EP2553694B1 - Electromagnetic actuator comprising position control means and method using such an actuator - Google Patents
Electromagnetic actuator comprising position control means and method using such an actuator Download PDFInfo
- Publication number
- EP2553694B1 EP2553694B1 EP11709999.4A EP11709999A EP2553694B1 EP 2553694 B1 EP2553694 B1 EP 2553694B1 EP 11709999 A EP11709999 A EP 11709999A EP 2553694 B1 EP2553694 B1 EP 2553694B1
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- Prior art keywords
- electric current
- value
- operating position
- coefficient
- actuator
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
- H01F7/00—Magnets
- H01F7/06—Electromagnets; Actuators including electromagnets
- H01F7/08—Electromagnets; Actuators including electromagnets with armatures
- H01F7/18—Circuit arrangements for obtaining desired operating characteristics, e.g. for slow operation, for sequential energisation of windings, for high-speed energisation of windings
- H01F7/1844—Monitoring or fail-safe circuits
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
- H01F7/00—Magnets
- H01F7/06—Electromagnets; Actuators including electromagnets
- H01F7/08—Electromagnets; Actuators including electromagnets with armatures
- H01F7/18—Circuit arrangements for obtaining desired operating characteristics, e.g. for slow operation, for sequential energisation of windings, for high-speed energisation of windings
- H01F7/1844—Monitoring or fail-safe circuits
- H01F2007/185—Monitoring or fail-safe circuits with armature position measurement
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
- H01F7/00—Magnets
- H01F7/06—Electromagnets; Actuators including electromagnets
- H01F7/08—Electromagnets; Actuators including electromagnets with armatures
- H01F7/18—Circuit arrangements for obtaining desired operating characteristics, e.g. for slow operation, for sequential energisation of windings, for high-speed energisation of windings
- H01F7/1844—Monitoring or fail-safe circuits
- H01F2007/1855—Monitoring or fail-safe circuits using a stored table to deduce one variable from another
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
- H01F7/00—Magnets
- H01F7/06—Electromagnets; Actuators including electromagnets
- H01F7/08—Electromagnets; Actuators including electromagnets with armatures
- H01F7/18—Circuit arrangements for obtaining desired operating characteristics, e.g. for slow operation, for sequential energisation of windings, for high-speed energisation of windings
- H01F7/1844—Monitoring or fail-safe circuits
- H01F2007/1861—Monitoring or fail-safe circuits using derivative of measured variable
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
- H01F7/00—Magnets
- H01F7/06—Electromagnets; Actuators including electromagnets
- H01F7/08—Electromagnets; Actuators including electromagnets with armatures
- H01F7/18—Circuit arrangements for obtaining desired operating characteristics, e.g. for slow operation, for sequential energisation of windings, for high-speed energisation of windings
- H01F2007/1888—Circuit arrangements for obtaining desired operating characteristics, e.g. for slow operation, for sequential energisation of windings, for high-speed energisation of windings using pulse width modulation
Definitions
- the invention relates to an electromagnetic actuator having a processing unit for acting on control means generating a PWM-type amplitude-modulated control voltage.
- the actuator comprises at least one actuating coil connected to the control means, means for measuring the electric current flowing in the actuating coil and drifting means calculating the value derived from the electric current.
- the invention also relates to a method for determining an operating position of an electromagnetic actuator as defined above.
- an electromagnetic actuator is related to its conditions of use. Certain external conditions depend in particular on the nature and / or number of equipment to be operated and / or temperature conditions in which the actuator is used and / or the supply voltage range of said actuator. Other internal conditions depend in particular on the state of aging of the actuator. Since operating conditions may change during use, it may be useful to know the closing and / or opening speeds. A knowledge of the position and / or the speed of the moving armature then makes it possible to adapt the value of the electric current in the excitation coil to minimize the impact forces of the moving parts against the fixed parts and / or for optimize the amount of electric current consumed during the closing phase or the holding phase.
- Some solutions are to use additional sensors to know the values of the operating parameters of the actuator. For example, some solutions use position and / or speed sensors. However, the use of sensors is sometimes complex given the limited space available and a more or less hostile environment related for example to high temperatures.
- the document FR2745913 discloses a method of measuring the position of a moving core of an electromagnet without the use of an additional sensor.
- the measurement of the position is made from the measurement of the voltage and the current flowing in the excitation coil of this electromagnet.
- the inductance of the magnetic circuit is constant when the magnetic circuit is in the open position and in the closed position, that is to say that it is assumed in particular that the magnetic circuit is saturated in the closed position.
- the magnetic circuit is not completely saturated in the closed position, so as to make full use of the performance of the magnetic circuit.
- the inductance in the closed position is not constant but varies widely as a function of the current flowing in the excitation coil. Therefore, such a method is not suitable.
- the document US5481187 calculates the operating position based on the derivative of the flux with respect to the electric current (D (flow) / Di). However, since the flux variation is also dependent on the saturation level, it is difficult to accurately determine the position using only this formula.
- a position table then makes it possible to provide a correlation between the calculated or measured values of the electric current I and the induction L and the position of an armature.
- This method although satisfactory in theory, has some disadvantages. Indeed, the calculation of the inductance L depending on an integration operation, promotes a certain amount of error in each program cycle. For example, an error of 5% on the value of the inductance can induce errors of 20 to 30% on the calculation of the position.
- an amplitude modulated voltage such as a PWM type modulation
- Conventional PWM type modulation operates at frequencies between 20 and 40 KHz. The cycle times corresponding to such frequencies are between 50 ⁇ s and 25 ⁇ s.
- the working frequency of the processing unit commonly used for this type of application is of the order of 100 ⁇ s.
- the working time period of the processing unit is much greater than the cycle time of the PWM modulation, it becomes difficult under these conditions to make an accurate measurement of the voltage applied to the coil.
- the use of the resistance value of the coil in the calculations makes it necessary to measure this parameter regularly. Indeed, the temperature significantly affects the latter.
- the invention therefore aims to overcome the disadvantages of the state of the art, so as to provide an electromagnetic actuator having precise position control means.
- the processing unit of the electromagnetic actuator comprises first storage means of a first value derived from electric current during a voltage supply period of the actuating coil, second storage means a second value derived from electric current during a period of non-voltage supply of said coil.
- the processing unit comprises calculation means for successively determining a first calculation coefficient dependent on the supply bus voltage, first and second values derived from electric current and comprises calculation means and an operating position of the electromagnetic actuator from a first correlation between the operating position, the first calculation coefficient and the value of the electric current.
- the first and second storage means are connected to the control means so that the memorizations of the first and second derived values are respectively synchronized with the supply duration and the no-power duration. tension of the actuating coil.
