EP2122098B1 - Procédé d'asservissement d'un élément d'actionnement - Google Patents

Procédé d'asservissement d'un élément d'actionnement Download PDF

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Publication number
EP2122098B1
EP2122098B1 EP07866241.8A EP07866241A EP2122098B1 EP 2122098 B1 EP2122098 B1 EP 2122098B1 EP 07866241 A EP07866241 A EP 07866241A EP 2122098 B1 EP2122098 B1 EP 2122098B1
Authority
EP
European Patent Office
Prior art keywords
drive
actuator
force level
target value
determined
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.)
Not-in-force
Application number
EP07866241.8A
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German (de)
English (en)
Other versions
EP2122098A1 (fr
Inventor
Roland Kalb
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.)
Brose Fahrzeugteile SE and Co KG
Original Assignee
Brose Fahrzeugteile SE and Co KG
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Publication of EP2122098A1 publication Critical patent/EP2122098A1/fr
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Publication of EP2122098B1 publication Critical patent/EP2122098B1/fr
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/70—Power-operated mechanisms for wings with automatic actuation
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/60—Power-operated mechanisms for wings using electrical actuators
    • E05F15/603—Power-operated mechanisms for wings using electrical actuators using rotary electromotors
    • E05F15/665—Power-operated mechanisms for wings using electrical actuators using rotary electromotors for vertically-sliding wings
    • E05F15/689—Power-operated mechanisms for wings using electrical actuators using rotary electromotors for vertically-sliding wings specially adapted for vehicle windows
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/40—Safety devices, e.g. detection of obstructions or end positions
    • E05F15/41—Detection by monitoring transmitted force or torque; Safety couplings with activation dependent upon torque or force, e.g. slip couplings
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2201/00—Constructional elements; Accessories therefor
    • E05Y2201/40—Motors; Magnets; Springs; Weights; Accessories therefor
    • E05Y2201/404—Function thereof
    • E05Y2201/418—Function thereof for holding
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2201/00—Constructional elements; Accessories therefor
    • E05Y2201/60—Suspension or transmission members; Accessories therefor
    • E05Y2201/604—Transmission members
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
    • E05Y2400/10—Electronic control
    • E05Y2400/30—Electronic control of motors
    • E05Y2400/31—Force or torque control
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
    • E05Y2400/10—Electronic control
    • E05Y2400/32—Position control, detection or monitoring
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
    • E05Y2400/10—Electronic control
    • E05Y2400/32—Position control, detection or monitoring
    • E05Y2400/334—Position control, detection or monitoring by using pulse generators
    • E05Y2400/34—Pulse count limit setting
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
    • E05Y2400/10—Electronic control
    • E05Y2400/32—Position control, detection or monitoring
    • E05Y2400/334—Position control, detection or monitoring by using pulse generators
    • E05Y2400/342—Pulse count value setting or correcting
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
    • E05Y2400/10—Electronic control
    • E05Y2400/32—Position control, detection or monitoring
    • E05Y2400/35—Position control, detection or monitoring related to specific positions
    • E05Y2400/356—Intermediate positions
    • E05Y2400/358—Intermediate positions in the proximity of end positions
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
    • E05Y2400/10—Electronic control
    • E05Y2400/44—Sensors not directly associated with the wing movement
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2800/00—Details, accessories and auxiliary operations not otherwise provided for
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2800/00—Details, accessories and auxiliary operations not otherwise provided for
    • E05Y2800/10—Additional functions
    • E05Y2800/12—Sealing
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2800/00—Details, accessories and auxiliary operations not otherwise provided for
    • E05Y2800/40—Physical or chemical protection
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2800/00—Details, accessories and auxiliary operations not otherwise provided for
    • E05Y2800/40—Physical or chemical protection
    • E05Y2800/406—Physical or chemical protection against deformation
    • E05Y2800/407—Physical or chemical protection against deformation plastic deformation
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2800/00—Details, accessories and auxiliary operations not otherwise provided for
    • E05Y2800/40—Physical or chemical protection
    • E05Y2800/422—Physical or chemical protection against vibration or noise
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2800/00—Details, accessories and auxiliary operations not otherwise provided for
    • E05Y2800/74—Specific positions
    • E05Y2800/748—Specific positions end
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2900/00—Application of doors, windows, wings or fittings thereof
    • E05Y2900/50—Application of doors, windows, wings or fittings thereof for vehicles
    • E05Y2900/53—Type of wing
    • E05Y2900/55—Windows

