EP2212190A2 - Lenkaktuator für ein steer-by-wire schiffsteuersystem und verfahren zum betreiben des lenkaktuators - Google Patents
Lenkaktuator für ein steer-by-wire schiffsteuersystem und verfahren zum betreiben des lenkaktuatorsInfo
- Publication number
- EP2212190A2 EP2212190A2 EP08804775A EP08804775A EP2212190A2 EP 2212190 A2 EP2212190 A2 EP 2212190A2 EP 08804775 A EP08804775 A EP 08804775A EP 08804775 A EP08804775 A EP 08804775A EP 2212190 A2 EP2212190 A2 EP 2212190A2
- Authority
- EP
- European Patent Office
- Prior art keywords
- steering actuator
- electric motor
- control system
- rudder
- steer
- 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.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
- B63H25/06—Steering by rudders
- B63H25/08—Steering gear
- B63H25/14—Steering gear power assisted; power driven, i.e. using steering engine
- B63H25/18—Transmitting of movement of initiating means to steering engine
- B63H25/24—Transmitting of movement of initiating means to steering engine by electrical means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
- B63H25/06—Steering by rudders
- B63H25/08—Steering gear
- B63H25/14—Steering gear power assisted; power driven, i.e. using steering engine
- B63H25/26—Steering engines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
- B63H25/06—Steering by rudders
- B63H25/08—Steering gear
- B63H25/14—Steering gear power assisted; power driven, i.e. using steering engine
- B63H25/34—Transmitting of movement of engine to rudder, e.g. using quadrants, brakes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
- B63H25/06—Steering by rudders
- B63H25/36—Rudder-position indicators
Definitions
- the present invention relates to a steering actuator for a steer-by-wire ship control system according to the preamble of claim 1. Furthermore, the invention relates to methods for operating the steering actuator.
- steer-by-wire systems which are also used in the ship control technology.
- the steering commands input via a steering unit are detected by a sensor and relayed via a control unit to a steering actuator which executes the steering command.
- a steering actuator which executes the steering command.
- steer-by-wire ship control systems are known in which the steering actuator is designed as an electromechanical actuator in the form of a ball screw spindle; In this case, a rotational movement of an electric motor is converted into a translatory movement for actuating the rudder of the ball screw.
- a steer-by-wire ship control system is known for example from US 6,431, 928 B1.
- an electric motor for rotating the entire propeller drive unit via a mechanical power transmission chain is provided, wherein the electric motor is controlled by a control unit, which on the one hand with the steering means for obtaining a steering command information and on the other with a steering position information detecting sensor is connected.
- a steer-by-wire ship control system which comprises at least two steering units.
- the rudder is actuated by means of a hydraulically actuated actuator based on the steering signals generated by that steering unit, which requires the faster movement of the rudder.
- the steering units each comprise a rudder, which is connected to a respective control device, which in turn is connected to the control network.
- the present invention has for its object to provide a steering actuator for a steer-by-wire ship control system, which is compact and inexpensive to produce. Furthermore, the steering actuator should be largely self-locking and have high dynamics. In addition, a method for operating the steering actuator should be specified.
- a steering actuator for a steer-by-wire ship control system which is designed as a linear electromechanical actuator, comprising an electric motor which is designed as a vector-controlled brushless motor.
- the design of the electric motor as a vector-controlled brushless motor enables a sinusoidal or trapezoidal signal conversion, whereby DC or AC motors can be used. Furthermore, due to the vector control, the motor power can be doubled for about 5 seconds, which corresponds to an overload of 100%. In addition, the dynamics are optimized because the vector control allows very high accelerations compared to a conventional electric motor.
- the steering actuator is designed as an electric motor driven spindle gear, which connected to the tiller or with a suitable component of the rudder device via a hinge threaded spindle having an external thread which engages in the internal thread of a driven by the electric motor nut.
- the threaded spindle can be drilled hollow and have an internal thread, in which engages the external thread of a screw driven by the electric motor.