- the first correlation between the operating position, the first calculation coefficient and the value of the electric current is represented from a specific equation setting.
- the first correlation between the operating position, the first calculation coefficient and the value of the electric current is represented from a first surface curve giving the operating position as a function of the first calculation coefficient and the value of the electric current. .
- the processing unit comprises storage means storing the first curve in the form of one or more equations.
- the processing unit comprises storage means storing the first curve in the form of a data table containing a plurality of operating position values of the actuator, first calculation coefficients and values of the electric current. .
- the processing unit comprises means for measuring a total resistance of the actuating coil from an electrical reference current and / or a reference voltage.
- the unit further comprises calculating means for determining a second calculation coefficient depending on the first calculation coefficient, the total resistance of the coil, the second derived value and the electric current, and calculation means for determining a speed of rotation. operating the electromagnetic actuator from a second correlation between the operating speed, the second calculation coefficient and between the partial derivative value of the inductance with respect to the displacement at a constant current.
- the second correlation between the partial derivative of the inductance with respect to the operating position at a constant current and the operating position and the electric current is shown from a second surface curve.
- the processing unit comprises storage means storing the second curve in the form of a data table containing a plurality of operating points giving the correspondence between the partial derivative of the inductance with respect to the operating position. at a constant current depending on the operating position and the electric current.
- the method according to the invention consists in measuring the electric current flowing in the actuating coil, calculating the value derived from the electric current, storing a first value derived from electric current during a voltage supply period of the coil of actuation, memorize a second value derived from electric current during a period of non-voltage supply of said coil, determining a first calculation coefficient dependent on a supply bus voltage, first and second values derived from electric current and determining an operating position of the electromagnetic actuator from a first correlation between the operating position, the first calculation coefficient and the value of the electric current.
- the method consists in measuring a total resistance of the actuating coil from a reference electric current and / or a reference voltage, to determining a second calculation coefficient. depending on the first calculation coefficient, the total resistance of the coil, the second derived value and the electric current and determining an operating speed of the electromagnetic actuator from a second correlation between the operating speed, the second coefficient of calculation and between the partial derivative value of the inductance with respect to displacement at a constant current.
- the electromagnetic actuator 100 comprises processing means 2 intended to act on at least one actuating coil 3.
- the electromagnetic actuator 100 comprises a magnetic circuit 1 having a fixed yoke 11 and a movable armature 12.
- the movable armature 12 is mounted in the fixed yoke 11.
- the movable armature 12 and the fixed yoke 11 thus form a magnetic circuit deformable having a variable air gap.
- Said movable armature 12 is movable between an open position K1 and a closed position K2.
- the processing means are powered by a continuous bus supply voltage U bus .
- the processing means 2 comprise control means 20 generating a PWM modulated PWM modulated PWM control voltage.
- the control means 20 are connected to the actuating coil 3 via a control transistor T1.
- the control transistor T1 is controlled by its base by a voltage pulse generator 21.
- the pulse generator 21 sends a succession of pulses during which the actuating coil 3 is energized during a so-called supply period T on .
- the duration of supply T on are interspersed with so-called non-feeding time T off .
- the cycle frequency between the T on and non-power supply T off times is 40 kHz.
- the corresponding cycle time is equal to 25 ⁇ s.
- the processing means 2 further comprise means for measuring the electric current I flowing in the actuating coil 3.
- the measuring means may comprise in particular a shunt 24 connected in series with the actuating coil 3.
- the shunt 24 authorizing a continuous measurement of the electrical current is connected to drifting means 25 continuously calculating a derived value di / dt of the electric current I.
- the processing unit 2 comprises storage means M1, M2 of the derived value di / dt of the electric current I.
- M1 of the first memory means is for storing a first value derived di 1 / dt is electric current I during the feeding time t on voltage of the actuator coil 3.
- the first and second memory means M1, M2 are connected to the control means 20 and their respective operation is synchronized with the pulse generator 21 of the PWM type.
- each first value derived di 1 / dt one recorded at a time T is then replaced by another first value recorded at a time T + T off and each second value derived di 2 / dt off recorded at a time T is then replaced by another second value recorded at a time T + T on .
- the first and second storage means of the first and second derived values di 1 / dt on , di 2 / dt off are respectively synchronized with the supply and non-power periods t on , t off in voltage of the actuating coil 3.
- the processing means 2 comprise calculation means 23 for determining a first calculation coefficient A depending on the supply bus voltage U bus , first and second derived values di 1 / dt on , di 2 / d off of electric current.
- This first calculation coefficient A is determined periodically, in particular according to a working frequency of the processing means 2.
- the processing means comprise calculation means 23 having a micro processor ⁇ C having an equal working frequency. kHz is a corresponding cycle time equal to 100 ⁇ s.
- the processing means 2 comprise calculation means 23 for determining an operating position x of the electromagnetic actuator 100 from a first correlation between the operating position x, the first calculation coefficient A and the current value.
- the first correlation between the operating position x, the first calculation coefficient A and the value of the electric current I is represented from a first surface curve 10 as shown in FIG. figure 3 giving the operating position x as a function of the first calculation coefficient A and the value of the electric current I.
- the processing unit 2 comprises storage means 22 storing the first surface curve 10 in the form of a data table containing a plurality of operating position values x of the actuator, first calculation coefficients A and values of the electric current I.
- the first calculation coefficient A is therefore a variable which depends on the operating position x and the current I.
- a first method consists in using computer modeling software such as, in particular, finite element method modeling.
- This method involves knowing perfectly the design parameters of the actuator, including the geometry of the different parts, as well as their magnetic properties such as permeability.
- This solution makes it possible to obtain for a given operating point (a gap and a coil current) the magnetic variables (induction, flux), mechanical (force) and electrical (inductance) variables. From these variables, it is possible to reconstruct the partial derivatives of the inductance as a function of the evolution of the current and / or the operating position x. As shown below in Table 1, it is then possible to obtain a table of operating points giving the correspondence between the first calculation coefficient A, the operating position x and the current I.
- the first correlation between the operating position x, the first calculation coefficient A and the value of the electric current I is represented from a setting in specific equations.
- the processing unit 2 can then comprise storage means 22 memorizing the first curve 10 in the form of one or more equations.
- a second method consists in using the analytical method based in particular on the analysis of the reluctant schemas. This solution requires a rather complex definition of the equation linking the operating position to the current and to the inductance. Indeed, electromagnetic type actuators have many phenomena of leakage and saturation.
- the processing means 2 comprise calculation means 23 for determining a second calculation coefficient B dependent on the first calculation coefficient A, the total resistance R of the coil, the second value derived di 2 / dt off and the electric current.
