EP0852288B1 - Method of adaptation of the set point to control the position of motorised actuator - Google Patents
Method of adaptation of the set point to control the position of motorised actuator Download PDFInfo
- Publication number
- EP0852288B1 EP0852288B1 EP97122229A EP97122229A EP0852288B1 EP 0852288 B1 EP0852288 B1 EP 0852288B1 EP 97122229 A EP97122229 A EP 97122229A EP 97122229 A EP97122229 A EP 97122229A EP 0852288 B1 EP0852288 B1 EP 0852288B1
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- European Patent Office
- Prior art keywords
- theoretical value
- motor
- value
- control element
- asw
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D11/00—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated
- F02D11/06—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated characterised by non-mechanical control linkages, e.g. fluid control linkages or by control linkages with power drive or assistance
- F02D11/10—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated characterised by non-mechanical control linkages, e.g. fluid control linkages or by control linkages with power drive or assistance of the electric type
- F02D11/107—Safety-related aspects
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D11/00—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated
- F02D11/06—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated characterised by non-mechanical control linkages, e.g. fluid control linkages or by control linkages with power drive or assistance
- F02D11/10—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated characterised by non-mechanical control linkages, e.g. fluid control linkages or by control linkages with power drive or assistance of the electric type
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D11/00—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated
- F02D11/06—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated characterised by non-mechanical control linkages, e.g. fluid control linkages or by control linkages with power drive or assistance
- F02D11/10—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated characterised by non-mechanical control linkages, e.g. fluid control linkages or by control linkages with power drive or assistance of the electric type
- F02D2011/101—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated characterised by non-mechanical control linkages, e.g. fluid control linkages or by control linkages with power drive or assistance of the electric type characterised by the means for actuating the throttles
- F02D2011/102—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated characterised by non-mechanical control linkages, e.g. fluid control linkages or by control linkages with power drive or assistance of the electric type characterised by the means for actuating the throttles at least one throttle being moved only by an electric actuator
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D2250/00—Engine control related to specific problems or objectives
- F02D2250/16—End position calibration, i.e. calculation or measurement of actuator end positions, e.g. for throttle or its driving actuator
Definitions
- the invention relates to a method for adapting the setpoint for regulating the Position of a motorized actuator, especially a motor actuated throttle valve in a motor vehicle.
- Possible measures include: B. measurement in the end-of-line test, Measure or adapt in the operation of the control element or the attachment of Limit switches in the area of the end stops.
- the positions of the end stops can change during the operation of the Change control element, e.g. B. by drifting the position of the actuator detecting sensor, mechanical changes, after replacing the Control element, due to aging or by penetrating into the control range Foreign body.
- the actuator against one When the end stop is energized it can become mechanical depending on the force Damage to the control element or the end stops.
- control elements classified as particularly safety-relevant e.g. one motor-operated throttle valve in a motor vehicle
- Attaching the control element to an end stop as safety-critical are considered (error message "throttle valve cannot be closed"), which can have serious ramifications for the driver starting with the activation of the warning lamp, over the activation of the Emergency running up to the shutdown of the engine control.
- the unrestricted availability of the system should also occur when such Errors remain, without the safety of the operator is affected.
- control element characteristic value motor current, Pulse width modulation of the motor control or the integral part of the controlled variable
- a predetermined limit above the normal level exceeds the setpoint of the control element position to its current actual value (with a small distance) is set so that the control of actuating elements is limited becomes.
- the control element is immediately moved to a position in front of the Blocked position is retracted, causing the actuator to strike against an end stop or blocking is lifted immediately.
- the Control electronics are effective due to the constant high motor current be avoided.
- This corrective measure can also switch off the activation of the Control element are avoided, so that the functionality of the control system advantageously largely preserved.
- the method according to the invention can advantageously be supplemented by further measures.
- the amount of the offset value for the setpoint can be made dependent on the direction of energization of the motor, so that the width of the resetting of the actuating element depends on a stop whether an upper or a lower end stop has been reached.
- the adapted setpoint as the new position of the End stop for the respective current direction is saved.
- the method according to the invention initially causes the actuating element to be reset every time you hit an obstacle, with a constant block each time is avoided.
- the control system does not save the position of the Control element at the moment of striking, so that the control element always again against a z. B. adjusted end stop, which then each time the adaptation function adjusts the setpoint again.
- This supplementary measure now makes the adapted setpoint a new one Position of the end stop in the respective current direction of the Control element stored, so that multiple strikes of the control element against the end stop is avoided unless the end stop in the meantime would have further adjusted or would have been adjusted.
- a multiple swinging switch between the adapted Setpoint and the external setpoint at the setpoint input of the controller it is also advantageous to switch from the adapted setpoint to the external setpoint only after a specified debounce time has elapsed or to check explicitly whether the setpoint specified by the external system Control element leads further away from the blocking position than the adapted setpoint.
- the single figure shows a block diagram of a system for controlling a Motorized actuator, which the inventive method for Executes setpoint adaptation.
- the figure shows a system for controlling an actuated by a motor (M) Control element (S), which can be assumed as an example that it this is a throttle valve in a motor vehicle.
