EP1165944B1 - Procede permettant de determiner la position d'un induit - Google Patents

Procede permettant de determiner la position d'un induit Download PDF

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Publication number
EP1165944B1
EP1165944B1 EP00918683A EP00918683A EP1165944B1 EP 1165944 B1 EP1165944 B1 EP 1165944B1 EP 00918683 A EP00918683 A EP 00918683A EP 00918683 A EP00918683 A EP 00918683A EP 1165944 B1 EP1165944 B1 EP 1165944B1
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EP
European Patent Office
Prior art keywords
coil
current
armature
determined
voltage drop
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
EP00918683A
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German (de)
English (en)
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EP1165944A1 (fr
Inventor
Joachim Melbert
Stefan Butzmann
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Siemens AG
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Siemens AG
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Classifications

    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
    • H01F7/00—Magnets
    • H01F7/06—Electromagnets; Actuators including electromagnets
    • H01F7/08—Electromagnets; Actuators including electromagnets with armatures
    • H01F7/18—Circuit arrangements for obtaining desired operating characteristics, e.g. for slow operation, for sequential energisation of windings, for high-speed energisation of windings
    • H01F7/1844—Monitoring or fail-safe circuits
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
    • F01L—CYCLICALLY OPERATING VALVES FOR MACHINES OR ENGINES
    • F01L9/00—Valve-gear or valve arrangements actuated non-mechanically
    • F01L9/20—Valve-gear or valve arrangements actuated non-mechanically by electric means
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
    • F01L—CYCLICALLY OPERATING VALVES FOR MACHINES OR ENGINES
    • F01L9/00—Valve-gear or valve arrangements actuated non-mechanically
    • F01L9/40—Methods of operation thereof; Control of valve actuation, e.g. duration or lift
    • F01L2009/409—Determination of valve speed
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
    • F01L—CYCLICALLY OPERATING VALVES FOR MACHINES OR ENGINES
    • F01L2201/00—Electronic control systems; Apparatus or methods therefor
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
    • H01F7/00—Magnets
    • H01F7/06—Electromagnets; Actuators including electromagnets
    • H01F7/08—Electromagnets; Actuators including electromagnets with armatures
    • H01F7/121—Guiding or setting position of armatures, e.g. retaining armatures in their end position
    • H01F7/123—Guiding or setting position of armatures, e.g. retaining armatures in their end position by ancillary coil