- R is the resistance of the actuating coil 3 calculated from a reference electric current Iref and / or a reference voltage Uref.
- This second calculation coefficient B is determined periodically, in particular according to the working frequency of the processing means 2.
- the processing means 2 comprise calculation means 23 for determining an operating speed V of the electromagnetic actuator 100 from a second correlation between the operating speed V, the second calculation coefficient B and the partial derivative of the electromagnetic actuator. inductance with respect to the operating position x at a constant current.
- the correlation between the partial derivative of the inductance L with respect to the operating position x at a constant current and the operating position x and the current is represented from a second surface curve 9 as shown in FIG. figure 4 .
- the processing unit 2 comprises storage means 22 storing the second surface curve 9 in the form of a data table containing a plurality of values of the partial derivative of the inductance L with respect to the operating position x to a constant current and the operating position x and the electric current I.
- the second calculation coefficient B is a measured value and is a variable that depends directly on the speed V and the partial derivative of the inductance L with respect to the operating position x at a constant current.
- One method is to use computer modeling software such as finite element modeling. This method involves knowing perfectly the design parameters of the actuator, including the geometry of the different parts, as well as their properties. magnetic such as permeability. This solution makes it possible to obtain for a given operating point (a gap and a coil current) the magnetic variables (induction, flux), mechanical (force) and electrical (inductance) variables. From these variables, it is possible to reconstruct the partial derivatives of the inductance as a function of the evolution of the current and / or the operating position x. As shown below in Table 3 below, it is then possible to obtain a table of operating points giving the correspondence between the partial derivative of the inductance L with respect to the displacement x at a constant current according to of position x and current I.
- control means 20 connected and controlled by the processing unit 2 deliver in the actuating coil 3 an electric current I controlled according to the calculated operating position x and / or the speed V of the actuator.
- the invention also relates to a method for determining an operating position x of an electromagnetic actuator 100 according to the embodiments of the invention as defined above.
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Description
L'invention est relative à un actionneur électromagnétique ayant une unité de traitement destinée à agir sur des moyens de commande générant une tension de commande modulée en amplitude de type PWM. L'actionneur comprend au moins une bobine d'actionnement reliée aux moyens de commande, des moyens de mesure du courant électrique circulant dans la bobine d'actionnement et des moyens dérivateurs calculant la valeur dérivée du courant électrique.The invention relates to an electromagnetic actuator having a processing unit for acting on control means generating a PWM-type amplitude-modulated control voltage. The actuator comprises at least one actuating coil connected to the control means, means for measuring the electric current flowing in the actuating coil and drifting means calculating the value derived from the electric current.
L'invention est aussi relative à un procédé pour déterminer une position de fonctionnement d'un actionneur électromagnétique tel que défini ci-dessus.The invention also relates to a method for determining an operating position of an electromagnetic actuator as defined above.
Une connaissance de certains paramètres de fonctionnement des actionneurs électromagnétiques permet de garantir un fonctionnement optimal dudit actionneur. Le fonctionnement d'un actionneur électromagnétique est lié à ses conditions d'utilisation. Certaines conditions externes dépendent notamment de la nature et/ou du nombre d'appareillages à actionner et/ou des conditions de température dans lesquelles l'actionneur est utilisé et/ou de la plage de tension d'alimentation dudit actionneur. D'autres conditions internes dépendent notamment de l'état de vieillissement de l'actionneur. Les conditions de fonctionnement pouvant changer en cours d'utilisation, il peut être utile de connaître les vitesses de fermeture et/ou d'ouverture. Une connaissance de la position et/ou de la vitesse de l'armature mobile permet alors d'adapter la valeur du courant électrique dans la bobine d'excitation pour minimiser les forces d'impact des parties mobiles contre les parties fixes et/ou pour optimiser la quantité de courant électrique consommé pendant la phase de fermeture ou la phase de maintien.Knowledge of certain operating parameters of the electromagnetic actuators makes it possible to guarantee optimum operation of said actuator. The operation of an electromagnetic actuator is related to its conditions of use. Certain external conditions depend in particular on the nature and / or number of equipment to be operated and / or temperature conditions in which the actuator is used and / or the supply voltage range of said actuator. Other internal conditions depend in particular on the state of aging of the actuator. Since operating conditions may change during use, it may be useful to know the closing and / or opening speeds. A knowledge of the position and / or the speed of the moving armature then makes it possible to adapt the value of the electric current in the excitation coil to minimize the impact forces of the moving parts against the fixed parts and / or for optimize the amount of electric current consumed during the closing phase or the holding phase.
Certaines solutions consistent à utiliser des capteurs additionnels permettant de connaître les valeurs des paramètres de fonctionnement de l'actionneur. Par exemple, certaines solutions utilisent des capteurs de position et/ou de vitesse. Cependant, l'utilisation de capteur est parfois complexe compte tenu du peu de place disponible et d'un environnement plus ou moins hostile lié par exemple à des températures élevées.Some solutions are to use additional sensors to know the values of the operating parameters of the actuator. For example, some solutions use position and / or speed sensors. However, the use of sensors is sometimes complex given the limited space available and a more or less hostile environment related for example to high temperatures.
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Une table de position permet ensuite de fournir une corrélation entre d'une part les valeurs calculées ou mesurées du courant électrique I et de l'induction L et d'autre part la position d'une armature. Cette méthode bien que satisfaisante en théorie présente quelques inconvénients. En effet, le calcul de l'inductance L dépendant d'une opération d'intégration, favorise un certain cumul d'erreur à chaque cycle programme. A titre d'exemple, une erreur de 5% sur la valeur de l'inductance peut induire des erreurs de 20 à 30% sur le calcul de la position. Cependant, lorsque la bobine est alimentée par une tension modulée en amplitude telle qu'une modulation de type PWM, il y a dans ce cas une inadéquation entre la génération de la tension de commande et le système de mesure. Une modulation de type PWM classique fonctionne à des fréquences comprises entre 20 et 40 KHz. Les temps de cycle correspondant à de telles fréquences sont compris entre 50µs et 25µs. Une précision d'un pourcent implique alors une mesure inférieure à la microseconde. La fréquence de travail de l'unité de traitement couramment utilisée pour ce type d'application est de l'ordre de 100µs. Ainsi, compte tenu que la période de temps de travail de l'unité de traitement est largement supérieure au temps de cycle de la modulation PWM, il devient alors difficile dans ces conditions de réaliser une mesure précise de la tension appliquée à la bobine. Pour palier ce dernier problème, il faudrait utiliser des unités de traitement comportant des microcontrôleurs plus rapides mais généralement trop coûteux pour ce type d'application. L'utilisation de la valeur de résistance de la bobine dans les calculs oblige à réaliser une mesure de ce paramètre régulièrement. En effet, la température influe de façon importante sur ce dernier.A position table then makes it possible to provide a correlation between the calculated or measured values of the electric current I and the induction L and the position of an armature. This method, although satisfactory in theory, has some disadvantages. Indeed, the calculation of the inductance L depending on an integration operation, promotes a certain amount of error in each program cycle. For example, an error of 5% on the value of the inductance can induce errors of 20 to 30% on the calculation of the position. However, when the coil is powered by an amplitude modulated voltage such as a PWM type modulation, there is in this case a mismatch between the generation of the control voltage and the measurement system. Conventional PWM type modulation operates at frequencies between 20 and 40 KHz. The cycle times corresponding to such frequencies are between 50μs and 25μs. An accuracy of one percent then implies a measurement less than one microsecond. The working frequency of the processing unit commonly used for this type of application is of the order of 100 μs. Thus, since the working time period of the processing unit is much greater than the cycle time of the PWM modulation, it becomes difficult under these conditions to make an accurate measurement of the voltage applied to the coil. To overcome this problem, it should use processing units with faster microcontrollers but generally too expensive for this type of application. The use of the resistance value of the coil in the calculations makes it necessary to measure this parameter regularly. Indeed, the temperature significantly affects the latter.
