EP1264381A1 - Method for monitoring and influencing an electric motor - Google Patents
Method for monitoring and influencing an electric motorInfo
- Publication number
- EP1264381A1 EP1264381A1 EP01925394A EP01925394A EP1264381A1 EP 1264381 A1 EP1264381 A1 EP 1264381A1 EP 01925394 A EP01925394 A EP 01925394A EP 01925394 A EP01925394 A EP 01925394A EP 1264381 A1 EP1264381 A1 EP 1264381A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- value
- motor current
- motor
- measured
- stored
- 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.)
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
- H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
- H02H7/08—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors
- H02H7/085—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors against excessive load
- H02H7/0851—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors against excessive load for motors actuating a movable member between two end positions, e.g. detecting an end position or obstruction by overload signal
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
- H02H3/00—Emergency protective circuit arrangements for automatic disconnection directly responsive to an undesired change from normal electric working condition with or without subsequent reconnection ; integrated protection
- H02H3/44—Emergency protective circuit arrangements for automatic disconnection directly responsive to an undesired change from normal electric working condition with or without subsequent reconnection ; integrated protection responsive to the rate of change of electrical quantities
- H02H3/445—Emergency protective circuit arrangements for automatic disconnection directly responsive to an undesired change from normal electric working condition with or without subsequent reconnection ; integrated protection responsive to the rate of change of electrical quantities of DC quantities
Definitions
- the present invention is based on a method for monitoring and influencing an electric motor, which is assigned to a movable object, in particular on a motor vehicle, via an actuating device.
- Such methods are intended to enable the automatic adjustment of the movable object, which is, for example, a window or a sliding roof, and to take into account safety requirements which also result from legal regulations, among other things.
- these safety requirements relate to a limitation of the possible pinching force in the event that an object or body part is in the closing path of the automatically closing window or sunroof.
- the invention relates in particular to such a method in which a signal for stopping or reversing the motor rotation is generated as a function of a currently measured value of the motor current and a value of the motor current measured at a previous time.
- the present invention is based on the object of specifying a method with which the case of jamming can also be reliably detected and the window or sunroof can be stopped or reversed in good time, without, however, a complex calculation of energy balances, total forces, clamping forces, etc. and to require a tracking of the force curve over a time range encompassing an entire pinching process at equidistant measuring times.
- this object is achieved in that the motor current value l (t 0 ) measured simultaneously with a fixed edge (rising or falling) of a rectangular signal generated by a pulse generator proportional to the motor rotation is stored in a memory, and from an N (N> 1 ) relevant signal edges past measured, stored motor current value l (t. N ) using further parameters, a reference value l ref is formed, with which the currently measured motor current value l (t 0 ) is compared, and that if the reference value l ref is exceeded by the currently measured value l (t 0 ) the stop or reversing signal is generated immediately.
- the motor current signal l (t) provided by a signal conditioning device 1 is fed to a so-called “ripple detector” device 2, which generates a digital square-wave signal 2 ′, which is proportional to the motor rotation with the rising (or falling) edge of this square-wave signal 2 ', the analog value of the motor current signal l (t) is organized as a current motor current value l (t 0 ) into a shift register 3
- Adjustment position used. From a motor current value l (t. N ) stored a predetermined number N of measurements back, a reference value l ref is calculated in the microcontroller with the inclusion of further parameters, such as the supply voltage and part position-dependent setting parameters stored in a table memory 5, with which the current value measured motor current value l (t 0 ) is compared. If the currently measured motor current value l (t 0 ) exceeds the reference value l ref , a signal for stopping or reversing the motor rotation is sent to a motor control device 6, otherwise it is received the motor control device 6 sends a signal to continue the movement of the object to be adjusted by the motor in the same direction.
- a further development of the measuring method sees the introduction of a further criterion in the sense of a additional, necessary condition for generating the stop or reversing signal for the motor.
- a further criterion which is intended to confirm a tendency of the motor current that is present continuously over a longer period of time, a first counter 8 (“larger”) and a second counter 9 (“smaller”) are provided in a memory, which are used at the beginning of the adjustment both contain the value "zero".
- the currently measured value l (t 0 ) is now compared in each case with the directly measured value l (t *).
- the counter 8 (“greater") is increased by the value "one”
- the counter becomes 9 (“smaller”) increased by the value “one”.
