EP2619772B1 - Actuator device and driving method - Google Patents

Description

The present invention relates to an actuator device according to the preamble of claim 1. Furthermore, the present invention relates to a method for driving according to the preamble of claim 7.

The technological background forming, for example, from the pamphlets US 2005/279299 A1 . EP 1 106 808 A2 such as DE 10 2008 043288 A1 each actuator devices with electromagnetic actuator known. According to the document US 2005/279299 A1 in this case, a position determination of an armature of the actuator is possible, ie via position sensors provided for this purpose, but - to the extent disadvantageous - associated with considerable construction and financial outlay.

In the below-described, closer prior art is from the document DE 10 2005 018 012 A1 Moreover, an electromagnetic or electrodynamic actuator of the present type is known, wherein the position of the Aktuatorstellglieds sensorless by a) acting on the purpose for this purpose series-connected magnetic coils with a voltage jump and b) evaluating resulting, detected voltage waveforms with little effort is determined.

Also is from the document WO 2009/109444 Furthermore, a generic electromagnetic actuator with three stable positions or a tristable actuator known, which can be used for carrying out the present invention, and its actuator position by means of the teaching of the document DE 10 2005 018 012 A1 sensorless can be determined.

To control electromagnetic, tristable actuators whose actuator position is to be detected, in the prior art currently two H-bridges and a connection switch (S9 in Fig. 1 ) are used to selectively set currents in each coil. The connection switch is used to produce a series circuit to advantageously an inherent path measurement or position determination according to the in the document DE 10 2005 018 012 A1 To be able to carry out the sensorless principle described.

Based on the above-mentioned, more closely related prior art, the present invention has the object, the actuator devices advantageously such that in particular a hardware-optimized control of the actuator is possible, which is inexpensive to implement and also a sensorless position determination of the actuator according to the above principle , It is another object of the invention to provide a method for driving an actuator, which is easy to perform and allows the above sensorless position determination of the actuator.

This object is achieved by the features of claim 1. With regard to the method, the object is achieved by the features of claim 6.

Uses are given in claims 11 and 12. According to the invention, an actuator device with an electromagnetic actuator, which has two magnet coils and an actuator which can be displaced linearly between three stable positions, is proposed, characterized in that the actuator device for driving the magnet coils has a switching bridge with three, in particular exactly three, bridge branches connected in parallel, wherein each bridge branch has two, in particular exactly two, arranged in series switch, wherein in each of the two bridge diagonals each a magnetic coil is connected, in particular exactly one each.

According to the invention, the switching bridge is designed as a B6 switching bridge in the actuator device.

In the actuator device, at least the switches of a first of the three bridge branches, which via a magnetic coil in a first of the two bridge diagonals with a second of the three bridge arms is electrically connected and the switches of a third of the three bridge branches, which is also connected via a magnetic coil in the second of the two bridge diagonals to the second bridge branch, each connected to a freewheeling diode.

In yet another embodiment of the actuator device according to the invention, the actuator device is designed to determine the position of the actuator.

According to one aspect of the actuator device according to the invention, the actuator device for determining the position of the actuator to a drive device which is designed to control the switching bridge such that both magnetic coils in series between a common electrical input and a common electrical output of the bridge arms switchable and by means of a The voltage applied to the common electrical input and output of the bridge branches can be applied to a supply voltage.

According to a further aspect of the actuator device according to the invention, the actuator device for determining the position of the actuator further comprises a detection device, which is provided for determining voltage curves at both magnetic coils in the course of an application of the same with the voltage jump.

According to yet another aspect of the actuator device according to the invention, the actuator device for determining the position of the actuator further comprises an evaluation device, which determines the position of the actuator based on the determined voltage curves of both magnetic coils in a voltage jump, in particular by comparing at least one voltage waveform with a map.

According to the invention, a method for driving the magnetic coils of an electromagnetic actuator of an actuator device according to one of the preceding claims, wherein in a first step to determine the position of the actuator and / or to displace the actuator in a stable center position, a current path via a respective switch of the the first and a switch of the third bridge branch and both solenoids is opened or formed while the other switches of the switching bridge are open, wherein the current path extends from a common input to a common output of the parallel bridge branches.

Furthermore, a method is proposed, wherein in the first step at least one switch is operated clocked in the opened current path, in particular the downstream switch.