- the nut is formed by the rotor of the electric motor.
- the rotor facing away from the end of the Bowden cable by means of an adapter device with the rotatably connected to the rudder shaft rotatably connected, so that actuation of the Bowden cable is possible by operating the rudder.
- a controller for controlling the steering actuator, which is connected via the CAN bus to the electronic control unit of the ship control system ECU; for determining the angular position of the rudder an angle sensor is provided, which is preferably designed as an incremental encoder and detects the rotation of the rotor of the electric motor or the threaded spindle.
- the ECU processes the signals from the user-operated steering unit or an auto-pilot device and sends them to the steering actuator.
- the steering actuator is operated according to the specifications of the steering unit and the ECU with respect to the steering angle and the rotational speed of the rudder.
- a steering actuator two rudders, for which purpose the spindle is connected via an intermediate member with two rudder spiders. It is also possible according to the invention to provide a steering actuator for each rudder so that the rudders are independent can be operated from each other by means of the commands of the ECU. This can be z. B. be advantageous for performing complex maneuvers.
- Figure 1 A schematic sectional view of a preferred embodiment of a steering actuator according to the invention
- FIG. 2 shows a schematic sectional view of a further embodiment of a steering actuator according to the invention.
- Figure 3 A schematic sectional view of another embodiment of a steering actuator according to the invention.
- FIG. 1 shows a first embodiment of a steering actuator 1 according to the invention.
- the steering actuator 1 is designed as a linear electromechanical actuator and includes an electric motor 2, which is designed as a vector-controlled brushless motor.
- the steering actuator 1 is designed as an electric motor driven spindle gear, which is connected to the tiller 3 via a hinge device 4, which is preferably designed as a ball joint threaded spindle 5 has an external thread 6, which in the internal thread 7 one of the Electric motor 2 driven nut 8 engages.
- the nut 8 is formed by the rotor 9 of the electric motor 2; in the figure, the stator fixed to the housing and designed as a permanent magnet is designated by 10.
- the active connection between the outer and inner threads and the multiple contact points between the two components has the advantage that high torques can be transmitted in a compact design and high acceleration and rotational speed values.
- the actuator according to the invention allows up to 7000 rpm; in an actuator with a conventional ball screw up to 2500 U / min are possible.
- the number of contact points between the two components spindle and nut or screw corresponds to the number of turns of the nut or the screw. Preferably, the number of turns is greater than four.
- a conventional ball screw has only two contact points.
- a controller 1 1 is provided, which is connected via the CAN bus to the electronic control unit of the ship control system ECU.
- an associated with the controller 1 1 angle sensor 12 is provided, which is preferably designed as an incremental encoder and detects the angular position of the rotor 9 of the electric motor 2 or the threaded spindle 5.
- the sensor 12 on the rudder 13 side facing the electric motor.
- the electric motor 2, the spindle gear and the sensor 12 are in FIG a housing 14 which is connected to the hull 15.
- a Bowden cable 16 is optionally provided in each embodiment, which is detachably connectable at the end remote from the rudder 13 of the steering actuator 1 with the nut or with the rotor 9 of the electric motor 2, so that the Threaded spindle 5 can be moved by turning the Bowdenraitsi 6 by means of a crank 17.
- an opening 18 is provided on the housing 14, which may preferably be closed in the unused state.
- FIG. 2 shows a further embodiment of a steering actuator according to the invention.
- the threaded spindle 5 is hollow bored and has an internal thread 21, in which the external thread 20 engages a driven by the rotor 9 of the electric motor 2 screw 22; in the example shown, a planetary gear 19 is also arranged in the power flow direction between the rotor 9 of the electric motor 2 and the screw 22, which is designed as a reduction gear, whereby the electric motor 2 can be made smaller.
- 19 torsional vibrations and bending moments are partially absorbed by the housing 23 of the planetary gear.
