EP1428236A4 - Actionneur a solenoide a force independante de la position - Google Patents

Actionneur a solenoide a force independante de la position

Info

Publication number
EP1428236A4
EP1428236A4 EP02742286A EP02742286A EP1428236A4 EP 1428236 A4 EP1428236 A4 EP 1428236A4 EP 02742286 A EP02742286 A EP 02742286A EP 02742286 A EP02742286 A EP 02742286A EP 1428236 A4 EP1428236 A4 EP 1428236A4
Authority
EP
European Patent Office
Prior art keywords
value
voltage
sensor
solenoid
moving member
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.)
Withdrawn
Application number
EP02742286A
Other languages
German (de)
English (en)
Other versions
EP1428236A1 (fr
Inventor
Donald S Foreman
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.)
Honeywell International Inc
Original Assignee
Honeywell International Inc
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
Application filed by Honeywell International Inc filed Critical Honeywell International Inc
Publication of EP1428236A1 publication Critical patent/EP1428236A1/fr
Publication of EP1428236A4 publication Critical patent/EP1428236A4/fr
Withdrawn legal-status Critical Current

Links

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
    • 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
    • H01F7/16—Rectilinearly-movable armatures
    • H01F7/1607—Armatures entering the winding
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/41—Servomotor, servo controller till figures
    • G05B2219/41333—Non linear solenoid actuator

