DE3135889A1 - Device for positioning at least one adjustment device, in particular for motor vehicle seats - Google Patents
Device for positioning at least one adjustment device, in particular for motor vehicle seatsInfo
- Publication number
- DE3135889A1 DE3135889A1 DE19813135889 DE3135889A DE3135889A1 DE 3135889 A1 DE3135889 A1 DE 3135889A1 DE 19813135889 DE19813135889 DE 19813135889 DE 3135889 A DE3135889 A DE 3135889A DE 3135889 A1 DE3135889 A1 DE 3135889A1
- Authority
- DE
- Germany
- Prior art keywords
- positioning
- motor vehicle
- adjustment
- vehicle seats
- auxiliary variable
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
- G05B19/33—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an analogue measuring device
- G05B19/35—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an analogue measuring device for point-to-point control
- G05B19/351—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an analogue measuring device for point-to-point control the positional error is used to control continuously the servomotor according to its magnitude
- G05B19/353—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an analogue measuring device for point-to-point control the positional error is used to control continuously the servomotor according to its magnitude with speed feedback only
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/36—Nc in input of data, input key till input tape
- G05B2219/36113—Rom
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/37—Measurements
- G05B2219/37313—Derive speed from position
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/37—Measurements
- G05B2219/37462—Resistor, potentiometers
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/41—Servomotor, servo controller till figures
- G05B2219/41275—Two axis, x y motors controlled simultaneous, no contouring, quick move at 45-degrees
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/42—Servomotor, servo controller kind till VSS
- G05B2219/42213—Position overshoot, axis still moves after stop
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/45—Nc applications
- G05B2219/45022—Auto seat, dentist chair, roll wheel chair
Landscapes
- Engineering & Computer Science (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position Or Direction (AREA)
- Seats For Vehicles (AREA)
Description
21.8.1981 Ve/Hm21.8.1981 Ve / Hm
ROBERT BOSCH GMBH, 7OOO Stuttgart 1ROBERT BOSCH GMBH, 7OOO Stuttgart 1
Einrichtung zur Positionierung -wenigstens einer Verstellvorrichtung, insbesondere für Kraftfahrzeugsitze Positioning device - at least one adjusting device, in particular for motor vehicle seats
Stand der TechnikState of the art
Die Erfindung geht aus von einer Einrichtung nach der Gattung des Hauptanspruchs. Es ist schon eine solche Einrichtung aus der DE-OS 27 3k 26k oder aus der DE-OS 28 18 8o6 "bekannt, bei der die "verschiedenen Verstellbewegungen eines Kraftfahrzeugsitzes durch Stellmotoren erfolgt, über einen Regelkreis -wird eine Sollstellung vorgegeben, die Iststellung in Richtung Sollstellung verändert und bei Regelabgleich der Stellmotor abgeschaltet. Durch die träge Masse des Stellmotors und der daran angeschlossenen Mechanik kann jedoch die Bewegung nicht abrupt gestoppt werden, sondern fährt noch um einen gewissen Betrag über die Sollstellung hinaus. Da hierdurch wiederum eine Regelabweichung entsteht, besteht die Gefahr von Regelschwingungen bzw. eines unexakten Einsteilens der gewünschten Sitzposition.The invention is based on a device according to the preamble of the main claim. Such a device is already known from DE-OS 27 3k 26k or from DE-OS 28 18 8o6 ", in which the" various adjustment movements of a motor vehicle seat are carried out by servomotors, via a control loop a target position is specified, the actual position in Direction of the target position changed and the servomotor switched off during control adjustment. Due to the inertial mass of the servomotor and the mechanics connected to it, however, the movement cannot be stopped abruptly, but continues to go beyond the target position by a certain amount. Since this in turn results in a control deviation, there is a risk of control oscillations or an inexact adjustment of the desired seating position.