Definitions

  • the invention relates to a method for determining the position of an armature associated with an electromechanical actuator.
  • the actuator is associated with a control device, which preferably has a gas exchange valve of an internal combustion engine as an actuator.
  • a known actuator (DE 195 26 683 A1) has a gas exchange valve and an actuator.
  • the actuator has two electromagnets, between each of which an armature plate can be moved against the force of a return means by switching off the coil current to the holding electromagnet and switching on the coil current at the catching electromagnet.
  • the coil current of each catching electromagnet is kept constant by a predetermined catch value for a predetermined period of time and then controlled by a two-position controller with hysteresis to a holding value.
  • EP 0 493 634 A1 For determining the position of the armature plate, it is known from EP 0 493 634 A1 to provide an optical sensor which is arranged in the electromagnet and which detects the position of the armature plate.
  • an optical sensor which is arranged in the electromagnet and which detects the position of the armature plate.
  • such a sensor requires space that is very limited and requires expensive wiring.
  • DE 195 44 207 A1 is known for determining an anchor path, to measure the magnetic force generating magnetic flux and the current through the excitation winding of an electromagnetic actuator.
  • the motion variables armature travel, armature speed and / or armature acceleration are calculated from the magnetic flux and the current through the excitation winding and used as controlled variables for regulating the movement of the armature.
  • DE 195 44 207 A1 contains no indication as to how reliably the ohmic resistance of the exciter winding can be determined.
  • the electromagnetic actuator comprises at least one electromagnet, by means of which an armature connected to an actuating means is movable against the force of at least one restoring spring.
  • the actuator has an armature connected to a gas exchange valve and an anchor associated with the closing magnet and an opening magnet (see column 4, lines 10 to 15).
  • the armature is held by return springs with de-energized magnet in a rest position between the two magnets.
  • the holding magnet is supplied with a constant current. It is then measured, the voltage across the coil of the respective electromagnet and thus determined depending on the measured voltage and the constant current of the ohmic resistance of the electromagnet.
  • the electromagnetic drive comprises a field winding, a stator and an armature.
  • the actual value of the magnetic flux is detected in the iron circuit, compared with setpoint sequences from a setpoint generator and placed at a positive difference between the setpoint and actual control voltage to the field winding.
  • the actuator includes a coil having first and second terminals.
  • the armature is movably disposed between a first and a second position, the two positions being from a current flowing through the coil depend.
  • An amount of current through the coil is detected and a level signal is generated.
  • a rate of change of the current in the coil is detected. Further, depending on the maximum rate of change of the current in the coil and depending on the magnitude of the current through the coil, the position of the armature is determined.
  • the object of the invention is to provide a method for determining the position of an anchor, which is simple and reliable.
  • the magnetic flux depends on a magnetic circuit, which is formed by a coil, a core, an armature plate and the air gap between the armature plate and the core, with a negligible leakage flux and a non-saturated magnetic circuit only by the current through the coil, and of the Position of the anchor plate off.
  • ⁇ 1 N ⁇ 0 U L ( ⁇ ) d ⁇
  • U L is the inductive voltage drop across the coil, advantageously from the difference in the measured voltage drop across the coil minus the voltage drop resulting from multiplying the ohmic resistance of the coil by the current through the coil.
  • ⁇ N ⁇ I S 1 ⁇ 0 ⁇ 2 ( s - K ) A
  • A is the contact surface of the core of the electromagnet at which the armature plate abuts
  • N is the number of turns of the coil
  • I s is the current through the coil
  • s is the position of the armature plate
  • ⁇ 0 is the permeability of the air
  • K is a constant. The position s is equal to the sum of the constant K and the length of the air gap between the armature plate and the core.
  • An actuating device ( Figure 1) comprises an actuator 1 and an actuator, which is preferably designed as a gas exchange valve 2.
  • the gas exchange valve 2 has a shaft 21 and a plate 22.
  • the actuator 1 has a housing 11 in which a first and a second electromagnet are arranged.
  • the first electromagnet has a first core 12 which is provided with a first coil 13.
  • the second electromagnet has a second core 14 provided with a second coil 15.
  • An anchor is provided, whose anchor plate in the housing 11 is movably arranged between a first abutment surface 15a of the first electromagnet and a second abutment surface 15b of the second electromagnet.
  • the armature plate 16 is thus movable between a closed position S max S and an open position S max0 .
  • the armature further comprises an armature shaft 17, which is guided through recesses of the first and second core 12, 14 and which is mechanically coupled to the shaft 21 of the gas exchange valve 2.
  • a first return means 18a and a second return means 18b which are preferably formed as springs, bias the armature plate 16 in the predetermined rest position s 0 .
  • the actuator 1 is rigidly connected to the cylinder head 31 and the internal combustion engine.
  • a control device 4 which detects signals from sensors and preferably communicates with a higher-level control device for engine operating functions and receives from these control signals.
  • the control device 4 controls, depending on the signals of the sensors and the control signal, the first and second coils 13, 15 of the actuator 1.
  • the control device 4 comprises a control unit 41, in which the control signals for the coils 13, 15 are determined, and a first power output stage 42 and a second power output stage 43. Further, the control device 4 comprises an evaluation unit, in which the ohmic resistance of the coils 13, 15th and the position of the anchor plate 16 are determined. The first power output stage 42 and the second power output stage 43 amplify the control signals.
  • the control unit 41 has a first regulator whose command variable is the current or a voltage corresponding to the current through the first coil 13. It can also be provided a higher-level controller, which depends on the position the anchor plate generates the reference variable for the first controller.
  • the control unit 41 further comprises a second controller whose controlled variable is the current through the second coil 15 or a corresponding voltage and generates the corresponding control signals for driving the power output stages.
  • the first electromagnet and the second electromagnet are arranged symmetrically with respect to the rest position of the armature plate in the actuator 1.