Definitions

  • the present invention relates to electromagnetic solenoids used as actuators. More particularly the invention relates to an electromagnetic solenoid in which there is controlled positioning or proportional motion of the moving member in which linear motion is achieved.
  • electromagnetic solenoids are widely used as inexpensive and efficient electromechanical actuators. Examples of their use include valve actuation, door latching, and many other applications where two positions, namely on and off, are suitable.
  • solenoids have not been suitable for applications requiring controlled positioning or proportional motion because of the highly nonlinear behavior of conventional solenoids.
  • "voice coil” actuators using a strong permanent magnet and a moving coil have been used.
  • a rotary actuator such as an electric motor, driving a lead-screw to achieve linear motion.
  • Voicecoil actuators do not produce adequate force in a given size unit, particularly compared to a solenoid, and lead-screw actuators are generally best used in low speed situations. Both are significantly more costly than solenoids.
  • Solenoids operate by use of magnetic force on a movable member made of ferromagnetic material, commonly steel.
  • the force of attraction is proportional to the square of the flux density, E
  • the flux density is a function both of the current flowing in the coil and the position of the moving member.
  • B iAMI where N is the number of turns in the coil, I is the current leff flowing in the coil and I eff is the total effective magnetic length of the magnetic circuit, including the length of the flux path through ferromagnetic material and the length of the air gap. Since the ferromagnetic material has a value for ⁇ times the permeability of air, l eff is approximately li r0 n + ⁇ - Combining terms and rearranging,
  • the only stable points of operation are the intersections of the linear curve of the spring and the magnetic force curves for various currents. If the magnetic force is greater, the member is pulled toward the closed position. If the spring force is greater, the member is pulled toward the open position.
  • Stupak U.S Patent No. 4,665,348 discloses a controlled force reluctance actuator in which the current in the solenoid is controlled by a signal representative of the flux density in the magnetic circuit of a variable reluctance actuator.
  • Stupak teaches that the flux density in the magnetic circuit and controls the current by taking the output of a Hall effect sensor to a control circuit to maintain substantially constant flux density.
  • U.S Patent No. 5,621,293 discloses a variable reluctance linear motor in which a lineariser is used, as described with respect to Figs. 5a, 5b and 5c.
  • Pailthorp U.S Patent No. 4,656,400 describes a solenoid where the field is varied by position sensing. Banick et al.
  • U.S Patent No. 5,032,812 also uses a sensor to indicate the position of the core with respect to a plugnut Lovett et al.
  • U.S Patent No. 6,225,767 discloses general matrix equations for the purpose of providing a desired force. None of these references relate to control of the operation of solenoids at intermediate positions.
  • the present invention provides for control of solenoids over the entire range of the moving member.
  • the value of flux density in the air gap is sensed, preferably with a magneto restrictive element such as a Hall effect semiconductor magnetic field sensor, to produce a voltage proportional to the intensity of the magnetic flux.
  • the output of the flux sensor is squared and that value is subtracted from a command signal, with the results then amplified, and converted to current, such as with a voltage-to- current converter.
  • the solenoid coil is then driven with the resulting current It is necessary that the resulting current be unipolar, because solenoids without permanent magnets can only attract
  • the command signal should have a bias applied to it or a bias may be added within the control loop. Any means for producing a unipolar signal is suitable, and the use of a bias voltage is quite effective and simple.
  • the solenoid may also include a biasing means, such as a coil spring or the like, which restrains the moving member, in which case the position of the moving member is then directly proportional to the command voltage, since spring extension or compression is directly proportional to force.
  • a biasing means such as a coil spring or the like, which restrains the moving member, in which case the position of the moving member is then directly proportional to the command voltage, since spring extension or compression is directly proportional to force.
  • the squaring function may be done with a digital microcomputer, for example, or with a readily-available and inexpensive analog multiplier integrated circuit
  • FIG. 1 is a schematic, sectioned view of a typical solenoid for use with the present invention
  • FIG. 2 is a graphical representation of displacement of the moving member of the solenoid of Fig. 1 by various currents, along with a linear expression of the opposing force of a spring used therewith;
  • FIG. 3 is a schematic diagram showing the electronic circuitry of the implementation of the present invention for use with the solenoid of Fig. 1 with the spring included;
  • FIG. 4 is a graphical representation of displacement of the moving member of the solenoid of Fig. 1 by various forces produced according to the present invention, along with a linear expression of the opposing force of a spring used therewith.
  • a typical solenoid device is shown in Fig. 1 as 10, generally, and includes a ferrous material 11 and coil 13, which operates in a conventional manner to move moving member 15. These devices have, as explained above, many end uses where simple, inexpensive on and off operations are needed.
  • the present invention as shown in Fig. 1, further includes a flux sensor 17 located proximate the plunger stop 19.
  • the other end 16 of moving member 15 is schematically shown for example purposes as abutting stop 21 and includes spring 23 which acts as an opposing force against which moving member is placed by operation of current in coil 13.