Vorteile der ErfindungAdvantages of the invention
Die erfindungsgemäße Einrichtung mit den kennzeichnenden Merkmalen des Hauptanspruchs hat demgegenüber den Vorteil, daß durch Überlagerung einer Hilfsgröße zur VerringerungThe device according to the invention with the characteristic Features of the main claim has the advantage that by superimposing an auxiliary variable to reduce
~ -er -~ -er - 33
der Regelabweichung der Regelabgleich schon früher erreicht wird und der Stellmotor schon vor Erreichen der Sollstellung abgeschaltet wird. Dieses Torzeitige Abstellen ist so bemessen, daß der Stellmotor infolge seiner tragen Masse noch bis zur eigentlichen Sollstellung weiter dreht.the control deviation is reached earlier and the servomotor is switched off before the target position is reached. This gate-time shutdown is dimensioned in such a way that the servomotor continues to the actual target position due to its bearing mass turns.
Durch die in den Unteransprüchen aufgeführten Maßnahmen sind vorteilhafte Weiterbildungen und Verbesserungen der im Hauptanspruch angegebenen Einrichtung möglich. Besonders vorteilhaft ist es, die elektrische Hilfsgröße zur Verringerung der Regelabweichung in Abhängigkeit der Verstellgeschwindigkeit zu wählen. Dadurch ist bei allen Bewegungsgeschwindigkeiten ein exaktes Anfahren der gewünschten Sollstellung gewährleistet. Diese elektrische Hilfsgröße kann vorteilhaft durch Differentialbildung der der Iststellung entsprechenden elektrischen Größe gebildet werden.By the measures listed in the subclaims are advantageous developments and improvements of the The facility specified in the main claim is possible. It is particularly advantageous to reduce the electrical auxiliary variable the control deviation depending on the adjustment speed. This is at all speeds of movement an exact approach to the desired target position is guaranteed. This electric Auxiliary variable can be advantageous by forming the differential of the the actual position corresponding electrical variable formed will.
Zeichnungdrawing
Ein Ausführungsbeispiel der Erfindung ist in der Zeichnung dargestellt und in der nachfolgenden Beschreibung näher erläutert. Die einzige Figur zeigt ein Blockschaltbild des Ausführungsbeispiels.An embodiment of the invention is shown in the drawing and explained in more detail in the following description. The single figure shows a block diagram of the exemplary embodiment.
Beschreibung des AusführungsbeispielsDescription of the embodiment
In dem in der Figur dargestellten Ausführungsbeispiel ist eine mit dem positiven Pol einer Versorgungsspannungsquelle verbundene Klemme 10 über zwei, als Tastschalter ausgebildete Positionier-Schaltglieder 11, 12 mit zwei EingängenIn the embodiment shown in the figure is a terminal 10 connected to the positive pole of a supply voltage source via two push-button switches Positioning switching elements 11, 12 with two inputs
eines Speicher- und Befehlsmoduls 13 verbunden. Weiterhin ist die Klemme 10 über ein Speicher-Schaltglied lh mit dem Speicher- und Befehlsmodul 13 verbunden. Zwei den Positionier-Schaltgliedern 11, 12 zugeordnete Sollwertausgänge 15, 16 sind über Vergleichstellen 17, 18 und Regler 19, 20 mit den als Stellmotoren ausgebildeten Verstellvorrichtungen 21, 22 verbunden. In Abhängigkeit der Stellung der Verstellvorrichtungen 21, 22 wird vorzugsweise über ein nicht näher dargestelltes Potentiometer eine Iststellung abgegriffen und das entsprechende Istwertsignal den Vergleichsstellen 17« 18 zugeführt.a memory and command module 13 connected. Furthermore, the terminal 10 is connected to the memory and command module 13 via a memory switching element lh. Two setpoint outputs 15, 16 assigned to the positioning switching elements 11, 12 are connected via comparison points 17, 18 and controllers 19, 20 to the adjusting devices 21, 22 designed as servomotors. Depending on the position of the adjustment devices 21, 22, an actual position is tapped preferably via a potentiometer (not shown in detail) and the corresponding actual value signal is fed to the comparison points 17-18.
