EP1994300A1 - Procede de detection des erreurs dans un actionneur - Google Patents

Procede de detection des erreurs dans un actionneur

Info

Publication number
EP1994300A1
EP1994300A1 EP07712278A EP07712278A EP1994300A1 EP 1994300 A1 EP1994300 A1 EP 1994300A1 EP 07712278 A EP07712278 A EP 07712278A EP 07712278 A EP07712278 A EP 07712278A EP 1994300 A1 EP1994300 A1 EP 1994300A1
Authority
EP
European Patent Office
Prior art keywords
actuator
measured
signal
movement
calculated
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.)
Ceased
Application number
EP07712278A
Other languages
German (de)
English (en)
Inventor
Florian Schneider
Thomas JÄGER
Roland Mair
Bernd Apfelbacher
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.)
ZF Friedrichshafen AG
Original Assignee
ZF Friedrichshafen AG
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 ZF Friedrichshafen AG filed Critical ZF Friedrichshafen AG
Publication of EP1994300A1 publication Critical patent/EP1994300A1/fr
Ceased legal-status Critical Current

Links

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D48/00—External control of clutches
    • F16D48/06—Control by electric or electronic means, e.g. of fluid pressure
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/12—Detecting malfunction or potential malfunction, e.g. fail safe; Circumventing or fixing failures
    • 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
    • G05B23/00—Testing or monitoring of control systems or parts thereof
    • G05B23/02—Electric testing or monitoring
    • G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
    • G05B23/0218—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults
    • G05B23/0243—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults model based detection method, e.g. first-principles knowledge model
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2500/00—External control of clutches by electric or electronic means
    • F16D2500/30—Signal inputs
    • F16D2500/302—Signal inputs from the actuator
    • F16D2500/3026—Stroke
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2500/00—External control of clutches by electric or electronic means
    • F16D2500/50—Problem to be solved by the control system
    • F16D2500/501—Relating the actuator
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2500/00—External control of clutches by electric or electronic means
    • F16D2500/50—Problem to be solved by the control system
    • F16D2500/51—Relating safety
    • F16D2500/5108—Failure diagnosis
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2500/00—External control of clutches by electric or electronic means
    • F16D2500/70—Details about the implementation of the control system
    • F16D2500/706—Strategy of control
    • F16D2500/70605—Adaptive correction; Modifying control system parameters, e.g. gains, constants, look-up tables
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2500/00—External control of clutches by electric or electronic means
    • F16D2500/70—Details about the implementation of the control system
    • F16D2500/708—Mathematical model
    • F16D2500/7082—Mathematical model of the clutch
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/12—Detecting malfunction or potential malfunction, e.g. fail safe; Circumventing or fixing failures
    • F16H2061/1208—Detecting malfunction or potential malfunction, e.g. fail safe; Circumventing or fixing failures with diagnostic check cycles; Monitoring of failures
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/12—Detecting malfunction or potential malfunction, e.g. fail safe; Circumventing or fixing failures
    • F16H2061/1256—Detecting malfunction or potential malfunction, e.g. fail safe; Circumventing or fixing failures characterised by the parts or units where malfunctioning was assumed or detected
    • F16H2061/1284—Detecting malfunction or potential malfunction, e.g. fail safe; Circumventing or fixing failures characterised by the parts or units where malfunctioning was assumed or detected the failing part is a sensor
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/12—Detecting malfunction or potential malfunction, e.g. fail safe; Circumventing or fixing failures
    • F16H2061/1256—Detecting malfunction or potential malfunction, e.g. fail safe; Circumventing or fixing failures characterised by the parts or units where malfunctioning was assumed or detected
    • F16H2061/1288—Detecting malfunction or potential malfunction, e.g. fail safe; Circumventing or fixing failures characterised by the parts or units where malfunctioning was assumed or detected the failing part is an actuator
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/26—Generation or transmission of movements for final actuating mechanisms
    • F16H61/28—Generation or transmission of movements for final actuating mechanisms with at least one movement of the final actuating mechanism being caused by a non-mechanical force, e.g. power-assisted
    • F16H61/32—Electric motors actuators or related electrical control means therefor
    • 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
    • G05B2219/20—Pc systems
    • G05B2219/24—Pc safety
    • G05B2219/24083—Detect if actuators are correct, react

