EP0974479A2 - Procedé pour la régulation motorisée d'un dispositif de réglage pour véhicule automobile - Google Patents

Procedé pour la régulation motorisée d'un dispositif de réglage pour véhicule automobile Download PDF

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Publication number
EP0974479A2
EP0974479A2 EP99250245A EP99250245A EP0974479A2 EP 0974479 A2 EP0974479 A2 EP 0974479A2 EP 99250245 A EP99250245 A EP 99250245A EP 99250245 A EP99250245 A EP 99250245A EP 0974479 A2 EP0974479 A2 EP 0974479A2
Authority
EP
European Patent Office
Prior art keywords
motor
signal
signal generator
speed
partitions
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.)
Granted
Application number
EP99250245A
Other languages
German (de)
English (en)
Other versions
EP0974479B1 (fr
EP0974479A3 (fr
Inventor
Peter Dipl.-Ing. Heinrich
Mike Dipl.-Ing. Eichhorn
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Brose Fahrzeugteile SE and Co KG
Original Assignee
Brose Fahrzeugteile SE and Co KG
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Priority claimed from DE19835091A external-priority patent/DE19835091C1/de
Application filed by Brose Fahrzeugteile SE and Co KG filed Critical Brose Fahrzeugteile SE and Co KG
Publication of EP0974479A2 publication Critical patent/EP0974479A2/fr
Publication of EP0974479A3 publication Critical patent/EP0974479A3/fr
Application granted granted Critical
Publication of EP0974479B1 publication Critical patent/EP0974479B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/60—Power-operated mechanisms for wings using electrical actuators
    • E05F15/603—Power-operated mechanisms for wings using electrical actuators using rotary electromotors
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/60—Power-operated mechanisms for wings using electrical actuators
    • E05F15/603—Power-operated mechanisms for wings using electrical actuators using rotary electromotors
    • E05F15/665—Power-operated mechanisms for wings using electrical actuators using rotary electromotors for vertically-sliding wings
    • E05F15/689—Power-operated mechanisms for wings using electrical actuators using rotary electromotors for vertically-sliding wings specially adapted for vehicle windows
    • E05F15/695—Control circuits therefor
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/60—Power-operated mechanisms for wings using electrical actuators
    • E05F15/603—Power-operated mechanisms for wings using electrical actuators using rotary electromotors
    • E05F15/665—Power-operated mechanisms for wings using electrical actuators using rotary electromotors for vertically-sliding wings
    • E05F15/689—Power-operated mechanisms for wings using electrical actuators using rotary electromotors for vertically-sliding wings specially adapted for vehicle windows
    • E05F15/697—Motor units therefor, e.g. geared motors
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/40—Safety devices, e.g. detection of obstructions or end positions
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME RELATING TO HINGES OR OTHER SUSPENSION DEVICES FOR DOORS, WINDOWS OR WINGS AND DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION, CHECKS FOR WINGS AND WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05Y2400/00—Electronic control; Power supply; Power or signal transmission; User interfaces
    • E05Y2400/10—Electronic control
    • E05Y2400/30—Electronic control of motors
    • E05Y2400/32—Position control, detection or monitoring
    • E05Y2400/334—Position control, detection or monitoring by using pulse generators
    • E05Y2400/336—Position control, detection or monitoring by using pulse generators of the angular type
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME RELATING TO HINGES OR OTHER SUSPENSION DEVICES FOR DOORS, WINDOWS OR WINGS AND DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION, CHECKS FOR WINGS AND WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05Y2400/00—Electronic control; Power supply; Power or signal transmission; User interfaces
    • E05Y2400/10—Electronic control
    • E05Y2400/30—Electronic control of motors
    • E05Y2400/32—Position control, detection or monitoring
    • E05Y2400/334—Position control, detection or monitoring by using pulse generators
    • E05Y2400/342—Pulse count value setting or correcting
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME RELATING TO HINGES OR OTHER SUSPENSION DEVICES FOR DOORS, WINDOWS OR WINGS AND DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION, CHECKS FOR WINGS AND WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05Y2400/00—Electronic control; Power supply; Power or signal transmission; User interfaces
    • E05Y2400/10—Electronic control
    • E05Y2400/50—Fault detection
    • E05Y2400/502—Fault detection of components
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME RELATING TO HINGES OR OTHER SUSPENSION DEVICES FOR DOORS, WINDOWS OR WINGS AND DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION, CHECKS FOR WINGS AND WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05Y2900/00—Application of doors, windows, wings or fittings thereof
    • E05Y2900/50—Application of doors, windows, wings or fittings thereof for vehicles
    • E05Y2900/53—Application of doors, windows, wings or fittings thereof for vehicles characterised by the type of wing
    • E05Y2900/55—Windows
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S388/00—Electricity: motor control systems
    • Y10S388/90—Specific system operational feature
    • Y10S388/902—Compensation

Definitions

  • the invention relates to a control method Motorized adjustment devices in motor vehicles according to the preamble of claim 1 or claim 13.