- threshold values s Gr and s ⁇ * are defined, which are either lump-sum values for the entire movement sequence or saved as position-dependent table values in a table memory 5
- the method developed by the use of these counters 8 and 9 runs up to the point of comparison of the currently measured motor current value l (t 0 ) with the reference value l ref as described above, but now when the reference value is exceeded l ref is not immediately given the signal for stopping or reversing the motor operation by the currently measured motor current value l (t 0 ), but is first checked whether the additional condition that the content of the Counter 8 (“greater”) also exceeds the threshold value s Gr provided for this.
- Counter 9 is used to reset counter 8 ("larger") in such a way that in the event that the content of counter 9 ("smaller”) exceeds the threshold value s ⁇ * assigned to it , the content of the counter 8 ("greater”) is reset to the initial value "zero” regardless of the counter value currently present in this.
Landscapes
- Control Of Electric Motors In General (AREA)
- Power-Operated Mechanisms For Wings (AREA)
- Window Of Vehicle (AREA)
- Control Of Direct Current Motors (AREA)
- Stopping Of Electric Motors (AREA)
Abstract
The invention relates to a method for monitoring and influencing an electric motor, in particular, arranged on a displaceable object on a motor vehicle, such as a window or sunroof. The aim of the invention is to resolve the technical problem of reliably recognising the trapping of a foreign body in said window or sunroof, such that the window or sunroof can be stopped in time, or reversed, without time-consuming calculation of energy balances, closing forces etc and/or the observation of the force development during the time window comprising a complete trapping process. Said aim is achieved, whereby the criterium for stopping, or reversing is obtained by comparing the actual measured value for the motor current I(tO), with a reference value Iref, formed from a stored value for motor current I(t-N), taken after a defined amount of motor rotation has occurred, with the introduction of further parameters.
Description
VERFAHREN ZUR ÜBERWACHUNG UND STEUERUNG EINES ELEKTROMOTORS METHOD FOR MONITORING AND CONTROLLING AN ELECTRIC MOTOR
Beschreibungdescription
Die vorliegende Erfindung geht von einem Verfahren zur Überwachung und Beeinflussung eines Elektromotors aus, der einem insbesondere an einem Kraftfahrzeug vorhandenen, bewegbaren Gegenstand über eine Stellvorrichtung zugeordnet ist.The present invention is based on a method for monitoring and influencing an electric motor, which is assigned to a movable object, in particular on a motor vehicle, via an actuating device.
Derartige Verfahren sind dazu vorgesehen, die automatische Verstellung des bewegbaren Gegenstands, bei dem es sich beispielsweise um ein Fenster oder ein Schiebedach handelt, zu ermöglichen und dabei Sicherheitsanforderungen zu berücksichtigen, die sich unter anderem auch aus gesetzlichen Vorschriften ergeben. Insbesondere betreffen diese Sicherheitsanforderungen eine Begrenzung der möglichen Einklemmkraft, für den Fall, daß sich ein Gegenstand oder Körperteil im Schließweg des sich automatisch schließenden Fensters oder Schiebedachs befindet.Such methods are intended to enable the automatic adjustment of the movable object, which is, for example, a window or a sliding roof, and to take into account safety requirements which also result from legal regulations, among other things. In particular, these safety requirements relate to a limitation of the possible pinching force in the event that an object or body part is in the closing path of the automatically closing window or sunroof.
Die Erfindung betrifft insbesondere ein solches Verfahren, bei dem in Abhängigkeit von einem aktuell gemessenen Wert des Motorstroms und von einem zu einem zurückliegenden Zeitpunkt gemessenen Wert des Motorstroms ein Signal zum Anhalten oder Reversieren der Motordrehung erzeugt wird.The invention relates in particular to such a method in which a signal for stopping or reversing the motor rotation is generated as a function of a currently measured value of the motor current and a value of the motor current measured at a previous time.
