EP0974479B1 - 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
EP0974479B1
EP0974479B1 EP99250245A EP99250245A EP0974479B1 EP 0974479 B1 EP0974479 B1 EP 0974479B1 EP 99250245 A EP99250245 A EP 99250245A EP 99250245 A EP99250245 A EP 99250245A EP 0974479 B1 EP0974479 B1 EP 0974479B1
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EP
European Patent Office
Prior art keywords
signal transmitter
motor
speed
signal
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.)
Expired - Lifetime
Application number
EP99250245A
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German (de)
English (en)
Other versions
EP0974479A2 (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
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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 ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
    • E05Y2400/10—Electronic control
    • 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 ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
    • E05Y2400/10—Electronic control
    • 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 ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2400/00—Electronic control; Electrical power; 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 ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2900/00—Application of doors, windows, wings or fittings thereof
    • E05Y2900/50—Application of doors, windows, wings or fittings thereof for vehicles
    • E05Y2900/53—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 14.
  • the adjustment devices can for example, a window regulator, a sunroof adjustment or act as a seat adjuster.
  • the direction of rotation sensor consists of a magnetic disk connected to the drive shaft with a Nordund 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 Distance of half a magnetic pole to 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 counting pulses depending on the direction of rotation of the Drive can be counted upwards or downwards 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 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.
  • Is therefore used to increase the resolution when recording the speed of an electric motor is a multipole magnet as a signal generator used, the problem arises that with rotary magnets with more than two poles the distribution of the Pole on the magnet is not exactly symmetrical, but has an error of approximately 10% per sector.
  • This error rate applies generally to all signal generators for speed detection sensors, that are not manufactured precisely enough can and with an optoelectric, inductive, capacitive Work the sensor etc. as a signal receiver.
  • the object of the present invention is a method for the control and regulation of 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.
  • the tolerances in the subject of the present invention partition-related and in 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 generators without particularly high quality requirements and thus of less exact components in the Signal generation and detection is possible.
  • the manufacturing accuracy i.e. the sector size and magnetization strength of electromagnetic signal transmitters in connection with magnetosensitive components, such as for example detectors in the form of Hall sensors.
  • magnetosensitive components such as for example detectors in the form of Hall sensors.
  • at Signalers can tolerances in the partitions exist for detectors (in the form of one or more Sensors) in electrical tolerances, for example the hysteresis of the switching thresholds for Hall sensors.
  • the method according to the invention can be done by means of 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, it is gentle on the material 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.
  • At least the correction values 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 determine controller parameters of the control algorithm can be used.
  • the control of the drive motor can carry out further procedural steps insert early after its actuation. It is especially not necessary with the start of the scheme to 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 the early results of these Correction values used. This will start of 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 reaching 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.
  • 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, always current 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 stored 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 reassessment 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 adapted, so it is generally advantageous after reaching the working point with new, to 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, the 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 along 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 Drive shaft of the motor rotating, multi-pole magnetic disc is formed.
  • the one generated by the multipole magnet magnetic signal can be in a known manner Detect Hall sensors. Both when applying the magnetic as well as inductive or capacitive
  • gear disks 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 collector of a commutator motor, 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, for example for commutator motors.
  • a signal generator 1 is shown in the form of a multi-pole, circular magnetic disc 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 generates in a known manner, based on the magnetic signal generated by the signal transmitter 1, an output signal U 1 representing the rotary movement of the drive shaft 10, 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.
  • the tolerance-related characteristic properties of the partitions 11 to 16 of the signal generator 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 transmitter 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 that 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 can be 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, the means after an initial determination of the tolerance-related characteristic properties of the signaling partitions 11 to 16 becomes 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, for a correction value to be determined for each signal transmitter partition 11 to 16 and to be linked with 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, for example, multiplied, added, divided or subtracted, 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 and T end respectively represent the time duration of a complete revolution of the signal generator starting at the first signal generator partition and the second signal generator partition, which are offset from one another by the time interval dT 1 .
  • 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. in the order P1 , P2, P3, P4, P5, P6, P7, P8.
  • T end represents the duration of a complete revolution of the signal generator, which is shifted by the time interval dT 1 compared to the first 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.
  • dT 9 represents the time interval during which the first signal generator partition P1 passes the assigned sensor again immediately after a (first) complete revolution of the signal generator. That is, T end can be determined from T beginn by subtracting the contribution dT 1 , which originates from the first partition P1 of the signal generator during said first rotation, from T beginn (which represents the period of the first complete revolution of the signal generator), and instead, the time interval dT 9 is added, during which the first partition P1 passes the signal generator in the immediately following (second) revolution.
  • 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 partition 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) rotation 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 disk-shaped signal transmitter equivalent.
  • 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 predetermined 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 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.
  • Figure 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 time period between t 1 and t 2 , while in the time 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 period between t 1 and t 2 during startup, ie constant acceleration of the motor-driven adjustment device, during the adjustment in the 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 movement path 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 with 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 generator 1 are recorded and the time difference between signals of the sensor signals U 1 , U 2 assigned to the same partition of the signal generator 1 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 thus 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 Auto switch.
  • 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, for example, the unequal Sectors 11 and 12 of the magnetic disk 1 triggered signals.
  • 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
  • the 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 designate the target speed of the motor at its working point and tAp the point in time until which the motor 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.