According to one aspect of the method according to the invention, in an alternative or additional step for shifting the actuator to a stable end position, a current path is opened or formed via a switch of the second bridge branch arranged in a bridge half and one switch each of the first and third bridge branches of the other bridge half while the other switches of the switching bridge are open, wherein the current path extends from a common input to a common output of the parallel bridge arms.

Furthermore, a method according to the invention is proposed, wherein the switches opening the current path are alternately clocked in the alternative or additional step in the first and third bridge branch.

According to yet another aspect of the method according to the invention, the switch opening the current path for displacing the actuator into a first stable end position with respect to the current path opening switch for displacing the actuator in a second stable end position in the same bridge branch in the other bridge half are closed or operated clocked.

The actuator device according to the invention or the method for controlling the magnetic coils of the actuator device is particularly suitable for use in a motor vehicle, for example a passenger or commercial vehicle, in particular in a motor vehicle transmission, for example an automatic transmission, an automated manual transmission or a transfer case.

Thus, the actuator device or the method for controlling the magnetic coils of the actuator device for actuating a selector device an automated gearbox of a motor vehicle use, for example, instead of a pneumatic or hydraulic actuator, which space and weight can be saved. By such a dial, the required for inserting a certain gear shift elements, such as jaw clutches, the gearbox can be selected (selecting the shift gate).

Further features and advantages of the invention will become apparent from the following description of embodiments of the invention, with reference to the figures of the drawings, which show details essential to the invention, and from the claims. The individual features can be realized individually for themselves or for several in any combination in a variant of the invention.

Fig. 1

exemplarisch eine Ansteuerschaltung aus dem Stand der Technik zur Ansteuerung eines tristabilen elektromagnetischen Aktuators;

Fig. 2a und 2b

exemplarisch den Aufbau eines tristabilen elektromagnetischen Aktuators gemäß dem Stand der Technik in zwei verschiedenen Schaltstellungen;

Fig. 3

exemplarisch eine erfindungsgemäße, mit Magnetspulen des Aktuators beschaltete Schaltbrücke einer Aktuatorvorrichtung gemäß einer möglichen Ausführungsform der Erfindung; und

Fig. 4a) bis c)

exemplarisch mögliche Schaltzustände der mit den Magnetspulen beschalteten Schaltbrücke der erfindungsgemäßen Aktuatorvorrichtung zur Durchführung des erfindungsgemäßen Verfahrens.

Preferred embodiments of the invention are explained below with reference to the accompanying drawings. Show it:

Fig. 1

an exemplary drive circuit from the prior art for controlling a tri-stable electromagnetic actuator;

Fig. 2a and 2b

exemplified the construction of a tri-stable electromagnetic actuator according to the prior art in two different switching positions;

Fig. 3

by way of example, a switching bridge according to the invention, connected to magnetic coils of the actuator, of an actuator device according to a possible embodiment of the invention; and

Fig. 4a) to c)

exemplarily possible switching states of the switched with the solenoid switching bridge of the actuator device according to the invention for carrying out the method according to the invention.

In the following description of the figures, the same elements or functions are provided with the same reference numerals.

The Fig. 1 shows an example of a circuit 1 according to the prior art for controlling a tristable actuator 2 (eg Fig. 2a ) and b)) of the type mentioned, which by means of a first H-bridge, comprising the switches S1, S2, S5, S6, and a second H-bridge, comprising the switches S3, S4, S7, S8 is formed and a Switch S9, which determines the position of an actuator 3 of the actuator 2 by series connection of the magnetic coils 4, 5 in the bridge diagonal with the switch S9 closed and applying a voltage jump corresponding to that in the DE 10 2005 018 012 A1 described principle allows.

Such a tristable, electromagnetic actuator 2, its structure and principle by way of example in the document WO 2009/109444 and which is used to provide the actuator 6 according to the invention, generally has two magnetic coils 4, 5, in particular toroidal coils, as well as a linearly displaceable by means of the two magnetic coils 4, 5 between three stable positions actuator 3. Such a structure is shown schematically in FIG Fig. 2a ) and b) clarifies.

The actuator 3 is magnetically displaceable due to suitable control or energization of the magnetic coils 4, 5 between two stable end positions and a stable center position. In Fig. 2a ) and b) is the magnetic flux B as a function of the switching position or the Bestromungsrichtung X, • of the magnetic coils 4, 5 by annular, provided with arrows lines exemplified.

