detecting position

Abstract

Method and apparatus for rotational angle adaptation in a rotational angle sensor of a DC motor Disclosed is a method for rotational angle adaptation in a rotational angle sensor (DS) of a DC motor (GM), comprising the following steps: - determining (S100) a first normalized rotational angle (w1), the DC motor (GM ) has traveled in a first direction of rotation (DR1) for a time unit (t) under the action of a torque unit (m); Determining (S300) a second normalized rotation angle (w2) traveled by the direct current motor (GM) in a second direction of rotation (DR2) opposite the first direction of rotation (DR2) for the same time unit (t) under the action of the same torque unit (m); - calculating (S500) a rotation angle difference (wd) between the first (w1) and the second (w2) normalized rotation angle; - comparing (S600) the rotation angle difference (wd) with a predetermined rotation angle threshold (ws); - Determining (S700) of an adaptation angle (aw) when the rotation angle difference (wd) exceeds the rotation angle threshold (ws).

Description

  • Technical area:
  • The invention relates to a method and a device for the rotational angle adaptation in a rotational angle sensor of a DC motor, in particular a brushless DC motor.
  • State of the art:
  • In DC motors, especially brushless DC motors, with z. As field-oriented control is usually used, the angular position of the rotor of the DC motor, which is measured by a rotation angle sensor and provided in the form of a rotational angle value (rotation angle signal). In this case, the rotation angle sensors manufacturing tolerances by z. B. Mounting on. If the manufacturing tolerances are too great, the resulting deviations in the rotational angle values of the rotational angle sensors can have negative effects on the regulation / performance of the DC motors. This in turn leads to a deterioration of the efficiency of the control or even errors in the regulation of the DC motors.
  • Thus, the object of the present invention is to provide a possibility with which a DC motor can be reliably controlled despite the manufacturing tolerance in the rotation angle sensor.
  • Description of the invention:
  • This object is solved by subject matters of the independent claims. Advantageous embodiments are the subject of the dependent claims.
  • According to a first aspect of the invention, there is provided a method for rotational angle adaptation in a rotational angle sensor of a DC motor.
  • According to the method, a first normalized rotation angle is determined, which the DC motor has covered in a first direction of rotation for a (predetermined) time unit under the action of a (predetermined) torque unit.
  • Further, a second normalized rotation angle is determined, which the DC motor has traveled in a second, opposite to the first direction of rotation for the same (predetermined) time unit under the action of the same (predetermined) torque unit.
  • Subsequently, a rotation angle difference between the first and the second normalized rotation angle is calculated. The rotation angle difference is compared with a predetermined angle of rotation threshold. If the rotational angle difference exceeds the rotational angle threshold, ie if the rotational angle difference is greater than the rotational angle threshold, then an adaptation angle is determined.
  • Here, a normalized rotation angle means a rotation angle, by which the DC motor under the action of a uniform, d. H. certain (given), torque (torque unit, ie a uniform reference size of the torque) for a single time period (time unit, ie a uniform reference time of time) would have rotated in the respective directions of rotation. In this case, the torque unit (for example, with a value of 100 Newton meters (N · m)) may be specified or, for example, be 1 Newton meters (N · m). Analogously, the time unit (for example, with a value of 10 milliseconds (ms)) may be predetermined or, for example, be 1 second (s).
  • The rotational angle difference corresponds to a difference between the respective amounts of the two normalized rotational angles determined and thus to a deviation between the two normalized rotational angles which the DC motor has covered in each of the two rotational directions under the same torque unit in the same time unit.
  • The rotational angle difference calculated in this way is then compared with a predetermined rotational angle threshold. If the rotational angle difference exceeds the rotational angle threshold, then an adaptation angle is determined with which in the subsequent control of the DC motor, the rotational angle adaptation can be carried out at the rotational angle sensor or at its rotational angle signal.
  • The invention is based on the idea that the determination of the deviations in the rotational angle signals of a rotational angle sensor by measuring and evaluating phase currents of the DC motor and the rotation angle adaptation based thereon are complicated and expensive.
  • In the context of the invention it has been recognized that, for the rotational angle adaptation, no absolute rotational angle deviations, but a relative rotational angle deviation between the two directions of rotation of the DC motor is sufficient to be able to regulate the DC motor without errors in the subsequent operation.