  • the adjustment devices can be for example, a window regulator, a sunroof adjustment or act as a seat adjuster.
  • the direction of rotation sensor consists of a the drive shaft connected magnetic disc with a north and South pole and two at an angle of 90 ° around the magnetic disc axis staggered Hall sensors that around emit offset sensor signals for a quarter period which the direction of rotation and thus the direction of movement Window pane is determined.
  • the position sensor consists of an annular, with the Drive shaft connected to alternating multipole magnets magnetized magnetic poles and two Hall sensors, which in the Half a magnetic pole spaced from each other are.
  • the changes in magnetization detected by the Hall sensors with a rotation of the drive and thus the ring-shaped Multipole magnets are counted as a counter together with the sensor signals of the direction of rotation sensor supplied, the counts depending on the direction of rotation Drive can be counted up or down and thus the Specify the respective position of the window pane.
  • the well-known drive control and anti-trap device needed to record the speed, direction of movement and position of the window pane two magnetic disks as a signal generator with four Hall sensors, the one for Triggering of the anti-trap criterion by reducing the speed of the drive provided signal generator with a Pole change per revolution has only a low resolution.
  • the object of the present invention is a method for controlling and regulating motor-driven adjustment devices in motor vehicles to create one exact detection of position, speed or acceleration a drive with high resolution of the measured values, without particularly high accuracy requirements for the signal transmitter be put.
  • the method according to the invention ensures a high level Resolution and accuracy of the measured values for recording the Position, speed or acceleration of a drive.
  • partition-related determined and in the signal evaluation are taken into account, the measurement errors caused by production-related inaccuracies of the signal generator be greatly reduced or canceled so that use of signal transmitters without particularly high quality requirements and thus of less exact components in the Signal generation and detection is possible.
  • High resolution devices can therefore be used with little equipment Position, speed, speed or Acceleration controls can be realized.
  • the method according to the invention can be carried out using either electronic error correction as well as circuitry be carried out, for electronic error correction only a single sensor is needed.
  • the tolerance-related characteristic properties of the signaling partitions preferably in a test movement of the signal generator determined.
  • an adjustment device arise if, for example regulates the speed of a seat adjustment device shall be.
  • the motor next to the setting a constant speed (target speed) at the operating point the motor also has a smooth, vibration-free start-up Driving down the seat is important.
  • the working point of the The motor of the seat adjustment device is taken into account the resonance frequencies of the drive motor, Adjustment gear and mechanical seat components existing Seat unit and the vehicle body set.
  • requirements regarding speed of the seat to be adjusted and with regard to a reserve power reserve get noticed.
  • an electric seat adjustment device When starting and stopping an electric seat adjustment device must not disrupt the occupants' movements or noises from starting or stopping the Occur seat. In addition, is a gentle on materials Wear-free operation of the seat adjustment device as possible desirable.
  • the object is a method for controlling motor-driven Adjustment devices in motor vehicles to create the on the one hand a precise detection of the position, speed and possibly acceleration of a drive at high Resolution of the measured values enables and on the other hand smooth, even start and stop of the adjustment device allowed.
  • the correction values at least during operation of the drive motor be adjusted as long as not a given one Termination criterion is met and that during the determination and adjustment of the correction values for intermediate results of these values and to define controller parameters of the control algorithm can be used.