- M motor
- S Control element
- the control element (S) is between a lower and an upper end stop (U, O) flexible.
- the position (IW) of the control element (S) is determined by a Actual value transmitter (P), executable and shown here as a potentiometer, recorded and on given the input of a controller (R), which is based on the difference between a setpoint (SW) which is also present at the input of the controller (R) and the Actual position value (IW) generates a control signal for the motor (M).
- This Control signal can be an analog or, as here, a digital signal, which the information about pulse width modulation (PWM) and the Current direction (DIR) included.
- PWM pulse width modulation
- DIR Current direction
- One is assigned to the controller (R) Adaptation function (A), which is symbolically represented here as an assembly, actually but is preferably implemented by a software function.
- the adaptation function (A) receives signals via the control of the motor (M), by the controller (R) (amount of the motor current or pulse width of the motor control (PWM) or the integral part of the controlled variable) as well as information about the direction of current supply to the motor (M), for example via a logical one Direction signal (DIR), as well as the actual value (IW) of the position of the control element (S) fed.
- the adaptation function calculates a so-called "adapted Setpoint "(ASW), which results from the actual value (IW) of the position of the control element (S) plus an offset value (OS_SW) towards the inside of the Controlled system.
- the controller (R) usually receives its setpoint (SW) from an external one System (ES) for example an engine control system as an external setpoint (ESW) specified.
- ES external one System
- EW engine control system
- This external setpoint (ESW) is also used for the adaptation function (A) fed.
- the position of the end stops (U, O) is stored in the controller (R). To increase the accuracy can also be provided that the end positions (U, O) at every start-up of the control system and the assigned ones Position values are saved.
- the controller (R) receives as Setpoint (SW) the external setpoint (ESW) of the external system (ES) supplied and controls the control element (S) in this target position, the input of the Controller (R) also sends a signal from the actual value transmitter (P) via the current position (IW) of the control element (S) is fed.
- a characteristic characteristic of the motor control here the Pulse width of the motor control (PWM)
- PWM Pulse width of the motor control
- ASW adapted setpoint
- the offset value (OS_SW) has a negative sign if the Movement of the control element (S) before blocking in the direction of one larger setpoint (SW) and a positive sign when movement of the Control element (S) in the direction of a smaller setpoint (SW) led.
- Switching to the adapted setpoint (ASW) ends the blocking immediately after recognizing the same, whereby one the engine (M) and that Control element (S) easily and effectively prevents damaging permanent blocking becomes.
- the control system gives way to a recognized obstacle, so to speak that an emergency shutdown is generally not required and the system remains available.
- the system does not remain with the control by means of an adapted one Setpoint (ASW), but switches, but at the earliest according to a predetermined Final bounce time, the setpoint specification back to the external system (ES) as soon as this specifies a setpoint (ESW) which controls the control element (S) into a position, which is farther from the blocking position than that by the adapted setpoint (ASW) specified position.
- ASW adapted one Setpoint
- the detected blocking position i. H. the Position (IW) of the control element (S) at the moment of blocking as a new value of the upper or lower end stop (U or O) so that during the continued operation of the control system, a renewed striking of the Control element (S) against the obstacle is avoided.
- this remains Fall of the setting range of the control element (S) even after a possible elimination of the obstacle during the continued operation of the control system.
Description
Die Erfindung betrifft ein Verfahren zur Adaption des Sollwertes zur Regelung der Position eines motorisch betätigten Stellelementes, insbesondere einer motorisch betätigten Drosselklappe in einem Kraftfahrzeug.The invention relates to a method for adapting the setpoint for regulating the Position of a motorized actuator, especially a motor actuated throttle valve in a motor vehicle.
Der Stellbereich motorisch betätigter Stellelemente ist zumeist durch Endanschläge begrenzt. Diese Endanschläge stellen ein besonderes Problem dar, da die bisher lineare Regelstrecke hier abrupt abgebrochen wird. Ohne Berücksichtigung dieser Anschläge kann es bei der Regelung an diesen zu Klemm-, Schwing-, bzw. Prelleffekten des Stellelementes kommen.The adjustment range of motor-operated adjustment elements is mostly through end stops limited. These end stops pose a particular problem since the previous ones linear controlled system is abruptly aborted here. Without considering this During the regulation, there may be stops on these to clamp, vibrate or Bounce effects of the control element come.
Man ist daher bemüht, die Positionen dieser Anschläge zu kennen, um gegebenenfalls geeignete Maßnahmen zur Vermeidung dieser Effekte zu unternehmen. Mögliche Maßnahmen sind z. B. Ausmessen beim End-of-line Test, Ausmessen oder Adaption im Betrieb des Stellelementes oder die Anbringung von Endschaltern im Bereich der Endanschläge.One tries therefore to know the positions of these attacks in order to if necessary, appropriate measures to avoid these effects Companies. Possible measures include: B. measurement in the end-of-line test, Measure or adapt in the operation of the control element or the attachment of Limit switches in the area of the end stops.