L'invention vise donc à remédier aux inconvénients de l'état de la technique, de manière à proposer un actionneur électromagnétique comportant des moyens de contrôle de position précis.The invention therefore aims to overcome the disadvantages of the state of the art, so as to provide an electromagnetic actuator having precise position control means.
L'unité de traitement de l'actionneur électromagnétique selon l'invention comporte des premiers moyens de mémorisation d'une première valeur dérivée de courant électrique pendant une durée d'alimentation en tension de la bobine d'actionnement, des seconds moyens de mémorisation d'une seconde valeur dérivée de courant électrique pendant une durée de non-alimentation en tension de ladite bobine. L'unité de traitement comporte des moyens de calcul pour déterminer successivement un premier coefficient de calcul dépendant de la tension bus d'alimentation, des premières et secondes valeurs dérivées de courant électrique et comporte des moyens de calcul et une position de fonctionnement de l'actionneur électromagnétique à partir d'une première corrélation entre la position de fonctionnement, du premier coefficient de calcul et de la valeur du courant électrique.The processing unit of the electromagnetic actuator according to the invention comprises first storage means of a first value derived from electric current during a voltage supply period of the actuating coil, second storage means a second value derived from electric current during a period of non-voltage supply of said coil. The processing unit comprises calculation means for successively determining a first calculation coefficient dependent on the supply bus voltage, first and second values derived from electric current and comprises calculation means and an operating position of the electromagnetic actuator from a first correlation between the operating position, the first calculation coefficient and the value of the electric current.
Selon un mode préférentiel de réalisation, les premiers et seconds moyens de mémorisation sont reliés aux moyens de commande afin que les mémorisations de la première et de la seconde valeurs dérivées soient respectivement synchronisées avec la durée d'alimentation et la durée de non-alimentation en tension de la bobine d'actionnement.According to a preferred embodiment, the first and second storage means are connected to the control means so that the memorizations of the first and second derived values are respectively synchronized with the supply duration and the no-power duration. tension of the actuating coil.
De préférence, la première corrélation entre la position de fonctionnement, le premier coefficient de calcul et la valeur du courant électrique est représentée à partir d'une mise en équations spécifiques.Preferably, the first correlation between the operating position, the first calculation coefficient and the value of the electric current is represented from a specific equation setting.
La première corrélation entre la position de fonctionnement, le premier coefficient de calcul et la valeur du courant électrique est représentée à partir d'une première courbe de surface donnant la position de fonctionnement en fonction du premier coefficient de calcul et de la valeur du courant électrique.The first correlation between the operating position, the first calculation coefficient and the value of the electric current is represented from a first surface curve giving the operating position as a function of the first calculation coefficient and the value of the electric current. .
De préférence, l'unité de traitement comporte des moyens de mémorisation mémorisant la première courbe sous forme d'une ou plusieurs équations.Preferably, the processing unit comprises storage means storing the first curve in the form of one or more equations.
De préférence, l'unité de traitement comporte des moyens de mémorisation mémorisant la première courbe sous forme d'un tableau de données contenant une pluralité de valeurs de position de fonctionnement de l'actionneur, de premiers coefficients de calcul et de valeurs du courant électrique.Preferably, the processing unit comprises storage means storing the first curve in the form of a data table containing a plurality of operating position values of the actuator, first calculation coefficients and values of the electric current. .
Selon un mode de développement de l'invention, l'unité de traitement comporte des moyens de mesure d'une résistance totale de la bobine d'actionnement à partir d'un courant électrique de référence et/ou d'une tension de référence. L'unité comprend en outre des moyens de calcul pour déterminer un second coefficient de calcul dépendant du premier coefficient de calcul, de résistance totale de la bobine, de la seconde valeur dérivée et du courant électrique et des moyens de calcul pour déterminer une vitesse de fonctionnement de l'actionneur électromagnétique à partir d'une seconde corrélation entre la vitesse de fonctionnement, le second coefficient de calcul et entre la valeur de dérivée partielle de l'inductance par rapport au déplacement à un courant constant.According to a development mode of the invention, the processing unit comprises means for measuring a total resistance of the actuating coil from an electrical reference current and / or a reference voltage. The unit further comprises calculating means for determining a second calculation coefficient depending on the first calculation coefficient, the total resistance of the coil, the second derived value and the electric current, and calculation means for determining a speed of rotation. operating the electromagnetic actuator from a second correlation between the operating speed, the second calculation coefficient and between the partial derivative value of the inductance with respect to the displacement at a constant current.
La seconde corrélation entre la dérivée partielle de l'inductance par rapport à la position de fonctionnement à un courant constant et la position de fonctionnement et le courant électrique est représentée à partir d'une deuxième courbe de surface.The second correlation between the partial derivative of the inductance with respect to the operating position at a constant current and the operating position and the electric current is shown from a second surface curve.
De préférence, l'unité de traitement comporte des moyens de mémorisation mémorisant la seconde courbe sous forme d'un tableau de données contenant une pluralité de points de fonctionnement donnant la correspondance entre la dérivée partielle de l'inductance par rapport à la position de fonctionnement à un courant constant en fonction de la position de fonctionnement et du courant électrique.Preferably, the processing unit comprises storage means storing the second curve in the form of a data table containing a plurality of operating points giving the correspondence between the partial derivative of the inductance with respect to the operating position. at a constant current depending on the operating position and the electric current.