  • the control of the drive motor can take further process steps insert early after it has been operated. It is especially not necessary with the beginning of the scheme wait until all correction values are determined have been used in the evaluation of the output signals of the Detector must be considered. Rather be here are the early results of these Correction values used. This will start the seat the deviation of the actual speed of the drive motor the adjustment device of the desired Speed minimized.
  • the adjustment of the correction values provided according to the invention means that the correction values have changed are achieved as not a certain termination criterion with which the adjustment of the correction values has been completed becomes.
  • the correction values successively determined with increasing accuracy until a predetermined accuracy of the correction values is reached.
  • this should also include the case be in which the adjustment of the correction values during the total duration of activation of the adjustment device he follows.
  • This corresponds to the termination criterion "maximum achievable accuracy ", i.e. the adjustment of the structural values is continued here for accuracy still increase.
  • you could use this termination criterion also define as "canceling the adjustment of the Correction values at the end of the adjustment movement ".
  • a permanent improvement in the accuracy of the correction values is without further ado according to the teaching claimed here possible because the associated longer duration at early determination of the correction values the regulation is not prevented. Rather, they become Regulation also the provisional, less precise correction values used. Thus, the adjustment of the correction values especially after reaching the working point of the drive motor are continued.
  • the correction values are preferably determined here automatically every time the engine of the Adjustment drive so that changes due to wear, Environmental influences or the like decrease, always up to date can be taken into account. On the other hand, it is also possible, the correction values in certain, predetermined redetermine time intervals and in the meantime work with saved correction values.
  • the control algorithm itself can for example consist of one Recursively constructed, time-discrete PID controller with one Manipulated variable limitation and back calculation exist; such a Controller requires a set of three control parameters.
  • the controller parameters newly set i.e. it will be a new one Set of controller parameters selected.
  • the controller parameters selected as when starting the drive so that after reaching the working point of the engine only even smaller fluctuations in the speed can be tolerated than when starting the engine.
  • the controller parameters only then be reset if both the working point of the Motors also achieved the adjustment of the correction values is completed.
  • the resetting means the controller parameters after reaching the operating point of the engine that this fixing is final and no further changes were made to the controller parameters as long as the engine is at its operating point with its Target speed works. Even if after another Variant of the invention even after reaching the working point the correction values of the motor without limitation be further adjusted, so it is generally advantageous after reaching the working point with new, work harder controller parameters.
  • the speed preferably by averaging over several each representing the speed of the engine Signals determined.
  • moving averages are used.
  • the method according to claim 13 can in particular with a signal generator to be executed that has a partitioning has, the correction values for compensation of tolerances that result from this partitioning are.
  • a signal generator is a multipole magnet that is connected to the drive shaft of the motor of the adjusting device connected and moves with it. Tolerances can here, on the one hand, in the expansion of the individual segments of the multipole magnet occur and on the other also to different Switching thresholds of the north-south and the South-north transitions of the multipole magnet his. The latter are particularly popular with digitization of the signal generated by the signal generator.
  • the correction values are used in such a signal generator So on the one hand, production-related fluctuations in the Compensate for the expansion of the individual partitions of the signal generator, and secondly to eliminate inaccuracies referring to the transitions between the individual partitions of the signal generator.
  • the accuracy of the speed information can be increased. So in the case of a multipole magnet even when averaging over one north-south and one South-north transition to different switching thresholds at least considerably reduced inaccuracy become. If necessary, however, the averaging can also over a larger number of values, e.g. over four or eight values.
  • the present invention is independent of which Principle of the auto switch that operates the rotation signal representing the motor.
  • the signal generator can in particular be based on a magnetic, inductive, capacitive, resistive or optical principle work.
  • a magnetic signal generator Multipole magnet in question by one together with the Motor drive shaft rotating, multi-pole magnetic disc is formed.
  • the one generated by the multipole magnet magnetic signal can be done in a known manner Detect Hall sensors. Both when applying the magnetic as well as inductive or capacitive
  • gear discs are also produced one representing the rotation of the drive shaft Signals in question.
  • optical signals the one Finally, can represent rotary motion of the motor a signal transmitter provided with slots may be provided, which is then transparent to an optical signal, if one of the slots is between a light source and a receiver assigned to the light source.