  • If the DC motor rotates equally fast in the two directions of rotation, then the relative rotation angle deviation is equal to 0 (zero) or negligibly small. Accordingly, the rotation angle signal of the rotation angle sensor is not Rotation angle adaptation required. On the other hand, if the DC motor rotates at different speeds in the two directions of rotation, the relative rotation angle deviation from 0 deviates strongly. In this case, the relative rotation angle deviation must be compensated by a rotation angle adaptation.
  • In order to determine this relative rotation angle deviation, a first normalized rotation angle which the DC motor has traveled under the action of a (predetermined) torque unit for one (predetermined) time unit in one rotational direction and a second normalized rotation angle which the DC motor applies to it under the same torque unit Time unit has traveled in an opposite direction, determined. Subsequently, the amounts of the two normal rotation angles are subtracted from each other. The rotational angle difference formed thereby forms the relative rotational angle deviation of the DC motor in the two directions of rotation. By comparing the rotation angle difference (hence the relative rotation angle deviation) with a predetermined rotation angle threshold, it can then be decided whether rotation angle adaptation is required or not. In this case, the angle of rotation threshold is chosen (for example. 3 ° (3 degrees)) that when they are exceeded, a rotation angle adaptation is required. When the rotational angle threshold is exceeded by the rotational angle difference, the adaptation angle is determined and the rotational angle adaptation is carried out with the determined adaptation angle.
  • Thus, the possibility is provided with a DC motor can be reliably controlled despite the manufacturing or assembly tolerance in the rotation angle sensor.
  • Since the method described above can be easily performed with low engineering components, a cost-effective solution for rotational angle adaptation is provided.
  • To determine the first normalized angle of rotation, the DC motor is preferably rotated under the action of a first (arbitrary) predetermined torque for a first (arbitrary) predetermined time duration in the first direction of rotation. In this case, a first angle of rotation is measured, which has covered the DC motor in the first predetermined period of time under the action of the first torque. From the measured first rotation angle, the first time duration and the first torque, the first normalized rotation angle is calculated.
  • Alternatively, to determine the first normalized angle of rotation, the DC motor is preferably rotated by the first torque in the first direction of rotation by a first predetermined angle of rotation. In this case, a first time period is measured, which has needed the DC motor to cover the first rotation angle. From the first predetermined rotation angle, the first measured time duration and the first torque, the first normalized rotation angle is calculated.
  • Similarly, to determine the second normalized rotation angle, the DC motor is preferably rotated under the action of a second (arbitrary) predetermined torque for a second (arbitrary) predetermined time period in the second direction of rotation. In this case, a second angle of rotation is measured, which has covered the DC motor in the second predetermined period of time under the action of the second torque. From the measured second rotation angle, the second time duration and the second torque, the second normalized rotation angle is calculated.
  • Alternatively, to determine the second normalized angle of rotation, the DC motor is preferably rotated under the action of the second torque in the second direction of rotation by a second predetermined angle of rotation. In this case, a second time period is measured, which has needed the DC motor to cover the second predetermined rotation angle. From the second predetermined rotation angle, the second measured time duration and the second torque, the second normalized rotation angle is calculated.
  • Preferably, the adaptation angle is determined based on the rotational angle difference (calculated as described above). The larger the rotation angle difference, the greater the deviation in the rotation angle signal due to the manufacturing or assembly tolerance in the rotation angle sensor and thus also the adaptation angle.
  • Preferably, the rotational angle signal of the rotational angle sensor is continuously adapted in the subsequent operation of the DC motor with the determined adaptation angle. The measured rotational angle value of the rotational angle sensor is always corrected during operation of the DC motor or the rotational angle sensor with the determined adaptation angle, so that the production tolerance-related deviation in the measured rotational angle is compensated.
  • Preferably, the adaptation angle (determined as described above) is further compared with a predetermined adaptation angle threshold. If the determined adaptation angle exceeds the adaptation angle threshold, an error message is issued. The error message in particular causes the rotation angle sensor to be adjusted, repaired or replaced. The adaptation angle threshold is thus a threshold above which it is assumed that the affected rotation angle sensor has a has serious measuring errors and therefore needs to be adjusted, repaired or replaced.
  • Preferably, for rotational angle adaptation, a first rotational angular acceleration of the DC motor in the first time duration with which the DC motor has rotated in the first direction of rotation will also be determined. Similarly, a second rotational angular acceleration of the DC motor is measured in the second time period with which the DC motor has rotated in the second rotational direction. From the first and second rotational angular acceleration, a rotational angular acceleration difference is calculated. The rotational angular acceleration difference corresponds to a difference between the respective magnitudes of the two rotational angular accelerations. The adaptation angle is then determined based on differences in the rotation angle difference (per unit time) and the rotation angular acceleration difference (per unit time). The larger the rotational angle difference or the rotational angular acceleration difference, the greater the deviation in the rotational angle signal of the rotational angle sensor and consequently also the adaptation angle.