Die Positionen der Endanschläge können sich allerdings während des Betriebs des Stellelementes verändern, z. B. durch Drift des die Position des Stellelementes detektierenden Sensors, mechanischen Veränderungen, nach Austausch des Stellelementes, durch Alterung oder durch in den Stellbereich eingedrungene Fremdkörper. Wird in einem solchen Fall das Stellelement gegen einen Endanschlag bestromt, kann es je nach Krafteinwirkung zu mechanischen Beschädigungen des Stellelementes oder der Endanschläge kommen.However, the positions of the end stops can change during the operation of the Change control element, e.g. B. by drifting the position of the actuator detecting sensor, mechanical changes, after replacing the Control element, due to aging or by penetrating into the control range Foreign body. In such a case, the actuator against one When the end stop is energized, it can become mechanical depending on the force Damage to the control element or the end stops.
Bei als besonders sicherheitsrelevant eingestuften Stellelementen (wie z. B. einer motorisch betätigten Drosselklappe in einem Kraftfahrzeug) kann ein nicht erkanntes Anschlagen des Stellelementes an einem Endanschlag als sicherheitskritisch betrachtet werden (Fehlermeldung "Drosselklappe kann nicht geschlossen werden"), was schwerwiegende Konsequenzen für den Fahrer mit sich bringen kann, und zwar angefangen bei der Einschaltung der Warnlampe, über die Einschaltung des Notlaufes bis hin zur Stillsetzung der Motorsteuerung.In the case of control elements classified as particularly safety-relevant (e.g. one motor-operated throttle valve in a motor vehicle) can be an undetected one Attaching the control element to an end stop as safety-critical are considered (error message "throttle valve cannot be closed"), which can have serious ramifications for the driver starting with the activation of the warning lamp, over the activation of the Emergency running up to the shutdown of the engine control.
Es ist daher die Aufgabe der Erfindung ein Verfahren zu schaffen, das die Robustheit von Regelsystemen bezüglich derartiger Fehler erhöht. Insbesondere soll die uneingeschränkte Verfügbarkeit des Systems auch beim Auftreten solcher Fehler erhalten bleiben, und zwar ohne daß dabei die Sicherheit des Betreibers beeinträchtigt wird.It is therefore the object of the invention to provide a method which Robustness of control systems with regard to such errors increased. In particular the unrestricted availability of the system should also occur when such Errors remain, without the safety of the operator is affected.
Diese Aufgabe wird durch die die Erfindung kennzeichenenden Verfahrensschritte gelöst.This object is achieved by the method steps characterizing the invention solved.
Die dem Verfahren zugrundeliegende Idee besteht darin, daß sobald ein die Ansteuerung des Stellelementes kennzeichnender Wert (Motorstrom, Pulsweitenmodulation der Motoransteuerung oder der Integralanteil der Regelgröße) einen vorgegebenen, über dem normalen Niveau liegenden Grenzwert überschreitet, der Sollwert der Stellelementposition auf deren aktuellen Istwert (mit einem kleinen Abstand) gesetzt wird, so daß die Stellelementansteuerung begrenzt wird. Das Stellelement wird dabei unverzüglich auf eine Position, die vor der Blockierposition liegt, zurückgefahren, wodurch das Anschlagen des Stellelementes gegen einen Endanschlag bzw. das Blockieren unverzüglich aufgehoben wird. Damit kann eine Beschädigung der Mechanik sowie eine Überlastung der Ansteuerelektronik durch einen andauernden hohen Motorstrom wirkungsvoll vermieden werden.The idea underlying the process is that as soon as the Control of the control element characteristic value (motor current, Pulse width modulation of the motor control or the integral part of the controlled variable) a predetermined limit above the normal level exceeds the setpoint of the control element position to its current actual value (with a small distance) is set so that the control of actuating elements is limited becomes. The control element is immediately moved to a position in front of the Blocked position is retracted, causing the actuator to strike against an end stop or blocking is lifted immediately. In order to can damage the mechanics and overload the Control electronics are effective due to the constant high motor current be avoided.
Durch diese Korrekturmaßnahme kann zudem ein Abschalten der Ansteuerung des Stellelementes vermieden werden, so daß die Funktionfähigkeit des Regelsystems vorteilhafterweise weitgehend erhalten bleibt.This corrective measure can also switch off the activation of the Control element are avoided, so that the functionality of the control system advantageously largely preserved.
Das erfindungsgemäße Verfahren kann insbesondere je nach Anwendungsgebiet
durch weitere Maßnahmen noch vorteilhaft ergänzt werden.
So kann z. B. auch der Betrag des Offsetwertes für den Sollwert von der
Bestromungsrichtung des Motors abhängig gemacht werden, so daß die Weite des
Zurücksetzens des Stellelementes von einem Anschlag davon abhängt, ob ein
oberer oder ein unterer Endanschlag angefahren wurde.Depending on the field of application, the method according to the invention can advantageously be supplemented by further measures.
So z. B. the amount of the offset value for the setpoint can be made dependent on the direction of energization of the motor, so that the width of the resetting of the actuating element depends on a stop whether an upper or a lower end stop has been reached.