- the electric motor 2 is arranged outside the housing 14 of the steering actuator 1, wherein the torque from the rotor of the electric motor to the nut 8 (see FIG. 1) or the screw 22 or the planetary gear 19 (see FIG ) is transmitted by means of a spur gear or a belt drive 24.
- the sensor 12 for detecting the angular position of the rudder is advantageously designed as an incremental encoder, resulting in low cost. Since an incremental encoder does not provide absolute values, the zero position (straight ahead position) must be determined each time the ship control system is started and the rudder is brought into this position.
- the zero position is determined by operating the electric motor at a predetermined constant speed in one direction at the start of the ship control system until the end position corresponding to this steering direction has been reached, wherein the sensor value for this position is stored in the controller 11 becomes.
- the electric motor 2 of the steering actuator is operated at a predetermined speed in the opposite direction until the second end position of the rudder has been reached, using the second end position corresponding sensor value to determine the zero position based on the number of increments between both end positions (corresponds to half of the increment difference) and to bring the rudder into this position by appropriate actuation of the electric motor.
- this is taken into account when determining the zero position based on the increments of the end positions.
- the determination of the end positions can preferably take place in that when the current required by the motor exceeds a predetermined threshold, the end position is detected. This increases the current required by the constant-speed motor to overcome the "obstacle".
- the connection between the incremental encoder and the controller works and if the CAN is ready for operation. If this is not the case, the rudder is blocked and an error message is issued.
- the functionality of the CAN is checked during the operation of the ship control system at predetermined intervals, for which purpose a defined signal is sent from the electronic control unit of the ship control system ECU to the controller 1 1 of the electric motor. If this signal is received error-free by the controller within a predetermined time interval, the steering actuator is continued to operate, the signal is not or erroneously received by the controller 1 1 brought the rudder to the zero position and held in this position, with an error message is issued ,
- the ECU of the ship control system ECU is again requested by the controller 1 1 to transmit the signal, which can be repeated n times ( n is a given natural number that can take values between 2 and 50). If, after the n-th repetition, the signal has not been received within the predetermined time interval or faulty, the rudder is brought to the zero position and held in this position by the controller 1 1, wherein an error message is issued.
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102007048061A DE102007048061A1 (de) | 2007-10-05 | 2007-10-05 | Lenkaktuator für ein Steer-by-wire Schiffsteuersystem und Verfahren zum Betreiben des Lenkaktuators |
PCT/EP2008/062894 WO2009047131A2 (de) | 2007-10-05 | 2008-09-26 | Lenkaktuator für ein steer-by-wire schiffsteuersystem und verfahren zum betreiben des lenkaktuators |
Publications (2)
Publication Number | Publication Date |
---|---|
EP2212190A2 true EP2212190A2 (de) | 2010-08-04 |
EP2212190B1 EP2212190B1 (de) | 2014-07-16 |
Family
ID=40343168
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP08804775.8A Not-in-force EP2212190B1 (de) | 2007-10-05 | 2008-09-26 | Lenkaktuator für ein steer-by-wire schiffsteuersystem und verfahren zum betreiben des lenkaktuators |