Definitions

  • the invention relates to a method for Fehiererkennung on an actuator ator according to the closer defined in the preamble of claim 1.
  • a method for fault diagnosis on a Kuppiungsaktuator is known.
  • a manipulated variable is applied to an input of the Kuppiungsaktuators.
  • a corresponding electrical signal for the measured actuator position is generated by an sensor at an output of the Kuppiungsaktuators.
  • an actuator position to be expected is calculated by an actuator model unit and provided at the output of the actuator model unit.
  • the signals for the measured actuator position and the expected actuator position are compared with one another in a comparison unit.
  • the signal present at the output of the comparison unit is fed to a computing unit which generates a corresponding status signal at its output.
  • the arithmetic unit concludes, based on an evaluation algorithm, on a functioning coupling actuator and a functional sensor for determining the position of the coupling actuator. For large deviations between the signals for the measured and the expected actuator position is against to a fault of the clutch actuator and / or the sensor for determining the position of the clutch actuator closed.
  • the measured actuator position is compared with a model-based actuator position. Since the model for calculating the actuator position deviates from reality because, for example, the behavior of the system can not be modeled exactly, a deviation occurs between the actual and the calculated and thus expected position of the clutch actuator for each calculation step.
  • the output signal of the calibration unit which is formed from the measured and the calculated actuator position, is fed back to the input of the actuator model unit and evaluated.
  • a clutch model is usually based on the fact that the position change due to a valve control continuously calculated and this calculated size is integrated. Since this coupling model is calculated by a digital computer, position changes occur only at discrete times. These position changes refer to the period between two calculation steps. This makes it necessary to perform summation instead of integrating the position change. In order to be able to solve this equation with a digital computer, the differential equation must be converted into a difference equation. Since the coupling Modeli usually deviates from reality, because, for example, the behavior of the system can not be accurately modeled, results in each calculation step, a deviation between the actual and the calculated position of the clutch actuator. This shows that, in principle, there is a difference between the calculated position and the measured position, which accumulates over time.
  • the object of the present invention is to present a method for detecting faults on an actuator, which ensures reliable monitoring of the position of the actuator and eliminates the disadvantages of the prior art.
  • the object underlying the invention is achieved by a, including the characterizing features of the main claim exhibiting, generic method for error detection on an actuator.
  • a manipulated variable is applied simultaneously to an input of an actuator and to an input of a Modeilhen
  • the manipulated variable is generated by a control unit, for example, from the control unit of an automatic or automated manual transmission or an automated clutch.
  • expected actuator movements can be calculated for all possible manipulated variables for the actuator.
  • a corresponding electrical signal is generated at an output of the actuator by a sensor. This signal corresponds to the measured actuator position and is forwarded to a signal conditioning unit.
  • the actual position change of the actuator ie the Actual actuator movement, determined.
  • the position change of the actuator ie the actuator movement
  • the model-based siere position change and tafsumbleliche position change of the actuator are applied to inputs of a computing unit.
  • the model-based and the actual position change of the actuator are compared with each other and evaluated by a corresponding algorithm.
  • a corresponding status signal is output.
  • a status signal is output at the output of the arithmetic unit, by means of which the functionality of the Aktuafor and the sensor for determining the Aktuatorposifion is signaled. If there is a greater deviation between the measured and the calculated actuator movement, it is possible to conclude that the actuator and / or the sensor have failed.
  • the advantage of this method is that the actuator movement on the sensor and the actuator movement of the model are determined only over a defined period of time, whereby drifting apart of the measured and the calculated actuator position is prevented.
  • This period is not too large and therefore includes about 10 to 20 computational cycles.
  • the occurring error is limited to 10 to 20 times the error of a computing cycle.
  • This maximum occurring error is taken into account when comparing the position change of sensor and model, whereby a fault of the actuator and / or the sensor for determining the actuator position is reliably detected. A return of the measured actuator position in the model unit is therefore no longer necessary.
  • the single figure shows a block diagram of an embodiment of the invention for monitoring an actuator.
  • the block diagram 10 of the figure consists of an actuator 2, a modeling unit 3, a signal conditioning unit 5 and a computing unit 8.
  • a control unit such as an automatic gearbox, which is not shown here, for actuating the actuator 2
  • a corresponding manipulated variable 1 both As a function of the applied manipulated variable 1, a corresponding electrical signal is generated by an sensor at an output of the actuator 2.
  • This signal which represents the measured actuator position 4
  • the signal conditioning unit 5 In the signal conditioning unit 5, the position change of the actuator, ie the actuator movement, is derived from the position signal of the sensor.
  • the measured actuator movement 6 is now provided.
  • the manipulated variable 1 is also applied to the model unit 3. Depending on the applied manipulated variable 1, an expected actuator movement is calculated in the model unit 3.
  • the calculated actuator movement 7 is provided at the output of the model unit 3.
  • the measured actuator movement 6 and the calculated actuator movement 7 are applied to inputs of a computing unit 8, compared with each other in the arithmetic unit 8 and evaluated by a corresponding algorithm.
  • a corresponding status signal 9 is output. If a greater deviation results from the comparison of the measured actuator movement 8 with the calculated actuator movement 7, then an error of the actuator 2 and / or of the sensor for determining the actuator position 4, or an error in the measurement data acquisition can be deduced.
  • a status signal 9 is output at the output of the arithmetic unit 8, by means of which the functionality of the actuator 2 and of the sensor for determining the actuator position 4 is signaled,
  • the measured actuator movement 6 on the sensor and the calculated actuator movement 7 of the model are detected only over a defined period, which is not too large.
  • a typical period for the detection of the actuator movements 6, 7 comprises, for example, 10 to 20 computing cycles.
  • the occurring error is limited to 10 to 20 times the error of a computing cycle. This maximum occurring error is taken into account when comparing the position changes of sensor and model, whereby a fault of the actuator 2 and / or the sensor for determining the actuator 4 can be signaled safe.