Besonders vorteilhaft ist es, die erfindungsgemäße Sollwertadaption zusätzlich von der Bedingung abhängig zu machen, daß das Blockieren des Stellelementes in einem vorgegebenen Bereich um die vom Regelsystem erwarteten Positionen der Endanschläge herum erfolgt. Diese erwarteten Positionen der Endanschläge können in dem System entweder fest gespeichert sein oder zum Beispiel auch jeweils bei der Inbetriebnahme ausgemessen oder auch aus den Daten des mit dem Stellelement verbundenen Positionsgebers über vorgegebene Toleranzketten berechnet werden.It is particularly advantageous to additionally adapt the setpoint adaptation according to the invention from to make the condition dependent that the blocking of the actuator in a predetermined range around the positions expected by the control system End stops are done around. These expected positions of the end stops can be either permanently stored in the system or, for example, each at measured during commissioning or from the data of the with the Actuator connected position encoder via specified tolerance chains be calculated.
Der Vorteil dieser zusätzlichen Bedingung liegt darin, daß eine Sollwertanpassung nur am Anfang und Ende des Stellbereiches erfolgt, nicht dagegen im mittleren Stellbereich. Ein Blockieren des Stellelementes im mittleren Stellbereich hängt sicherlich nicht mit der Positionierung der Endanschläge zusammen, so daß in einem solch ungewöhnlichen Fall eine andere Fehlerbehandlung, insbesondere ein Abschalten des gesamten Regelsystems, angebrachter sein kann.The advantage of this additional condition is that a setpoint adjustment only at the beginning and end of the adjustment range, not in the middle Range. Blocking of the control element in the middle control range hangs certainly not together with the positioning of the end stops, so that in In such an unusual case, another error handling, especially a Switching off the entire control system, may be more appropriate.
Vorteilhaft ist auch, wenn der adaptierte Sollwert als neue Position des Endanschlages für die jeweilige Bestromungsrichtung gespeichert wird. Das erfindungsgemäße Verfahren bewirkt zunächst ein Zurücksetzen des Stellelementes bei jedem Anschlagen an ein Hindernis, wobei ein andauerndes Blockieren jedesmal vermieden wird. Allerdings speichert das Regelsystem nicht die Position des Stellelementes im Moment des Anschlagens, so daß das Stellelement immer mal wieder gegen einen z. B. verstellten Endanschlag anlaufen kann, wodurch dann jedesmal die Adaptionsfunktion den Sollwert erneut anpaßt.It is also advantageous if the adapted setpoint as the new position of the End stop for the respective current direction is saved. The The method according to the invention initially causes the actuating element to be reset every time you hit an obstacle, with a constant block each time is avoided. However, the control system does not save the position of the Control element at the moment of striking, so that the control element always again against a z. B. adjusted end stop, which then each time the adaptation function adjusts the setpoint again.
Durch diese ergänzende Maßnahme wird nun der adaptierte Sollwert als neue Position des Endanschlages in der jeweiligen Bestromungsrichtung des Stellelementes gespeichert, so daß ein mehrfaches Anschlagen des Stellelementes gegen den Endanschlag vermieden wird, es sei denn, daß sich der Endanschlag zwischenzeitlich weiter verstellt hätte oder verstellt worden wäre. This supplementary measure now makes the adapted setpoint a new one Position of the end stop in the respective current direction of the Control element stored, so that multiple strikes of the control element against the end stop is avoided unless the end stop in the meantime would have further adjusted or would have been adjusted.
Ebenfalls vorteilhaft ist, abhängig von der Bestromungsrichtung unterschiedliche Grenzwerte für das Wirksamwerden der Adaptionsfunktion vorzusehen, um so ein Schwingen des Eingreifens der Sollwertadaption zu verhindern.It is also advantageous, depending on the direction of energization To provide limits for the adaptation function to take effect, so a Prevent oscillation of the intervention of the setpoint adaptation.
Um zudem ein mehrfaches schwingendes Umschalten zwischen dem adaptierten Sollwert und dem externen Sollwert am Sollwerteingang des Reglers zu verhindern, ist es darüber hinaus vorteilhaft, die Umschaltung vom adaptierten Sollwert auf den externen Sollwert erst nach Ablauf einer vorgegebenen Entprellzeit vorzunehmen bzw. explizit zu prüfen, ob der durch das externe System vorgegebene Sollwert das Stellelement weiter weg von der Blockierstellung führt, als der adaptierte Sollwert.In addition, a multiple swinging switch between the adapted Setpoint and the external setpoint at the setpoint input of the controller, it is also advantageous to switch from the adapted setpoint to the external setpoint only after a specified debounce time has elapsed or to check explicitly whether the setpoint specified by the external system Control element leads further away from the blocking position than the adapted setpoint.
Im folgenden soll ein Ausführungsbeispiel der Erfindung anhand der Zeichnung dargestellt und näher erläutert werden.In the following an embodiment of the invention with reference to the drawing shown and explained in more detail.
