DE19934880C1 - Drive device for opening and closing automobile component e.,g. bus door, has electric motor and motor control unit with master and slave processors - Google Patents

Abstract

The drive device has an electric motor (10) and a sensor device (14) for providing a pulse signal corresponding to the rotation of the motor, fed to the motor control unit. The latter has a master processor (18) for execution of a main control program and a slave processor (16), for controlling the motor revs in dependence on the received pulse signal. An Independent claim for a setting method for opening and closing an automobile component is also included.

Description

The present invention relates to a drive device for at least between two Positions adjustable vehicle part, in particular a door for a bus. Furthermore, the present invention a method for adjusting such an adjustable Vehicle part.

From DE 43 21 264 A1 a drive device is known in which an electric motor drives a car window pane. By means of two Hall sensors offset by 90 degrees, which with a magnet arranged on the motor shaft interact, a signal is generated, from which the current period of the motor rotation and thus the monthly Speed of the engine at any time when such a signal to a control unit to control the engine is determined. As soon as the current speed change, which results from the difference between two successive speed measured values, one exceeds the predetermined threshold value, the motor is reversed to possibly release jammed object.

A similar drive device is known from DE 195 11 581 A1, but in which the Threshold value is selected to be variable depending on the position, being in a memory for certain Positions of the adjustment path the speed change recorded in a previous run is stored between two adjacent positions, depending on the the last currently recorded position and speed the switch-off threshold for the To calculate speed depending on the position.

From DE 29 26 938 A1 it is known, in a sliding roof drive in constant time intervals to record the engine speed, the differences in succession Form values to add up these differences if they are greater than a predetermined one Threshold are, and trigger a shutdown or reversing of the engine as soon as the added sum exceeds a predetermined threshold.  

From DE 43 12 865 A1 a drive device for a motor vehicle window is known, which the Engine speed detected by means of two Hall detectors and if one is exceeded Threshold for the relative change in speed reverses the motor. The Threshold value depending on the detected motor voltage and by one Temperature sensor on the engine determined ambient temperature constantly recalculated. there the standstill / operating times of the engine are taken into account by the To be able to infer engine temperature to the ambient temperature.

From DE 196 18 219 A1 it is known that the speed threshold or the speed change threshold of the motor, from which the motor reverses, dependent on the position-dependent speed data of a previous reference run from the position of the cover.

Known control units for adjustable vehicle parts are usually hardware realized with a processor that processes the main program, the Speed calculation or the determination of the currently required engine power only via the main program interrupt. This leads to the fact that for the Speed calculation or motor control only a limited processor capacity Is available because the speed detection or engine control is treated subordinately. This can mean that not all incoming sensor signals are processed at all can, which affects the accuracy of the control.

It is an object of the present invention to provide a method for adjusting an adjustable To create vehicle part and a corresponding drive device, which a allow more precise and flexible engine control. This object is achieved according to the invention solved by a drive device according to claim 1 and a method according to claim 2nd

Advantageous embodiments of the invention are specified in the subclaims.

In the drive device according to the invention according to claim 1 is advantageous in that the outsourcing of the engine control function from the master processor to one Slave processor relieves the master processor for executing the main program and provides an increased computing capacity for the motor control, which means that Motor control can be made much more flexible and comfortable on the one hand and on the other hand, the accuracy of the engine control is improved.  

In the adjustment method according to the invention according to claim 2 it is advantageous that the measurement signals obtained are implemented as efficiently as possible for the motor control, so that no measurement signals are "given away" and the available information is completely at the Motor control is used, which increases the accuracy of the control.

The link expediently comprises a subtraction and preferably further a plausibility check to ensure that the currently determined measured values are reliable. This increases the reliability of the control.

A speed curve is preferably specified for the adjustable part, the Setpoints of the link were determined from a test run. By adapting the Control to the individual system increases the accuracy. Preferably the Setpoints for linking at regular intervals from current measured values updated, which further increases the accuracy of the control, as it does so Changes in state of the mechanical system, e.g. B. due to temperature influences or wear, can react.

To increase security, the control unit is preferably designed so that a Anti-trap function is implemented, the control unit in the engine power Depending on the atomic number, only up to a certain, depending of the ordinal number predetermined maximum value increased and when the Maximum value reverses when closing the motor and stops when opening. It is for the Linking results are preferably provided with a standard fluctuation range, with Leaving the standard fluctuation range, the engine power is first increased and, if the determined link results without exceeding the specified Maximum power return to the normal fluctuation range, the Norm fluctuation range is adjusted accordingly. This adjustment to changes in System parameters increase the accuracy of the control.

The adjustable vehicle part is preferably a vehicle door, especially for buses that are between a closed position and an open position is adjustable.  

Preferably, the control unit is designed so that with increased opening resistance, for. B. if the door seals freeze, when opening from the closed position repeated shaking.

