EP2553694B1 - Actionneur electromagnetique comportant des moyens de controle de position et procede utilisant un tel actionneur - Google Patents

Actionneur electromagnetique comportant des moyens de controle de position et procede utilisant un tel actionneur Download PDF

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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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EP
European Patent Office
Prior art keywords
electric current
value
operating position
coefficient
actuator
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Not-in-force
Application number
EP11709999.4A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP2553694A1 (fr
Inventor
Charles Blondel
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Schneider Electric Industries SAS
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Schneider Electric Industries SAS
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Publication of EP2553694B1 publication Critical patent/EP2553694B1/fr
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Classifications

    • 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
    • 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
    • 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
    • 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
    • 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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  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Linear Motors (AREA)
  • Reciprocating, Oscillating Or Vibrating Motors (AREA)
EP11709999.4A 2010-04-01 2011-02-21 Actionneur electromagnetique comportant des moyens de controle de position et procede utilisant un tel actionneur Not-in-force EP2553694B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1001361A FR2958444B1 (fr) 2010-04-01 2010-04-01 Actionneur electromagnetique comportant des moyens de controle de position et procede utilisant un tel actionneur
PCT/FR2011/000104 WO2011121188A1 (fr) 2010-04-01 2011-02-21 Actionneur electromagnetique comportant des moyens de controle de position et procede utilisant un tel actionneur

Publications (2)

Publication Number Publication Date
EP2553694A1 EP2553694A1 (fr) 2013-02-06
EP2553694B1 true EP2553694B1 (fr) 2015-04-08

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EP11709999.4A Not-in-force EP2553694B1 (fr) 2010-04-01 2011-02-21 Actionneur electromagnetique comportant des moyens de controle de position et procede utilisant un tel actionneur

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EP (1) EP2553694B1 (zh)
CN (1) CN102934179B (zh)
FR (1) FR2958444B1 (zh)
WO (1) WO2011121188A1 (zh)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
BR102014019695A2 (pt) * 2014-08-08 2016-05-03 Whirlpool Sa método de controle de válvula solenóide provida de cursor magnético
WO2021058723A1 (de) * 2019-09-25 2021-04-01 Magna powertrain gmbh & co kg Verfahren zur bestimmung der position eines ankers eines elektromagnetischen linearaktuators

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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 (fr) 1996-03-11 1998-04-10 Electricite De France Dispositif et procede de controle d'un mecanisme equipe d'une bobine a noyau plongeur
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 (fr) 2002-01-24 2004-04-09 Schneider Electric Ind Sa Procede de mesure de la position de l'armature mobile d'un electroaimant

Also Published As

Publication number Publication date
CN102934179A (zh) 2013-02-13
FR2958444B1 (fr) 2012-05-04
WO2011121188A1 (fr) 2011-10-06
FR2958444A1 (fr) 2011-10-07
CN102934179B (zh) 2015-11-25
EP2553694A1 (fr) 2013-02-06

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