Definitions

  • the invention relates to a method for controlling an actuating element of a motor vehicle.
  • the invention further relates to an adjustment system for controlling an actuating element.
  • an adjustment system for an actuating element of a motor vehicle for example in a window lifting system
  • This can be, for example, a closed position or end position of the actuating element.
  • the window pane of a vehicle door in the closed state must be moved to an end position, wherein the holding force of the window pane relative to the adjacent seal must be large enough to balance the weight of the window pane and the associated supporting parts and keep the window stable and tightly closed , In particular, this wind noise during driving to be avoided. Even with a sunroof stability and tightness are crucial criteria that determine the necessary holding power.
  • the adjustment element designed for adjusting is usually moved with a maximum torque of the associated drive in the mechanical end position.
  • the maximum torque of the drive must be sufficiently large so that the actuator during the movement of opposing forces, for example, by rubber seals exerted resistors on a window pane against the adjustment overcome.
  • a drive parameter in particular a torque is detected in dependence on the position of the actuating element, and is closed at an irregular deviation from the normal behavior to a pinching.
  • an association between the size of the drive parameter and the position of the control element must be specified, as due to mechanical inadequacies along the displacement variations of the drive parameter can be expected during normal operation.
  • the resistances exerted by the mechanism can be different depending on the position, depending on the position.
  • it is important for the functionality of the anti-trap protection that the real position of the control element is known. This is usually from the revolutions of the drive closed to the real position, which requires a calibration over a reference position.
  • the drive is switched off after reaching the end position after a predetermined period of time and assigned the end position as the reference position of the adjustment.
  • the actuator is usually moved with the maximum torque of the drive in the final position and the drive off.
  • the actuator remains up to an independent, partial relaxation of the system, for example by restoring forces during shutdown or by a derivation of surges by the system components or their absorption within the system tolerances stand substantially with the last-applied torque of the drive as a holding torque in the final position.
  • a strong holding torque in the stationary state disadvantageously exerts a load on the components of the system, since counterforce forces are built up by the holding torque, which, if they are not or only insufficiently degraded, act as deformation forces on the components.
  • Currently used components made of cost-effective materials, such as plastics are sensitive to long-term stationary mechanical effects and can be plastic despite toughness and breaking strength be deformed. In an adjustment system, this can lead to faster wear and disadvantageous noise during operation.
  • adjustment systems with a pinch protection of the operation described above can be affected by claimed components necessary for the identification of a Einklemmfalles position assignment of the control element despite regular calibration.
  • the EP 091018 B discloses the features of the preamble of claim 1.
  • the invention has for its object to provide a method for controlling an actuating element, which overcomes the disadvantages of the prior art.
  • a second object of the invention is to provide an adjustment system for a control element of a vehicle, which is durable and which works precisely.
  • the first object is solved by the features of claim 1.
  • a force variable is to be interpreted as a physical variable which underlies a force as a variable, in particular a force or force component itself or a variable composed of a force and another variable, for example a torque or a pressure.
  • the invention is based on the consideration that the holding torque of the end position in a control of the conventional type is usually greater than the holding torque required for the optimal situation-dependent holding function.
  • the holding torque can be reduced by a controlled relaxation of the system components in the end position, without the predetermined for the given position system properties, such as tightness or holding force are affected.
  • a presetting and / or limiting the drive torque to the target value of the holding torque for the steady state of the control element in the end position usually no solution, since in the region of the end position before reaching this high torque of the Drive may be required, for example, to overcome there local counter forces. Thus, the end position would not be reached in the regular case.
  • the central advantage of the invention is that for an actuating element, which is movable in a defined end position, the holding forces determining variables are adapted to a variable setpoint at a given time, so that a relaxation of the system while maintaining the holding function of the control element achieved at any time.
  • the setpoint can be specified for a defined end position by a function of external state variables.
  • the set of these external state variables may include, for example, characteristics of the materials of the system components and their thermal reaction behavior. For example, thermoplastic materials are less resilient at higher temperatures than at low temperatures.
  • the set of external state variables may include mechanical coupling constants of the system components describing how an external mechanical disturbance propagates between the system components and how the system as a whole reacts to such when, for example, the system is subjected to vibratory forces.
  • these and other influences can be decisive for the desired value.
  • the relevant force variable in adaptation to the target value is specifically adjustable. A fixed pre-adjustment of this size, for example, the torque as a holding torque, is eliminated.
  • the method is developed in such a way that the force magnitude acting on the adjusting element after adjustment in the defined position is determined after a prescribable period of time.
  • the corresponding force magnitude can be partially reduced by autonomous relaxation over the system components. This ensures that the corrections to be triggered are at least smaller and at most the same size as without a relaxation time.
  • a force acting on the actuator force magnitude such as a resistance force is equal in magnitude equal to the force exerted by the actuator force that is transmitted from the drive to the actuator. This follows from the third Newton's law and makes it possible to equalize the force acting on the actuator force magnitude of the corresponding force size of the drive. In the following, therefore, an acting on the actuator force magnitude with the corresponding force exerted by the actuator force magnitude are discussed synonymous with each other.
  • the drive when the setpoint is exceeded, the drive is driven by the determined force magnitude by a tolerance amount to the system voltage. This makes it possible to take into account mechanical variations of the adjustment system, which are manufacturing, material or installation-related.
  • a torque is advantageously determined as a force variable, since the drive of such a drive unit is characterized by a known torque or can be detected in a known manner.