Claims (30)

  1. Procédé de régulation de dispositifs de réglage, entraínés par un moteur, dans des véhicules automobiles, selon lequel:
    a) un générateur de signaux (1) couplé au moteur et divisé en sections, produit un signal représentant la vitesse de rotation du moteur,
    b) un détecteur (2, 3) associé au générateur de signaux détecte ce signal et produit un signal de sortie correspondant, et
    c) une unité de régulation évalue le signal de sortie et règle la vitesse de rotation du moteur en fonction du signal de sortie,
    caractérisé en ce que les propriétés caractéristiques, conditionnées par les tolérances, des sections (11 à 16) du générateur de signaux sont déterminées pendant la phase de démarrage du moteur et sont prises en compte lors de l'évaluation des signaux de sortie (U1 et U2).
  2. Procédé de régulation de dispositifs de réglage entraínés par un moteur dans des véhicules automobiles, selon la revendication 1, selon lequel un générateur de signaux couplé au moteur et divisé en sections produit un signal représentant la vitesse de rotation du moteur, un détecteur associé au générateur de signaux détecte ce signal et produit un signal de sortie correspondant et une unité de régulation évalue le signal de sortie et règle la vitesse de rotation en fonction du signal de sortie, l'étendue angulaire (αi) des sections (11 à 16) du générateur de signaux étant déterminée en tant que propriétés caractéristiques, conditionnées par les tolérances, des sections (11 à 16) du générateur de signaux et étant prise en compte lors de l'évaluation des signaux de sortie (U1, U2).
  3. Procédé selon la revendication 1 ou 2, caractérisé en ce qu'une étendue angulaire effective corrigée αi de la i-ème section du générateur de signaux est déterminée conformément à: αi = Ω * dTi + (Ω'/2) * (dTi)2 Ω représentant la vitesse angulaire du mouvement de rotation du moteur et Ω' sa dérivée dans le temps, c'est-à-dire son accélération angulaire, et dTi désignant l'intervalle de temps, qui est nécessaire pour une rotation du générateur de signaux sur l'angle αi.
  4. Procédé selon l'une des revendications 1 à 3, caractérisé en ce que les propriétés caractéristiques, conditionnées par les tolérances, des sections (11 à 16) du générateur de signaux sont déterminées dans un déplacement de test du générateur de signaux (1).
  5. Procédé selon la revendication 2, 3 ou 4, caractérisé en ce que le déplacement de test est constitué par une section de déplacement prédéterminée du générateur de signaux (1) avec une accélération essentiellement constante et/ou une vitesse essentiellement constante.
  6. Procédé selon l'une des revendications précédentes, caractérisé en ce qu'après la détermination des propriétés caractéristiques, conditionnées par les tolérances, des sections (11 à 16) du générateur de signaux, un équilibrage des signaux de sortie (U1, U2) lors du même déplacement du dispositif de réglage ou de son dispositif d'entraínement est réalisé lors d'un déplacement de test du générateur de signaux (1).
  7. Procédé selon l'une des revendications précédentes, caractérisé en ce que les propriétés caractéristiques, conditionnées par des tolérances, des sections (11 à 16) du générateur de signaux sont déterminées après chaque démarrage du dispositif d'entraínement.
  8. Procédé selon l'une des revendications 1 à 7, caractérisé en ce que les propriétés caractéristiques, conditionnées par les tolérances, des sections (11 à 16) du générateur de signaux sont déterminées et mémorisées une seule fois.
  9. Procédé selon la revendication 8, caractérisé en ce que les propriétés caractéristiques, conditionnées par les tolérances des sections (11 à 16) du générateur de signaux sont adaptées d'une manière adaptative, dans des cycles de test prédéterminés.
  10. Procédé selon l'une des revendications précédentes, caractérisé en ce que les différentes valeurs de correction sont déterminées par le fait que la somme des temps des différentes sections (11 à 16) du générateur de signaux est mesurée pendant un cycle de test et que lors d'une mesure ultérieure, le temps de la première section (11) du générateur de signaux est en outre mesuré pendant le cycle de test immédiatement suivant.
  11. Procédé selon l'une des revendications précédentes, caractérisé en ce que la détermination des propriétés caractéristiques, conditionnées par les tolérances, des sections (11 à 16) du générateur de signaux est terminée lorsque les valeurs de correction ou les sections corrigées (11 à 16) du générateur de signaux sont situées, pendant au moins deux cycles successifs, à l'intérieur d'une plage prédéterminée de tolérances et/ou que la somme des valeurs de correction ou des sections corrigées (11 à 16) du générateur de signaux possède à l'intérieur d'un cycle une valeur égale à celle d'une période du générateur de signaux (1).
  12. Procédé selon la revendication 1, comportant deux détecteurs associés au générateur de signaux, caractérisé en ce que les différences de temps entre les flancs montants et/ou retombants des signaux de sortie (U1, U2) des deux détecteurs (2, 3) sont mesurées lors d'un déplacement de test du générateur de signaux (1) et sont évaluées pour la détermination des propriétés caractéristiques, conditionnées par les tolérances, des sections (11 à 16) du générateur de signaux.