Die einzige Figur zeigt ein Blockdiagramm eines Systems zur Regelung eines motorisch betätigten Stellelementes, welche das erfindungsgemäße Verfahren zur Sollwertadaption ausführt.The single figure shows a block diagram of a system for controlling a Motorized actuator, which the inventive method for Executes setpoint adaptation.
Die Figur zeigt ein System zur Regelung eines durch einen Motor (M) betätigten Stellelementes (S), wobei beispielhaft angenommen werden kann, daß es sich hierbei um eine Drosselklappe in einem Kraftfahrzeug handelt.The figure shows a system for controlling an actuated by a motor (M) Control element (S), which can be assumed as an example that it this is a throttle valve in a motor vehicle.
Das Stellelement (S) ist zwischen einem unteren und einem oberen Endanschlag (U, O) beweglich. Die Position (IW) des Stellelementes (S) wird durch einen Istwertgeber (P), ausführbar und hier dargestellt als Potentiometer, erfaßt und an den Eingang eines Reglers (R) gegeben, welcher anhand der Differenz zwischen einem ebenfalls am Eingang des Reglers (R) anliegenden Sollwert (SW) und dem Positionsistwert (IW) ein Ansteuersignal für den Motor (M) erzeugt. Dieses Ansteuersignal kann ein analoges oder wie hier ein digitales Signal sein, welches die Informationen über die Pulsweitenmodulation (PWM) und die Bestromungsrichtung (DIR) beeinhaltet. Dem Regler (R) zugeordnet ist eine Adaptionsfunktion (A), die hier symbolisch als Baugruppe dargestellt ist, tatsächlich aber vorzugsweise durch eine Softwarefunktion realisiert wird. The control element (S) is between a lower and an upper end stop (U, O) flexible. The position (IW) of the control element (S) is determined by a Actual value transmitter (P), executable and shown here as a potentiometer, recorded and on given the input of a controller (R), which is based on the difference between a setpoint (SW) which is also present at the input of the controller (R) and the Actual position value (IW) generates a control signal for the motor (M). This Control signal can be an analog or, as here, a digital signal, which the information about pulse width modulation (PWM) and the Current direction (DIR) included. One is assigned to the controller (R) Adaptation function (A), which is symbolically represented here as an assembly, actually but is preferably implemented by a software function.
Die Adaptionsfunktion (A) erhält Signale über die Ansteuerung des Motors (M), durch den Regler (R) (Betrag des Motorstroms bzw. Pulsweite der Motoransteuerung (PWM) bzw. den Integralanteil der Regelgröße) sowie auch eine Information über die Bestromungsrichtung des Motors (M), zum Beispiel über ein logisches Richtungssignal (DIR), sowie auch den Istwert (IW) der Position des Stellelementes (S) zugeführt. Die Adaptionsfunktion berechnet einen sogenannten "adaptierten Sollwert" (ASW), welcher sich aus dem Istwert (IW) der Position des Stellelementes (S) zuzüglich eines Offsetwertes (OS_SW) in Richtung auf das Innere der Regelstrecke, ergibt.The adaptation function (A) receives signals via the control of the motor (M), by the controller (R) (amount of the motor current or pulse width of the motor control (PWM) or the integral part of the controlled variable) as well as information about the direction of current supply to the motor (M), for example via a logical one Direction signal (DIR), as well as the actual value (IW) of the position of the control element (S) fed. The adaptation function calculates a so-called "adapted Setpoint "(ASW), which results from the actual value (IW) of the position of the control element (S) plus an offset value (OS_SW) towards the inside of the Controlled system.
Der Regler (R) erhält seinen Sollwert (SW) überlicherweise von einem externen System (ES) zum Beispiel einem Motorsteuersystem als externen Sollwert (ESW) vorgegeben. Auch dieser externe Sollwert (ESW) wird der Adaptionsfunktion (A) zugeführt.The controller (R) usually receives its setpoint (SW) from an external one System (ES) for example an engine control system as an external setpoint (ESW) specified. This external setpoint (ESW) is also used for the adaptation function (A) fed.
Unter vorgegebenen Bedingungen, nämlich wenn die Pulsweite der Motoransteuerung (PWM) einen für die jeweilige Bestromungsrichtung (DIR) vorgegebenen Grenzwert überschreitet, erhält der Eingang des Reglers (R) als Sollwert (SW) den adaptierten Sollwert (ASW) zugeführt. Dieses wird in der Figur durch den symbolischen Umschalter (US) dargestellt, welcher durch die Ansteuerungsfunktion (A) betätigt wird. Die Realisierung dieses Umschalters (US) besteht vorzugsweise aus einem logischen Entscheidungsschritt im Adaptionsalgorithmus.Under given conditions, namely when the pulse width of the Motor control (PWM) one for the respective current direction (DIR) exceeds the specified limit, the input of the controller (R) receives as Setpoint (SW) fed the adapted setpoint (ASW). This is shown in the figure represented by the symbolic switch (US), which by the Control function (A) is operated. Realization of this switch (US) preferably consists of a logical decision step in the Adaptation algorithm.