The actuator 3 has, for example, a permanent magnet 7, for example Fig. 2a ) and b), which is arranged on an actuating rod 8 or anchor rod of the actuator 3 in the intended linear movement direction X of the control rod 8 and the actuator 3 between the two magnetic coils 4, 5 for linear displacement, wherein the permanent magnet 7 in a displacement direction the adjusting rod 8 aligned polarity N, S and wherein the magnetic coils 4, 5 are aligned coaxially with the linearly movable adjusting rod 8 and the actuator 3. The magnetic coils 4, 5 have opposite winding sense. Preferably, the actuator 2 is formed such that the actuator 3 is magnetically locked in the stable center position by the permanent magnet 7.

The actuator device 6 according to the invention has for driving the magnetic coils 4, 5 or for their energization further comprises a switching bridge 9 with three parallel bridge branches B1, B2, B3, each of the particular exactly three bridge branches B1, B2, B3 two switches arranged in series S1 ... S6, eg Fig. 3 and Fig. 4a ) to c), in particular exactly two switches. In this respect, the switching bridge 9 according to the invention has a B6 topology or is designed as a B6 switching bridge. The bridge branches B1, B2, B3 connected in parallel have, based on the intended current direction, a common electrical input 10 and a common electrical output 11, to which a supply voltage for energizing the magnet coils 4, 5 can be applied, eg by a power supply device.

The first bridge branch B1 points according to Fig. 3 and 4a ) to c) eg the switches S1 and S4, the second bridge branch the switches S2 and S5 and the third bridge branch the switches S3 and S6. The switches S1... S6 are in each case switchable between an open and a closed position, in particular by a drive device, and in particular transistor switches, for example FETs, which have a controllable control input and one which can be opened and closed by means of the control input or switchable input-output path. The input-output paths of each two switches S1... S6 of a bridge branch B1, B2, B3 are in this case connected in series within each bridge branch B1, B2, B3.

In each of the particular two bridge diagonal D1, D2 of the switching bridge 9 is according to the invention depending on a solenoid coil 4, 5 of the actuator. 2 switched, eg Fig. 3 or 4a to c). By means of a respective magnet coil 4, 5, two center taps M1, M2, M3 defining a bridge diagonal D1, D2 are electrically connected to one another, ie the center tap M1 of the first bridge branch B1 with the center tap M2 of the second bridge branch B2 corresponding to the first bridge diagonal D1 and the center tap M2 of the second bridge leg B2 in turn with the center tap M3 of the third bridge branch B3 corresponding to the second bridge diagonal D2. In each case one magnet coil 4, 5 is connected in series between in each case two center taps M1, M2 or M2, M3, for example Fig. 3 . 4a) to c) ,

By means of the switching bridge 9 according to the invention and the wiring, each with a magnetic coil 4, 5 in a bridge diagonal D1, D2 both the cost of materials and the control effort over the prior art, eg Fig. 1 , can be reduced in that the number of necessary switches S or necessary components is considerably reduced. A position determination of the actuator 3 by means of in the DE 10 2005 018 012 A1 described principle as well as the linear displacement of the actuator 3 between three stable positions when using the switching bridge 9 of the invention and the wiring, each with a magnetic coil 4, 5 in a respective bridge diagonal D1, D2 advantageous in a simple manner possible. The actuator device 6 according to the invention also advantageously allows the rapid deletion of the current by simultaneous opening of all switches S1 ... S6, ie a quick erase against supply network level, eg electrical system level.

The invention further provides that at least the switches S1 and S4 of the first bridge branch B1, which is electrically connected via the magnetic coil 4 in the first of the two bridge diagonals D1 to the second B2 bridge branch and the switches S3, S6 of the third bridge branch B3, which via the solenoid coil 5 in the second bridge diagonal D2 is also connected to the second bridge branch B2, each connected to a freewheeling diode (not shown). In this way, a relief of the supply network in control or energization of the switches S1 ... S6 take place, as will be explained or apparent below. The freewheeling diodes or reverse diodes bridge in their forward direction in each case the input and the output of a so-connected switch S1 ... S6 opposite to the intended Bestromungsrichtung the input-output paths of the switches S1 ... S6 while blocking in the intended Bestromungsrichtung.