Le procédé selon l'invention consiste à mesurer le courant électrique circulant dans la bobine d'actionnement, à calculer la valeur dérivée du courant électrique, mémoriser une première valeur dérivée de courant électrique pendant une durée d'alimentation en tension de la bobine d'actionnement, mémoriser une seconde valeur dérivée de courant électrique pendant une durée de non-alimentation en tension de ladite bobine, déterminer un premier coefficient de calcul dépendant d'une tension bus d'alimentation, des premières et secondes valeurs dérivées de courant électrique et à déterminer une position de fonctionnement de l'actionneur électromagnétique à partir d'une première corrélation entre la position de fonctionnement, du premier coefficient de calcul et de la valeur du courant électrique.The method according to the invention consists in measuring the electric current flowing in the actuating coil, calculating the value derived from the electric current, storing a first value derived from electric current during a voltage supply period of the coil of actuation, memorize a second value derived from electric current during a period of non-voltage supply of said coil, determining a first calculation coefficient dependent on a supply bus voltage, first and second values derived from electric current and determining an operating position of the electromagnetic actuator from a first correlation between the operating position, the first calculation coefficient and the value of the electric current.
Selon un mode de développement de l'invention, le procédé consiste à mesurer une résistance totale de la bobine d'actionnement à partir d'un courant électrique de référence et/ou d'une tension de référence, à déterminer un second coefficient de calcul dépendant du premier coefficient de calcul, de résistance totale de la bobine, de la seconde valeur dérivée et du courant électrique et à déterminer une vitesse de fonctionnement de l'actionneur électromagnétique à partir d'une seconde corrélation entre la vitesse de fonctionnement, le second coefficient de calcul et entre la valeur de dérivée partielle de l'inductance par rapport au déplacement à un courant constant.According to a development mode of the invention, the method consists in measuring a total resistance of the actuating coil from a reference electric current and / or a reference voltage, to determining a second calculation coefficient. depending on the first calculation coefficient, the total resistance of the coil, the second derived value and the electric current and determining an operating speed of the electromagnetic actuator from a second correlation between the operating speed, the second coefficient of calculation and between the partial derivative value of the inductance with respect to displacement at a constant current.
D'autres avantages et caractéristiques ressortiront plus clairement de la description qui va suivre de modes particuliers de réalisation de l'invention, donnés à titre d'exemples non limitatifs, et représentés aux dessins annexés sur lesquels :
- la
figure 1 représente une vue schématique d'un actionneur électromagnétique selon un mode de réalisation de l'invention ; - la
figure 2 représente un schéma des moyens de traitement d'un actionneur électromagnétique selon lafigure 1 ; - la
figure 3 montre une première courbe de surface représentative de l'entrefer d'un actionneur électromagnétique en fonction d'un premier coefficient de calcul dudit actionneur et du courant électrique circulant dans la bobine ; - la
figure 4 montre une seconde courbe de surface représentative de la dérivée partielle de l'inductance par rapport à la position de fonctionnement à un courant constant en fonction de la position de fonctionnement et du courant électrique.
- the
figure 1 is a schematic view of an electromagnetic actuator according to one embodiment of the invention; - the
figure 2 represents a diagram of the means for processing an electromagnetic actuator according to thefigure 1 ; - the
figure 3 shows a first surface curve representative of the air gap of an electromagnetic actuator as a function of a first calculation coefficient of said actuator and of the electric current flowing in the coil; - the
figure 4 shows a second surface curve representative of the partial derivative of the inductance with respect to the operating position at a constant current as a function of the operating position and the electric current.
Selon un premier mode préférentiel de réalisation, l'actionneur électromagnétique 100 comporte des moyens de traitement 2 destinés à agir sur au moins une bobine d'actionnement 3. A titre d'exemple de réalisation tel que représenté sur la
Les moyens de traitement sont alimentés par une tension bus d'alimentation Ubus continue. Les moyens de traitement 2 comportent des moyens de commande 20 générant une tension de commande UPWM modulée en amplitude de type PWM. A titre d'exemple de réalisation, les moyens de commande 20 sont reliés à la bobine d'actionnement 3 via un transistor de commande T1. Le transistor de commande T1 est commandé par sa base par un générateur d'impulsions de tension 21. A titre d'exemple de réalisation, le générateur d'impulsion 21 envoie une succession d'impulsions durant lesquelles la bobine d'actionnement 3 est alimentée pendant une durée dite d'alimentation Ton. Les durée d'alimentation Ton sont entrecoupées de durée dites de non-alimentation Toff. La fréquence du cycle entre les durées d'alimentation Ton et de non-alimentation Toff est égale à 40 kHz. Le temps de cycle correspondant est égal à 25µs.The processing means are powered by a continuous bus supply voltage U bus . The processing means 2 comprise control means 20 generating a PWM modulated PWM modulated PWM control voltage. As an exemplary embodiment, the control means 20 are connected to the
Les moyens de traitement 2 comportent en outre des moyens de mesure du courant électrique I circulant dans la bobine d'actionnement 3. Les moyens de mesure peuvent comprendre notamment un shunt 24 connecté en série avec la bobine d'actionnement 3. Le shunt 24 autorisant une mesure en continu du courant électrique est relié à des moyens dérivateurs 25 calculant en continu une valeur dérivée di/dt du courant électrique I.The processing means 2 further comprise means for measuring the electric current I flowing in the
Selon un mode préférentiel de réalisation de l'invention, l'unité de traitement 2 comporte des moyens de mémorisation M1, M2 de la valeur dérivée di/dt du courant électrique I.According to a preferred embodiment of the invention, the
Des premiers moyens de mémorisation M1 sont destinées à mémoriser une première valeur dérivée di1/dton de courant électrique I pendant la durée d'alimentation ton en tension de la bobine d'actionnement 3. Des seconds moyens de mémorisation M2 d'une seconde valeur dérivée di2/dtoff de courant électrique pendant la durée de non-alimentation toff en tension de ladite bobine d'actionnement 3.M1 of the first memory means is for storing a first value derived di 1 / dt is electric current I during the feeding time t on voltage of the
Les premier et second moyens de mémorisation M1, M2 sont reliés au moyens de commande 20 et leur fonctionnement respectif est synchronisé avec le générateur d'impulsion 21 de type PWM. Autrement dit, chaque première valeur dérivée di1/dton enregistrée à un temps T est ensuite remplacée par une autre première valeur enregistrée à un temps T+ Toff et chaque seconde valeur dérivée di2/dtoff enregistrée à un temps T est ensuite remplacée par une autre seconde valeur enregistrée à un temps T+ Ton. Ainsi, les premier et second moyens de mémorisation de la première et de la seconde valeur dérivée di1/dton, di2/dtoff sont respectivement synchronisées avec les durées d'alimentation et de non-alimentation ton, toff en tension de la bobine d'actionnement 3.The first and second memory means M1, M2 are connected to the control means 20 and their respective operation is synchronized with the
Les moyens de traitements 2 comportent des moyens de calcul 23 pour déterminer un premier coefficient de calcul A dépendant de la tension bus d'alimentation Ubus, des premières et secondes valeurs dérivées di1/dton, di2/dtoff de courant électrique. Le premier coefficient de calcul A est calculé à partir de l'équation (1) suivante :
Ce premier coefficient de calcul A est déterminé périodiquement, notamment selon une fréquence de travail des moyens de traitement 2. A titre d'exemple, les moyens de traitement comportent des moyens de calcul 23 ayant un micro processeur µC ayant une fréquence de travail égale 10 kHz soit un temps de cycle correspondant égale à 100µs.This first calculation coefficient A is determined periodically, in particular according to a working frequency of the processing means 2. For example, the processing means comprise calculation means 23 having a micro processor μC having an equal working frequency. kHz is a corresponding cycle time equal to 100μs.