Country Status (4)
Country | Link |
---|---|
US (1) | US8176865B2 (de) |
EP (1) | EP2212190B1 (de) |
DE (1) | DE102007048061A1 (de) |
WO (1) | WO2009047131A2 (de) |
Families Citing this family (28)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9234582B2 (en) * | 2009-10-21 | 2016-01-12 | Thomson Linear Llc | Apparatus and methods for controlling hydraulically-powered apparatus |
GB0920249D0 (en) * | 2009-11-19 | 2010-01-06 | Mactaggart Scott | Actuator |
DE102010015665A1 (de) * | 2010-04-16 | 2011-10-20 | Esw Gmbh | Linearantrieb für eine Schiffsrudermaschine |
US8933383B2 (en) * | 2010-09-01 | 2015-01-13 | The United States Of America As Represented By The Secretary Of The Army | Method and apparatus for correcting the trajectory of a fin-stabilized, ballistic projectile using canards |
CN102476706B (zh) * | 2010-11-30 | 2014-01-08 | 中国科学院沈阳自动化研究所 | 一种水下滑翔机用转向装置 |
DE102011002832B4 (de) * | 2011-01-18 | 2022-08-11 | Van Der Velden Barkemeyer Gmbh | Ruder für Schiffe mit einer Ruderüberwachungsvorrichtung |
FR2972705B1 (fr) * | 2011-03-17 | 2013-04-05 | Dcns | Systeme d'actionnement rotatif pour appareil a gouverner de navire |
DE102011078647A1 (de) * | 2011-07-05 | 2013-01-10 | Schaeffler Technologies AG & Co. KG | Flossenstellmechanik |
CN102582814A (zh) * | 2012-02-15 | 2012-07-18 | 北京海兰信数据科技股份有限公司 | 一种舵角传输装置及方法 |
US9160210B2 (en) * | 2012-04-02 | 2015-10-13 | Brunswick Corporation | Rotary encoders for use with trolling motors |
ITRM20120425A1 (it) * | 2012-08-31 | 2014-03-01 | Claudio Bruzzese | Attuatore lineare elettromagnetico e relativo giunto prismatico rotoidale per azionamenti diretti |
DE102012220920B3 (de) * | 2012-11-15 | 2014-01-16 | Thyssenkrupp Marine Systems Gmbh | Unterseeboot |
CN103448898B (zh) * | 2013-09-26 | 2016-02-03 | 中国舰船研究设计中心 | 船用一体化电动舵机 |
FR3016093B1 (fr) * | 2014-01-02 | 2016-12-09 | Arch Et Conception De Systemes Avances Acsa | Servomoteur immerge de manœuvre d'un organe mecanique immerge dans un milieu aquatique |
US9199667B2 (en) | 2014-03-14 | 2015-12-01 | Mitsubishi Electric Research Laboratories, Inc. | System and method for semi-autonomous driving of vehicles |
CN104670463A (zh) * | 2014-08-29 | 2015-06-03 | 北京精密机电控制设备研究所 | 一种电操舵机构 |
WO2016069859A1 (en) * | 2014-10-29 | 2016-05-06 | Naiad Maritime Group, Inc. | Electric fin stabilizer |
US20170029084A1 (en) * | 2015-07-28 | 2017-02-02 | Steering Solutions Ip Holding Corporation | Column based electric assist marine power steering |
US10079650B2 (en) | 2015-12-04 | 2018-09-18 | Infineon Technologies Ag | Robust high speed sensor interface for remote sensors |
DE102016204248A1 (de) | 2016-03-15 | 2017-09-21 | Thyssenkrupp Ag | Linearantrieb für eine Schiffrudermaschine |
US10303146B2 (en) | 2017-05-31 | 2019-05-28 | Oracle International Corporation | Servomechanism error handling |
CN107458571B (zh) * | 2017-08-02 | 2019-02-15 | 中电科(宁波)海洋电子研究院有限公司 | 舵角指示系统 |
JP7122862B2 (ja) * | 2018-05-14 | 2022-08-22 | ヤマハ発動機株式会社 | 船外機 |
CN111284639A (zh) * | 2018-12-10 | 2020-06-16 | 天津市宏宇天翔航天航空科技有限公司 | 一种自动投料船的控制系统 |
US11820478B2 (en) | 2019-01-18 | 2023-11-21 | Ab Volvo Penta | Electrical steering system in a marine vessel and a method for controlling such a steering system |
JP7241559B2 (ja) * | 2019-02-06 | 2023-03-17 | 三菱重工業株式会社 | 操舵装置、及び航走体 |
CN111055988B (zh) * | 2019-12-13 | 2021-10-08 | 中国船舶重工集团有限公司第七一0研究所 | 一种波浪能自主滑翔器用舵机 |
CN114655417A (zh) * | 2022-05-26 | 2022-06-24 | 青岛海舟科技有限公司 | 转向舵机真实舵角冗余判断装置、转向舵机及波浪滑翔器 |
Family Cites Families (43)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE569396C (de) | 1928-03-10 | 1933-02-04 | Siemens Schuckertwerke Akt Ges | Anordnung an elektrischen Fernsteuerungen, insbesondere Rudersteuerungen |