  • According to another aspect of the invention, there is provided a rotary angle adaptation apparatus in a rotation angle sensor of a DC motor.
  • The device comprises a first determination unit, which is set up to determine a first standardized rotation angle, which the DC motor has covered in a first direction of rotation for a time unit under the action of a torque unit. The determination unit is further configured to determine a second normalized rotation angle which the DC motor has covered in a second direction of rotation opposite the first direction of rotation for the same time unit under the action of the same torque unit.
  • The apparatus further comprises a calculation unit configured to calculate a rotation angle difference between the first and second normalized rotation angles.
  • The apparatus further comprises a comparison unit, which is set up to compare the calculated rotation angle difference with a predetermined rotation angle threshold.
  • The device further comprises a second determination unit, which is set up to determine an adaptation angle when the rotation angle difference exceeds the rotation angle threshold.
  • Advantageous embodiments of the method described above are, as far as possible, transferable to the above-mentioned device, as well as to consider advantageous embodiments of the device.
  • Brief description of the drawing:
  • In the following, exemplary embodiments of the invention are explained in more detail with reference to the accompanying drawings. Showing:
  • 1 in a schematic representation of an apparatus according to an embodiment of the invention; and
  • 2 in a schematic flow diagram, a method according to an embodiment of the invention.
  • Detailed description of the drawing:
  • 1 shows a brushless DC motor GM with a rotation angle sensor DS and a device V for the rotation angle adaptation.
  • The rotation angle sensor DS is disposed on a rotor shaft RW of the DC motor GM and configured to measure the rotation angle w of the rotor shaft RW and thus the rotor of the DC motor GM. The rotation angle w is used among others for field-oriented control of the DC motor GM.
  • Due to the manufacturing tolerance in the rotation angle sensor DS itself or the manufacturing tolerance in the assembly of the rotation angle sensor DS to the rotor shaft RW, the rotation angle w measured by the rotation angle sensor DS usually have deviations.
  • This manufacturing tolerance caused deviations in the measured rotation angle w leads to a faulty control of the DC motor GM and thus to the deterioration of the efficiency of the DC motor GM.
  • In order to counteract this, a rotation angle adaptation is required in which the rotation angle w measured by the rotation angle sensor DS is always corrected with an adaptation angle which can be determined in advance.
  • The adaptation angle is determined by the device V. For this purpose, the device V comprises a control unit SE, which is the output side electrically connected to a power output stage of the DC motor GM and is adapted to control the power output stage and thus the DC motor GM or regulate.
  • The device V further comprises a measuring unit ME, which signal input side with the Rotation angle sensor DS is electrically connected and is configured to evaluate the rotational angle w measured by the rotation angle sensor DS.
  • The device V further comprises a first determination unit EE1, which is electrically connected on the signal input side to a signal output of the measurement unit ME. The operation of the first determination unit EE1 will be described below.
  • The device V further comprises a processing unit BE, which is electrically connected on the signal input side to a signal output of the first determination unit EE1. The operation of the calculation unit BE will be described below.
  • The device V further comprises a comparison unit VE, which is electrically connected on the signal input side to a signal output of the calculation unit BE. Via a further signal output, the comparison unit VE is electrically connected to a display unit, not shown in the figure. The operation of the comparison unit VE will also be described below.
  • The device V further comprises a second determination unit EE2 which is electrically connected on the signal input side to the signal output of the first determination unit EE1, to a signal output of the calculation unit BE and to a signal output of the comparison unit VE. Via a signal output, the second determination unit EE2 is electrically connected to a further signal input of the comparison unit VE. The mode of operation of the second determination unit EE2 will also be described below.
  • The device V further comprises an adaptation unit AE, which is electrically connected on the signal input side of the measurement unit ME and the signal output of the second determination unit EE2. Signal output side, the adaptation unit AE is electrically connected to a control unit, not shown in the figure, which is designed for field-oriented control of the DC motor GM. The mode of operation of the adaptation unit AE will also be described below.
  • After the topology of the device V based 1 has been described in detail, the operation of the device V, esp. The calculation unit BE, comparison unit VE, detection units EE1, EE2 and adaptation unit AE is based on 2 described in more detail.