Die bis hier beschriebene Anordnung ist aus dem eingangs angegebenen Stand der Technik bekannt, auf den hier ausdrücklich Bezug genommen wird und dessen Offenbarung somit zur Offenbarung der vorliegenden Anmeldung wird. Dabei kann das Speicher- und Befehlsmodul 13 natürlich wahlweise als diskrete Schaltung oder als Mikrorechner ausgebildet sein. Ebenso können die Vergleichsstellen 17, 18 sowie die Regler 19, 20 in einem solchen Mikrorechner enthalten sein.The arrangement described so far is from the introduction specified prior art is known to which reference is expressly made here and its disclosure thus to the disclosure of the present application. The memory and command module 13 can of course optionally be designed as a discrete circuit or as a microcomputer. Likewise, the comparison points 17, 18 and the Controller 19, 20 can be included in such a microcomputer.
Die den Ist Stellungen der Verstellvorrichtungen 21, 22 entsprechenden Istwerte sind über Differenzierglieder 23, 2.h zusätzlich den Vergleichsstellen 17, 18 zugeführt.The actual values corresponding to the actual positions of the adjustment devices 21, 22 are additionally fed to the comparison points 17, 18 via differentiating elements 23, 2.h.
Gemäß dem angegebenen Stand der Technik erfolgt die Einspeicherung von Soll-Stellungen in den Speicher- und Befehlsmodul 13 durch Betätigen des Speicher-Schaltglieds Ik und danach eines der Positionier-Schaltglieder 11, 12. Soll danach eine der gespeicherten Positionen angefahren werden, so genügt ein Betätigen eines der Positionier-Schaltglieder 11, 12, wodurch an dem entsprechendem Sollwertausgang 15 bzw. 16 der gespeicherte Sollwert vorge-According to the stated prior art, target positions are stored in the memory and command module 13 by actuating the memory switching element Ik and then one of the positioning switching elements 11, 12. If one of the stored positions is then to be approached, one is sufficient Actuate one of the positioning switching elements 11, 12, whereby the stored setpoint is provided at the corresponding setpoint output 15 or 16.
geben wird. Die zugeordnete Verstellvorrichtung 21 bzw. 22 setzt sich daraufhin in Bewegung, um die Iststellung in Richtung Sollstellung zu "verändern. Durch Differentialbildung der der Iststellung entsprechenden elektrischen Größe wird dabei ein der Verstellgeschwindigkeit entsprechendes elektrisches Signal gewonnen und als Hilfsgröße der Vergleichsstelle 17 bzw. 18 zugeführt. Diese Hilfsgröße bewirkt eine Verringerung der Regelabweichung, also eine Verringerung der Differenz Sollwert minus Istwert. Dadurch erfolgt ein Regelabgleich um einen geschwindigkeitsabhängigen Zeitpunkt vor Erreichen der eigentlichen Sollstellung. Die entsprechende Verstellvorrichtung 21, 22 schaltet ab und fährt infolge der Bewegung ihrer trägen Masse noch bis zur gewünschten Sollstellung weiter. Die Hilfsgröße wird dazu geschwindigkeitsabhängig so eingestellt, daß sie der Nachlaufdauer entspricht. Die Position wird dadurch sehr exakt angefahren und Regelschwingungen werden vermieden.will give. The associated adjusting device 21 or 22 then starts moving in order to change the actual position in the direction of the target position the electrical variable corresponding to the actual position becomes an electrical variable corresponding to the adjustment speed Signal obtained and fed as an auxiliary variable to the comparison point 17 or 18. This auxiliary variable causes a Reduction in the control deviation, i.e. a reduction in the difference between the setpoint value and the actual value. This results in a Control adjustment at a speed-dependent point in time before reaching the actual target position. The corresponding adjusting device 21, 22 switches off and moves as a result the movement of their inertial mass up to the desired target position Further. The auxiliary variable is set as a function of the speed so that it corresponds to the run-on time. The position is approached very precisely and control oscillations are avoided.