  13. Procédé selon la revendication 12, caractérisé en ce que les détecteurs (2, 3) sont disposés le long de la trajectoire de déplacement du générateur de signaux (1) à une distance réciproque constante, qui est inférieure ou égale à la plus petite section (11 à 16) du générateur de signaux.
  14. Procédé de régulation de dispositifs de réglage, entraínés par un moteur, dans des véhicules automobiles, selon lequel:
    a) un générateur de signaux (1) couplé au moteur produit un signal représentant la vitesse de rotation du moteur,
    b) un détecteur (2, 3) associé au générateur de signaux détecte ce signal est produit un signal de sortie correspondant, et
    c) une unité de régulation pourvue d'un algorithme de régulation évalue le signal de sortie et règle la vitesse de rotation du moteur en fonction du signal de sortie,
    notamment selon l'une des revendications précédentes,
    caractérisé en ce que
    d) après l'actionnement du moteur, des valeurs caractéristiques, conditionnées par les tolérances, du générateur de signaux (1) sont déterminées et des valeurs de correction, qui sont prises en compte lors de l'évaluation des signaux de sortie (U1, U2), sont déterminées à partir de là,
    e) les valeurs de correction sont adaptées au moins tant qu'un critère prédéterminé d'interruption n'est pas satisfait; et
    f) pendant la détermination et l'adaptation d'une valeur de correction, des résultats intermédiaires de ces valeurs sont formées et sont utilisées pour fixer des paramètres de régulation de l'algorithme de régulation.
  15. Procédé selon la revendication 14, caractérisé en ce que l'adaptation d'une valeur de correction se poursuit également après que le point de fonctionnement du moteur a été atteint, tant que le critère d'interruption n'est pas satisfait.
  16. Procédé selon la revendication 15, caractérisé en ce que l'adaptation des valeurs de correction se poursuit sans limitation après que le point de fonctionnement du moteur a été atteint.
  17. Procédé selon l'une des revendications 14 à 16, caractérisé en ce que les paramètres du régulateur sont à nouveau fixés après que le point de fonctionnement du moteur a été atteint.
  18. Procédé selon la revendication 17, caractérisé en ce que les paramètres du régulateur sont à nouveau fixés dès que le point de fonctionnement du moteur est atteint et que l'adaptation des valeurs de correction est terminée.
  19. Procédé selon l'une des revendications précédentes, caractérisé en ce qu'après le démarrage du moteur, sa vitesse de rotation de consigne (nconsigne) est accrue avec une accélération essentiellement constante.
  20. Procédé selon l'une des revendications précédentes, caractérisé en ce qu'après le démarrage du moteur, pour la détermination de sa vitesse de rotation (n), une moyenne est formée tout d'abord respectivement sur plusieurs signaux de sortie (U1 et U2) représentant la vitesse de rotation (n) du moteur.
  21. Procédé selon la revendication 20, caractérisé en ce que la détermination de la vitesse de rotation (n) s'effectue au moyen d'une formation de moyenne glissante.
  22. Procédé selon l'une des revendications 14 à 21, caractérisé en ce que le générateur de signaux (1) comporte une division en sections (11-16) et que les valeurs de correction sont utilisées pour compenser des tolérances, qui sont imputables à la séparation en sections (11-16).
  23. Procédé selon l'une des revendications 1 à 13 ou selon la revendication 22, caractérisé en ce qu'une valeur de correction est déterminée pour chaque section (11-16) du générateur de signaux (1) et est combinée aux signaux de sortie (U1, U2).
  24. Procédé selon la revendication 23, caractérisé en ce que le générateur de signaux (1) tourne lors du fonctionnement du moteur et que pour chaque section (11-16) est déterminé un angle de rotation corrigé, qui représente l'étendue effective de la section (11-16) le long de la périphérie du générateur de signaux (1).
  25. Procédé selon l'une des revendications précédentes, caractérisé en ce que le générateur de signaux (1) produit les signaux selon un principe magnétique, inductif, capacitif, résistif ou optique.
  26. Procédé selon l'une des revendications précédentes, caractérisé en ce que le générateur de signaux (1) est agencé sous la forme d'un aimant multipolaire.
  27. Procédé selon la revendication 26, caractérisé en ce que le générateur de signaux (1) est agencé sous la forme d'un dispositif magnétique multipolaire, qui tourne pendant le fonctionnement du moteur.
  28. Procédé selon l'une des revendications 1 à 25, caractérisé en ce que le générateur de signaux fait partie du système électromécanique du moteur.
  29. Procédé selon l'une des revendications 14 à 21, caractérisé en ce que le courant du moteur est utilisé comme générateur de signaux.
  30. Procédé selon l'une des revendications précédentes, caractérisé en ce qu'il est utilisé pour la régulation de dispositifs de réglage de sièges dans des véhicules automobiles.
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

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EP0974479B1 true EP0974479B1 (fr) 2003-08-13

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

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