  • In order to start the operation of the DC motor GM, it is checked in accordance with a method step S000 whether a determination of the production tolerance-related deviation in the rotation angle sensor DS or a rotation angle adaptation is required. This may in particular be the case when the DC motor GM is put into operation with the rotational angle sensor DS.
  • If the rotational angle adaptation is required, a first normalized rotational angle w1 determined by the DC motor GM in a first rotational direction DR1 for a predetermined time unit t under the action of a predetermined torque unit m has been determined in accordance with a further method step S100.
  • For this purpose, the control unit SE controls the DC motor GM or its rotor according to a method step S110 such that the rotor is rotated under the action of a first predetermined torque m1 in a first rotational direction DR1 for a first predetermined time t11. In this case, according to a further method step S120, the measuring unit ME measures a first rotation angle wd11, which the direct current motor GM has traveled under the action of the first predefined torque m1 in the first predefined time period t11. The calculation unit BE subsequently calculates the first normalized rotation angle w1 from the first measured rotation angle wd11 or its magnitude | wd11 |, the first time duration t11 and the first torque m1 according to a further method step S130 using the following equation: w1 = | wd11 | · m1 / t11.
  • Alternatively, the control unit SE controls the DC motor GM or its rotor according to a method step S160 such that the rotor is rotated under the action of the first torque m1 in the first direction of rotation DR1 by a first predetermined rotation angle wd12. In this case, according to a further method step S170, the measuring unit ME measures a first time duration t12 which was required for the DC motor GM to rotate the first predetermined rotation angle wd12. The calculation unit BE subsequently calculates the first normalized rotation angle w1 from the first predetermined rotation angle wd12 or its magnitude | wd12 |, the first measured time duration t12 and the first torque m1 according to a further method step S180 using the following equation: w1 = | wd12 | · m1 / t12.
  • Furthermore, according to a further method step S200, the measuring unit ME determines a first normalized rotational angular acceleration wb1 of the DC motor GM for the first time duration t11 on the basis of the following equation: wb1 = w1 / t.
  • Subsequently, according to a further method step S300, a second normalized rotation angle w2 is determined which the DC motor GM has traveled in a second direction of rotation DR2 opposite the first direction of rotation DR2 for the same time unit t under the action of the same torque unit m.
  • For this purpose, the control unit SE controls the DC motor GM or its rotor according to a method step S310 such that the rotor is rotated under the action of a second predetermined torque m2 in a second rotational direction DR2 for a second predetermined time t21. In this case, according to a further method step S320, the measuring unit ME measures a second angle of rotation wd21, which the DC motor GM has traveled under the action of the second torque m2 in the second predetermined period of time t21. The calculation unit BE subsequently calculates the second normalized rotation angle w2 from the second measured rotation angle wd21 or its magnitude | wd21 |, the second time duration t21 and the second torque m2 according to a further method step S330 using the following equation: w2 = | wd21 | · m2 / t21.
  • Alternatively, the control unit SE controls the DC motor GM or its rotor according to a method step S360 such that the rotor is rotated by the second torque m2 in the second direction of rotation DR2 by a second predetermined angle of rotation wd22. In this case, according to a further method step S370, the measuring unit ME measures a second time duration t22, which was required for the DC motor GM to rotate the second predetermined rotation angle wd22. The calculation unit BE subsequently calculates the second standardized rotation angle w2 from the second predetermined rotation angle wd22 or its magnitude | wd22 |, the second measured time duration t22 and the second torque m2 according to a further method step S380 using the following equation: w2 = | wd22 | · m2 / t22.
  • Furthermore, according to a further method step S400, the measuring unit ME determines a second normalized rotational angular acceleration wb2 of the DC motor GM for the second time period t21 on the basis of the following equation: wb2 = w2 / t.
  • Subsequently, the first determination unit EE1 transmits the two determined standardized rotation angles w1, w2 and the two determined normalized rotational angular accelerations wb1, wb2 of the downstream calculation unit BE, the second determination unit EE2 and the adaptation unit AE.
  • The calculation unit BE calculates, according to a further method step S500, from the first and the second rotation angle w1, w2 a rotation angle difference wd between the first and the second rotation angle w1, w2: wd = w1 - w2.
  • Furthermore, according to a further method step S510, the calculation unit BE calculates a rotational angular acceleration difference bd between the first and the second rotational angular acceleration wb1, wb2 from the first and the second normalized rotational angular acceleration wb1, wb2: bd = wb1 - wb2.