  • the signal generator can also be part of the electromechanical System of the drive motor of the adjusting device be such as when using the commutator motor collector, of the coil system of a commutatorless motor or the piezo element of a piezo motor as a signal generator.
  • the motor current itself can also act as a signal generator serve if this for determining the speed contains the necessary information, such as for commutator motors.
  • a signal generator 1 is shown in the form of a multi-pole, circular magnetic disk which is arranged on the drive shaft 10 of a rotating drive of an adjusting device in a motor vehicle and which has a total of six adjacent partitions 11 to 16 in the form of circular segments, each circular segment 11 to 16 a manic north pole N 1 , N 2 , N 3 or a magnetic south pole S 1 , S 2 , S 3 is assigned.
  • a Hall sensor 2 is arranged as a detector, which, in a known manner, generates an output signal U 1 , which represents the rotary movement of the drive shaft 10, on the basis of the magnetic signal generated by the signal transmitter 1 , which is generated by an electronics unit (not shown in FIG. 1) the adjustment device is fed for evaluation.
  • the position, the speed and the acceleration of the drive shaft 10 can be determined in a known manner by means of the electronics unit.
  • the direction of rotation of the drive shaft 10 can also be determined in a simple manner.
  • methods for determining the direction of rotation using only one sensor are also known.
  • Such signal transmitters and associated sensors for determination the position, speed, direction of rotation and acceleration of a drive motor are known and therefore need not to be described in more detail.
  • the tolerance-related characteristic properties of the partitions 11 to 16 of the signal transmitter 1 and the transitions between the individual partitions 11 to 16 are preferably determined after each start of the drive of the seat adjustment device. On the basis of this, a correction value is determined for each partition 11 to 16 of the signal generator 1 and linked to the output signals U 1 , U 2 of the Hall sensors 2 and 3, respectively. These correction values are assigned to partitions 11 to 16 and stored accordingly. When the drive or motor continues to operate, each time the speed is measured by means of the signal generator 1 and the Hall sensors 2, 3, the respective measured value is linked to the associated stored correction value, as a result of which the tolerance-related measurement errors are considerably reduced.
  • a test movement of the signal generator to determine the tolerance-related characteristic properties of the signaling partitions as part of an electronic error correction can with a rotating drive, which according to FIG 1 connected to a circular disk-shaped signal generator 1 is in one or more revolutions of the drive and signal generator 1 for detecting the individual sectors or circle segments 11 to 16, with a longitudinally adjustable Signalers in the travel of a straight line or predetermined curved route to capture the individual Route subdivisions or the like exist.
  • the test movement preferably consists of a predetermined one Movement section of the signal generator with essentially constant acceleration and / or constant speed, so that due to defined drive conditions, for example, by recording the time between successive ones Signals, their relationship to a movement period, for example one revolution, and thus whose share in the period can be determined, from which to a concrete value, for example an angle that individual partitions can be closed.
  • the tolerance-related characteristic properties of the Signal generator partitions 11 to 16 according to FIG. 1 preferably determined after each start of the drive. Is however, ensures that it is an intrinsic system acts (i.e. when securing a permanently unique Assignment between signaling partitions and sensor signals), so the tolerance-related characteristic properties the signaling partitions 11 to 16 once are recorded and saved and thus permanent error correction guarantee.
  • the tolerance-related characteristic Properties of auto switch partitions 11 through 16 be adaptively adapted in predetermined test cycles means after an initial determination of the tolerance-related characteristic properties of the signaling partitions 11 to 16 after a predetermined number of operating cycles a test cycle is provided, its correction values replace the original correction values or for example adjust by averaging.
  • the electronic error correction provides in particular that a correction value is determined for each signal transmitter partition 11 to 16 and linked to the sensor signals U 1 .
  • a correction value for each individual partition or each individual sector 11 to 16 of the signal generator is determined in a measurement cycle and assigned to this partition 11 to 16.
  • the measurement value is linked to the stored correction value, that is to say multiplied, added, divided or subtracted, for example, for each measurement of the speed with a signal generator partition 11 to 16.
  • the measurement error which is connected to the individual signal transmitter partitions 11 to 16, is greatly reduced.