Das dargestellte Regelsystem funktioniert nun folgendermaßen:The control system shown now works as follows:
Die Lage der Endanschläge (U, O) ist in dem Regler (R) gespeichert. Zur Erhöhung der Genauigkeit kann zudem vorgesehen werden, daß die Endpositionen (U, O) bei jeder Inbetriebnahme des Regelsystems angefahren werden und die zugeordneten Positionswerte gespeichert werden. Im ungestörten Betrieb erhält der Regler (R) als Sollwert (SW) den externen Sollwert (ESW) des externen Systems (ES) zugeführt und steuert das Stellelement (S) in diese Sollposition, wobei der Eingang des Reglers (R) ebenfalls ein Signal vom Istwertgeber (P) über die aktuelle Position (IW) des Stellelementes (S) zugeführt bekommt.The position of the end stops (U, O) is stored in the controller (R). To increase the accuracy can also be provided that the end positions (U, O) at every start-up of the control system and the assigned ones Position values are saved. In undisturbed operation, the controller (R) receives as Setpoint (SW) the external setpoint (ESW) of the external system (ES) supplied and controls the control element (S) in this target position, the input of the Controller (R) also sends a signal from the actual value transmitter (P) via the current position (IW) of the control element (S) is fed.
Es sei nun angenommen, daß sich die Position zumindest eines Endanschlages (U bzw. O) während des Betriebs des Regelsystems verändert oder daß ein Fremdkörper in den Stellbereich des Stellelementes (S) eingedrungen ist. Hierdurch kommt es zu einem Anschlagen des Stellelementes (S) an den Endanschlag (U bzw.O) oder gegen den Fremdkörper und zu einem Blockieren des Motors (M). Überschreitet dabei eine für die Motoransteuerung charakteristische Größe (hier die Pulsweite der Motoransteuerung (PWM)) einen vorgegebenen Grenzwert, so setzt die Adaptionsfunktion (A) über den Umschalter (US) den Sollwert (SW) am Reglereingang vom externen Sollwert (ESW) auf einen adaptierten Sollwert (ASW), welcher dem derzeitigen Istwert der Position des Stellelementes (S) zuzüglich eines von der Bestromungsrichtung (DIR) des Motors (M) abhängigen Offsetwertes (OS_SW) entspricht.It is now assumed that the position of at least one end stop (U or O) changed during the operation of the control system or that a Foreign matter has entered the setting range of the control element (S). hereby the actuator (S) strikes the end stop (U orO) or against the foreign body and blocking the motor (M). If this exceeds a characteristic characteristic of the motor control (here the Pulse width of the motor control (PWM)) a predetermined limit, so sets the adaptation function (A) via the changeover switch (US) the setpoint (SW) on Controller input from external setpoint (ESW) to an adapted setpoint (ASW), which is the current actual value of the position of the control element (S) plus one offset value dependent on the direction of current supply (DIR) of the motor (M) (OS_SW) corresponds.
Hierdurch wird also die Betätigung des Stellelementes (S) nun auf die erkannte Blockierposition begrenzt und durch den Offsetwert (OS_SW) wird das Stellelement (S) darüber hinaus noch von dem Endanschlag (U bzw. O) oder dem Hindernis, welches zum Blockieren führte, zurückgesetzt.As a result, the actuation of the control element (S) is now recognized Blocking position limited and by the offset value (OS_SW) the control element (S) also from the end stop (U or O) or the obstacle, which resulted in blocking, reset.
Entsprechend besitzt der Offsetwert (OS_SW) ein negatives Vorzeichen, wenn die Bewegung des Stellelementes (S) vor dem Blockieren in Richtung zu einem größerem Sollwert (SW) führte und ein positives Vorzeichen, wenn Bewegung des Stellelementes (S) in Richtung zu einem kleineren Sollwert (SW) führte.Accordingly, the offset value (OS_SW) has a negative sign if the Movement of the control element (S) before blocking in the direction of one larger setpoint (SW) and a positive sign when movement of the Control element (S) in the direction of a smaller setpoint (SW) led.
Das Umschalten auf den adaptierten Sollwert (ASW) beendet damit das Blockieren sofort nach dem Erkennen desselben, wodurch ein den Motor (M) und das Stellelement (S) schädigendes Dauerblockieren einfach und wirkungsvoll vermieden wird. Das Regelsystem gibt damit sozusagen einem erkannten Hindernis nach, so daß eine Notabschaltung im allgemeinen nicht erforderlich wird und das System weiterhin verfügbar bleibt. Switching to the adapted setpoint (ASW) ends the blocking immediately after recognizing the same, whereby one the engine (M) and that Control element (S) easily and effectively prevents damaging permanent blocking becomes. The control system gives way to a recognized obstacle, so to speak that an emergency shutdown is generally not required and the system remains available.
Das System verbleibt dabei nicht bei der Ansteuerung mittels eines adaptierten Sollwertes (ASW), sondern schaltet, allerdings frühestens nach einer vorgegebenen Endprellzeit, die Sollwertvorgabe auf das externe System (ES) zurück, sobald dieses einen Sollwert (ESW) vorgibt, welcher das Stellelement (S) in eine Position steuert, die weiter von der Blockierposition entfernt ist, als die durch den adaptierten Sollwert (ASW) vorgegebene Position.The system does not remain with the control by means of an adapted one Setpoint (ASW), but switches, but at the earliest according to a predetermined Final bounce time, the setpoint specification back to the external system (ES) as soon as this specifies a setpoint (ESW) which controls the control element (S) into a position, which is farther from the blocking position than that by the adapted setpoint (ASW) specified position.