US4225148A (en) * | 1972-02-10 | 1980-09-30 | Aktiebolaget Svenska Kullagerfabriken | Steering systems |
US3774568A (en) * | 1972-04-17 | 1973-11-27 | Outboard Marine Corp | Rotary cable steering system |
US4179944A (en) * | 1977-06-27 | 1979-12-25 | United Technologies Corporation | Fail safe redundant actuator |
US4645463A (en) * | 1980-04-07 | 1987-02-24 | Arneson Howard M | Marine outdrive apparatus |
SE435754B (sv) | 1980-08-11 | 1984-10-15 | Skf Nova Ab | Planetvexel i servostyrningsanordning |
US4544362A (en) * | 1982-03-17 | 1985-10-01 | Arneson Howard M | Marine outdrive apparatus |
IT1157696B (it) | 1982-09-03 | 1987-02-18 | Seipem Srl | Timoneria elettroidraulica per natanti |
JPS63301196A (ja) * | 1987-05-29 | 1988-12-08 | Sanshin Ind Co Ltd | 船舶の姿勢制御装置 |
US4939660A (en) * | 1988-08-23 | 1990-07-03 | Brunswick Corporation | Fuel conserving cruise system for a marine drive unit |
US4891994A (en) * | 1989-02-13 | 1990-01-09 | Plessey Incorporated | Linear electromechanical actuator |
JPH02237893A (ja) * | 1989-03-10 | 1990-09-20 | Showa Mfg Co Ltd | ボート用推進ユニットのトリム角制御方法 |
JPH0741877B2 (ja) | 1989-04-19 | 1995-05-10 | 日産自動車株式会社 | 船外機の操舵装置 |
US5169348A (en) * | 1989-06-21 | 1992-12-08 | Sawafuji Electric Co., Ltd. | Automatic planing control system |
US5385110A (en) * | 1990-09-07 | 1995-01-31 | Bennett Marine, Incorporated Of Deerfield Beach | Boat trim control and monitor system |
JPH04325740A (ja) * | 1991-04-26 | 1992-11-16 | Mitsubishi Electric Corp | 船外機用内燃機関制御装置 |
US5167546A (en) * | 1991-08-14 | 1992-12-01 | Outboard Marine Corporation | Automatic trim system |
US5326294A (en) * | 1993-05-25 | 1994-07-05 | Schoell Harry L | Stern drive for boats |
FR2705943B1 (fr) * | 1993-06-04 | 1995-08-25 | Bezzi Paul Georges | Dispositif de propulsion et de gouvernail de bateau du type à hélice de surface. |
US5426354A (en) * | 1994-11-15 | 1995-06-20 | Synektron Corporation | Vector control for brushless DC motor |
US5647780A (en) * | 1995-06-07 | 1997-07-15 | Yamaha Hatsudoki Kabushiki Kaisha | Vertically adjustable stern drive for watercraft |
SE505922C2 (sv) * | 1996-01-29 | 1997-10-20 | Volvo Penta Ab | Sätt vid trimning av ett båtpropellerdrev samt drivaggregat med organ för genomförande av sättet |
DE19637161A1 (de) * | 1996-09-12 | 1998-03-19 | Quick Rotan Elektromotoren | Verfahren zum Steuern von bürstenlosen Elektromotoren |
AU1302399A (en) | 1997-11-03 | 1999-05-24 | Lee Richards | Omni-directional horizontal thrust adjustable marine propulsion system |
GB9810101D0 (en) * | 1998-05-13 | 1998-07-08 | Lucas Ind Plc | Improvements relating to electric motors |
FI107042B (fi) | 1998-09-14 | 2001-05-31 | Abb Azipod Oy | Propulsioyksikön kääntäminen |
DE10118052A1 (de) * | 2001-04-11 | 2002-10-17 | Bosch Gmbh Robert | Verfahren und Vorrichtung zur Drehlagerfassung einer elektrischen Drehfeldmaschine |
US6726511B1 (en) * | 2001-09-11 | 2004-04-27 | T.J. Brooks Company—division of Hanna Cylinders | Internally ported hydraulic cylinder assembly |
DE10158870A1 (de) * | 2001-11-14 | 2003-05-22 | Bosch Rexroth Ag | Redundante elektrische Antriebsvorrichtung, insbesondere zum Antrieb eines Ruders an einem Schiff |
US20030150366A1 (en) * | 2002-02-13 | 2003-08-14 | Kaufmann Timothy W. | Watercraft steer-by-wire system |
US6843195B2 (en) * | 2003-01-17 | 2005-01-18 | Honda Motor Co., Ltd. | Outboard motor steering system |
DE112004001258B4 (de) | 2003-07-09 | 2012-02-02 | Trw Automotive U.S. Llc | Vorrichtung zum Verschwenken lenkbarer Räder eines Fahrzeugs |
CA2438981C (en) * | 2003-08-29 | 2010-01-12 | Teleflex Canada Incorporated | Steer by wire helm |