  • the torque is derived for this purpose with known motor characteristic and constant drive voltage in particular from the speed. If, however, the adjusting element can be moved, for example, on magnetic rails by a linear motor, it is preferable to consider linear force components as force variables.
  • the force variables associated with the adjusting element in the defined end position can be determined by measuring, for example, with the aid of a number of essentially uniformly distributed sensors. For reasons of cost, however, it is advantageous to determine the force variables from drive parameters. This eliminates the need to capture the force variables by well-positioned measurement arrangements, such as about substantially gleichvärteilt arranged sensors. For such an advantageous embodiment thus eliminates the need for additional components, the system and the method is simplified.
  • a characteristic of the drive force, in particular the torque, from the rotational speed of the drive can be determined.
  • the force magnitude is detected via a characteristic of the drive from the known instantaneous speed.
  • the characteristic in turn depends on further parameters, for example on an applied electrical drive voltage.
  • force magnitude and speed are dependent on each other via a power law, in particular they are inversely proportional to each other. In logarithmic representation, this results in a parameter-dependent linear function for the characteristic curve.
  • a desired value for the force magnitude in the defined end position is predetermined, which depends on the temperature of the environment and the state of motion of the entire system.
  • the desired value it is advantageous to reduce the number of all possible determining parameters to such an extent that the ratio of the variation of the nominal value to the variation of one of the remaining parameters is sufficiently large in order to be resolvable as a measured variable with respect to the fluctuations of the system tolerances. All other parameters are negligible in practice. In this respect, it is advantageous to consider the global ambient temperature instead of the thermal reaction behavior of the individual components, since the relevant components and their materials are known in practice.
  • a gear made of thermoplastic material which is arranged in the transmission of the drive system, easily deformed at elevated temperature, the target value of the force size, which characterizes the contact between the actuator and the seal in the end position, must be lowered.
  • thermal expansion plastics can also offer increased resistance, which may also have to be considered.
  • the method to take into account a movement quantity of the rest system of the adjustment system relative to the environment as a globally relevant parameter for the desired value.
  • the target value for a moving vehicle is adapted to the speed.
  • a higher setpoint is required due to the higher back pressure than at low speeds or at standstill to avoid wind noise.
  • a dynamic adjustment of the setpoint is possible taking into account the necessary holding forces, resulting in a minimum load on the system components.
  • the position of the control element which has been moved to the defined position, be slightly modified.
  • Such a change in position may affect a corresponding change in the position of the drive, if this is sufficiently large so as not to be absorbed in the movement tolerances of the system.
  • the force acting on the actuator residual force magnitude is determined after a relaxation by such a change in position.
  • the actuating element In order to determine the position of the actuating element from drive parameters, it is also necessary to define a reference position to which the drive movement is related. The drive revolutions are preferably counted and from this the change in position relative to the reference position is detected. As a reference position, the initially defined position, in particular the end position of the actuating element, is preferably selected.
  • the actuating element is moved along a guide means, in particular along a guide rail.
  • the second object is achieved by an adjustment system for an actuator of a vehicle, is provided with a drive for moving the control elements and with a control module, which is set up for driving the drive according to a method of the type mentioned.
  • FIG. 1 schematically an adjustment system 8 is shown, which comprises an actuating element 1, which along a guide rail 2 along an adjustment direction 3 to a defined end position 4 is movable.
  • the actuator 1 is assigned a drive 5, here in the form of an electric motor, which is controlled by a control module 6.
  • the drive 5 has a voltage-dependent characteristic which assigns a torque of the drive 5 to a certain speed of the drive 5.
  • the actuating element 1 is moved in the direction of displacement 3.
  • the resistance to movement is in equilibrium with the driving force of the actuating element 1, so that the drive 5 exerts a defined torque during the process, to which a specific rotational speed of the drive 5 is assigned.
  • the position of the control element 1 is detected by the change in position relative to a reference position over the number of drive revolutions.
  • the drive 5 comprises components made of a thermoplastic, so that at elevated temperature, the target value for the holding torque must be specified lower to avoid plastic deformation.
  • an increased setpoint value is predetermined if the overall system is in motion and therefore due to increased dynamic pressure, a higher tightness of the actuating element 1 relative to a seal has to be achieved. Also, due to increased vibrations than in the state of rest, a higher setpoint must be specified so that the actuator 1 can be kept stable in the final position 4.
  • the holding torque corresponding to the drive torque according to the method in the end position is partially reduced by system relaxation. After a relaxation time of predetermined duration, after which the self-relaxation is completed, which is read by means of a slight movement of the control element and / or the drive. Since the restoring forces of the system can be described by spring constants, from the path difference of the control element 1, the decrease in the holding torque can be calculated. For the usual conditions, the relationship between the path difference and the holding torque or the holding force is considered to be substantially linear.
  • the proportionality constant is 40N / mm, for example. It is also possible to determine the characteristic curve between the path difference and the holding force loss experimentally and to specify the control module.
  • the residual actual holding torque determined in this way is then compared in the control module 6 with the predetermined desired value. If both values deviate by more than a defined tolerance, the drive 5 is actuated correctively by the control module 6, so that a system voltage is possible in such a way that, after a new comparison, both values deviate from one another by at most the tolerance amount.
  • a window lifting system 9 is shown for a vehicle door, in which along a guide rail 2A as an actuator, a driver 10 is movable, which can move a window 11.
  • the drive 5 thereby moves the driver 10 by means of a cable drum 12, along which a cable 13 extends, which is fastened to the driver 10.
  • a control module 5 is provided, which drives the drive 5 according to the aforementioned method.

