EP1792057B1 - Procede pour determiner une position sur un moteur a commutation electronique - Google Patents

Procede pour determiner une position sur un moteur a commutation electronique Download PDF

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Publication number
EP1792057B1
EP1792057B1 EP05787299A EP05787299A EP1792057B1 EP 1792057 B1 EP1792057 B1 EP 1792057B1 EP 05787299 A EP05787299 A EP 05787299A EP 05787299 A EP05787299 A EP 05787299A EP 1792057 B1 EP1792057 B1 EP 1792057B1
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EP
European Patent Office
Prior art keywords
value
measured value
crankshaft
position measured
sensor signal
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Not-in-force
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EP05787299A
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German (de)
English (en)
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EP1792057A1 (fr
Inventor
Holger Stork
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Schaeffler Technologies AG and Co KG
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Schaeffler Technologies AG and Co KG
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    • 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
    • F01L1/00—Valve-gear or valve arrangements, e.g. lift-valve gear
    • F01L1/34—Valve-gear or valve arrangements, e.g. lift-valve gear characterised by the provision of means for changing the timing of the valves without changing the duration of opening and without affecting the magnitude of the valve lift
    • F01L1/344—Valve-gear or valve arrangements, e.g. lift-valve gear characterised by the provision of means for changing the timing of the valves without changing the duration of opening and without affecting the magnitude of the valve lift changing the angular relationship between crankshaft and camshaft, e.g. using helicoidal gear
    • F01L1/352—Valve-gear or valve arrangements, e.g. lift-valve gear characterised by the provision of means for changing the timing of the valves without changing the duration of opening and without affecting the magnitude of the valve lift changing the angular relationship between crankshaft and camshaft, e.g. using helicoidal gear using bevel or epicyclic gear