  • the accuracy of the measured value then only depends on the processing range of the numbers in the calculation method for determining the speed or acceleration.
  • rotating signal transmitters 1 with Partitions 11 to 16 in the form of circular segments can be in simple, immediately corrected angle of rotation of the partitions 11 to 16 can be determined that the actual Extension of the individual signaling partitions 11 to 16 correspond on the ring magnet.
  • T beginn represents the duration of a (first) complete revolution of the signal generator, in which first the first, then the second, third, fourth, fifth, sixth, seventh and finally the eighth signal generator partition pass the assigned sensor, i.e.
  • T end represents the duration of a complete revolution of the signal generator, which is shifted by the time interval dT 1 with respect to the first-mentioned rotation, so that first the second, then the third, fourth, fifth, sixth, seventh, eighth and finally the first signal generator partition assigned sensor, so in the order P2, P3, P4, P5, P6, P7, P8, P1.
  • first complete revolution of the signal generator should not suggest that it is first turn at all (after commissioning the Drive). It's all about one Ranking of the individual successive revolutions establish by making a certain revolution first complete revolution is referred to; the further turns are then called the second turn, third turn etc.
  • the corrected (actual) angular expansion ⁇ i of any partitions of the signal generator can be determined by first measuring the time intervals during which the individual partitions pass the assigned sensor during a (first) revolution of the signal generator, and T beginning is determined therefrom . The time interval during which the first partition of the signal generator passes the sensor during the immediately following (second) revolution is then measured. This leads to the anf with the above equations to calculate T end using T. The correct (actual) angular extent of the corresponding partition of the signal generator finally results from T beginn and T end .
  • the termination criterion for ending the determination of the characteristic properties of the Auto switch partition is met when the correction values or corrected auto switch partitions in at least two consecutive cycles within one predetermined tolerance range and / or the sum the correction values or corrected partitions within one cycle (apart from tolerable deviations) is equal to the value of a period of the signal generator.
  • the second case is just a test cycle, i.e. one revolution of the drive shaft (apart from the possible need after completing this turn even more zeint intervals to determine the angular extent of the individual partitions) required if the sum of the corrected or normalized Sensor signals for example at an angle of 360 ° a full revolution of the circular signal generator corresponds.
  • Other control procedures are of course also possible possible, for example in such a way that the sum of all correction factors corresponds to a specified value.
  • Another variant for determining the termination criterion for the correction procedure is a sliding Averaging or a combination of the two Variants presented above, i.e. in every test cycle must be the sum of the correction values or corrected Auto switch partitions within a cycle equal to that Value of a period of the signal generator and the correction values or corrected signaling partitions in succession Cycles must be within a specified tolerance range lie.
  • the algorithm uses the correction values to calculate the exact speed values for the corresponding signal generator partitions, i.e. in the case of a circular disk-shaped signal transmitter the exact speed values for the individual sectors.
  • FIG. 2 shows in a speed-time diagram the time course of a constantly accelerated adjusting device, in which the tolerance-related characteristic properties of the signal transmitter partitions are determined in the time period between t 1 and t 2 , while in a subsequent time section t 4 to t 5 of the same A comparison with the sensor output signals is carried out during the course of the adjustment device or its drive.
  • FIG. 3 shows in a speed-time diagram the time course of a motor-driven adjusting device moving at constant speed, in which the tolerance-related characteristic properties of the signaling partitions are also determined in the period between t 1 and t 2 , while in the period between t 4 and t 5 a corresponding comparison is made.
  • Figure 4 is a temporal representation of the speed of a motor-driven adjusting device which is moved further up to the time t 3 with constant acceleration until reaching the rated rotational speed n rated or nominal speed is accelerated and then at a constant speed or constant nominal speed becomes.
  • the tolerance-related characteristic properties of the signal transmitter partitions are determined in the time period between t 1 and t 2 during startup, ie constant acceleration of the motor-driven adjustment device, during the adjustment in the time period between t 4 and t 5 after the nominal speed has been reached he follows.
