EP2795788A1 - Method for determining the absolute position of a linear actuator - Google Patents

Method for determining the absolute position of a linear actuator

Info

Publication number
EP2795788A1
EP2795788A1 EP12805964.9A EP12805964A EP2795788A1 EP 2795788 A1 EP2795788 A1 EP 2795788A1 EP 12805964 A EP12805964 A EP 12805964A EP 2795788 A1 EP2795788 A1 EP 2795788A1
Authority
EP
European Patent Office
Prior art keywords
linear actuator
sensor
absolute position
rotor
determining
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.)
Withdrawn
Application number
EP12805964.9A
Other languages
German (de)
French (fr)
Inventor
Jürgen Böhm
Marco Besier
Tom Kaufmann
Peter Stauder
Andreas Schirling
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.)
Continental Teves AG and Co OHG
Original Assignee
Continental Teves AG and Co OHG
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Continental Teves AG and Co OHG filed Critical Continental Teves AG and Co OHG
Publication of EP2795788A1 publication Critical patent/EP2795788A1/en
Withdrawn legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G01B21/22—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapers; for testing the alignment of axes
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14—Electronic commutators
    • H02P6/16—Circuit arrangements for detecting position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
    • B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
    • B60T13/746—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive and mechanical transmission of the braking action
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
    • G01D5/245—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains using a variable number of pulses in a train
    • G01D5/2451—Incremental encoders
    • G01D5/2452—Incremental encoders incorporating two or more tracks having an (n, n+1, ...) relationship
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/006—Controlling linear motors
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D2205/00—Indexing scheme relating to details of means for transferring or converting the output of a sensing member
    • G01D2205/20—Detecting rotary movement
    • G01D2205/26—Details of encoders or position sensors specially adapted to detect rotation beyond a full turn of 360°, e.g. multi-rotation

Definitions

  • the present invention relates to a method for Ermit ⁇ stuffs the absolute position of a linear actuator.
  • linear actuators In many electromechanically actuated systems, in particular brake systems, linear actuators are used which, in addition to the actual actuator element, have an electric motor and at least one downstream transmission for driving the actuator element.
  • An example of a Derar ⁇ tiges gear is a ball screw.
  • Another possibility is to determine the change in the angular position of the rotor of the associated electric ⁇ motors of the linear actuator via a sensor, and to calculate therefrom the Po ⁇ sitionsver selectedung of the linear actuator.
  • a rotor position sensor is required to operate the engine when an electronically commutated motor, such as a synchronous machine, is used.
  • an electronically commutated motor such as a synchronous machine.
  • summing up the rotor position change can provide a substitute signal for the actuator position that is many times more accurate and higher than the signal from an actuator position sensor.
  • the actuator must be free to move, there shall be no interference of the system from the outside, and it must be available to the power-up when ever ⁇ the time to carry out the reference run. This leads to restrictions in the system availability and to the necessity ⁇ ability to safely exclude an external influence on the reference run.
  • the object of the present invention is to provide a method for determining the absolute position of a linear actuator, which can be carried out in a particularly simple and cost-effective manner.
  • Absolute position of the linear actuator can be derived.
  • the absolute position of the actuator results from the following relationship:
  • Absolute position of the actuator determined differential angle x theoretical total stroke / 360 °
  • theoretical total stroke here is the Er chargedsbe ⁇ rich multiplied meant by the slope of the system.
  • the absolute position of the linear actuator can be determined from this.
  • the coupling of the encoder wheel of the second sensor with the Ro ⁇ tor is preferably carried out via a positive gear.
  • a transmission ratio of 1: x is selected, where x represents a slightly different from an integer value.
  • a transmission ratio of 1: 2.1 is used, in which case, for example, a transmitter wheel of the second sensor with 42 teeth and a transmitter wheel of the first sensor with 20 teeth are used.
  • Difference angle X rotation angle of the rotor - 2 * rotation angle of the second sensor generates a monotonously rising signal over approx. 10 engine revolutions, which is multiplied by the gear ratio and offset with a linear offset can be used directly as a position signal.
  • the absolute position of the linear actuator is preferably determined from the difference in rotational angle taking into ⁇ supply of a linear offset.
  • angle_2 atan (sin2 / cos2) angle offset_2.
  • angle_2 atan (sin2 / cos2) angle offset_2.
  • both angles 0.
  • angle_motor atan (sinl / cosl) angle offset motor and is used to control the motor.
  • Actuator position compensation signals are formed on a motor revolution absolute rotor position replacement signal. From this (and stored in the memory offset values) can then be closed directly to the motor commutation required electrical angular position of the electric motor. In this way, in the system design, the selection of the Motorpolfariere and the rotor position sensor used (first sensor) are independent of each other.
  • the inventive process can be carried out easily and kos ⁇ -effectively. Only a second sensor is required. Constructive measures to ensure that the actuator is in a known position at system startup are not necessary. Furthermore, no reference run must be performed at system startup.
  • Figure 1 is a diagram of the raw signals of the rotor sensor
  • Figure 2 is a diagram showing the output over engine revolutions.
  • the first sensor (rotor position sensor) sits centrally on the motor shaft and has a gear with 20 teeth.
  • a second sensor is arranged, the transmitter wheel has 42 teeth and meshes with the gear of the first sensor.
  • the corresponding sample of the gears via Mag ⁇ Neten The signal evaluation is carried out via boards with two sensors / ICs.
  • the angular position of the gears is determined by measuring the direction of the emitted magnetic field of positively connected to the gears magnet via two magnetic sensors (preferably MR sensors).
  • Rotation angle difference X rotor angle - 2 * Angle sensor 2, a monotonically increasing signal over about 10 Motorumdre ⁇ ments generated, which can be used directly by means of multiplication with the gear ratio and offsetting with a linear offset as a position signal. This signal is shown in FIG. As mentioned, Before executing the calculation, the offsets of the two sensors must still be subtracted, ie the angle values which result when the linear actuator is in the end position.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
  • Transmission And Conversion Of Sensor Element Output (AREA)
  • Gear-Shifting Mechanisms (AREA)
  • Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)