Definitions

  • the invention relates to a method for determining the position of an EC motor for a device for adjusting the rotational angle position of the camshaft of a reciprocating internal combustion engine relative to the crankshaft, wherein the crankshaft via a variable speed drive is in driving connection with the camshaft, which is a three-shaft transmission with a crankshaft fixed drive shaft, a camshaft-fixed output shaft and an adjusting shaft is formed, which is in driving connection with the EC motor, wherein the rotor of the EC motor offset in the circumferential direction to each other, alternately magnetized in opposite directions magnetic segments, wherein for determining the position of the rotor relative to the Stator of the EC motor, a measuring device is provided, which has circumferentially offset from each other on the stator magnetic field sensors, which are arranged such that they at a rotational movement of the rotor relative to the stator with error-free measurement of a digital Produce sensor signal that undergoes an order of sensor signal states that occurs at least two times per mechanical revolution
  • the EC engine is part of a camshaft adjusting device, by means of which the rotational angle position of the camshaft of a reciprocating internal combustion engine is adjustable relative to the crankshaft.
  • the camshaft adjusting device has an adjusting gear, which is designed as a three-shaft gear, with the drive shaft a rotatably mounted relative to the camshaft camshaft gear is rotatably connected, which is in driving connection via a drive chain with a crankshaft gear.
  • An output shaft of the variable speed drive is in drive connection with the camshaft and an adjusting shaft with the EC motor.
  • the drive shaft is stationary, there is a gear ratio predetermined by the adjusting gear between the adjusting shaft and the output shaft, the so-called stationary gear ratio. If the adjusting rotates, increases or decreases depending on the direction of rotation of the adjusting relative to the camshaft gear, the phase angle of the camshaft relative to the crankshaft.
  • an internal combustion engine which is operated with a constant phase position
  • by adjusting the phase position better cylinder filling of the internal combustion engine can be achieved, whereby fuel can be saved, the pollutant emissions can be reduced and / or the output line of the internal combustion engine can be increased.
  • the position of the rotor relative to the stator is measured by means of a measuring device which has three Hall sensors fixedly connected to the stator, which are distributed over the circumference of the stator.
  • the Hall sensors are each flooded in a rotational movement between the stator and the rotor of the magnetic field of the just over them advancing magnetic segment of the rotor.
  • the magnetic fields of the magnetic segments induce electrical voltages in the Hall sensors, which can be used as a digital sensor signal for a position measurement.
  • a position measurement signal is first set to a start value and then the rotor is rotated relative to the stator, wherein the position measurement signal is tracked at each occurrence of a state change of the sensor signal.
  • the position measurement signal is fed to a drive device, which energizes the individual phases of the winding via an output stage such that a magnetic traveling field is formed between the stator and the rotor, which drives the rotor.
  • the EC motor and the measuring device are exposed to interference which, for example, can reach the measuring device via power supply lines and cause errors in the position measuring signal there.
  • too many state changes are detected when tracking the position measurement signal.
  • a deviation of the position measurement signal from the actual position of the rotor occurs, so that it is not energized correctly. This can cause torque losses, uneven engine running and errors in adjusting the rotational position of the camshaft relative to the crankshaft.
  • the angle of rotation of the crankshaft is detected and used to check a derived from the digital sensor signal position measurement signal. If, during the check, a deviation is detected which exceeds a predefined limit value, a coarse correction of the position measuring signal is carried out. In the coarse correction, a value is preferably added to or subtracted from the position measurement signal which corresponds to the path or an integral multiple of the path of a full rotation of the rotor divided by the number of magnetic field sensors. If the order The sensor signal values assigned to the position measurement values do not match the stored sequence of the sensor signal states, a fine correction of the position measurement signal is also performed in which the sensor signal is restored in accordance with the stored sequence of sensor signal states and the position measurement signal is corrected accordingly.
  • the method enables a reconstruction of the position measurement signal both when small amounts occur (eg, less than half the number of stored sensor signal states) and when larger errors occur.