  • the first and second controllers differ only in that the first controller regulates the current through the first coil 13 and the second controller controls the current through the second coil.
  • the first power output stage 42 and the second power output stage 43 have the same structure and the same circuit arrangement of their components. They differ only in that the first power output stage for driving the first coil 13, the second power output stage 43 are provided for driving the second coil.
  • the elements arranged in the evaluation unit 44 are each provided once for the first electromagnet and once for the second electromagnet, but identical in function.
  • a circuit arrangement ( Figure 2) in the control means 4 comprises a two-step controller comprising a first resistor R1, a second resistor R2, a first comparator K 1 and a second comparator K 2 and further an RS flip-flop 411th
  • the output Q of the RS flip-flop 411 is connected to the first power output stage 42 whose output is fed to the control input of a first power transistor T 1 .
  • a half-bridge circuit arrangement is provided, which comprises the first transistor T 1 , a second transistor T 2 , a measuring resistor R S and diodes D 1 and D 2 and which is electrically connected to the coil 13, the inductance L and the ohmic resistance R AKT covers.
  • the diode D 2 is a freewheeling diode.
  • the current I S through the coil 13 is detected when the transistor T 2 is turned on and is proportional to an actual value U IST of the voltage potential at the tap of the current measuring resistor R s . Further, a current measuring device 45 is provided which generates a signal representing the current I S through the coil 13.
  • the switching threshold of the comparator K1 is the setpoint value U I, set point of the voltage potential at the tap of the current measuring resistor R S.
  • the switching shaft of the comparator K2 is the setpoint value U I, set point of the voltage potential at the tap of the current measuring resistor R S multiplied by the ratio of the resistance R 2 to the sum of the resistances R 1 and R 2 . Accordingly, the Q output of the RS flip-flop 411 is set to a low potential as soon as the actual value is greater than or equal to the desired value of the voltage potential at the tap of the current measuring resistor R S.
  • the Q output of the RS flip-flop 411 is set to a high potential as soon as the actual value is less than or equal to the ratio of the resistance R 2 to the sum of the resistance R 1 and R 2 multiplied by the setpoint U I, setpoint of the voltage potential at the tap of the current measuring resistor R S is.
  • the output stage 42 amplifies the output signal Q of the RS flip-flop 411 and thus controls the transistor T 1 . If both the transistors T 1 and T 2 are turned on, the entire supply voltage U B at the coil 13 drops. If subsequently the transistor T 1 is turned off, the diode D 2 becomes free-running in the freewheeling mode and only the forward voltage of the diode D 2 drops across the coil 13.
  • a differential amplifier X1 is provided, which picks up the voltage drop U SP on the coil 13.
  • the output of the differential amplifier X1 is passed through a switch Z to a low-pass filter comprising a resistor R 3 and a capacitor C 1 and at the output of the average voltage drop U R A K T ⁇ over the coil 13 is applied.
  • step S1 the method is started.
  • step S2 the magnetic flux ⁇ is initialized by the zero-value coil 13.
  • step S3 it is checked whether an energization of the coil has begun. For this purpose, it is checked whether the current I S through the coil has changed since the last run of the program by the step S3 from a zero value OFF to an arbitrary current value ON. If the condition of step S3 is satisfied, the processing is continued in step S4. However, if the condition of step S3 is not met, it is checked again after a predetermined waiting period.
  • step S4 the inductive voltage drop U L at the coil 13 is determined from the difference between the voltage drop U SP and the product of the ohmic resistance R AKT of the coil 13 and of the current I S through the coil 13.
  • the resistor R AKT on the coil is either stored as a fixed predetermined value in the evaluation or is preferably determined by a program according to Figure 4 with the advantage that the resistor with high accuracy can be determined independently of the operating temperature and the operating time of the actuator.
  • the magnetic flux ⁇ is then determined according to the equation (1).
  • the current magnetic flux ⁇ is preferably calculated by means of a numerical integration method from the magnetic flux ⁇ at the last pass of step S5, the current inductive voltage drop U L and the time duration between the consecutive calculation passes of step S5.
  • step S6 the position s of the armature plate 16 is determined according to the equation (4).
  • step S7 it is checked whether the position s is equal to the open position S MAX, O. If this is the case, the program is ended in a step S8. Otherwise, the program is continued in step S4.
  • step S3 ensures that the position S is always determined when the armature plate 16 moves toward the spool 13. This ensures that it is possible to determine the position s particularly accurately in the near range before the armature plate 16 strikes the first contact surface 15a.
  • a corresponding program for determining the position s is started, which indicates the coil current through the second coil 15, the inductive voltage drop across the second coil 15 and the ohmic resistance the second coil evaluates.
  • a program for determining the ohmic resistance R AKT of the first coil 13 is started in a step S15.
  • a step S16 it is checked whether the position s of the armature plate is equal to the closed position S MAXS or equal to the open position S MAXO or the distance of the armature to be evaluated coil (here first coil 13) is greater than or equal to half the distance between the closed position S MAXS and the open position S MAXO . If one of these conditions is met, it is ensured that the inductance L of the coil 13 changes only negligibly.
  • step S16 is executed again after a predetermined waiting period. However, if one of the conditions of step S16 is satisfied, it is checked in a step S17 whether the current I S through the coil 13 is approximately constant.
  • a wait is made for a predetermined measuring period ⁇ t.
  • the mean value U RAKT of the voltage drop across the coil is then averaged over the measuring period ⁇ t. Since the condition for the processing of steps S18 to S20 is the approximately constant current I S through the coil, ie at least the mean value of the current I S over the measuring period is constant, the mean inductive voltage drop across the coil is zero.
  • a step S22 the program is stopped.
  • the procedure according to the program according to FIG. 4 has the advantage that during the operation of the actuator in each case the currently valid ohmic resistance R AKT the coil 13 can be determined with high accuracy.
  • the program according to FIG. 4 is preferably carried out again at fixed predetermined time intervals during the operation of the actuator 1. If the current I S through the coil 13 in the execution of steps S15 to S22 has a known predetermined value, can be dispensed with detection of the current I S and the resistance in the step S21 with a stored value I S of the current can be determined ,