Landscapes

  • Power-Operated Mechanisms For Wings (AREA)
  • Window Of Vehicle (AREA)

Claims (11)

  1. Procédé pour assurer la commande d'un élément de déplacement de réglage (1) dans un système de réglage (8) d'un véhicule, par exemple un système de lève-vitre (9), procédé d'après lequel
    - on déplace l'élément de déplacement de réglage (1), au moyen d'un entraînement (5), dans une position extrême définie (4),
    - on détermine une grandeur de force agissant sur l'élément de déplacement de réglage (1) dans la position extrême définie (4),
    - on compare la grandeur de force déterminée à une valeur de consigne,
    caractérisé en ce que si la grandeur de force déterminée dépasse la valeur de consigne, l'entraînement est commandé de façon corrective pour produire une détente du système, et la détermination de la grandeur de force est effectuée après un temps de relaxation.
  2. Procédé selon la revendication 1,
    d'après lequel si la grandeur de force déterminée dépasse la valeur de consigne d'une valeur de tolérance, on commande l'entraînement pour produire la détente du système.
  3. Procédé selon la revendication 1 ou la revendication 2,
    d'après lequel on détermine un couple en guise de grandeur de force.
  4. Procédé selon l'une des revendications 1 à 3,
    d'après lequel on détermine la grandeur de force à partir de paramètres d'entraînement.
  5. Procédé selon la revendication 4,
    d'après lequel on détermine la grandeur de force à partir de la vitesse de rotation de l'entraînement (5), notamment au moyen d'une courbe caractéristique.
  6. Procédé selon l'une des revendications 1 à 5,
    d'après lequel la valeur de consigne est prescrite en fonction de la température ambiante, de la position spatiale de l'élément de déplacement de réglage (1) et/ou de l'état de mouvement du système.
  7. Procédé selon l'une des revendications 1 à 6,
    d'après lequel la grandeur de force est dérivée, après le temps de relaxation, d'une position modifiée de l'entraînement (5) et/ou de l'élément de déplacement de réglage (1).
  8. Procédé selon l'une des revendications 5 à 7,
    d'après lequel la position spatiale de l'élément de déplacement de réglage (1) est déterminée par rapport à une position de référence définie par calibrage, en effectuant un relevé des tours de rotation de l'entraînement.
  9. Procédé selon la revendication 8,
    d'après lequel la position de référence est prescrite par la position définie (par exemple 4).
  10. Procédé selon l'une des revendications précédente,
    d'après lequel l'élément de déplacement de réglage (1) est déplacé le long d'un moyen de guidage, notamment un rail ou une glissière de guidage (2).
  11. Système de réglage (8) d'un véhicule, par exemple un système de lève-vitre (9), pour assurer le déplacement d'un élément de déplacement de réglage (1), comprenant un entraînement (5) pour assurer le mouvement de déplacement de l'élément de déplacement de réglage (1), et comprenant un module de commande (6) conçu pour la mise en oeuvre d'un procédé d'après lequel
    - on déplace l'élément de déplacement de réglage (1), au moyen de l'entraînement (5), dans une position extrême définie (4),
    - on détermine une grandeur de force agissant sur l'élément de déplacement de réglage (1) dans la position extrême définie (4),
    - on compare la grandeur de force déterminée à une valeur de consigne,
    caractérisé en ce que si la grandeur de force déterminée dépasse la valeur de consigne, l'entraînement est commandé de façon corrective pour produire une détente du système, et la détermination de la grandeur de force est effectuée après un temps de relaxation.
EP07866241.8A 2006-12-19 2007-12-18 Procédé d'asservissement d'un élément d'actionnement Not-in-force EP2122098B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE202006019114U DE202006019114U1 (de) 2006-12-19 2006-12-19 Verstellsystem zur Ansteuerung eines Stellelements
PCT/EP2007/011109 WO2008074465A1 (fr) 2006-12-19 2007-12-18 Procédé d'asservissement d'un élément d'actionnement