  • the steps e) and f) can also be interchanged with the steps g) and h), ie it can also be performed first the fine correction and then the coarse correction.
  • a crankshaft rotation angle measurement time is detected for each of the first and second crankshaft rotation angles, wherein from the first and second crankshaft rotation angles, the time difference between the crankshaft rotation angle measurement times and the time interval between the crankshaft rotation angle measurement time of the second crankshaft rotation angle and a reference time
  • An estimate of the angle of rotation that the crankshaft has at the reference instant is extrapolated, and wherein the coarse correction and / or the fine correction with this estimated value is performed as a new second rotational angle measured value.
  • the correction of the second position measured value is carried out at a reference time, which is temporally after the crankshaft rotation angle measuring times.
  • the reference instant it is possible, in particular, for the reference instant to be asynchronous with respect to a clock kar, n with which the crankshaft rotation angle measurement values are detected. Nevertheless, due to the extrapolation of the new second rotational angle measurement with a uniformly moving rotor, a high precision of the position measurement signal is achieved.
  • a position measuring time is detected for the first and second position measured value, if from the first and second position measurement, the time difference between the Heilmesswert measuring times and the time interval between the Lümesswert measuring time of the second position measured value and the reference time an estimated value for the value that the position measurement signal has at the reference instant is extrapolated, and when the coarse correction with this estimated value is performed as a new second position measured value.
  • the reference time may be asynchronous to a clock used to acquire the position readings.
  • the reference time is generated at a predetermined angular position of the camshaft. This can be achieved, for example, by monitoring the position of the camshaft with the aid of a camshaft sensor and, when passing through the predetermined camshaft rotational position, triggering an interrupt in a control unit in which the position measurement signal is checked and, if necessary, restored.
  • the position measurement values are differentiated to form angular velocity values.
  • the corresponding angular velocity signal may be used to determine the estimates and / or to control the speed of the EC motor.
  • a correction value is determined and stored, the position measurement values and / or angular velocity values being corrected with the correction values.
  • An adjusting device for adjusting the rotational angle or phase angle of the camshaft 11 of a reciprocating internal combustion engine relative to the crankshaft 12 has an adjusting mechanism 13 which is a three-shaft transmission with a crankshaft fixed drive shaft, a camshaft fixed output shaft and one with the rotor of an EC motor 14 in drive connection Adjusting shaft is formed.
  • an inductive sensor 15 is provided for measuring the crankshaft rotation angle, which detects the tooth flanks of a gear rim 16 consisting of a magnetically conductive material arranged on the crankshaft 12.
  • One of the tooth gaps or teeth of the toothed rim 16 has a greater width than the other tooth gaps or teeth and serves as a reference mark.
  • the inductive sensor 15 is arranged on a not shown in the drawing engine block of the internal combustion engine.
  • the measured value for the crankshaft rotation angle is set to a starting value. Thereafter, the measured value is tracked until the reference mark is passed by the sensor 15 each time a tooth flank is detected.
  • the tracking of the measured value for the crankshaft angle takes place with the aid of a control device in whose operating program an interrupt is triggered in each case when a tooth flank is detected. The crankshaft rotation angle is therefore measured digitally.
  • the EC motor 14 has a rotor 17, on the circumference of a series of magnetized alternately in opposite directions magnetic segments is arranged 1..8, which interact magnetically via an air gap with teeth of a stator, not shown in the drawing , The teeth are wound with a winding, which is energized via a drive device.
  • the position of the magnet segments 1..8 relative to the stator is detected by means of a measuring device having a plurality of magnetic field sensors A, B, C, which are arranged offset to one another in the circumferential direction of the stator such that per revolution of the rotor a number of Magnetic segment sensor combinations is traversed. If the measurement is error-free, the magnetic field sensors A, B, C generate a digital sensor signal which, due to the arrangement of the magnetic field sensors A, B, C and the passing magnetic segments 1..8, passes through an order of 2 ⁇ m sensor signal states m the number the magnetic field sensors A, B, C means. Each sensor signal state has for each magnetic field sensor A, B, C each have a point A ', B', C ', the z. B.