LeerseiteBlank page
Claims (3)
21.8.1981 Ve/Hm R.; .; : ■ * i
21.8.1981 Ve / Hm
über einen Regelkreis in eine vorgebbar Sollstellung bewegbar ist, dadurch gekennzeichnet, daß dem Regelkreis eine elektrische Hilfsgröße zur Verringerung der Regelabweichung. zufühxbar ist.V 1 J Device for positioning at least one adjustment device, in particular motor vehicle seats, which
can be moved into a predeterminable desired position via a control circuit, characterized in that the control circuit is provided with an electrical auxiliary variable for reducing the control deviation. is accessible.
wird.3. Device according to claim 2, characterized in that the electrical auxiliary variable formed by differential formation 'of the electrical variable corresponding to the actual position
will.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE19813135889 DE3135889A1 (en) | 1981-09-10 | 1981-09-10 | Device for positioning at least one adjustment device, in particular for motor vehicle seats |
| JP57142226A JPS5848107A (en) | 1981-09-10 | 1982-08-18 | Apparatus for positioning seat adjuster of automobile |
| FR8214431A FR2512567A1 (en) | 1981-09-10 | 1982-08-20 | INSTALLATION FOR POSITIONING AT LEAST ONE MANEUVERING DEVICE, PARTICULARLY FOR THE SEAT OF MOTOR VEHICLES |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE19813135889 DE3135889A1 (en) | 1981-09-10 | 1981-09-10 | Device for positioning at least one adjustment device, in particular for motor vehicle seats |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| DE3135889A1 true DE3135889A1 (en) | 1983-03-24 |
Family
ID=6141327
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| DE19813135889 Withdrawn DE3135889A1 (en) | 1981-09-10 | 1981-09-10 | Device for positioning at least one adjustment device, in particular for motor vehicle seats |
Country Status (3)
| Country | Link |
|---|---|
| JP (1) | JPS5848107A (en) |
| DE (1) | DE3135889A1 (en) |
| FR (1) | FR2512567A1 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3803602A1 (en) * | 1988-02-06 | 1989-08-17 | Alfred Weber | Adjusting device for a seat which is guided in a longitudinally displaceable manner and is provided with a releasable catch in an in-use position |
| DE4034558A1 (en) * | 1989-09-22 | 1992-05-07 | Tachi S Co | Motor control system for motor-driven car seat |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60254193A (en) * | 1984-05-31 | 1985-12-14 | 小糸工業株式会社 | Successful candidate publishing display system |
| FR2649503B1 (en) * | 1989-07-04 | 1991-10-25 | Cousin Freres Sa | SIMPLIFIED POWER SUPPLY SYSTEM FOR POTENTIOMETERS IN ELECTRONIC MEMORIZATION OF MOTOR AND OTHER SEATS |
| JP2978985B2 (en) * | 1996-09-27 | 1999-11-15 | アイシン・エィ・ダブリュ株式会社 | Navigation device |
| FR2829911B1 (en) * | 2001-09-26 | 2004-02-13 | Labinal | ACTUATOR, SEAT ACTUATOR FAMILY AND METHOD FOR MANUFACTURING SUCH AN ACTUATOR |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0001297B1 (en) * | 1977-07-29 | 1981-10-14 | Robert Bosch Gmbh | Positioning device for at least two adjusting mechanism, especially for car seats |
-
1981
- 1981-09-10 DE DE19813135889 patent/DE3135889A1/en not_active Withdrawn
-
1982
- 1982-08-18 JP JP57142226A patent/JPS5848107A/en active Pending
- 1982-08-20 FR FR8214431A patent/FR2512567A1/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3803602A1 (en) * | 1988-02-06 | 1989-08-17 | Alfred Weber | Adjusting device for a seat which is guided in a longitudinally displaceable manner and is provided with a releasable catch in an in-use position |
| DE4034558A1 (en) * | 1989-09-22 | 1992-05-07 | Tachi S Co | Motor control system for motor-driven car seat |
Also Published As
| Publication number | Publication date |
|---|---|
| FR2512567A1 (en) | 1983-03-11 |
| JPS5848107A (en) | 1983-03-22 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| 8139 | Disposal/non-payment of the annual fee |