The following is an embodiment of the invention with reference to the accompanying drawings explained in more detail. Show:

Fig. 1 shows schematically the connection of a drive device according to the invention; and

Fig. 2 shows an exemplary signal sequence of the speed sensor.

In Fig. 1, the reference numeral 10 schematically denotes an electric motor, which via a corresponding (not shown) power transmission device, for. B. drives a transmission, an adjustable vehicle part, which is preferably a door of a bus. On a part driven by the motor 10 , preferably the motor shaft, a magnetic wheel 12 is provided, the magnetization of which varies in the circumferential direction. A Hall sensor 14 is provided near the circumference of the magnetic wheel 12 in order to detect the rotation of the magnetic wheel 12 by means of a pulse signal generated by the alternating magnetization and supplied to a processor 16 . Such a pulse signal generated by the Hall sensor 14 is shown in FIG. 2. The processor 16 communicates with a further processor 18 , which communicates with a bus system 20 and a memory 22 . Processors 16 and 18 are in a master-slave relationship with one another, processor 18 forming the master and processor 16 forming the slave. The motor 10 is supplied with current via a power supply 24 , a switch 26 being provided in order to control the electrical power supplied to the motor 10 by means of pulse width modulation. The switch 26 is in turn controlled by the slave processor 16 via a logic (not shown), the motor current being detected. Furthermore, two counters 28 and 30 are provided which are connected to the slave processor 16 .

The motor 10 is controlled in the manner described below. As soon as the processor 16 detects a rising pulse edge from the Hall sensor 14 , it stops the counter 28 and starts the counter 30 . On the other hand, when the slave processor 16 receives a falling pulse edge, it starts the counter 28 and stops the counter 30 . As a result, the slave processor 16 each receives a time period t _A from the counter 30 and a time period t _B from the counter 28 . These two periods of time form a pair, to which the slave processor 16 assigns a running incremented ordinal number n, which is indicated in FIG. 2 by the indexing with "1" and "2". The successive time periods t _A1 and t _B1 determined in this way (or in the next step t _A2 and t _B2 ) are linked in pairs, ie t _A1 is linked with t _B1 (or in the next step t _A2 with t _B2 ), this is done by means of the slave processor 16 . Setpoints for the result as a function of the corresponding ordinal number are stored in the memory 22 , the slave processor 16 comparing the corresponding target value with the current result of the linkage for this ordinal number (in the present example, the ordinal number is "1") and from the result of the Comparison controls the power supplied to the motor until the evaluation of the combination of the following pair (here t _A2 and t _B2 ) is available. The control of the motor power takes place via a corresponding setting of the pulse width by means of the switch 26 .

The combination expediently comprises a subtraction of the two time periods t _A and t _B , the result being compared with a corresponding target value and the pulse width being changed accordingly from the deviation between the subtraction result and the target value, this being possible in the form of a simulated proportional control. The link also includes a plausibility check, for example first subtracting t _A from t _{B and} assigning a logical one if the result is greater than zero, while subsequently subtracting t _B from t _{A and} assigning a logical one if the result is less than zero. The logic values determined in this way are then subjected to an exclusive-OR operation, so that if a logical one is obtained from this operation, it can be assumed that the evaluation is plausible and the corresponding difference between t _A and t _{B is} valid and can be used in the control. Since the absolute value of t _A and t _B depends on the sensor geometry at constant speed, it goes without saying that the values must be standardized beforehand for the plausibility check described.

The setpoints stored in the memory 22 are first determined for each system from a test run, the aim of the control being to achieve a predetermined speed profile for the door or motor 10 . In this way, the motor control is individually adapted to the individual system in order to increase the accuracy. In order to change the system mechanics, e.g. B. resulting from temperature influences or wear, to simulate the control, the setpoints are updated regularly from the current measured values.

In addition, the system provides an anti-trap function by detecting the engine speed or engine force in addition to the usual anti-trap protection via pressure sensors on the front edge of the door. This is achieved in that the slave processor 16 increases the motor power depending on the ordinal number of the current pair only up to a certain maximum value, which is predetermined as a function of this ordinal number, and reverses or stops the motor when the maximum value is reached, depending on whether the door is currently being closed or opened. A standard fluctuation range is specified for the linking results, i.e. the subtraction results, the engine output initially being increased when leaving the standard fluctuation range and, if the measured subtraction results return to the standard fluctuation range without exceeding the respectively specified maximum output, the standard fluctuation range is adjusted accordingly.