Bei einem erneuten Anschlagen des Stellelementes (S) gegen den "unerwarteten" Endanschlag (U bzw. O) oder das Hindernis wiederholt sich die Umschaltung auf den adaptierten Sollwert.If the control element (S) strikes again against the "unexpected" End stop (U or O) or the obstacle, the switchover is repeated the adapted setpoint.
Es kann überdies vorgesehen werden, die erkannte Blockierposition, d. h. die Position (IW) des Stellelementes (S) im Moment des Blockierens als neuen Wert des oberen bzw. unteren Endanschlages (U bzw. O) zu speichern, so daß während des weiteren Betriebes des Regelsystems ein erneutes Anschlagen des Stellelementes (S) gegen das Hindernis vermieden wird. Allerdings bleibt in diesem Fall der Stellbereich des Stellelementes (S) auch nach einem eventuellen Fortfall des Hindernisses während des weiteren Betriebs des Regelsystems eingeschränkt. It can also be provided that the detected blocking position, i. H. the Position (IW) of the control element (S) at the moment of blocking as a new value of the upper or lower end stop (U or O) so that during the continued operation of the control system, a renewed striking of the Control element (S) against the obstacle is avoided. However, this remains Fall of the setting range of the control element (S) even after a possible elimination of the obstacle during the continued operation of the control system.
Verfahren zur Adaption des Sollwerts zur Regelung der Position eines motorisch betätigten Stellelementes, insbesondere einer motorisch betätigten Drosselklappe in einem Kraftfahrzeug
- A
- Adaptionsfunktion
- ASW
- adaptierter Sollwert
- DIR
- Bestromungsrichtung (Richtungssignal)
- ES
- externes System
- ESW
- externer Sollwert
- IW
- Position des Stellelementes (Istwert)
- M
- Motor
- O
- oberer Endanschlag
- P
- Istwertgeber (Potentiometer)
- PWM
- pulsweitenmoduliertes Signal (Reglerausgangsgröße)
- R
- Regler
- S
- Stellelement
- SW
- Sollwert
- U
- unterer Endanschlag
- US
- Umschalter
- A
- adaptation function
- ASW
- adapted setpoint
- TO YOU
- Current direction (direction signal)
- IT
- external system
- ESW
- external setpoint
- IW
- Position of the control element (actual value)
- M
- engine
- O
- upper end stop
- P
- Actual value transmitter (potentiometer)
- PWM
- pulse width modulated signal (controller output variable)
- R
- regulator
- S
- actuator
- SW
- setpoint
- U
- lower end stop
- US
- switch
Claims (7)
- Process for adapting the theoretical value (SW) for adjusting the position of a motor operated control element (S), particularly a motor operated throttle valve in a motor vehicle, characterised by the repeated sequence of the following steps of the processrecording the motor current or pulse width of the motor control (PWM) or the integral part of the regulator output quantity.recording the direction of flow (DIR) of the motor (M),recording of the position (IW) of the control element (S),comparing whether the amount of the motor current or pulse width of the motor control (PWM) or the internal part of the regulator output quantity exceeds a pre-set limit value,in which, in the case of an applicable comparative result, the theoretical value (SW) is set to adjust an external theoretical value (ESW) to an adapted theoretical value (ASW), which corresponds to the current actual value (IW) of the position of the control element (S) plus an offset value for the theoretical value (OS_SW), in which the prefix of the offset value (OS_SW) depends on the direction of flow (DIR) of the motor (M).
- Process according to claim 1, characterised by the fact that the amount of the offset value for the theoretical value (OS_SW) also depends on the direction of flow (DIR) of the motor (M).
- Process according to claim 1, characterised by the fact that the theoretical value (SW) is set on the adapted theoretical value (ASW) only under the additional condition that the difference in the position (IW) of the control element (S) of a stored or calculated value of the position of the end stop (U or O) of the relevant direction of flow (DIR) is smaller than a pre-set value.
- Process according to claims 1 and 3, characterised by the fact that the adapted theoretical value (ASW) is stored as the new position of the end stop (U or O) for the relevant direction of flow (DIR).
- Process according to claim 1, characterised by the fact that the pre-set limit value shows a hysteresis irrespective of the direction of flow (DIR) for the motor current or the pulse width of the motor control (PWM).
- Process according to claim 1, characterised by the fact that the theoretical value (SW) given to the regulator (R) by the adapted theoretical value (ASW) is put back to the external theoretical value (ESW) on expiry of a pre-set debounce time.
- Process according to claim 1, characterised by the fact that the theoretical value (SW) given to the regulator (R) by the adapted theoretical value (ASW) is put back to the external theoretical value (ESW), if the external theoretical value (ESW) corresponds to a position of the control element (S), which for the current direction of flow is further from the end stop (U or O) than the pre-set position given to the control element (S) by the adapted theoretical value (ASW).