According to the invention, the actuator device 6 in a preferred embodiment, further for determining the position of the actuator 3 of the electromagnetic tristable actuator 2, in particular according to the in the DE 10 2005 018 012 A1 above-described principle trained. For this purpose, the actuator device 6 to a drive device (not shown), which is designed to control the switching bridge 9 and its switch S1 ... S6 such that both magnetic coils 4, 5 in series between the common electrical input 10 and the common electrical Output 11 of the bridge branches B1, B2, B3 switchable and by means of a voltage applied to the common electrical input 10 and output 11 of the bridge branches B1, B2, B3 supply voltage can be acted upon. Such a drive device is formed, for example, in the form of a computerized or microprocessor-based electronics and is also used, for example, to control the switches S1... S6 for a displacement of the actuator 3 in accordance with the method described below.

The actuator device 6 designed to determine the position of the actuator 3 further comprises, in particular, a detection device (not shown), which is provided for determining voltage profiles on both magnet coils 4, 5 during or in response to the voltage jump. The detection device is used for measurement purposes, e.g. each connected to an electrical input and an electrical output of each solenoid coil 4, 3.

According to the invention, the actuator device 6 for determining the position of the actuator 3 further comprises an evaluation device which, based on the determined voltage curves in the course of a by the drive device applied voltage jump determines the position of the actuator 3. To determine the evaluation device forms in particular the difference between the voltage curves determined at the two magnetic coils 4, 5 to determine the actuator position from the voltage curve thus obtained, in particular by comparison with a characteristic field. A map is stored eg in a memory of the evaluation device.

The detection device, the drive device and the evaluation device act in particular to determine the position of the actuator 3, e.g. coordinated by a higher-level control, which may also be part of the actuator 6 according to the invention. The detection device and / or the drive device and / or the evaluation device may be formed in the form of a single electronics or separated.

Based on Fig. 4a) to 4c ), in which, by way of example, the course of current and forces in the actuator device 6 according to the invention are shown as a function of the respective switching state of the switches S1... S6 when the supply voltage is present between the common input 10 and the common output 11, the method according to the invention for driving the magnet coils 4 , 5 of an actuator 2 of an actuator 6 according to the invention explained, wherein in each of the two bridge diagonal D1, D2 of the switching bridge 9 is a respective solenoid coil 4, 5 of the actuator 2 is connected, by means of which the actuator 3 of the actuator 2 is displaced.

Fig. 4a illustrates a method step according to the invention for displacement of the actuator 3 in the stable center position and / or to determine the position of the actuator, ie for acting on both magnetic coils 4, 5 with a voltage jump. In this case, the switch S1 in particular permanently and the switch S6, ie the downstream switch, at least temporarily closed, the switch S6 is preferably operated clocked according to the invention, ie opens and closes to the current through the magnetic coils 4, 5, which in this switching state in the form of a series connection on the supply network, to be able to adjust. A clocked operation is carried out in particular by a pulse width modulated control signal, which is applied for example to a control input of the switch S6, for example, starting from a drive device.

In this step, a current path according to the invention in each case via a switch of the first B1 and a switch of the third B3 bridge branch and both solenoids 4, 5 opens, while the other switches of the switching bridge 9 are open or block a current flow. The current path extends from the common input to the common output of the parallel bridge branches B1, B2, B3.

The current path is in the illustrated possible embodiment according to Fig. 4a ) via the switches S1 and S6 and the magnetic coils 4, 5 from the common input 10 to the common output 11 of the parallel bridge branches B1, B2, B3, arrows I in Fig. 4a ,

Provided is to form a freewheel by means of the backward diode of the switch S3 (dashed line). Depending on the winding of the coils 4, 5, a force is applied to the actuator 3 in the middle position, arrows K. Both magnetic coils 4, 5 repel the permanent magnet 7 of the actuator 3 from. It form symmetrical voltage waveforms on the coils 4, 5 when subjected to a voltage jump. The magnetic flux within the array corresponds, for example, with that of the representation of Fig. 2b ,

In the further alternative or additional process step of the process according to the invention, which is exemplified both by the Fig. 4b with a first displacement direction + X for the actuator 3 as well as with opposite displacement direction -X through the Fig. 4c is illustrated, is for the displacement of the actuator 3 in a respective stable end position, a current path over in particular exactly one arranged in a or a first half bridge switch S2 or S5 of the second bridge branch B2 and each one switch S4 or S1 / S3 or S6 of the first B1 and third B3 bridge branch each of the other or a second bridge half opens, while the other switches S1, S3, S5 or S2, S4, S6 are open or interrupt. One half of the bridge in this case comprises the switches S1, S2, S3 or the input-side switches each of a bridge branch B1, B2, B3, the other the switches S4, S5, S6 or the output-side switches each a bridge branch B1, B2, B3. The current path, represented by the arrows I, extends from a common input 10 to a common output 11 of the parallel bridge branches B1, B2, B3.