  • a circuit-technical variant of the method according to FIG. 5 requires two sensors 2, 3 assigned to the six-pole signal transmitter 1 and spaced apart along the path of movement of the signal transmitter. Due to manufacturing-related inaccuracies, the six sectors of the six-pole magnet are not of the same size and may not be magnetized to the same extent, so that at a rotation of the magnetic disc 1 at constant speed or constant acceleration, the Hall sensors 2, 3 detect different measuring times for the individual sectors.
  • the rising and / or falling edges of the sensor signals U 1 , U 2 of the two sensors 2, 3 triggered by the partitioning of the signal transmitter 1 are detected and the time difference between signals of the sensor signals U 1 , assigned to the same partition of the signal transmitter 1 , U 2 determined and evaluated to determine the tolerance-related characteristic properties of the signal generator partitions 11 to 16.
  • the speed of the signal generator 1 is therefore determined by that the time interval is measured in which a certain point of the signal generator 1, namely an N-S or an S-N transition in succession the two sensors 2, 3 happens.
  • a certain point of the signal generator 1 namely an N-S or an S-N transition in succession the two sensors 2, 3 happens.
  • the detection of the time difference between the increasing or falling edges of the two sensor output signals eliminates different lengths of auto switch partitions or different angular sections of the signal generator sectors and thus eliminates manufacturing inaccuracies of the Signal generator.
  • the distance a between the two sensors any along the path of the signal generator 1 be, for example in a circular disk-shaped signal generator form an angle of 90 ° between sensors 2, 3, however, fall at a distance greater than the extent of the smallest partition or a multiple of which is speed or acceleration changes of the signal generator 1 is more important, so that the limits the measurement accuracy is lower.
  • the sensors 2, 3 for a current speed determination from the individual signaling partitions instead averaging at a distance a from one another arranged, which is preferably less than or equal to the smallest Partition of the signal generator 1 is.
  • Figure 6 shows the sensor output signals of the embodiment from Figure 5 and illustrates the different long time intervals between the rising and falling Flanks of the, for example, the unequal Sectors 11 and 12 of the magnetic disk 1 triggered signals. If the time difference T between the increasing or falling edges of the sensor output signals of the two Hall sensors 1, 2 determined, so are the by unequal Lengths of the individual sectors differed Pulse lengths when capturing the individual sectors eliminated.
  • the correction values are preferred can be determined recursively, with the termination criterion for The determination of the correction values is then completed is when the correction values are in at least two consecutive Cycles within a specified tolerance range lie and / or the sum of the corrected partitions of the signal generator 1 during a cycle within a predetermined Tolerance range around the value of a period of the Signal generator 1 is (i.e. the sum of the angular dimensions of the individual segments of the magnetic disc except for permissible Deviations is equal to 360 °).
  • n AP also designates the target speed of the engine at its operating point and t AP the point in time up to which the engine is to be started up to its target speed.
  • the line labeled S in the diagram according to FIG. 7 shows the target engine speed at every point in time t a defined movement of the seat adjustment device.
  • a first time period (up to time t AP ), the motor is to be started up with a constant acceleration (on a "ramp") up to its target speed at the operating point.
  • the actual adjustment movement should then be carried out at a constant speed.
  • the motor is then shut down again with a constant negative slope, i.e. along a descending ramp.
  • the task now is to determine the actual speed, which in the diagram of FIG. 7 by the designated T Line is represented to regulate such that the Deviations of the actual speed from the target speed are as low as possible.
  • tolerance-related characteristic Values of the signal generator are determined and correction values from them be determined when evaluating the output signals be taken into account and at least as long be adjusted until a predetermined termination criterion is fulfilled, and that on the other hand already during the Determination and adjustment of the correction values for intermediate results of these values for determining controller parameters of the Control algorithm can be used. Because of the latter Measure can already start controlling the speed, before the correction values were determined with sufficient accuracy. In particular (as soon as the first interim results of the Correction values were determined) already when starting the Motors along the rising ramp a regulation of the Speed take place. This will preferably be comparative "soft" controller parameters used, the larger Allow the speed to fluctuate around the setpoint. After reaching the engine working point and after The termination criterion will then be met accordingly "Harder" controller parameters are used to control the speed, so that the speed then only slightly the target speed may deviate.