Ein solches Verfahren ist z.B. durch die DE 44 42 171 A1 bekannt geworden. Bei diesem vorbekannten Verfahren werden während der Bewegung des bewegbaren Gegenstands alle Betriebsparameter des Motors - und somit insbesondere auch der Motorstrom - kontinuierlich zu zeitlich äquidistanten Meßzeitpunkten erfaßt. Aus den Betriebsparametern wird eine EnergiebilanzSuch a method is e.g. made known by DE 44 42 171 A1. In this known method, all operating parameters of the motor - and thus in particular also the motor current - are continuously recorded during the movement of the movable object at measurement times that are equidistant in time. The operating parameters become an energy balance
und daraus eine Gesamtkraft ermittelt, aus der wiederum unter Zuhilfenahme eines festen Zeitfensters eine Einklemmkraft bestimmt wird. and from this a total force is determined, from which in turn a pinching force is determined with the aid of a fixed time window.
Der vorliegenden Erfindung liegt demgegenüber die Aufgabe zugrunde, ein Verfahren anzugeben, mit dem der Einklemmfall ebenfalls zuverlässig erkannt, und das Fenster bzw. Schiebedach rechtzeitig angehalten bzw. reversiert werden kann, ohne jedoch dazu eine aufwendige Berechnung von Energiebilanzen, Gesamtkräften, Klemmkräften u.s.w. sowie eine Verfolgung des Kraftverlaufs über einen einen gesamten Einklemmvorgang umfassenden Zeitbereich zu jeweils äquidistanten Meßzeitpunkten zu erfordern.In contrast, the present invention is based on the object of specifying a method with which the case of jamming can also be reliably detected and the window or sunroof can be stopped or reversed in good time, without, however, a complex calculation of energy balances, total forces, clamping forces, etc. and to require a tracking of the force curve over a time range encompassing an entire pinching process at equidistant measuring times.
Erfindungsgemäß wird diese Aufgabe dadurch gelöst, daß der jeweils gleichzeitig mit einer festgelegten Flanke (steigend oder fallend) eines von einem Impulsgeber proportional zur Motordrehung erzeugten Rechtecksignals gemessene Motorstromwert l(t0) in einem Speicher abgelegt wird, und aus einem N (N > 1) relevante Signalflanken zurückliegend gemessenen, abgespeicherten Motorstromwert l(t.N) unter Verwendung weiterer Parameter ein Referenzwert lref gebildet wird, mit dem der aktuell gemessene Motorstrom wert l(t0) verglichen wird, und daß bei Übersteigen des Referenzwertes lref durch den aktuell gemessenen Wert l(t0) das Anhalte- oder Reversiersignal unmittelbar erzeugt wird.According to the invention, this object is achieved in that the motor current value l (t 0 ) measured simultaneously with a fixed edge (rising or falling) of a rectangular signal generated by a pulse generator proportional to the motor rotation is stored in a memory, and from an N (N> 1 ) relevant signal edges past measured, stored motor current value l (t. N ) using further parameters, a reference value l ref is formed, with which the currently measured motor current value l (t 0 ) is compared, and that if the reference value l ref is exceeded by the currently measured value l (t 0 ) the stop or reversing signal is generated immediately.
Alternativ dazu ist vorgesehen, daß zur Bereitstellung eines weiteren Kriteriums zur Einklemmerkennung ein Vergleich des aktuell gemessenen Motorstromwerts l(t0) mit dem direkt zuvor gemessenen und abgespeicherten Motorstromwert l(t*) erfolgt, und falls der aktuell gemessene Motorstromwert l(t0) größer als der direkt zuvor abgespeicherte Motorstromwert I (t_1 ) ist, ein erster Zähler „Größer" um den Wert „Eins" erhöht wird, und daß zusätzlich zu dem zuvor beschriebenen Übersteigen des Referenzwertes lref durch den
aktuell gemessenen Wert l(t0) des Motorstroms gleichzeitig der Inhalt des Zählers "Größer" einen Schwellwert sGr überschreiten muß, damit das Anhalte- oder Reversiersignal erzeugt wird.As an alternative to this, provision is made for a comparison of the currently measured motor current value l (t 0 ) with the directly measured and stored motor current value l (t *) to provide a further criterion for pinching detection, and if the currently measured motor current value l (t 0 ) is greater than the motor current value I (t_ 1 ) stored directly beforehand, a first counter "greater" is increased by the value "one", and that in addition to the previously described exceeding of the reference value l ref by the the currently measured value l (t 0 ) of the motor current at the same time the content of the counter "greater" must exceed a threshold value s Gr so that the stop or reversing signal is generated.