Les moyens de traitements 2 comportent des moyens de calcul 23 pour déterminer une position de fonctionnement x de l'actionneur électromagnétique 100 à partir d'une première corrélation entre la position de fonctionnement x, le premier coefficient de calcul A et de la valeur du courant électrique I.La première corrélation entre la position de fonctionnement x, le premier coefficient de calcul A et la valeur du courant électrique I est représentée à partir d'une première courbe de surface 10 telle que représentée sur la
L'unité de traitement 2 comporte des moyens de mémorisation 22 mémorisant la première courbe de surface 10 sous forme d'un tableau de données contenant une pluralité de valeurs de position de fonctionnement x de l'actionneur, de premiers coefficients de calcul A et de valeurs du courant électrique I.The
En effet, le premier coefficient de calcul A est une variable qui dépend directement de l'inductance L et du courant I. En effet, la valeur du premier coefficient de calcul A peut s'exprimer sous la forme de l'équation (2) suivante :
Sachant que l'inductance L et que la dérivée partielle de l'inductance L par rapport au courant I à une position de fonctionnement x constante sont dépendantes de la position de fonctionnement x de l'actionneur et du courant I de la bobine, le premier coefficient de calcul A est donc une variable qui dépend de la position de fonctionnement x et du courant I.Knowing that the inductance L and the partial derivative of the inductance L with respect to the current I at a constant operating position x are dependent on the operating position x of the actuator and the current I of the coil, the first calculation coefficient A is therefore a variable which depends on the operating position x and the current I.
Pour déterminer une correspondance entre la valeur du premier coefficient de calcul A, la position de fonctionnement x et le courant I, deux méthodes sont possibles pour calculer une table de points de fonctionnement.To determine a correspondence between the value of the first coefficient of calculation A, the operating position x and the current I, two methods are possible to calculate a table of operating points.
Une première méthode consiste à utiliser un logiciel informatique de modélisation tel que, notamment une modélisation par méthode des éléments finis. Cette méthode implique de connaitre parfaitement les paramètres de conception de l'actionneur, notamment la géométrie des différentes pièces, ainsi que leurs propriétés magnétiques telle que la perméabilité. Cette solution permet d'obtenir pour un point de fonctionnement donné (un entrefer et un courant bobine) les variables magnétiques (induction, flux), mécanique (force) et électrique (inductance). A partir de ces variables, il est possible de reconstituer les dérivées partielles de l'inductance en fonction de l'évolution du courant et/ou de la position de fonctionnement x. Tel que représentée ci-dessous sur le tableau 1, il est alors possible d'obtenir une table de points de fonctionnement donnant la correspondance entre le premier coefficient de calcul A, la position de fonctionnement x et le courant I.
Par une recherche de points et une interpolation, il est alors possible de calculer une nouvelle table de points de fonctionnement donnant la correspondance entre le premier coefficient de calcul A, le courant I et la position de fonctionnement x. Tel que représentée ci-dessous sur le tableau 2, des valeurs de position de fonctionnement x sont associée à des valeurs du premier coefficient de calcul A et du courant I :
Selon un mode perfectionné de réalisation de la première méthode, la première corrélation entre la position de fonctionnement x, le premier coefficient de calcul A et la valeur du courant électrique I est représentée à partir d'une mise en équations spécifiques. On obtient ces équations à partir de logiciels de calcul qui vont « interpoler » les tableaux ci-dessus. L'unité de traitement 2 peut alors comporter des moyens de mémorisation 22 mémorisant la première courbe 10 sous forme d'une ou plusieurs équations.According to an improved embodiment of the first method, the first correlation between the operating position x, the first calculation coefficient A and the value of the electric current I is represented from a setting in specific equations. We obtain these equations from computer programs that will "interpolate" the tables above. The
Une seconde méthode consiste à utiliser la méthode analytique se basant notamment sur l'analyse des schémas réluctants. Cette solution requiert une définition assez complexe de l'équation liant la position de fonctionnement au courant et à l'inductance. En effet, les actionneurs de type électromagnétique présentent de nombreux phénomènes de fuites et de saturation.A second method consists in using the analytical method based in particular on the analysis of the reluctant schemas. This solution requires a rather complex definition of the equation linking the operating position to the current and to the inductance. Indeed, electromagnetic type actuators have many phenomena of leakage and saturation.
Les moyens de traitement 2 comportent des moyens de calcul 23 pour déterminer un second coefficient de calcul B dépendant du premier coefficient de calcul A, de la résistance totale R de la bobine, de la seconde valeur dérivée di2/dtoff et du courant électrique I. Le second coefficient de calcul B est calculé à partir de l'équation (3) suivante :
Où R est la résistance de la bobine d'actionnement 3 calculée à partir d'un courant électrique de référence Iref et/ou d'une tension de référence Uref.Where R is the resistance of the
Ce second coefficient de calcul B est déterminé périodiquement, notamment selon la fréquence de travail des moyens de traitement 2.This second calculation coefficient B is determined periodically, in particular according to the working frequency of the processing means 2.