Publications (2)

Publication Number Publication Date
EP2122098A1 EP2122098A1 (fr) 2009-11-25
EP2122098B1 true EP2122098B1 (fr) 2015-06-03

Family

ID=39313064

Family Applications (1)

Application Number Title Priority Date Filing Date
EP07866241.8A Not-in-force EP2122098B1 (fr) 2006-12-19 2007-12-18 Procédé d'asservissement d'un élément d'actionnement

Country Status (4)

Country Link
US (1) US8355845B2 (fr)
EP (1) EP2122098B1 (fr)
DE (1) DE202006019114U1 (fr)
WO (1) WO2008074465A1 (fr)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102009012603B4 (de) * 2009-03-11 2012-08-09 Audi Ag Verfahren zum motorischen Verstellen eines Klappenelements eines Fahrzeugs, insbesondere einer Heckklappe
DE102012022739B3 (de) * 2012-11-21 2013-10-31 Audi Ag Verfahren zum Betätigen einer Antriebseinrichtung einer Fensterpositioniervorrichtung zum Positionieren einer Fensterscheibe eines Fahrzeugs, und dafür geeignete Steuervorrichtung
US9425729B2 (en) 2013-03-15 2016-08-23 Honda Motor Co., Ltd. Motor control devices and methods
DE102019103357A1 (de) * 2019-02-11 2020-08-13 Brose Fahrzeugteile Se & Co. Kommanditgesellschaft, Bamberg Steuersystem
US11021904B2 (en) 2019-03-28 2021-06-01 Brose Fahrzeugteile Gmbh & Co. Kommanditgesellschaft, Bamberg Vehicle door window position control system

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19628203C2 (de) * 1996-07-12 2001-11-08 Brose Fahrzeugteile Verfahren zur Begrenzung der Überschußkraft eines elektrisch gesteuerten, fremdkraftbetätigten Aggregats beim Anfahren seiner Schließposition, insbesondere beim Anfahren der Schließposition eines Fensterhebers eines Kraftfahrzeugs
FR2756318B1 (fr) * 1996-11-25 1999-02-12 Peugeot Systeme de leve-vitre electrique notamment pour vehicule automobile
DE10026991A1 (de) * 2000-05-31 2001-12-13 Bosch Gmbh Robert Verfahren zur Positionierung einer fremdkraftbetätigten Schliessfläche
US6936984B2 (en) * 2000-08-28 2005-08-30 Lear Corporation Method and system for detecting the position of a power window of a vehicle
US6870334B2 (en) * 2002-12-31 2005-03-22 The Chamberlain Group, Inc. Movable barrier operator auto-force setting method and apparatus

Also Published As

Publication number Publication date
US20100168968A1 (en) 2010-07-01
EP2122098A1 (fr) 2009-11-25
WO2008074465A1 (fr) 2008-06-26
US8355845B2 (en) 2013-01-15
DE202006019114U1 (de) 2008-04-30

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