  • the individual sensor signal states occur in error-free measurement in a predefined order, from which the direction of rotation of the rotor 17 can be seen. This sequence is determined and stored in a non-volatile memory. For three magnetic field sensors A, B, C and positive direction of rotation is the order z. 101, 100, 110. 010, 011, 001.
  • the newly read sensor signal value does not fit into the sequence, it is assumed either that one or more sensor signal states have been lost due to a fault, or that one or more sensor signal states have been received too much.
  • searching for the sensor signal value in the known order it is determined how many sensor signal states have been missing or received too much. If, for example, the current sensor signal value was not expected until the next pulse of a magnetic field sensor, then the rotor 17 has been replaced in the meantime z. B. by (2 + m ⁇ n) magnetic segment sensor combinations rotated without this being detected.
  • m is the number of magnetic field sensors of the measuring device and n is an integer number
  • the z. B. can have the value 0, ⁇ 1, ⁇ 2, etc.
  • the integer remainder R is in the range of 0 to 2 ⁇ m-1.
  • a sensor signal state is assigned a fixed remainder R. If the association between the sensor signal value and the position measurement signal value is not correct, the sensor signal value is changed by a fine correction so that the assignment is correct again. This is always achievable and can be carried out immediately when reading in a new sensor signal value. In addition to this fine correction, the position measurement signal value can be changed, if necessary, by a coarse correction with whole multiples of 2 ⁇ m, since they do not influence the remainder R.
  • the adjusting device has an encoder for the rotational angle position of the camshaft 11, which has a Hall sensor 18 on the engine block, which cooperates with a arranged on the camshaft 11 trigger 19. If the Hall sensor 18 detects an edge of the trigger wheel 19, an interrupt is triggered in the operating program of the control unit, in each case a crankshaft rotational angle measured value and a sensor signal value are buffered. This interrupt will also be referred to as a camshaft interrupt below. At a later time then another interrupt is triggered in the operating program of the controller, in which it is checked whether a coarse correction of the position measurement signal is required and in which this is optionally performed. This interrupt will also be referred to as a cyclic interrupt below.
  • ⁇ Cnk denote the rotational angle of the crankshaft 12, ⁇ the phase angle, the index 1 the time t 1 and the index 2 the time t 1 .
  • ⁇ Em (t) the rotor position (rotor rotation angle) at time t, ⁇ Em , 1 the rotor position at time t 1 and ⁇ Cnk (t) mean the angle of rotation of crankshaft 12 at time t :
  • ⁇ t ⁇ cnk . 1 + 1 i G ⁇ ⁇ cnk t - ⁇ cnk . 1 - 2 ⁇ ⁇ em t - ⁇ em . 1
  • ⁇ em . 2 ⁇ em . 1 - i G - 1 i G ⁇ ⁇ cnk . 2 - ⁇ cnk . 1
  • the correct rotor angle ⁇ Em , 2 can be calculated with this equation and used for the coarse correction of the position measurement value.
  • the achievable accuracy should show:
  • n Em is the speed of the EC motor and n Cam is the speed of the camshaft 11.
  • the following inaccuracies, which are specified as super and subscripts at the individual angles in degrees, are present: ⁇ em . 2 - 7.7 + 16.2 ⁇ em . 1 - 0 + 8:57 + 31.5 ⁇ ⁇ cnk . 2 - 0 + 12:25 - ⁇ cnk . 1 - 0 + 12:25
  • the uncertainty can be halved from + 8.57 ° / - 0 ° to approximately + 2 ° / -2 °.
  • estimated values are determined for the position that the rotor 17 has at the time of the camshaft interrupt and the cyclic interrupt.
  • the method for determining the position of the EC motor 14 for the device for adjusting the rotational angle position of the camshaft 11 of the reciprocating internal combustion engine relative to the crankshaft 12 is thus at each occurrence of a change in state of a sensor signal arranged on the stator of the EC motor 14 magnetic field sensors A, B, C, which are provided for detecting magnetic poles of the EC rotor 17, tracking a position measurement signal.
  • the sensor signal undergoes an order of sensor signal states, which occurs at least twice per mechanical revolution of the rotor 17.
  • the order of the sensor signal states is determined and stored. With the aid of the stored sequence, a fine correction of the position measuring signal is carried out if the order of the measured sensor signal values deviates from the stored sequence.
  • the rotation angle of the crankshaft 12 of the internal combustion engine is determined, and with the aid of the rotation angle and a transmission characteristic of an epicyclic gear of the camshaft adjusting device, a coarse correction of the position measurement signal is performed upon detection of a position measurement error that can not be eliminated with the fine correction.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Combined Controls Of Internal Combustion Engines (AREA)
  • Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)