Les moyens de traitements 2 comportent des moyens de calcul 23 pour déterminer une vitesse de fonctionnement V de l'actionneur électromagnétique 100 à partir d'une seconde corrélation entre la vitesse de fonctionnement V, le second coefficient de calcul B et la dérivée partielle de l'inductance par rapport à la position de fonctionnement x à un courant constant.The processing means 2 comprise calculation means 23 for determining an operating speed V of the
La corrélation entre la dérivée partielle de l'inductance L par rapport à la position de fonctionnement x à un courant constant et la position de fonctionnement x et le courant est représentée à partir d'une seconde courbe de surface 9 telle que représentée sur la
L'unité de traitement 2 comporte des moyens de mémorisation 22 mémorisant la seconde courbe de surface 9 sous forme d'un tableau de données contenant une pluralité de valeurs de la dérivée partielle de l'inductance L par rapport à la position de fonctionnement x à un courant constant et la position de fonctionnement x et le courant électrique I.The
En effet, le second coefficient de calcul B est une valeur mesurée et est une variable qui dépend directement de la vitesse V et de la dérivée partielle de l'inductance L par rapport à la position de fonctionnement x à un courant constant. Le second coefficient de calcul B peut s'écrire sous la forme de l'équation (4) suivante :
De l'équation (4) précédente, la valeur de la vitesse V peut être calculée. La vitesse peut s'exprimer sous la forme de l'équation (5) suivante :
Une méthode consiste à utiliser un logiciel informatique de modélisation tel que, notamment une modélisation par méthode des éléments finis. Cette méthode implique de connaitre parfaitement les paramètres de conception de l'actionneur, notamment la géométrie des différentes pièces, ainsi que leurs propriétés magnétiques telle que la perméabilité. Cette solution permet d'obtenir pour un point de fonctionnement donné (un entrefer et un courant bobine) les variables magnétiques (induction, flux), mécanique (force) et électrique (inductance). A partir de ces variables, il est possible de reconstituer les dérivées partielles de l'inductance en fonction de l'évolution du courant et/ou de la position de fonctionnement x. Tel que représenté ci-dessous sur le tableau 3 ci-dessous, il est alors possible d'obtenir une table de points de fonctionnement donnant la correspondance entre la dérivée partielle de l'inductance L par rapport au déplacement x à un courant constant en fonction de la position x et le courant I.
Connaissant la valeur de dérivée partielle de l'inductance L par rapport à la position de fonctionnement x à un courant constant ainsi que la valeur du second coefficient de calcul B, il est possible de déterminer la valeur de vitesse à partir de l'équation (5).Knowing the partial derivative value of the inductance L with respect to the operating position x at a constant current as well as the value of the second calculation coefficient B, it is possible to determine the velocity value from the equation ( 5).
Selon un mode de réalisation de l'invention, les moyens de commande 20 reliés et pilotés par l'unité de traitement 2 délivrent dans la bobine d'actionnement 3 un courant électrique I asservi en fonction de la position de fonctionnement x calculée et/ou de la vitesse V de l'actionneur.According to one embodiment of the invention, the control means 20 connected and controlled by the
L'invention est aussi relative à un procédé pour déterminer une position de fonctionnement x d'un actionneur électromagnétique 100 selon les modes de réalisation de l'invention tels que définis ci-dessus.The invention also relates to a method for determining an operating position x of an
Selon un premier mode de fonctionnement, le procédé consiste à
- mesurer le courant électrique I circulant dans la bobine d'actionnement 3 ;
- calculer la valeur dérivée di/dt du courant électrique I ;
- mémoriser une première valeur dérivée dii/dton de courant électrique pendant une durée d'alimentation ton en tension de la bobine d'actionnement 3 ;
- mémoriser une seconde valeur dérivée di2/dtoff de courant électrique pendant une durée de non-alimentation toff en tension de ladite bobine ;
- déterminer un premier coefficient de calcul A dépendant de la tension bus d'alimentation Ubus, des premières et secondes valeurs dérivées di1/dton, di2/dtoff de courant électrique ;
- déterminer une position de fonctionnement x de l'actionneur électromagnétique 100 à partir d'une première corrélation entre la position de fonctionnement x, du premier coefficient de calcul A et de la valeur du courant électrique I.
- measuring the electric current I flowing in the
actuating coil 3; - calculate the derived value di / dt of the electric current I;
- storing a first value derived i di / dt is electric current during a feeding time t on voltage of the
actuator coil 3; - storing a second value derived di 2 / d off of electric current during a period of non-power t off voltage of said coil;
- determining a first calculation coefficient A dependent on the supply bus voltage U bus , first and second derived values di 1 / dt on , di 2 / d off of electric current;
- determining an operating position x of the
electromagnetic actuator 100 from a first correlation between the operating position x, the first calculation coefficient A and the value of the electric current I.
Selon un mode particulier de fonctionnement, le procédé consiste à :
- mesurer une résistance totale R de la bobine d'actionnement 3 à partir d'un courant électrique de référence Iref et/ou d'une tension de référence Uref.
- déterminer un second coefficient de calcul B dépendant du premier coefficient de calcul A, de résistance totale R de la bobine, de la seconde valeur dérivée di2/dtoff et du courant électrique I ;
- déterminer une vitesse de fonctionnement V de l'actionneur électromagnétique 100 à partir d'une seconde corrélation entre la vitesse de fonctionnement V, le second coefficient de calcul B et entre la valeur de dérivée partielle de l'inductance L par rapport à la position de fonctionnement x à un courant constant.
- measuring a total resistance R of the
actuating coil 3 from an electric reference current Iref and / or a reference voltage Uref. - determining a second calculation coefficient B dependent on the first calculation coefficient A, the total resistance R of the coil, the second derived value di 2 / dt off and the electric current I;
- determining an operating speed V of the
electromagnetic actuator 100 from a second correlation between the operating speed V, the second calculation coefficient B and between the partial derivative value of the inductance L with respect to the position of operation x at a constant current.
Claims (11)
- Electromagnetic actuator (100) with a processing unit (2) intended to act on control means (20) generating an amplitude-modulated control voltage (Upwm) of PWM type, the actuator comprising:- at least one actuator coil (3) connected to the control means (20);- means (24) for measuring the electric current (I) flowing through the actuator coil (3);- differentiating means (25) computing the value of the derivative (di/dt) of the electric current (I);characterized in that the processing unit (2) includes:- first means (M1) for storing a first value of the derivative (di1/dton) of the electric current for a time period (ton) in which voltage is supplied to the actuator coil (3);- second means (M2) for storing a second value of the derivative (di2/dtoff) of the electric current for a time period (toff) in which voltage is not supplied to said coil;- computing means (23) for determining in succession:- a first computational coefficient (A) depending on the bus power supply voltage (Ubus) and the first and second values of the derivatives (di1/dton, di2/dtoff) of the electric current;- an operating position (x) of the electromagnetic actuator (100) on the basis of a first correlation between the operating position (x), the first computational coefficient (A) and the value of the electric current (I).