US6899196B2 (en) | 2003-10-16 | 2005-05-31 | Visteon Global Technologies, Inc. | Driver interface system for steer-by-wire system |
JP2005176477A (ja) * | 2003-12-10 | 2005-06-30 | Favess Co Ltd | モータ制御装置およびそれを用いた車両用操舵装置 |
JP4331628B2 (ja) * | 2004-01-29 | 2009-09-16 | ヤマハ発動機株式会社 | 船舶推進装置の操舵装置および船舶 |
JP4269278B2 (ja) * | 2004-02-02 | 2009-05-27 | 株式会社デンソー | ブラシレスモータの回転トルク方向検出装置 |
US6908350B1 (en) * | 2004-02-11 | 2005-06-21 | Zf Friedrichshafen Ag | Trim apparatus for marine outdrive with steering capability |
US7295905B2 (en) | 2004-07-29 | 2007-11-13 | Visteon Global Technology, Inc. | Control of a steering wheel system with passive resistance torque |
US7258072B2 (en) | 2004-08-26 | 2007-08-21 | Teleflex Canada Incorporated | Multiple steer by wire helm system |
DE202005005848U1 (de) * | 2005-04-12 | 2006-08-17 | Moog Gmbh | Rudermaschinenantrieb für ein Schiff |
JP4927372B2 (ja) * | 2005-09-29 | 2012-05-09 | ヤマハ発動機株式会社 | 小型船舶 |
JP4862373B2 (ja) * | 2005-12-01 | 2012-01-25 | 日産自動車株式会社 | ケーブル式操舵装置 |
-
2007
- 2007-10-05 DE DE102007048061A patent/DE102007048061A1/de not_active Withdrawn
-
2008
- 2008-09-26 EP EP08804775.8A patent/EP2212190B1/de not_active Not-in-force
- 2008-09-26 WO PCT/EP2008/062894 patent/WO2009047131A2/de active Application Filing
- 2008-09-26 US US12/680,624 patent/US8176865B2/en active Active
Non-Patent Citations (1)
Title |
---|
See references of WO2009047131A2 * |
Also Published As
Publication number | Publication date |
---|---|
EP2212190B1 (de) | 2014-07-16 |
US8176865B2 (en) | 2012-05-15 |
WO2009047131A3 (de) | 2010-08-05 |
US20100212568A1 (en) | 2010-08-26 |
DE102007048061A1 (de) | 2009-04-09 |
WO2009047131A2 (de) | 2009-04-16 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
EP2212190B1 (de) | Lenkaktuator für ein steer-by-wire schiffsteuersystem und verfahren zum betreiben des lenkaktuators | |
DE60101842T2 (de) | Fahrzeugbedienung mit manueller notbetätigung | |
DE19804675B4 (de) | Lenkvorrichtung für Kraftfahrzeuge | |
DE19541749C1 (de) | Servolenkung für Kraftfahrzeuge | |
EP2193077B1 (de) | Lenkeinheit für ein steer-by-wire schiffsteuersystem und verfahren zum betreiben der lenkeinheit | |
DE10101363C1 (de) | Parksperrenbetätigungseinrichtung für eine Parksperrenvorrichtung eines Kraftfahrzeuges | |
EP1453718B1 (de) | Lenkung mit angetriebenem umlaufgetriebe zur erzeugung eines bestimmten handmoments am lenkrad | |
EP1845007A1 (de) | Verfahren zum Betrieb eines elektrischen Servolenksystems | |
DE19541752C2 (de) | Servolenkung für Kraftfahrzeuge | |
DE19902557A1 (de) | Redundante Vorrichtung zur Erzeugung von Drehmomenten | |
DE102019212749A1 (de) | Lenksteuervorrichtung | |
WO2003022657A2 (de) | Kraftfahrzeuglenksäuleneinheit mit verstellbarer lenksäule | |
EP3752409B1 (de) | Verfahren zur ermittlung tatsächlicher zustandswerte | |
EP3856610A1 (de) | Steer-by-wire-lenksystem für ein kraftfahrzeug und verfahren zum betreiben eines steer-by-wire-lenksystems für ein kraftfahrzeug | |
DE10312861A1 (de) | Lenksystem für ein Kraftfahrzeug | |
DE112020002748T5 (de) | Lenksteuervorrichtung, lenksteuerverfahren und lenkunterstützungssystem diese einschliessend | |
EP1607308A2 (de) | Servounterstütztes Lenksystem eines Kraftfahrzeugs | |
DE10226988A1 (de) | Verfahren zur Ermittlung eines Drehwinkels einer Welle aus dem Winkel-Signal dreier Single-Turn-Winkelsensoren | |
DE10159704A1 (de) | Fahrzeuglenkung und Betätigungsmotor einer elektromechanischen Fahrzeuglenkung | |
EP2018309B1 (de) | Lenksystem für ein fahrzeug | |
DE102020123965B4 (de) | Spindeltriebanordnung, Lenkeinheit und Fahrwerksaktuator | |
WO1990003910A1 (de) | Einrichtung zum lenken der hinterräder von fahrzeugen mit lenkbaren vorder- und hinterrädern | |