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Power Engineering (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Valve Device For Special Equipments (AREA)

Abstract

Mécanisme de commande électromécanique comportant au moins un électro-aimant doté d'une bobine et un induit possédant une plaque d'induit qui est mobile entre une première surface d'appui située sur l'électro-aimant et une seconde surface d'appui. La position (s) de l'induit est déterminée par la bobine en fonction du flux magnétique (Ζ) et du courant (Is).

Claims (3)

  1. Procédé pour déterminer la position d'un induit associé à un mécanisme de commande (1) électromécanique, le mécanisme de commande (1) ayant au moins un électroaimant avec une bobine (13, 15) et l'induit comprenant une plaque d'induit (16) mobile entre une première surface d'appui (15a) au niveau de l'électroaimant et une deuxième surface d'appui (15b), dans lequel
    - une valeur moyenne (U̅RAKT) de la chute de tension mesurée au niveau de la bobine (13, 15) est déterminée lors d'un état de fonctionnement avec un courant (Is) à travers la bobine (13, 15) sensiblement constant,
    - la résistance ohmique (RAKT) de la bobine (13, 15) est déterminée en fonction de la valeur moyenne (U̅RAXT) de la chute de tension mesurée (USP) et du courant (IS) à travers la bobine (13, 15),
    caractérisé en ce que
    - la chute de tension inductive (UL) au niveau de la bobine (13, 15) est déterminée à partir de la différence de la chute de tension mesurée (USP) au niveau de la bobine (13, 15) et de la chute de tension résultant de la multiplication de la résistance ohmique (RAKT) de la bobine (13, 15) avec le courant (IS) à travers la bobine (13, 15),
    - le flux magnétique (Φ) est déterminé par l'intégration de la chute de tension inductive (UL) au niveau de la bobine (13, 15) et
    - la position (s) de l'induit est déterminée en fonction du flux magnétique (Φ) et du courant (IS) à travers la bobine (13, 15).
  2. Procédé selon la revendication 1, caractérisé en ce que la valeur moyenne (U̅RAKT) est déterminée lorsque, pendant une durée de mesure prédéterminée (Δt), le rapport du changement de la position (s) sur la position (s) est plus petit qu'une valeur seuil prédéterminée.
  3. Procédé selon au moins une des revendications 1 ou 2, caractérisé en ce que la valeur moyenne (U̅RAKT) est déterminée lorsque, pendant la durée de mesure prédéterminée (Δt), le rapport de la distance entre la plaque d'induit (16) et la première surface d'appui (15a) sur la distance entre la première et la deuxième surface d'appui (15a, 15b) est plus grand qu'une autre valeur seuil prédéterminée.
EP00918683A 1999-03-30 2000-03-03 Procede permettant de determiner la position d'un induit Expired - Lifetime EP1165944B1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE19914467 1999-03-30
DE19914467 1999-03-30
PCT/DE2000/000676 WO2000060220A1 (fr) 1999-03-30 2000-03-03 Procede permettant de determiner la position d'un induit