- Electromagnetic actuator according to Claim 1, characterized in that the first and second storage means (M1, M2) are connected to the control means (20) in order for the storage of the first and second values of the derivative (di1/dton, di2/dtoff) to be synchronized with the time period in which voltage is supplied (ton) and the time period in which voltage is not supplied (toff) to the actuator coil (3), respectively.
- Electromagnetic actuator according to Claim 1 or 2, characterized in that the first correlation between the operating position (x), the first computational coefficient (A) and the value of the electric current (I) is represented on the basis of a set of specific equations.
- Electromagnetic actuator according to Claim 1 or 2, characterized in that the first correlation between the operating position (x), the first computational coefficient (A) and the value of the electric current (I) is represented on the basis of a first surface plot (10) giving the operating position (x) as a function of the first computational coefficient (A) and the value of the electric current (I).
- Electromagnetic actuator according to Claim 4, characterized in that the processing unit (2) includes storage means (22) storing the first plot (10) in the memory in the form of one or more equations.
- Electromagnetic actuator according to Claim 4, characterized in that the processing unit (2) includes storage means (22) storing the first plot (10) in the memory in the form of a data table containing a plurality of values of the operating position (x) of the actuator, first computational coefficients (A) and values of the electric current (I).
- Electromagnetic actuator according to any one of the preceding claims, characterized in that the processing unit includes:- means for measuring a total resistance (R) of the actuator coil (3) on the basis of a reference electric current (Iref) and/or a reference voltage (Uref);- computing means (23) for determining in succession:- a second computational coefficient (B) depending on the first computational coefficient (A), the total resistance (R) of the coil, the second value of the derivative (di2/dtoff) and the electric current (I);- an operating speed (V) of the electromagnetic actuator (100) on the basis of a second correlation between the operating speed V, the second computational coefficient B and between the value of the partial derivative of the inductance L with respect to the operating position (x) at a constant current.
- Electromagnetic actuator according to Claim 7, characterized in that the second correlation between the partial derivative of the inductance with respect to the operating position (x) at a constant current and the operating position (x) and the electric current (I) is represented on the basis of a second surface plot (9).
- Electromagnetic actuator according to Claim 8, characterized in that the processing unit (2) includes storage means (22) storing the second surface plot (9) in the memory in the form of a data table containing a plurality of operating points giving the correspondence between the partial derivative of the inductance (L) with respect to the operating position (x) at a constant current as a function of the operating position (x) and the electric current (I).
- Method for determining an operating position (x) of an electromagnetic actuator (100) according to the preceding claims, the actuator comprising:- a processing unit (2) intended to act on control means (20) generating an amplitude-modulated control voltage (Upwm) of PWM type;- at least one actuator coil (3) connected to the control means (21);- means (24) for measuring the electric current (I) flowing through the actuator coil (3);- differentiating means (25) computing the value of the derivative (di/dt) of the electric current;a method which consists in:- measuring the electric current (I) flowing through the actuator coil (3);computing the value of the derivative (di/dt) of the electric current (I);
a method characterized in that it consists in:- storing a first value of the derivative (di1/dton) for a time period (ton) in which voltage is supplied to the actuator coil (3);- storing a second value of the derivative (di2/dtoff) for a time period (toff) in which voltage is not supplied to said coil;- determining a first computational coefficient (A) depending on a bus power supply voltage (Ubus) and on the first and second values of the derivatives (di1/dton, di2/dtoff) of the electric current;- determining an operating position (x) of the electromagnetic actuator (100) on the basis of a first correlation between the operating position (x), the first computational coefficient (A) and the value of the electric current (I). - Method according to Claim 10, characterized in that it consists in:- measuring a total resistance (R) of the actuator coil (3) on the basis of a reference electric current (Iref) and/or a reference voltage (Uref);- determining a second computational coefficient (B) depending on the first computational coefficient (A), the total resistance (R) of the coil, the second value of the derivative (di2/dtoff) and the electric current (I);- determining an operating speed (V) of the electromagnetic actuator (100) on the basis of a second correlation between the operating speed (V), the second computational coefficient (B) and between the value of the partial derivative of the inductance (L) with respect to the displacement (x) at a constant current.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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FR1001361A FR2958444B1 (en) | 2010-04-01 | 2010-04-01 | ELECTROMAGNETIC ACTUATOR HAVING POSITION CONTROL MEANS AND METHOD USING SUCH ACTUATOR |
PCT/FR2011/000104 WO2011121188A1 (en) | 2010-04-01 | 2011-02-21 | Electromagnetic actuator comprising position control means and method using such an actuator |
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EP2553694B1 true EP2553694B1 (en) | 2015-04-08 |
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WO2021058723A1 (en) * | 2019-09-25 | 2021-04-01 | Magna powertrain gmbh & co kg | Method for determining the position of an armature of an electromagnetic linear actuator |
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US5481187A (en) * | 1991-11-29 | 1996-01-02 | Caterpillar Inc. | Method and apparatus for determining the position of an armature in an electromagnetic actuator |
US5424637A (en) * | 1993-03-15 | 1995-06-13 | Caterpillar Inc. | Method and apparatus for determining the position of an armature in an electromagnetic actuator using observer theory |
FR2745913B1 (en) | 1996-03-11 | 1998-04-10 | Electricite De France | DEVICE AND METHOD FOR CONTROLLING A MECHANISM EQUIPPED WITH A PLUNGER CORE |
US6657847B1 (en) | 1999-07-13 | 2003-12-02 | Siemens Automotive Corporation | Method of using inductance for determining the position of an armature in an electromagnetic solenoid |
FR2835061B1 (en) | 2002-01-24 | 2004-04-09 | Schneider Electric Ind Sa | METHOD FOR MEASURING THE POSITION OF THE MOBILE REINFORCEMENT OF AN ELECTROMAGNET |
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2010
- 2010-04-01 FR FR1001361A patent/FR2958444B1/en not_active Expired - Fee Related
-
2011
- 2011-02-21 WO PCT/FR2011/000104 patent/WO2011121188A1/en active Application Filing
- 2011-02-21 EP EP11709999.4A patent/EP2553694B1/en not_active Not-in-force
- 2011-02-21 CN CN201180027410.XA patent/CN102934179B/en not_active Expired - Fee Related
Also Published As
Publication number | Publication date |
---|---|
CN102934179B (en) | 2015-11-25 |
FR2958444A1 (en) | 2011-10-07 |
CN102934179A (en) | 2013-02-13 |
WO2011121188A1 (en) | 2011-10-06 |
EP2553694A1 (en) | 2013-02-06 |
FR2958444B1 (en) | 2012-05-04 |
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