Weitere besonders günstige Ausgestaltungen des erfindungsgemäßenFurther particularly favorable configurations of the invention
Verfahrens sind in den Unteransprüchen angegeben und werden anhand des in der Zeichnung dargestellten Ausführungsbeispiels näher erläutert.Processes are specified in the subclaims and are explained in more detail using the exemplary embodiment shown in the drawing.
Wie aus der Darstellung hervorgeht, wird das von einer Signalaufbereitungseinrichtung 1 zur Verfügung gestellte Motorstromsignal l(t) einer sog. „Ripple-Detektor"-Einrichtung 2 zugeführt, die daraus ein digitales Rechtecksignal 2' erzeugt, das der Motordrehung proportional ist. Jeweils gleichzeitig mit der ansteigenden (oder abfallenden) Flanke dieses Rechtecksignals 2' wird der Analogwert des Motorstromsignals l(t) als aktueller Motorstromwert l(t0) in einen als Schieberegister 3 organisiertenAs can be seen from the illustration, the motor current signal l (t) provided by a signal conditioning device 1 is fed to a so-called “ripple detector” device 2, which generates a digital square-wave signal 2 ′, which is proportional to the motor rotation with the rising (or falling) edge of this square-wave signal 2 ', the analog value of the motor current signal l (t) is organized as a current motor current value l (t 0 ) into a shift register 3
Speicherbereich eines Mikrocontrollers geschrieben. In dem Schieberegister s werden die sukzessive gemessenen Motorstromwerte l(t.N), ..., I(t_3), l(t_2), l(t_.*), I(t0) in einer der zeitlichen Abfolge ihrer Messung entsprechenden Reihenfolge gespeichert. Das digitale Rechtecksignal 2' der „Ripple-Counter"-Einrichtung 2 wird in einem Positionszähler 4 zur Ermittlung der momentanenMemory area of a microcontroller written. In the shift register s, the successively measured motor current values l (t. N ), ..., I (t_ 3 ), l (t_ 2 ), l (t _. *), I (t 0 ) are shown in one of their time sequences Measurement saved according order. The digital square wave signal 2 'of the "ripple counter" device 2 is in a position counter 4 for determining the current
Verstellposition verwendet. Aus einem eine vorbestimmte Anzahl N von Messungen zurückliegend gespeicherten Motorstromwert l(t.N) wird in dem MikroController unter Einbeziehung weiterer Parameter, wie z.B. der Versorgungsspannung sowie in einem Tabellenspeicher 5 abgelegter, teilweise positionsabhängiger Einstellparameter ein Referenzwert lref berechnet, mit dem der aktuell gemessene Motorstromwert l(t0) verglichen wird. Übersteigt der aktuell gemessene Motorstromwert l(t0) den Referenzwert lref , so wird unmittelbar ein Signal zum Anhalten bzw. Umkehren der Motordrehung an eine Motorsteuereinrichtung 6 abgegeben, andernfalls erhält
die Motorsteuereinrichtung 6 ein Signal, die Bewegung des von dem Motor zu verstellenden Gegenstands in der gleichen Richtung weiter fortzusetzen.Adjustment position used. From a motor current value l (t. N ) stored a predetermined number N of measurements back, a reference value l ref is calculated in the microcontroller with the inclusion of further parameters, such as the supply voltage and part position-dependent setting parameters stored in a table memory 5, with which the current value measured motor current value l (t 0 ) is compared. If the currently measured motor current value l (t 0 ) exceeds the reference value l ref , a signal for stopping or reversing the motor rotation is sent to a motor control device 6, otherwise it is received the motor control device 6 sends a signal to continue the movement of the object to be adjusted by the motor in the same direction.