  • FIGS. 1, 5 and 7 embodiment shown With regard to further details and possible variants when regulating the drive on the relevant For explanations refer to the introduction to the description. These can be easily referred to in FIGS. 1, 5 and 7 embodiment shown.
EP99250245A 1998-07-24 1999-07-22 Procedé pour la régulation motorisée d'un dispositif de réglage pour véhicule automobile Expired - Lifetime EP0974479B1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
DE19835091 1998-07-24
DE19835091A DE19835091C1 (de) 1998-07-24 1998-07-24 Verfahren zur Steuerung und Regelung motorisch angetriebener Verstelleinrichtungen in Kraftfahrzeugen
DE19916400A DE19916400C1 (de) 1998-07-24 1999-04-06 Verfahren zur Regelung motorisch angetriebener Verstelleinrichtungen in Kraftfahrzeugen
DE19916400 1999-04-06

Publications (3)

Publication Number Publication Date
EP0974479A2 true EP0974479A2 (fr) 2000-01-26
EP0974479A3 EP0974479A3 (fr) 2000-02-09
EP0974479B1 EP0974479B1 (fr) 2003-08-13

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Application Number Title Priority Date Filing Date
EP99250245A Expired - Lifetime EP0974479B1 (fr) 1998-07-24 1999-07-22 Procedé pour la régulation motorisée d'un dispositif de réglage pour véhicule automobile

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Country Link
US (1) US6225770B1 (fr)
EP (1) EP0974479B1 (fr)
DE (2) DE19916400C1 (fr)
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EP1148320A3 (fr) * 2000-04-19 2009-10-21 National Instruments Corporation Dispositif et procédé d'analyse des signaux générés par des machines rotatives
US8433538B2 (en) 2007-09-28 2013-04-30 Continental Automotive Gmbh Method and device for balancing production-related inaccuracies of the magnetic wheel of an electromotive drive of a vehicle
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Publication number Priority date Publication date Assignee Title
EP1148320A3 (fr) * 2000-04-19 2009-10-21 National Instruments Corporation Dispositif et procédé d'analyse des signaux générés par des machines rotatives
EP1394345A2 (fr) * 2002-08-26 2004-03-03 Brose Schliesssysteme GmbH & Co. KG Serrure pour véhicule automobile
EP1394345A3 (fr) * 2002-08-26 2007-08-01 Brose Schliesssysteme GmbH & Co. KG Serrure pour véhicule automobile
DE102005019515B4 (de) 2004-05-15 2015-06-11 Schaeffler Technologies AG & Co. KG Verfahren zum Messen der Drehzahl eines EC-Motors
DE102005019515C5 (de) * 2004-05-15 2017-11-16 Schaeffler Technologies AG & Co. KG Verfahren zum Messen der Drehzahl eines EC-Motors
DE102004039739A1 (de) * 2004-08-17 2006-02-23 Zf Friedrichshafen Ag Verfahren und System zur Messung der Drehzahl einer Welle
DE102006019871A1 (de) * 2006-04-28 2007-10-31 Audi Ag Sitz für ein Kraftfahrzeug
DE102006019871B4 (de) * 2006-04-28 2008-01-31 Audi Ag Sitz für ein Kraftfahrzeug
DE102007030432A1 (de) * 2007-06-29 2009-01-02 Continental Teves Ag & Co. Ohg Verfahren zur Drehrichtungserkennung eines Encoders
DE102007030432B4 (de) 2007-06-29 2023-03-16 Continental Automotive Technologies GmbH Verfahren zur Drehrichtungserkennung eines Encoders
US8433538B2 (en) 2007-09-28 2013-04-30 Continental Automotive Gmbh Method and device for balancing production-related inaccuracies of the magnetic wheel of an electromotive drive of a vehicle
DE102015216616A1 (de) * 2015-08-31 2017-03-02 Bayerische Motoren Werke Aktiengesellschaft Fehlerkompensation von Rotorwinkelsignalen für elektrische Antriebe

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DE19916400C1 (de) 2000-05-25
EP0974479B1 (fr) 2003-08-13
EP0974479A3 (fr) 2000-02-09
DE59906568D1 (de) 2003-09-18
ES2205707T3 (es) 2004-05-01
US6225770B1 (en) 2001-05-01

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