The greater the processor capacity available for controlling the motor 10 compared to the prior art, the control can be made more flexible and more precise. For example, the control can be designed so that it can be freely programmed by the user so that control parameters can be set as desired. The control can be provided with a shaking function, with the door being closed several times with increased force in the opening direction when the door is found to have an increased resistance to opening, and then reversed in order to shake off the door, for example, in the case of iced-up door seals. It goes without saying that this function is only possible as long as a provided zero position switch indicates that the door is still closed. Furthermore, the predefined speed curve can be selected so that there is a harmonious door run with improved passenger comfort with regard to closing and opening noises. In addition, the control is preferably designed so that the door is actively kept in the open state even when the vehicle is in an inclined position when the door is open and cannot close automatically. The intensity of this function is freely programmable. Overall, the motor speed is preferably controlled so that the door runs independently of temperature, motor voltage and mechanical load, so that constant opening and closing times result. Vehicle functions can also be networked with door functions. For example, a temperature sensor can be used for the vibrating function or the door opening width can be designed depending on the tire angle.

Overload protection of the motor can also be implemented, which can be Integral calculation works. Essentially, the engine temperature is based on the number of received Hall signal pulses scaled. First, how many is determined in the laboratory Hall impulses are required for a certain temperature increase when the engine is loaded and how many Hall impulses are required for a specific cooling when the motor is not loaded are. No physical temperature measurement then takes place during operation; Motor temperature over the number of Hall impulses received, d. H. the operating / rest times of the Motors calculated, whereby when a predetermined calculated threshold temperature is exceeded the engine is switched off.

Although the control for only one door is shown in FIG. 1, it is understood that if a double door is used, with the exception of the master processor 18 , the bus system 20 and the memory 22, everything is provided twice for the second door, so that each door has one own slave processor 16 is assigned.

The bus system 20 is provided for communication with the vehicle electronics, and diagnosis or the input of control parameters is also possible.

Reference list

10th

(Electric) motor

12th

Magnetic tape

14

Sensor device (Hall sensor)

16

Processor (slave)

18th

Processor (master)

20th

Bus system

22

Storage

24th

Power supply

26

switch

28

counter

30th

counter
t _A1.2

Duration
t _B1.2

Duration

Claims (12)

1. Drive device for a vehicle part adjustable between at least two positions, with a motor ( 10 ) for driving the vehicle part and a sensor device ( 14 ) for generating a pulse signal corresponding to the rotational movement of the motor, which is fed to a control unit for controlling the motor, the Control unit is designed such that a master processor ( 18 ) for executing the main control program and a separate slave processor ( 16 ) are provided, which is assigned to the master processor for speed control of the motor based on the received pulse signals. 2. Method for adjusting a vehicle part that can be adjusted between at least two positions, wherein a pulse signal corresponding to the rotational movement of an engine ( 10 ) is generated for driving the vehicle part by a sensor device ( 14 ) and is fed to a control unit for controlling the engine, the point in time the input of each rising pulse edge of the signal and each falling pulse edge is detected at the control unit and the difference between two successive pulse edge input times is formed, two successive time differences are linked in pairs, each pair being assigned an ordinal number, the result of the linkage is compared with a target value for the corresponding atomic number and, depending on the result of the comparison, the power supplied to the engine is controlled during the period of the pair following this evaluated pair. 3. The method according to claim 2, characterized in that the control unit is formed is that the link involves subtraction. 4. The method according to claim 3, characterized in that the control unit is formed is that the link also includes a plausibility check.   5. The method according to claim 2 to 4, characterized in that the control unit so it is designed that a speed curve is specified and the setpoints a test run were determined. 6. The method according to claim 5, characterized in that the control unit is designed is that the setpoints are updated from measured values at regular intervals. 7. The method according to claim 2 to 6, characterized in that the control unit is designed such that an anti-trap function is implemented, with the engine control, the engine power depending on the atomic number at most only up to a certain, depending on the atomic number predetermined maximum value is increased and when the maximum value is reached when closing the motor ( 10 ) is reversed and stopped when opening. 8. The method according to claim 7, characterized in that the control unit is designed is that a standard fluctuation range is specified for the logic values and at Leaving the standard fluctuation range, the engine power is first increased and, if the link values determined without exceeding the maximum power again in the Return to the normal fluctuation range, the normal fluctuation range accordingly is adjusted. 9. The method according to claim 8, characterized in that the control unit is formed is that with increased opening resistance at the start of opening from the closed position repeated shaking. 10. The method according to claim 2 to 9, characterized in that the control unit so is formed that a first counter of each rising pulse edge is reset and started and stopped by each falling edge, while a second counter by reset and started every falling pulse edge and from every rising edge is stopped to determine the time differences. 11. The method according to claim 2 to 10, characterized in that the control unit so is designed that the control of the motor power is carried out by means of pulse width modulation.   12. The method according to claim 4, characterized in that the control unit is formed is that the first logical value depends on the plausibility check which indicates whether the normalized first time difference of the pair is greater than the normalized second Time difference, there is a second logical value depending on whether the first Time difference of the pair is less than the second time difference and the measurement is valid is assumed if the first and the second logical value are different.