Da bei dem beschriebenen Verfahren z.B. durch sporadisch auftretende Störungen hin und wieder zu hohe oder zu niedrige Meßwerte des Motorstroms l(t) auftreten können, die dann zu Fehlreaktionen der Motorsteuereinrichtung 6 führen, sieht eine Weiterbildung des Meßverfahrens die Einführung eines weiteren Kriteriums im Sinne einer zusätzlichen, notwendigen Bedingung zur Erzeugung des Anhalte- oder Reversiersignals für den Motor vor. Zur Bildung dieses zusätzlichen Kriteriums, das eine über einen längeren Zeitraum kontinuierlich vorliegende Tendenz des Motorstroms bestätigen soll, sind in einem Speicher ein erster Zähler 8 („Größer") und ein zweiter Zähler 9 („Kleiner") vorgesehen, die zu Beginn der Verstellung beide den Wert „Null" enthalten. Während der fortlaufenden Messung und Speicherung der Motorstromwerte wird nun der aktuell gemessenen Wert l(t0) jeweils mit dem direkt zuvor gemessenen Wert l(t*) verglichen. Im Falle, daß l(t0) größer als \(X_ ) ist, wird der Zähler 8 („Größer") um den Wert „Eins" erhöht, und im Falle, daß l(t0) kleiner als oder gleich l(t_.*) ist, wird der Zähler 9 („Kleiner") um den Wert „Eins" erhöht. Für die beiden Zähler 8 („Größer") und 9 („Kleiner") sind Schwellwerte sGrund sκ* festgelegt, die entweder als Pauschalwerte für den gesamten Bewegungsablauf oder als positionsabhängige Tabellenwerte in einem Tabellenspeicher 5 abgespeichert sind. Das durch die Verwendung dieser Zähler 8 und 9 weitergebildete Verfahren läuft bis zu dem Punkt des Vergleichs des aktuell gemessenen Motorstromwerts l(t0) mit dem Referenzwert lref so ab, wie zuvor beschrieben, wobei allerdings nun, bei Überschreiten des Referenzwerts lref durch den aktuell gemessenen Motorstromwert l(t0) nicht sofort das Signal zum Anhalten bzw. Umkehren des Motorbetriebs abgegeben wird, sondern zunächst überprüft wird, ob auch die zusätzliche Bedingung erfüllt ist, daß der Inhalt des
Zählers 8 („Größer") auch den für diesen vorgesehenen Schwellwert sGr übersteigt. Erst, wenn beide Bedingungen gleichzeitig erfüllt sind, wird das entsprechende Signal abgegeben, andernfalls wird die Bewegung des von dem Motor zu verstellenden Gegenstands in der gleichen Richtung weiter fortgesetzt. Der Zähler 9 („Kleiner") wird zur Zurücksetzung des Zählers 8 („Größer") verwendet, und zwar in der Weise, daß im Falle, daß der Inhalt des Zählers 9 („Kleiner") den diesem zugeordneten Schwellwert sκ* überschreitet, der Inhalt des Zählers 8 („Größer") unabhängig von dem gerade in diesem vorliegenden Zählerwert auf den Ausgangswert „Null" zurückgesetzt wird.
Since in the described method, for example sporadically occurring disturbances, too high or too low measured values of the motor current l (t) can occasionally occur, which then lead to incorrect reactions of the motor control device 6, a further development of the measuring method sees the introduction of a further criterion in the sense of a additional, necessary condition for generating the stop or reversing signal for the motor. To form this additional criterion, which is intended to confirm a tendency of the motor current that is present continuously over a longer period of time, a first counter 8 (“larger”) and a second counter 9 (“smaller”) are provided in a memory, which are used at the beginning of the adjustment both contain the value "zero". During the continuous measurement and storage of the motor current values, the currently measured value l (t 0 ) is now compared in each case with the directly measured value l (t *). In the event that l (t 0 ) is greater than \ (X_), the counter 8 ("greater") is increased by the value "one", and in the event that l (t 0 ) is less than or equal to l (t _. *), the counter becomes 9 (“smaller”) increased by the value “one”. For the two counters 8 (“larger”) and 9 (“smaller”), threshold values s Gr and s κ * are defined, which are either lump-sum values for the entire movement sequence or saved as position-dependent table values in a table memory 5 The method developed by the use of these counters 8 and 9 runs up to the point of comparison of the currently measured motor current value l (t 0 ) with the reference value l ref as described above, but now when the reference value is exceeded l ref is not immediately given the signal for stopping or reversing the motor operation by the currently measured motor current value l (t 0 ), but is first checked whether the additional condition that the content of the Counter 8 (“greater”) also exceeds the threshold value s Gr provided for this. Only when both conditions are met at the same time is the corresponding signal issued, otherwise the movement of the object to be adjusted by the motor continues in the same direction. Counter 9 ("smaller") is used to reset counter 8 ("larger") in such a way that in the event that the content of counter 9 ("smaller") exceeds the threshold value s κ * assigned to it , the content of the counter 8 ("greater") is reset to the initial value "zero" regardless of the counter value currently present in this.