At the in Fig. 4b By way of example, the switch S2 for displacing the actuator 3 in the direction of the arrows K or displacement direction + X is in particular permanently closed, the switches S4 and S6 are also closed, at least temporarily. In order to keep the supply network load, for example an electrical system load, low, the switches S4 and S6, ie those of the first B1 and third B3 bridge branches, according to the invention, preferably alternately clocked. Due to the free-wheeling diodes of the switches S1 and S3, a freewheel is formed, which the supply network advantageously does not see when switching the switches S4 and S6 alternately (dashed line). In comparison to Fig. 4a , which shows a switching in the center position, the current direction in the first coil 4 and thus the direction of force of the force acting on the actuator 3 from the first coil 4 reverses, for example as in Fig. 2a shown.

Fig. 4c exemplifies the implementation of the alternative or additional process step in displacement of the actuator 3 in the opposite direction -X to take the second stable end position. According to Fig. 4c are the switch opening the current path, represented by arrows I, for displacing the actuator 3 with respect to the switch opening the current path for displacing the actuator 3 into the first stable end position according to FIG Fig. 4b in the same bridge branch B1, B2, B3, however, the respectively other bridge half operated closed or clocked, ie inverted with respect to the bridge diagonal D1, D2.

At the in Fig. 4c illustrated additional or alternative process step for displacement of the actuator 3 in the direction of the force K, the switch S5 for the displacement of the actuator 3 is in particular permanently closed, the switches S1 and S3 are also closed, at least temporarily. In order to keep the supply network load, for example a vehicle electrical system load, low, the switches S1 and S3 are preferably clocked alternately according to the invention. Due to the free-wheeling diodes of the switches S4 and S6, a freewheel is formed (dashed line), which the supply network with alternating timing of the switches S1 and S3 advantageously does not see. In comparison to Fig. 4b the current direction in both coils 4, 5 and thus the direction of force of the forces K acting on the actuator 3 by both solenoids 4, 5 reverses.

According to the invention, the energization of the magnetic coils 4, 5 set as soon as the intended stable end or center position is occupied by the actuator 3. Such a switch position, in which all switches S1 ... S6 of the switching bridge 9 are open, shows, for example Fig. 3 , In the respective end or center position, the permanent magnet 7 of the actuator 3 can hold the position, ie by magnetic closure.

It should be noted that the invention can be implemented by a person skilled in the art with an inverted current direction and a correspondingly changed winding sense of the magnet coils. In this case, the common input 10 and the common output 11, for example, reversed. These and other embodiments which will be readily apparent to those skilled in the art, insofar as they are embraced by the spirit of the invention, are claimed by the invention.

reference numeral

1

Circuit (prior art)

2

actuator

3

actuator

4.5

solenoid

6

actuator

7

permanent magnet

8th

control rod

9

jumper

10

common entrance

11

common output

I

current path

K

force

N, S

magnetic poles

X

displacement direction

B1 ... B3

bridge branch

D1, D2

bridge diagonal

M1 ... M3

center tap

S1 ... S6

switch

Claims (12)