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE19700210 | 1997-01-04 | ||
| DE19700210A DE19700210A1 (en) | 1997-01-04 | 1997-01-04 | Process for adapting the setpoint to regulate the position of a motor-operated control element |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| EP0852288A2 EP0852288A2 (en) | 1998-07-08 |
| EP0852288A3 EP0852288A3 (en) | 1999-11-03 |
| EP0852288B1 true EP0852288B1 (en) | 2003-05-21 |
Family
ID=7816867
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| EP97122229A Expired - Lifetime EP0852288B1 (en) | 1997-01-04 | 1997-12-17 | Method of adaptation of the set point to control the position of motorised actuator |
Country Status (3)
| Country | Link |
|---|---|
| EP (1) | EP0852288B1 (en) |
| DE (2) | DE19700210A1 (en) |
| ES (1) | ES2197291T3 (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10208993B4 (en) * | 2002-02-28 | 2008-01-03 | Audi Ag | Diagnosis of a motor control system with position feedback |
| DE10236078B4 (en) * | 2002-08-07 | 2013-08-29 | Robert Bosch Gmbh | Method, computer program, and control device for checking the movement of a movable against at least one mechanical stop element, and internal combustion engine |
| JP4350623B2 (en) * | 2004-09-13 | 2009-10-21 | 本田技研工業株式会社 | Control device |
| US7418944B2 (en) * | 2006-10-04 | 2008-09-02 | Aisan Kogyo Kabushiki Kaisha | Electronic throttle control apparatus |
| JP5184466B2 (en) * | 2009-08-28 | 2013-04-17 | 本田技研工業株式会社 | Electronic throttle control device |
| DE102012103464A1 (en) * | 2012-04-19 | 2013-10-24 | Brose Fahrzeugteile Gmbh & Co. Kommanditgesellschaft, Hallstadt | Actuator of an air passage device and method for controlling an actuator |
Family Cites Families (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3305725A1 (en) * | 1983-02-18 | 1984-08-23 | Bayerische Motoren Werke AG, 8000 München | DRIVE DEVICE FOR A FLAP IN MOTOR VEHICLES |
| GB2147432B (en) * | 1983-09-28 | 1987-01-14 | Aisin Seiki | Controlling movement |
| DE3608555A1 (en) * | 1986-03-14 | 1987-09-17 | Bosch Gmbh Robert | Method for limiting the current of an electric motor |
| US5229957A (en) * | 1986-04-17 | 1993-07-20 | Robert Bosch Gmbh | Method for tolerance compensation of a position transducer |
| DE4005255C2 (en) * | 1990-02-20 | 2002-11-28 | Siemens Ag | Circuit arrangement for operating an actuator |
| DE4040219A1 (en) * | 1990-12-15 | 1992-06-17 | Bosch Gmbh Robert | Measurement system for motor vehicle e.g. for accelerator pedal position - has variable end values in electronic control system for more comfortable and reliable operation |
| JP3084929B2 (en) * | 1992-06-01 | 2000-09-04 | 株式会社デンソー | Throttle reference opening detection device |
| DE4220246A1 (en) * | 1992-06-20 | 1993-12-23 | Bosch Gmbh Robert | Control device for vehicle throttle-setting mechanism - has position of throttle indicated by measuring element and stepping counter compared with accelerator pedal position for plausibility check |
| DE4242068A1 (en) * | 1992-12-14 | 1994-06-16 | Bosch Gmbh Robert | Control system for stepping motor throttle setting device in automobile - using disparity between actual position and position control valve to provide correction without feedback regulation |
| DE4303560B4 (en) * | 1993-02-08 | 2006-09-07 | Robert Bosch Gmbh | Method and device for controlling an adjusting device |
| JP2871993B2 (en) * | 1993-03-31 | 1999-03-17 | 日本電気株式会社 | Servo motor position control device |
| DE4315182A1 (en) * | 1993-05-07 | 1994-11-10 | Bosch Gmbh Robert | Electric motor drive |
| DE4430235B4 (en) * | 1993-08-26 | 2004-06-24 | Denso Corp., Kariya | Throttle valve control device for internal combustion engines |
| DE4420122B4 (en) * | 1994-06-09 | 2006-01-26 | Robert Bosch Gmbh | Method and device for determining an end position of an adjusting device in vehicles |
-
1997
- 1997-01-04 DE DE19700210A patent/DE19700210A1/en not_active Withdrawn
- 1997-12-17 EP EP97122229A patent/EP0852288B1/en not_active Expired - Lifetime
- 1997-12-17 DE DE59710121T patent/DE59710121D1/en not_active Expired - Fee Related
- 1997-12-17 ES ES97122229T patent/ES2197291T3/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| ES2197291T3 (en) | 2004-01-01 |
| DE19700210A1 (en) | 1998-07-09 |
| EP0852288A3 (en) | 1999-11-03 |
| DE59710121D1 (en) | 2003-06-26 |
| EP0852288A2 (en) | 1998-07-08 |
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