Claims
1. Verfahren zur Überwachung und Beeinflussung eines Elektromotors, der einem insbesondere an einem Kraftfahrzeug vorhandenen bewegbaren Gegenstand über eine Stellvorrichtung zugeordnet ist, wobei in1. A method for monitoring and influencing an electric motor which is assigned to a movable object present in particular on a motor vehicle via an actuating device, wherein in
Abhängigkeit von einem aktuell gemessenen Wert l(t0) des Motorstroms l(t) und einem zu einem zurückliegenden Zeitpunkt gemessenen Wert des Motorstroms l(t) ein Signal zum Anhalten oder Reversieren der Motordrehung erzeugt wird, dadurch gekennzeichnet, daß von einem Impulsgeber (2) eine der Motordrehung proportionale Folge vonDepending on a currently measured value l (t 0 ) of the motor current l (t) and a value of the motor current l (t) measured at a previous time, a signal for stopping or reversing the motor rotation is generated, characterized in that a pulse generator ( 2) a sequence of proportional to the motor rotation
Rechtecksignalen (2') hervorgerufen wird, daß der jeweils gleichzeitig mit einer festgelegten Flanke (steigend oder fallend) des Rechtecksignals (2') gemessene Motorstromwert l(t0) in einem Speicher (3) abgelegt wird, und aus einem N (N > 1 ) relevante Signalflanken zurückliegend gemessenen und abgespeicherten Motorstromwert l(t.N)unterRectangular signals (2 ') is caused that the motor current value l (t 0 ) measured at the same time with a fixed edge (rising or falling) of the rectangular signal (2') is stored in a memory (3) and from an N (N> 1) relevant signal edges past measured and stored motor current value l (t. N ) below
Verwendung weiterer Parameter ein Referenzwert lref gebildet wird, mit dem der aktuell gemessene Motorstromwert l(t0) verglichen wird, wobei bei Übersteigen des Referenzwertes lref durch den aktuell gemessenen Wert l(t0) das Anhalte- oder Reversiersignal unmittelbar erzeugt wird.Using further parameters, a reference value l ref is formed, with which the currently measured motor current value l (t 0 ) is compared, the stopping or reversing signal being generated immediately when the reference value l ref is exceeded by the currently measured value l (t 0 ).
2. Verfahren zur Überwachung und Beeinflussung eines Elektromotors, der einem insbesondere an einem Kraftfahrzeug vorhandenen bewegbaren Gegenstand über eine Stellvorrichtung zugeordnet ist, wobei in Abhängigkeit von einem aktuell gemessenen Wert l(t0)des Motorstroms l(t) und einem zu einem zurückliegenden Zeitpunkt gemessenen Wert des Motorstroms l(t) ein Signal zum Anhalten oder Reversieren der Motordrehung erzeugt wird, dadurch gekennzeichnet, daß von einem Impulsgeber (2) eine der Motordrehung proportionale Folge von Rechtecksignalen (2') hervorgerufen wird, daß der jeweils gleichzeitig mit einer festgelegten Flanke (steigend oder fallend) des Rechtecksignals (2') gemessene Motorstromwert l(t0) in einem Speicher (3) abgelegt wird, und aus einem N (N > 1 ) relevante Signalflanken zurückliegend gemessenen und abgespeicherten Motorstromwert l(t.N) unter Verwendung weiterer Parameter ein Referenzwert lref gebildet wird, mit dem der aktuell gemessene Motorstromwert l(t0) verglichen wird, wobei weiterhin ein Vergleich des aktuell gemessenen Motorstromwerts l(t0) mit dem direkt zuvor gemessenen und abgespeicherten Motorstromwert l(t.**) erfolgt, und falls der aktuell gemessene Motorstromwert l(t0) größer als der direkt zuvor abgespeicherte Motorstromwert l(t.) ist, ein Zähler (8)2. Method for monitoring and influencing an electric motor which is assigned to a movable object present in particular on a motor vehicle via an actuating device, the function of a currently measured value l (t 0 ) of the motor current l (t) and one at a previous time measured value of the motor current l (t), a signal for stopping or reversing the motor rotation is generated, characterized in that a pulse generator (2) causes a sequence of square-wave signals (2 ') proportional to the motor rotation, that the respective