1. Actuator device (6) having an electromagnetic actuator (2) which has two solenoids (4, 5) and an actuator element (3) which can be magnetically linearly displaced between two stable end positions and one stable centre position by means of the solenoids and has a permanent magnet (7), wherein the permanent magnet (7) is arranged between the two solenoids (4, 5) and has a polarity (N, S) which is oriented in the displacement direction of the actuator element (7), wherein the solenoids (4, 5) are oriented coaxially with the actuator element (3) and have an opposing winding direction, wherein the permanent magnet (7) of the actuator element (3) can maintain the position in the respective end position or centre position by magnetic connection, characterized in that the actuator device (6) has, for actuating the solenoids (4, 5), a connecting bridge (9) which is embodied as a B6 connecting bridge and has three bridge branches (B1, B2, B3) connected in parallel, wherein each bridge branch (B1, B2, B3) has two switches (S1 ... S6) arranged in series, wherein in each case a solenoid (4, 5) is connected into each of the two bridge diagonals (D1, D2), and wherein at least the switches (S1, S4) of a first (B1) of the three bridge branches (B1, B2, B3), which is electrically connected to a second (B2) of the three bridge branches (B1, B2, B3) via a solenoid (4) in a first (D1) of the two bridge diagonals (D1, D2), and the switches (S3, S6) of a third (B3) of the three bridge branches (B1, B2, B3), which is also connected to the second bridge branch (B2) via a solenoid (5) in the second (D2) of the two bridge diagonals (D1, D2), are each connected to a free-wheeling diode.
2. Actuator device (6) according to Claim 1, characterized in that the actuator device (6) is designed to determine the position of the actuator element (3).
3. Actuator device (6) according to Claim 2, characterized in that the actuator device (6) has, for the determination of the position of the actuator element (3), an actuator device which is designed to actuate the connecting bridge (9) in such a way that both solenoids (4, 5) can be connected in series between a common electrical input (10) and a common electrical output (11) of the bridge branches (B1, B2, B3), and can be supplied with a voltage jump by means of a supply voltage, which can be applied to the common electrical input (10) and output (11) of the bridge branches (B1, B2, B3).
4. Actuator device (6) according to one of Claims 2 and 3, characterized in that the actuator device (6) also has, for determining the position of the actuator element (3), a detector device which is provided for determining voltage profiles at the two solenoids (4, 5) in the course of the supply with the voltage jump.
5. Actuator device (6) according to one of Claims 2 to 4, characterized in that the actuator device (6) also has, for determining the position of the actuator element (3), an evaluation device which, in the event of a voltage jump determines the position of the actuator element (3) on the basis of the determined voltage profiles, in particular by comparison of at least one voltage profile with a characteristic diagram.
6. Method for actuating the solenoids (4, 5) of an electromagnetic actuator (2) of an actuator device (6) according to one of the preceding claims, characterized in that in a first step for determining the position of the actuator element (3) and/or for displacing the actuator element (3) into a stable centre position, a current path is opened via in each case one switch (S1; S4) of the first (B1) bridge branch and one switch (S3; S6) of the third (B3) bridge branch and both solenoids (4, 5), while the further switches (S2, S3, S4, S5; S1, S2, S5, S6) are opened, wherein the current path runs from a common input (10) to a common output (11) of the parallel bridge branches (B1, B2, B3).
7. Method according to Claim 6, characterized in that in the first step at least one switch (S6) is operated in a clocked fashion in the opened current path, in particular the switch which is downstream.
8. Method according to one of Claims 6 and 7, characterized in that in an alternative or additional step for displacing the actuator element (3) into a stable end position a current path is opened via a switch (S2; S5), arranged in a bridge half, of the second bridge branch (B2) and in each case a switch (S4, S6; S1, S2) of the first (B1) bridge branch and third (B3) bridge branch in each case of the other bridge half, while the further switches (S1, S3, S5; S2, S4, S6) are opened, wherein the current path runs from a common input (10) to a common output (11) of the parallel bridge branches (B1, B2, B3).
9. Method according to Claim 8, characterized in that the switches (S2, S4, S6; S1, S3, S5) which open the current path are clocked in an alternating fashion in the alternative or additional step in the first (B1) bridge branch and third (B3) bridge branch.
10. Method according to one of Claims 8 and 9, characterized in that the switches (S2, S4, S6) which open the current path are closed or operated in a clocked fashion in order to displace the actuator element (3) into a first stable end position with respect to the switches (S1, S3, S5) which open the current path in order to displace the actuator element (3) into a second stable end position in the same bridge branch (B1, B2, B3) in the respective other bridge half.
11. Use of an actuator device (6) according to one of Claims 1 to 5 or a method according to one of Claims 6 to 10 in a motor vehicle, in particular a motor vehicle transmission.
12. Use of an actuator device (6) according to one of Claims 1 to 5 or a method according to one of Claims 6 to 10 in an automated transmission of a motor vehicle in order to activate a selector device of the automated transmission.

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