  • Spring 23 pulls the solenoid moving member 15 to an open position when there is no current in coil 13. Shown in Fig. 2 is the displacement of a typical solenoid under the force of spring 23, which produces a linear movement
  • biasing means may be used, such as, for example and not by way of limitation, elastomeric member, leaf springs, and the like.
  • a solenoid operates when current passes through coil 13, generating magnetic force on moving member
  • Fig. 2 also illustrates nonlinear displacement forces for three arbitrary currents, identified as current 1, current 2, and current 3.
  • the only stable points of operation are the intersections of the spring curve and the magnetic forces, for those are the only places where the forces are in balance. If the magnetic force is greater, then the moving member 15 is pulled toward the closed position. As shown in
  • the current must be raised to the level of current 3 to get member 15 to move closer than 0.25 units from the closed position.
  • moving member 15 moves all the way closed, against stop 19, because the difference between magnetic force and spring force grows faster than the spring force, with respect to displacement Even when stop 19 prevents member 15 from moving to a displacement less than 0.05 units, for example, the magnetic force is still much greater than the spring force.
  • current 1 or current 2 is then applied rather than current 3, for example, the spring will pull member 15 to the right in Fig. 2 until the spring curve intersects a current curve indicating a stable position. This movement is highly hysteretic, and is known as "snap action" behavior.
  • sensor 17 senses the instantaneous value of flux density in the air gap 25 between the ferromagnetic material 11 and the moving member 15.
  • the preferred sensor 17 is a Hall effect semiconductor magnetic field sensor.
  • Hall effect sensors produce a voltage proportional to the intensity of magnetic flux flowing through them. They are available in very small packages, such as the Micronas HAL-400, which is 1.5 millimeters thick in the direction of flux being measured, and is 2.5 x 4.5 mm in the other dimensions.
  • Sensor 17 produces an output 31, which is in turn squared, or multiplied by itself, by multiplier 33.
  • the output 35 of multiplier 33 enters a subtracter 37 which subtracts output 35 from command voltage 39 to produce a net output 41, which output 41 is amplified in amplifier 43 and converted to current in voltage-to-current converter 45 to produce the current 47 for coil 13.
  • Various electronic devices exist for squaring or multiplying voltages, such as digital microcomputers and analog multiplier integrated circuits.
  • the present invention can be used to make a solenoid actuator useful as a vibratory transducer with faithful reproduction of the command signal, replacing more expensive and large devices such as voicecoil transducers which have strong and expensive permanent magnets.
  • a biasing voltage 49 is added to net output 41 by adder
  • Fig. 3 produces a voltage % + v ma ⁇ sin(wt), with the V b being the bias.
  • the force on moving member 15 is directly proportional to the magnitude of the command signal regardless of the instant position of said member.
  • the moving member 15 is restrained by spring 23, the position of the moving member 15 is directly proportional to the command voltage since spring extension (or compression) is directly proportional to force.
  • the present invention as exemplified in Figs. 1 and 3, comprises a linear device with constant transfer function (force out per volt in), which is suitable for inclusion in other control systems.
  • an outer loop could be comprised of a summer subtracting the outputs of a position sensor from a command signal, the results of this summer then being amplified and used as the command voltage for this system.
  • Useful applications of this embodiment would include poppet valves, dampers, and the like.
  • One example is an electrically modulated expansion valve for refrigeration.
  • this device could be used for active cancellation of vibrations as in a laundry appliance or airborne, marine, optical or transportation situations where externally induced vibrations must be dealt with.
  • the present invention is useful as a self-driven oscillator for vibratory applications, using a suitably conditioned output of a velocity sensor fed back as the command voltage.
  • a velocity sensor fed back as the command voltage.
  • Such a system would vibrate with a pure sine wave at the natural resonant frequency of the mass and spring that are being driven.
  • the device would self-adjust to changes in load as in a vibratory feeder.
  • a spring restrained solenoid as shown in Figs. 1 and 3 for example, where the force is independent of displacement, has a linear operation.
  • forces such as force 1, force 2 and force 3 vary with control signal input but not with displacement
  • the displacement changes linearly in response to control signal input, seeking the single position where the spring restraining force balances the commanded force. It is completely free of the on/off behavior of conventional spring-loaded solenoids in Fig. 2.
  • the Hall effect sensor or other magnetic field sensor may be co-packaged with a monolithic integrated circuit comprising the electronic control circuitry described herein. In this embodiment, a generic solenoid controller device would be produced.
  • This generic solenoid controller device could be imbedded in the solenoid actuator as part of its manufacture.
  • solenoids operate in the same general magnitude of magnetic flux level, that level being determined to some extent by the magnetic properties of the ferromagnetic material.
  • the power drive circuitry 45 in Fig. 3 may still be external for power dissipation considerations and to accommodate the voltage and current requirements of a specific application.
  • a silicon Hall-effect sensor and other signal processing circuitry (either linear or digital) amenable to placement in silicon
  • a generic silicon chip can be produced. Such a chip, when embedded in a solenoid actuator design, would provide force proportional to a control voltage.
  • a given chip design could be used to control solenoids of widely varying sizes, ratings and designs.