simultaneously with a fixed edge (rising or falling) of the square-wave signal (2 ') measured motor current value l (t 0 ) is stored in a memory (3), and from an N (N> 1) relevant signal edges past measured and stored motor current value l (t. N ) using further parameters, a reference value l ref is formed, with which the currently measured motor current value l (t 0 ) is compared, a comparison of the currently measured motor current value l (t 0 ) with the motor current value l (previously measured and stored directly) t. **), and if the currently measured motor current value l (t 0 ) is greater than the motor current value l (t.) stored directly beforehand, a counter (8)
(„Größer") um den Wert „Eins" erhöht wird, und daß bei Übersteigen des Referenzwertes lref durch den aktuell gemessenen Wert l(t0) des Motorstroms und gleichzeitigem Überschreiten eines abgespeicherten Schwellwertes sGr durch den Inhalt des Zählers (8) ("Größer") das Anhalte- oder Reversiersignal erzeugt wird.("Greater") is increased by the value "one", and that when the reference value l ref is exceeded by the currently measured value l (t 0 ) of the motor current and at the same time a stored threshold value s Gr is exceeded by the content of the counter (8) ("Greater") the stop or reverse signal is generated.
3. Verfahren nach Anspruch 2, dadurch gekennzeichnet, daß, falls der aktuell gemessene Motorstromwert l(t0) kleiner oder gleich dem direkt zuvor gemessenen und abgespeicherten Motorstromwert l(t..*) ist, ein Zähler (9) („Kleiner") um den Wert „Eins" erhöht wird, und bei3. The method according to claim 2, characterized in that if the currently measured motor current value l (t 0 ) is less than or equal to the directly measured and stored motor current value l (t .. *), a counter (9) ("less" ) is increased by the value "one", and at
Überschreiten eines abgespeicherten Schwellwertes sκ, durch den Inhalt des Zählers (9) ("Kleiner") der Inhalt des Zählers (8) („Größer") auf den Wert „Null" zurückgesetzt wird.Exceeding a stored threshold value s κ , the content of the counter (9) ("smaller") resets the content of the counter (8) ("larger") to the value "zero".
4. Verfahren nach Anspruch 2 oder 3, dadurch gekennzeichnet, daß die Schwellwerte sGr und sκ, als in einem Tabellenspeicher (5) abgelegte, positionsabhängige Tabellenwerte vorliegen, wobei die Rechtecksignale (2') des Impulsgebers (2) zur Bestimmung der aktuellen Position des bewegten Gegenstandes herangezogen werden. 4. The method according to claim 2 or 3, characterized in that the threshold values s Gr and s κ , as stored in a table memory (5), position-dependent table values are present, the square wave signals (2 ') of the pulse generator (2) for determining the current Position of the moving object can be used.
5. Verfahren nach einem der Ansprüche 1 bis 4, dadurch gekennzeichnet, daß als Impulsgeber (2) eine Digitalisiereinrichtung dient, die die Rechtecksignale (2') aus der dem Gleichanteil des Motorstroms l(t) überlagerten Welligkeit bildet.5. The method according to any one of claims 1 to 4, characterized in that a digitizer is used as the pulse generator (2), which forms the square-wave signals (2 ') from the ripple superimposed on the direct component of the motor current l (t).
6. Verfahren nach einem der Ansprüche 1 bis 5, dadurch gekennzeichnet, daß in die Berechnung des Referenzwertes lref die aktuelle Bordnetzspannung sowie weitere, in einem Tabellenspeicher (5) abgelegte, teilweise positionsabhängige Parameter eingehen, wobei die6. The method according to any one of claims 1 to 5, characterized in that in the calculation of the reference value l ref the current on-board electrical system voltage and other, in a table memory (5) stored, partially position-dependent parameters, the
Rechtecksignale (2') des Impulsgebers (2) zur Bestimmung der aktuellen Position des bewegten Gegenstandes herangezogen werden.Rectangular signals (2 ') of the pulse generator (2) are used to determine the current position of the moving object.