Claims (6)

  1. Procédé de détermination de la position sur un moteur à commutation électronique (14) pour un dispositif de réglage de la position angulaire de rotation de l'arbre à cames (11) d'un moteur à combustion interne à piston alternatif par rapport au vilebrequin (12), le vilebrequin (12) se trouvant en liaison motrice avec l'arbre à cames (11) par le biais d'un mécanisme ajustable (13), lequel est réalisé sous la forme d'un engrenage à trois arbres comprenant un arbre d'entraînement fixe sur le vilebrequin, un arbre de sortie fixe sur l'arbre à cames et un arbre ajustable qui se trouve en liaison d'entraînement avec le moteur à commutation électronique (14), le rotor (17) du moteur à commutation électronique (14) présentant des segments magnétiques (1..8) décalés les uns par rapport aux autres dans le sens du pourtour et magnétisés en alternance dans des directions mutuellement opposées, un dispositif de mesure étant prévu pour déterminer la position du rotor (17) par rapport au stator du moteur à commutation électronique (14), lequel présente des capteurs de champ magnétique (A, B, C) décalés les uns par rapport aux autres dans le sens du pourtour sur le stator, caractérisé en ce que ces capteurs de champ magnétique (A, B, C) sont disposés de telle sorte que lors d'un mouvement de rotation du rotor (17) dans le sens de la flèche (Pf) par rapport au stator, ils génèrent, dans le cas d'une mesure sans erreur, un signal de capteur numérique qui traverse une séquence d'états de signal de capteur qui se produit au moins deux fois par tour mécanique du rotor (17),
    a) la séquence d'états de signal de capteur étant déterminée et enregistrée,
    b) un signal de mesure de position étant fixé à une valeur de départ,
    c) le rotor (17) étant tourné par rapport au stator et le signal de mesure de position étant compensé à chaque fois que se produit un changement d'état du signal de capteur,
    d) une première valeur mesurée de l'angle de rotation du vilebrequin (12) étant acquise pour une première valeur mesurée de la position du signal de mesure de position et une deuxième valeur mesurée de l'angle de rotation étant acquise pour une deuxième valeur mesurée de la position,
    e) une valeur de contrôle pour la deuxième valeur mesurée de la position étant déterminée à l'aide de la première valeur mesurée de la position, de la première et de la deuxième valeur mesurée de l'angle de rotation ainsi que d'une grandeur caractéristique d'engrenage du mécanisme ajustable,
    f) la différence entre la valeur de contrôle et la deuxième valeur mesurée de la position étant calculée et, dans le cas où la valeur absolue de la différence dépasse une valeur limite prédéfinie, une correction approximative du signal de mesure de la position est effectuée en additionnant une valeur de correction approximative correspondant à la différence à la deuxième valeur mesurée de la position et en prenant le résultat comme nouvelle deuxième valeur mesurée de la position,
    g) un valeur de contrôle pour une deuxième valeur de signal de capteur associée à la deuxième valeur mesurée de la position étant déterminée au moyen d'une première valeur de signal de capteur associée à la première valeur mesurée de la position et de la séquence d'états de signal de capteur enregistrée,
    h) la valeur de contrôle étant comparée avec la deuxième valeur de signal de capteur et, dans le cas où une différence est constatée, une correction précise du signal de mesure de position est effectuée en additionnant à la deuxième valeur de mesure de position une valeur de correction précise, laquelle correspond à l'écart que présente la valeur de contrôle dans la séquence d'états de signal de capteur par rapport à la deuxième valeur de signal de capteur, et en prenant le résultat comme nouvelle deuxième valeur mesurée de la position,
    i) et les étapes c) à h) étant éventuellement répétées une nouvelle fois.
  2. Procédé selon la revendication 1, caractérisé en ce qu'un instant de mesure de l'angle de rotation du vilebrequin est à chaque fois acquis pour le premier et le deuxième angle de rotation du vilebrequin, en ce qu'une valeur esimée pour l'angle de rotation que présente le vilebrequin (12) à un instant de référence est extrapolée à partir du premier et du deuxième angle de rotation du vilebrequin, de la différence de temps entre les instants de mesure des angles de rotation du vilebrequin et de l'intervalle de temps entre l'instant de mesure de l'angle de rotation du vilebrequin du deuxième angle de rotation du vilebrequin et l'instant de référence, et en ce que la correction approximative et/ou la correction précise sont effectuées avec cette valeur estimée comme nouvelle deuxième valeur mesurée de l'angle de rotation.
  3. Procédé selon la revendication 1 ou 2, caractérisé en ce qu'un instant de mesure de la valeur mesurée de la position est à chaque fois acquis pour la première et la deuxième valeur mesurée de la position, en ce qu'une valeur estimée pour la valeur que présente le signal de mesure de position à un instant de référence est extrapolée à partir de la première et de la deuxième valeur mesurée de la position, de la différence de temps entre les instants de mesure des valeurs mesurées de la position et de l'intervalle de temps entre l'instant de mesure de la valeur mesurée de la position de la deuxième valeur mesurée de la position et l'instant de référence, et en ce que la correction approximative est effectuée avec cette valeur estimée comme nouvelle deuxième valeur mesurée de la position.
  4. Procédé selon l'une des revendications 1 à 3, caractérisé en ce que l'instant de référence est généré à une position angulaire de rotation prédéfinie de l'arbre à cames (11).
  5. Procédé selon l'une des revendications 1 à 4, caractérisé en ce que les valeurs mesurées de la position sont différenciées pour calculer des valeurs de vitesse angulaire.
  6. Procédé selon l'une des revendications 1 à 5, caractérisé en ce qu'une valeur de correction est à chaque fois déterminée et enregistrée pour la compensation des tolérances des segments magnétiques (1..8) et/ou des capteurs de champ magnétique (A, B, C) pour chacune des combinaisons segment magnétique/capteur, et en ce que les valeurs mesurées de la position et/ou les valeurs de la vitesse angulaire sont corrigées avec les valeurs de correction.
EP05787299A 2004-09-13 2005-09-03 Procede pour determiner une position sur un moteur a commutation electronique Not-in-force EP1792057B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102004044620 2004-09-13
PCT/DE2005/001545 WO2006029592A1 (fr) 2004-09-13 2005-09-03 Procede pour determiner une position sur un moteur a commutation electronique