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Fluid Mechanics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Testing And Monitoring For Control Systems (AREA)
  • Hydraulic Clutches, Magnetic Clutches, Fluid Clutches, And Fluid Joints (AREA)
  • Control Of Transmission Device (AREA)

Abstract

L'invention concerne un procédé de détection des erreurs dans un actionneur (2). Sur la base d'une valeur de commande (1) appliquée à l'entrée de l'actionneur (2), laquelle est produite par une unité de commande, par exemple une boîte de vitesses automatique ou automatisée ou un embrayage automatisé, un signal est produit à la sortie de l'actionneur (2) indiquant la position mesurée de l'actionneur (4). Le signal de position mesurée de l'actionneur (4) est appliqué à une entrée d'une unité de préparation des signaux (5) qui en déduit un mouvement mesuré de l'actionneur (6). La valeur de commande (1) est également appliquée à une entrée d'une unité de modélisation (3) qui calcule à partir de celle-ci un mouvement de l'actionneur attendu. Le mouvement mesuré de l'actionneur (6) et le mouvement calculé de l'actionneur (7) sont acheminés à une unité de calcul (8) qui produit à sa sortie un signal d'état (9) correspondant pour la fonctionnalité de l'actionneur (2) et la fonctionnalité du capteur de détection de la position de l'actionneur (4).
EP07712278A 2006-03-15 2007-02-21 Procede de detection des erreurs dans un actionneur Ceased EP1994300A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102006011807A DE102006011807A1 (de) 2006-03-15 2006-03-15 Verfahren zur Fehlererkennung an einem Aktuator
PCT/EP2007/051679 WO2007104631A1 (fr) 2006-03-15 2007-02-21 Procede de detection des erreurs dans un actionneur

Publications (1)

Publication Number Publication Date
EP1994300A1 true EP1994300A1 (fr) 2008-11-26

Family

ID=37993925

Family Applications (1)

Application Number Title Priority Date Filing Date
EP07712278A Ceased EP1994300A1 (fr) 2006-03-15 2007-02-21 Procede de detection des erreurs dans un actionneur

Country Status (4)

Country Link
US (1) US7827001B2 (fr)
EP (1) EP1994300A1 (fr)
DE (1) DE102006011807A1 (fr)
WO (1) WO2007104631A1 (fr)

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Publication number Priority date Publication date Assignee Title
US7970583B2 (en) * 2007-12-28 2011-06-28 United Technologies Corporation Degraded actuator detection
DE102009046342B4 (de) * 2009-11-03 2022-09-29 Zf Friedrichshafen Ag Verfahren zum Betreiben eines Antriebsstrangs
JP5489708B2 (ja) * 2009-12-28 2014-05-14 ナブテスコ株式会社 アクチュエータ制御システム
US9116516B2 (en) * 2011-07-21 2015-08-25 Abb Technology Ag System and method for actuator control
US20170184138A1 (en) * 2014-04-02 2017-06-29 Sikorsky Aircraft Corporation System and method for health monitoring of hydraulic systems
JP6408374B2 (ja) * 2014-12-24 2018-10-17 日立オートモティブシステムズ株式会社 アクチュエータの制御装置及び制御方法
JP6581833B2 (ja) * 2015-07-30 2019-09-25 アズビル株式会社 アクチュエータ不具合検知装置、制御装置および方法
GB2541948B (en) * 2015-09-07 2020-02-12 Jaguar Land Rover Ltd A verification module for verifying accuracy of a controller
US10030765B2 (en) * 2016-03-22 2018-07-24 GM Global Technology Operations LLC Pre-remedial fault control in a transmission
CN107991901B (zh) * 2017-12-04 2020-12-25 中国科学院国家天文台南京天文光学技术研究所 音圈电机位移促动器仿真平台
EP3539728A1 (fr) * 2018-03-17 2019-09-18 Tata Consultancy Services Limited Système et procédé de détection de défaillances dans un actionnement de robot

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US4355358A (en) * 1980-08-26 1982-10-19 United Technologies Corporation Adaptive aircraft actuator fault detection
GB2369869B (en) 1997-05-30 2002-07-24 Luk Getriebe Systeme Gmbh Method and device for controlling a clutch
WO1998054483A2 (fr) 1997-05-30 1998-12-03 Luk Getriebe-Systeme Gmbh Procede et dispositif de commande d'un embrayage
WO2001063136A1 (fr) * 2000-02-24 2001-08-30 Siemens Aktiengesellschaft Embrayage automatique pour vehicule automobile, et procede de commande d'un embrayage de vehicule automobile
DE10137597A1 (de) * 2000-08-30 2002-03-14 Luk Lamellen & Kupplungsbau Verfahren zur Fehlerdiagnose an einem Kupplungsaktuator
DE10326557A1 (de) * 2003-06-12 2005-01-05 Robert Bosch Gmbh Fehlerdiagnoseverfahren und -vorrichtung

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Also Published As

Publication number Publication date
WO2007104631A1 (fr) 2007-09-20
DE102006011807A1 (de) 2007-09-20
US7827001B2 (en) 2010-11-02
US20090099810A1 (en) 2009-04-16

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