Landscapes

  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Electromagnets (AREA)
  • Reciprocating, Oscillating Or Vibrating Motors (AREA)

Abstract

L'invention concerne un dispositif et un procédé de commande d'un élément de déplacement (15) d'un solénoïde comprenant une bobine (13), un entrefer (25) et un élément (15) se déplaçant sur la longueur totale de déplacement. Un capteur (17) permet de détecter la valeur instantanée de la densité de flux dans l'entrefer (25), et elle est convertie en tension proportionnelle à l'intensité de la valeur. Cette valeur est convertie en courant unipolaire d'entraînement. Le détecteur préféré est un capteur (17) de champ magnétique semi-conducteur à effet Hall. Le solénoïde (10) peut comprendre un dispositif de sollicitation (23) restreignant le déplacement de l'élément (15).
EP02742286A 2001-06-21 2002-06-21 Actionneur a solenoide a force independante de la position Withdrawn EP1428236A4 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US88631201A 2001-06-21 2001-06-21
US886312 2001-06-21
PCT/US2002/020020 WO2003001547A1 (fr) 2001-06-21 2002-06-21 Actionneur a solenoide a force independante de la position

Publications (2)

Publication Number Publication Date
EP1428236A1 EP1428236A1 (fr) 2004-06-16
EP1428236A4 true EP1428236A4 (fr) 2009-08-26

Family

ID=25388835

Family Applications (1)

Application Number Title Priority Date Filing Date
EP02742286A Withdrawn EP1428236A4 (fr) 2001-06-21 2002-06-21 Actionneur a solenoide a force independante de la position

Country Status (3)

Country Link
EP (1) EP1428236A4 (fr)
JP (1) JP2005520320A (fr)
WO (1) WO2003001547A1 (fr)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2008020380A1 (fr) * 2006-08-15 2008-02-21 Koninklijke Philips Electronics N.V. Dispositif de génération de champ magnétique
DE102006045353A1 (de) * 2006-09-26 2008-04-03 Lucas Automotive Gmbh Regeleinheit und Verfahren zur Regelung einer elektromagnetischen Ventilanordnung
US9347579B2 (en) 2013-10-03 2016-05-24 Hamilton Sundstrand Corporation Flux bypass for solenoid actuator
US10283244B2 (en) 2014-12-29 2019-05-07 Halliburton Energy Services, Inc. Downhole solenoid actuator drive system

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4665348A (en) * 1984-08-09 1987-05-12 Synektron Corporation Method for sensing and controlling the position of a variable reluctance actuator
US5003211A (en) * 1989-09-11 1991-03-26 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Permanent magnet flux-biased magnetic actuator with flux feedback
US5621293A (en) * 1991-11-26 1997-04-15 Hutchinson Variable-reluctance servocontrolled linear motor

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4733214A (en) * 1983-05-23 1988-03-22 Andresen Herman J Multi-directional controller having resiliently biased cam and cam follower for tactile feedback
US4659969A (en) * 1984-08-09 1987-04-21 Synektron Corporation Variable reluctance actuator having position sensing and control
EP0178615A3 (fr) * 1984-10-19 1987-08-05 Kollmorgen Corporation Réseaux d'alimentation en courant d'éléments inductifs
US4853629A (en) * 1988-05-02 1989-08-01 Eaton Corporation Hall-Effect position sensing system and device
JP2658432B2 (ja) * 1988-12-01 1997-09-30 ダイキン工業株式会社 油圧制御装置
US5983712A (en) * 1994-05-19 1999-11-16 Molecular Imaging Corporation Microscope for compliance measurement
US5523684A (en) * 1994-11-14 1996-06-04 Caterpillar Inc. Electronic solenoid control apparatus and method with hall effect technology

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4665348A (en) * 1984-08-09 1987-05-12 Synektron Corporation Method for sensing and controlling the position of a variable reluctance actuator
US5003211A (en) * 1989-09-11 1991-03-26 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Permanent magnet flux-biased magnetic actuator with flux feedback
US5621293A (en) * 1991-11-26 1997-04-15 Hutchinson Variable-reluctance servocontrolled linear motor

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of WO03001547A1 *

Also Published As

Publication number Publication date
EP1428236A1 (fr) 2004-06-16
JP2005520320A (ja) 2005-07-07
WO2003001547A1 (fr) 2003-01-03

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