EP2193076B1 (de) | Verfahren zum betreiben einer lenkeinheit für ein steer-by-wire schiffsteuersystem | |
WO2017042021A1 (de) | Nutzfahrzeuglenkung | |
DE102017204768B4 (de) | Kraftfahrzeug |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PUAI | Public reference made under article 153(3) epc to a published international application that has entered the european phase |
Free format text: ORIGINAL CODE: 0009012 |
|
17P | Request for examination filed |
Effective date: 20100427 |
|
AK | Designated contracting states |
Kind code of ref document: A2 Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MT NL NO PL PT RO SE SI SK TR |
|
AX | Request for extension of the european patent |
Extension state: AL BA MK RS |
|
R17D | Deferred search report published (corrected) |
Effective date: 20100805 |
|
DAX | Request for extension of the european patent (deleted) | ||
17Q | First examination report despatched |
Effective date: 20120606 |
|
GRAP | Despatch of communication of intention to grant a patent |
Free format text: ORIGINAL CODE: EPIDOSNIGR1 |
|
RIN1 | Information on inventor provided before grant (corrected) |
Inventor name: ZANFEI, ADRIANO |
|
INTG | Intention to grant announced |
Effective date: 20140225 |
|
GRAS | Grant fee paid |
Free format text: ORIGINAL CODE: EPIDOSNIGR3 |
|
GRAA | (expected) grant |
Free format text: ORIGINAL CODE: 0009210 |
|
AK | Designated contracting states |
Kind code of ref document: B1 Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MT NL NO PL PT RO SE SI SK TR |
|
REG | Reference to a national code |
Ref country code: GB Ref legal event code: FG4D Free format text: NOT ENGLISH |
|
REG | Reference to a national code |
Ref country code: CH Ref legal event code: EP |
|
REG | Reference to a national code |
Ref country code: IE Ref legal event code: FG4D Free format text: LANGUAGE OF EP DOCUMENT: GERMAN |
|
REG | Reference to a national code |
Ref country code: AT Ref legal event code: REF Ref document number: 677439 Country of ref document: AT Kind code of ref document: T Effective date: 20140815 |
|
REG | Reference to a national code |
Ref country code: DE Ref legal event code: R096 Ref document number: 502008012023 Country of ref document: DE Effective date: 20140828 |
|
REG | Reference to a national code |
Ref country code: NL Ref legal event code: VDEP Effective date: 20140716 |
|
REG | Reference to a national code |
Ref country code: LT Ref legal event code: MG4D |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: ES Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20140716 Ref country code: BG Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20141016 Ref country code: LT Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20140716 Ref country code: SE Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20140716 Ref country code: PT Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20141117 Ref country code: FI Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20140716 Ref country code: NO Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20141016 Ref country code: GR Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20141017 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: NL Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20140716 Ref country code: LV Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20140716 Ref country code: PL Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20140716 Ref country code: IS Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20141116 Ref country code: CY Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20140716 |
|
REG | Reference to a national code |