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EP1792057A1 EP1792057A1 (fr) 2007-06-06
EP1792057B1 true EP1792057B1 (fr) 2013-01-30

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EP (1) EP1792057B1 (fr)
DE (1) DE112005002806A5 (fr)
WO (1) WO2006029592A1 (fr)

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JP4506504B2 (ja) 2005-02-25 2010-07-21 トヨタ自動車株式会社 内燃機関の制御装置
DE102006016650B4 (de) * 2006-04-08 2019-05-16 Schaeffler Technologies AG & Co. KG Nockenwellentrieb für eine Brennkraftmaschine
US8096271B2 (en) * 2009-06-01 2012-01-17 GM Global Technology Operations LLC System and method for determining a camshaft position in a variable valve timing engine
EP3756657A1 (fr) * 2009-12-24 2020-12-30 Rani Therapeutics, LLC Dispositif d'administration de médicaments à avaler
DE102010062243B4 (de) * 2010-12-01 2023-01-26 Robert Bosch Gmbh Verfahren, Computerprogramm, Speichermedium und Steuer- und/oder Regeleinrichtung zur Steuerung einer Brennkraftmaschine
JP2012177421A (ja) * 2011-02-25 2012-09-13 Honda Motor Co Ltd クラッチ駆動機構の制御装置
DE102014101754B4 (de) 2014-02-12 2015-11-19 Infineon Technologies Ag Ein sensorbauteil und verfahren zum senden eines datensignals
US10243724B2 (en) 2014-02-12 2019-03-26 Infineon Technologies Ag Sensor subassembly and method for sending a data signal
GB2527114B (en) * 2014-06-12 2017-03-01 Control Techniques Ltd Method and system for determining an offset between a detector and a point on a motor
DE102015214596A1 (de) * 2015-07-31 2017-02-02 Robert Bosch Gmbh Verfahren zum Ermitteln einer Position eines Rotors einer elektrischen Maschine
JP7366827B2 (ja) * 2020-03-31 2023-10-23 本田技研工業株式会社 検知装置及び制御装置

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DE69818946T2 (de) * 1997-11-21 2004-05-13 Mazda Motor Corp. Vorrichtung zur Steuerung der Drehphase
DE10315317B4 (de) 2002-09-13 2017-06-22 Schaeffler Technologies AG & Co. KG Verfahren zum Betrieb einer Phasenverstellvorrichtung und Phasenverstellvorrichtung zur Durchführung des Verfahrens
JP4123127B2 (ja) * 2002-10-25 2008-07-23 株式会社デンソー 内燃機関の可変バルブタイミング制御装置
JP4159854B2 (ja) 2002-10-31 2008-10-01 株式会社日立製作所 可変バルブタイミング機構の制御装置

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EP1792057A1 (fr) 2007-06-06
WO2006029592A1 (fr) 2006-03-23
US20080216782A1 (en) 2008-09-11
US7430998B2 (en) 2008-10-07
DE112005002806A5 (de) 2007-08-30

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