  • Subsequently, the calculation unit BE transmits the calculated rotation angle difference wd to the downstream comparison unit VE and the rotation angle difference wd and rotation angle acceleration difference bd to the second determination unit EE2.
  • The comparison unit VE compares according to a further method step S600 the rotation angle difference wd with a predetermined rotation angle threshold ws, which is, for example, 3 °. If the rotational angle difference wd exceeds the rotational angle threshold ws, a slight deviation in the rotational angle sensor DS is assumed and a rotational angle adaptation is not performed.
  • However, if the rotational angle difference wd exceeds the rotational angle threshold ws, then an adaptation angle aw is determined and the rotational angle adaptation is carried out with the determined adaptation angle aw. For this purpose, the comparison unit VE forwards the comparison result between the rotational angle difference wd and the rotational angle threshold ws to the downstream second determination unit EE2.
  • If the second determination unit EE2 receives the comparison result from the comparison unit VE, then according to a further method step S700, it determines the adaptation angle aw from the rotation angle difference wd and the rotation angular acceleration difference bd obtained by the calculation unit BE.
  • The determination is carried out, for example, by means of a pre-determined and stored adaptation angle characteristic curve (aw = f (wd, bd)).
  • Alternatively, the determination of the adaptation angle aw occurs, for example, in a control loop recursively from the rotational angle difference wd and the rotational angular acceleration difference bd and the respective actual rotational angle wa of the rotor measured during operation: aw = f (wd, bd, wa)
  • The second determination unit EE2 transmits the determined adaptation angle aw to the adaptation unit AE and the comparison unit VE. The adaptation unit then adapts continuously in further operation of the DC motor GM according to a further method step S800, the rotation angle signal of the rotation angle sensor DS with the transmitted adaptation angle aw.
  • The rotation angle adaptation at the current measured rotation angle w_m (n) takes place during the operation of the DC motor GM, for example by adding the current measured rotation angle to the last-determined adaptation angle aw_ (n-1): w_k (n) = aw_ (n-1) + w_n (n),
    where w_k (n) is the corrected rotational angle after the rotational angle adaptation.
  • The comparison unit VE compares the transmitted adaptation angle aw with a predetermined adaptation angle threshold as according to a further method step S900. If the adaptation angle aw exceeds the adaptation angle threshold as, the comparison unit VE sends an error message to the downstream display unit according to a further method step S910 via the further signal output For example, indicates a serious error in the rotation angle sensor DS. If the error message is present, the rotation angle sensor DS is caused to be adjusted, repaired or replaced.

Claims (10)

  1.  Method for the rotation angle adaptation in a rotary angle sensor (DS) of a direct current motor (GM), comprising the following steps: - determining (S100) a first normalized rotation angle (w1) traveled by the direct-current motor (GM) in a first direction of rotation (DR1) for a time unit (t) under the action of a torque unit (m); Determining (S300) a second normalized rotation angle (w2) traveled by the direct current motor (GM) in a second direction of rotation (DR2) opposite the first direction of rotation (DR2) for the same time unit (t) under the action of the same torque unit (m); - calculating (S500) a rotation angle difference (wd) between the first (w1) and the second (w2) normalized rotation angle; - comparing (S600) the rotation angle difference (wd) with a predetermined rotation angle threshold (ws); - Determining (S700) of an adaptation angle (aw) when the rotation angle difference (wd) exceeds the rotation angle threshold (ws).
  2.  The method of claim 1, wherein the step of determining (S100) the first normalized rotation angle (w1) comprises the steps of: - rotating (S110) the DC motor (GM) in the first direction of rotation (DR1) for a first predetermined period of time (t11) under the action of a first predetermined torque (m1); - measuring (S120) a first rotation angle (wd11) traveled by the direct-current motor (GM) in the first predetermined period (t11) under the action of the first torque (m1); - calculating (S130) the first normalized rotation angle (w1) from the first measured rotation angle (wd11), the first time duration (t11) and the first torque (m1).
  3.  The method of claim 1, wherein the step of determining (S100) the first normalized rotation angle (w1) comprises the steps of: - rotating (S160) the DC motor (GM) in the first direction of rotation (DR1) under the action of the first torque (m1) by a first predetermined angle of rotation (wd12); - measuring (S170) a first period of time (t12) which the direct current motor (GM) used to travel the first predetermined rotation angle (wd12) under the action of the first torque (m1); - calculating (S180) the first normalized rotation angle (w1) from the first predetermined rotation angle (wd12), the first measured time duration (t12) and the first torque (m1).