Ref country code: DE Ref legal event code: R097 Ref document number: 502008012023 Country of ref document: DE |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: CZ Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20140716 Ref country code: MC Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20140716 Ref country code: SK Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20140716 Ref country code: EE Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20140716 Ref country code: RO Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20140716 Ref country code: LU Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20140926 Ref country code: DK Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20140716 |
|
REG | Reference to a national code |
Ref country code: CH Ref legal event code: PL |
|
PLBE | No opposition filed within time limit |
Free format text: ORIGINAL CODE: 0009261 |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT |
|
REG | Reference to a national code |
Ref country code: IE Ref legal event code: MM4A |
|
26N | No opposition filed |
Effective date: 20150417 |
|
REG | Reference to a national code |
Ref country code: FR Ref legal event code: ST Effective date: 20150529 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: BE Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20140930 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: LI Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20140930 Ref country code: CH Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20140930 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: IE Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20140926 Ref country code: FR Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20140930 |
|
REG | Reference to a national code |
Ref country code: AT Ref legal event code: MM01 Ref document number: 677439 Country of ref document: AT Kind code of ref document: T Effective date: 20140926 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: SI Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20140716 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: AT Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20140926 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: MT Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20140716 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: HR Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20140716 Ref country code: TR Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20140716 Ref country code: HU Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT; INVALID AB INITIO Effective date: 20080926 |
|
PGFP | Annual fee paid to national office [announced via postgrant information from national office to epo] |
Ref country code: DE Payment date: 20190910 Year of fee payment: 12 |
|
PGFP | Annual fee paid to national office [announced via postgrant information from national office to epo] |
Ref country code: GB Payment date: 20190926 Year of fee payment: 12 |
|
PGFP | Annual fee paid to national office [announced via postgrant information from national office to epo] |
Ref country code: IT Payment date: 20200812 Year of fee payment: 13 |
|
REG | Reference to a national code |
Ref country code: DE Ref legal event code: R119 Ref document number: 502008012023 Country of ref document: DE |
|
GBPC | Gb: european patent ceased through non-payment of renewal fee |
Effective date: 20200926 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: DE Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20210401 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: GB Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20200926 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: IT Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20210926 |