Publications (2)

Publication Number Publication Date
EP1165944A1 EP1165944A1 (fr) 2002-01-02
EP1165944B1 true EP1165944B1 (fr) 2006-05-17

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EP00918683A Expired - Lifetime EP1165944B1 (fr) 1999-03-30 2000-03-03 Procede permettant de determiner la position d'un induit

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Country Link
US (1) US6518748B2 (fr)
EP (1) EP1165944B1 (fr)
JP (1) JP2002541656A (fr)
DE (1) DE50012773D1 (fr)
WO (1) WO2000060220A1 (fr)

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DE102011075935A1 (de) * 2011-05-16 2012-11-22 Steinbeis GmbH & Co. KG für Technologietransfer Ermittlung von Funktionszuständen eines elektromagnetischen Aktors
DE102015210794B3 (de) * 2015-06-12 2016-07-21 Continental Automotive Gmbh Verfahren zum Ermitteln eines Referenzstromwertes zur Ansteuerung eines Kraftstoffinjektors
DE102015206739A1 (de) * 2015-04-15 2016-10-20 Continental Automotive Gmbh Bestimmung eines Hubes eines Magnetventils
DE102017117487A1 (de) 2017-08-02 2019-02-07 Kendrion (Villingen) Gmbh Verfahren und Vorrichtung zur Ankerendlagenüberwachung eines elektromagnetischen Aktors

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Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102011075935A1 (de) * 2011-05-16 2012-11-22 Steinbeis GmbH & Co. KG für Technologietransfer Ermittlung von Funktionszuständen eines elektromagnetischen Aktors
DE102011075935B4 (de) * 2011-05-16 2017-04-13 Kendrion Mechatronics Center GmbH Ermittlung von Funktionszuständen eines elektromagnetischen Aktors
DE102015206739A1 (de) * 2015-04-15 2016-10-20 Continental Automotive Gmbh Bestimmung eines Hubes eines Magnetventils
DE102015206739B4 (de) 2015-04-15 2024-02-08 Vitesco Technologies GmbH Bestimmung eines Hubes eines Magnetventils
DE102015210794B3 (de) * 2015-06-12 2016-07-21 Continental Automotive Gmbh Verfahren zum Ermitteln eines Referenzstromwertes zur Ansteuerung eines Kraftstoffinjektors
DE102017117487A1 (de) 2017-08-02 2019-02-07 Kendrion (Villingen) Gmbh Verfahren und Vorrichtung zur Ankerendlagenüberwachung eines elektromagnetischen Aktors
WO2019025038A1 (fr) 2017-08-02 2019-02-07 Ilmenauer Mechatronik GmbH Procédé et dispositif pour la surveillance de la position finale de l'induit d'un actionneur électromagnétique
DE102017117487B4 (de) 2017-08-02 2024-06-13 Ilmenauer Mechatronik GmbH Verfahren und Vorrichtung zur Ankerendlagenüberwachung eines elektromagnetischen Aktors

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JP2002541656A (ja) 2002-12-03
EP1165944A1 (fr) 2002-01-02
DE50012773D1 (de) 2006-06-22
US20020097120A1 (en) 2002-07-25
US6518748B2 (en) 2003-02-11

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