  4. Method according to one of the preceding claims, wherein the step of determining (S300) the second normalized rotation angle (w2) comprises the steps of: - rotating (S310) the direct current motor (GM) in the second rotational direction (DR2) for a second predetermined period of time (t21) under the action of a second torque (m2); - measuring (S320) a second rotation angle (wd21) traveled by the direct-current motor (GM) in the second predetermined period (t21) under the action of the second torque (m2); - calculating (S330) the second normalized rotation angle (w2) from the second measured rotation angle (wd21), the second time duration (t21) and the second torque (m2).
  5.  A method according to any one of claims 1 to 3, wherein the step of determining (S300) the second normalized rotation angle (w2) comprises the steps of: - rotating (S360) the direct current motor (GM) in the second rotational direction (DR2) under the action of the second torque (m2) by a second predetermined angle of rotation (wd22); - measuring (S370) a second time duration (t22) which the direct current motor (GM) used to cover the second rotation angle (wd22) under the influence of the second torque (m2); - calculating (S380) the second normalized rotation angle (w2) from the second rotation angle (wd22), the second measured time duration (t22) and the second torque (m2).
  6.  Method according to one of the preceding claims, wherein the step of determining (S700) of the adaptation angle (aw) provides that the adaptation angle (aw) is determined on the basis of the rotation angle difference (wd).
  7.  Method according to one of the preceding claims, further comprising the following step: - Matching (S800) of the rotation angle signal (SS) of the rotation angle sensor (DS) with the determined adaptation angle (aw).
  8.  Method according to one of the preceding claims, further comprising the following steps: Comparing (S900) the determined adaptation angle (aw) with a predetermined adaptation angle threshold (as); - Outputting (S910) an error message if the determined adaptation angle (aw) exceeds the adaptation angle threshold (as).
  9.  Method according to one of the preceding claims, further comprising the following steps: - determining (S200) a first normalized rotational angular acceleration (wb11, wb12) of the DC motor (GM) with which the DC motor (GM) has accelerated in the first rotational direction (DR1) during rotation (S110, S160); - determining (S400) a second normalized rotational angular acceleration (wb21, wb22) of the DC motor (GM) with which the DC motor (GM) has accelerated during the turning (S310, S360) in the second rotational direction (DR2); - calculating (S510) a rotational angular acceleration difference (bd) between the first (wb11, wb12) and the second (wb21, wb22) rotational angular acceleration; - wherein the step of determining (S700) the adaptation angle (aw) further provides that the adaptation angle (aw) is determined based on the rotational angular acceleration difference (bd).
  10.  Device (V) for the rotation angle adaptation in a rotation angle sensor (DS) of a direct current motor (GM), comprising: A first determination unit (EE1), which is set up, A first normalized rotation angle (w1) traveled by the direct-current motor (GM) in a first direction of rotation (DR1) for a time unit (t) under the action of a torque unit (m), and A second normalized rotation angle (w2), which the direct current motor (GM) has traveled in a second direction of rotation (DR2) opposite the first direction of rotation (DR2) for the same time unit (t) under the action of the same torque unit (m); - a calculation unit (BE) configured to calculate a rotation angle difference (wd) between the first (w1) and the second (w2) normalized rotation angle; - A comparison unit (VE) arranged to compare the rotational angle difference (wd) with a predetermined angle of rotation threshold (ws); - A second determination unit (EE2) arranged to determine an adaptation angle (aw), when the rotation angle difference (wd) exceeds the rotation angle threshold (ws).
DE102015225401.1A 2015-12-16 2015-12-16 Method and device for the rotation angle adaptation in a rotation angle sensor of a DC motor Pending DE102015225401A1 (en)

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EP1237273A1 (en) * 2001-02-15 2002-09-04 Grundfos A/S Method for reducing or eliminating the offset of an ac signal
DE102008006983A1 (en) * 2008-01-31 2009-08-13 Siemens Aktiengesellschaft Method for determining a correction value for the angular position of the rotor of an electrically commutated reversible synchronous motor
DE102011105502A1 (en) * 2010-07-08 2012-01-12 Schaeffler Technologies Gmbh & Co. Kg Method for adjusting a phase offset between a rotor position sensor and the rotor position of an electrically commutated motor
DE102013004954A1 (en) * 2013-03-22 2014-09-25 Audi Ag Method for operating a multi-phase electric machine and corresponding multi-phase electric machine

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