7. Verfahren nach einem der Ansprüche 1 bis 6, dadurch gekennzeichnet, daß in die Berechnung des Referenzwertes lref zusätzlich in einem7. The method according to any one of claims 1 to 6, characterized in that in the calculation of the reference value l ref additionally in one
Tabellenspeicher (5) als teilweise positionsabhängige Tabellenwerte abgelegte, aus einem früheren Bewegungsvorgang abgeleitete, insbesondere sich langsam ändernde Umgebungsbedingungen repräsentierende Parameter eingehen.Table memory (5) are received as parameters that are stored as partially position-dependent table values, derived from an earlier movement process, and in particular represent slowly changing environmental conditions.
8. Verfahren nach einem der Ansprüche 1 bis 6, dadurch gekennzeichnet, daß der zur fortlaufenden Speicherung der jeweils gemessenen Motorstromwerte eingesetzte Speicherbereich (3) als Schieberegisterspeicher organisiert ist. 8. The method according to any one of claims 1 to 6, characterized in that the memory area (3) used for the continuous storage of the respectively measured motor current values is organized as a shift register memory.
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE10011982 | 2000-03-11 | ||
DE10011982A DE10011982B4 (en) | 2000-03-11 | 2000-03-11 | Method for monitoring and influencing an electric motor |
PCT/EP2001/002596 WO2001069747A1 (en) | 2000-03-11 | 2001-03-08 | Method for monitoring and influencing an electric motor |
Publications (1)
Publication Number | Publication Date |
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EP1264381A1 true EP1264381A1 (en) | 2002-12-11 |
Family
ID=7634411
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP01925394A Withdrawn EP1264381A1 (en) | 2000-03-11 | 2001-03-08 | Method for monitoring and influencing an electric motor |
Country Status (6)
Country | Link |
---|---|
US (1) | US6548974B2 (en) |
EP (1) | EP1264381A1 (en) |
JP (1) | JP2003527057A (en) |
BR (1) | BRPI0107381B1 (en) |
DE (1) | DE10011982B4 (en) |
WO (1) | WO2001069747A1 (en) |
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DE10147559A1 (en) * | 2001-09-26 | 2003-04-10 | Wanzl Metallwarenfabrik Kg | drive arrangement |
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JP4763509B2 (en) * | 2006-05-23 | 2011-08-31 | アイシン精機株式会社 | Ripple detector |
CN102536037B (en) * | 2010-12-09 | 2015-09-30 | 天津市松正电动汽车技术股份有限公司 | A kind of power vehicle window controller and anti-clip control method |
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CN103244004B (en) * | 2013-05-13 | 2015-05-20 | 清华大学 | Electric car window anti-pinch parameter automatic matching method |
US11512505B2 (en) | 2016-03-31 | 2022-11-29 | Trimark Corporation | Motorized movable strike for a vehicle door |
CN105927090B (en) * | 2016-06-30 | 2017-10-24 | 北京经纬恒润科技有限公司 | Method for detecting position, device, door and window control system and the automobile of door glass |
CN211405910U (en) * | 2019-07-30 | 2020-09-01 | 丹佛斯(天津)有限公司 | Parameter control system and motor |
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2000
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2001
- 2001-03-08 JP JP2001567100A patent/JP2003527057A/en active Pending
- 2001-03-08 EP EP01925394A patent/EP1264381A1/en not_active Withdrawn
- 2001-03-08 BR BRPI0107381A patent/BRPI0107381B1/en active IP Right Grant
- 2001-03-08 WO PCT/EP2001/002596 patent/WO2001069747A1/en active Application Filing
-
2002
- 2002-06-12 US US10/167,896 patent/US6548974B2/en not_active Expired - Lifetime
Non-Patent Citations (1)
Title |
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See references of WO0169747A1 * |
Also Published As
Publication number | Publication date |
---|---|
DE10011982A1 (en) | 2001-09-27 |
JP2003527057A (en) | 2003-09-09 |
US20020180389A1 (en) | 2002-12-05 |
WO2001069747A1 (en) | 2001-09-20 |
DE10011982B4 (en) | 2008-03-27 |
US6548974B2 (en) | 2003-04-15 |
BRPI0107381B1 (en) | 2016-09-06 |
BR0107381A (en) | 2002-11-26 |
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