Abstract

A method for determining the absolute position of a linear actuator is described. In the process, the rotational angle position of the rotor of the corresponding electric motor of the linear actuator is determined by a first sensor. In addition, the rotary angle position of a transmitter wheel of a second sensor coupled to the rotor is determined by means of a special transmission ratio. The absolute position of the linear actuator is derived from the differential value of the determined rotary angle positions. The method can be implemented in a simple and inexpensive manner.

Description

Verfahren zum Ermitteln der Absolutposition eines Linearak- tuators Method for determining the absolute position of a linear actuator
Die vorliegende Erfindung betrifft ein Verfahren zum Ermit¬ teln der Absolutposition eines Linearaktuators . The present invention relates to a method for Ermit ¬ stuffs the absolute position of a linear actuator.
In vielen elektromechanisch betätigten Systemen, insbesondere Bremssystemen, kommen Linearaktuatoren zum Einsatz, die neben dem eigentlichen Aktuatorelement einen Elektromotor und mindestens ein nachgeschaltetes Getriebe zum Antreiben des Aktuatorelementes aufweisen. Ein Bespiel für ein derar¬ tiges Getriebe ist ein Kugelgewindetrieb. In many electromechanically actuated systems, in particular brake systems, linear actuators are used which, in addition to the actual actuator element, have an electric motor and at least one downstream transmission for driving the actuator element. An example of a Derar ¬ tiges gear is a ball screw.
Beim Betrieb von derartigen Systemen ist es erforderlich, neben der Bewegungsstrecke des Linearaktuators dessen abso¬ lute Position zu kennen. Der Einsatz eines linear messenden Aktuatorpositionssensors ist hierbei eine Möglichkeit, die Position des Linearaktuators zu bestimmen. In the operation of such systems, it is necessary to know the abso ¬ lute position next to the movement distance of the linear actuator. The use of a linearly measuring actuator position sensor here is a way to determine the position of the linear actuator.
Eine andere Möglichkeit besteht darin, über einen Sensor die Änderung der Winkellage des Rotors des zugehörigen Elektro¬ motors des Linearaktuators zu ermitteln und hieraus die Po¬ sitionsveränderung des Linearaktuators zu berechnen. Ein solcher Rotorlagesensor ist zum Betrieb des Motors erforderlich, wenn ein elektronisch kommutierter Motor, wie beispielsweise eine Synchronmaschine, zum Einsatz kommt. Auf- grund der gewählten Übersetzungen ergibt es sich üblicherweise, dass für das Zurücklegen des gesamten Aktuatorhubs eine Vielzahl von Motorumdrehungen notwendig ist. Geht man davon aus, dass Linearaktuatorposition und Rotorlage mit der gleichen Auflösung und Genauigkeit eingelesen werden, so kann man durch Aufsummieren der Rotorlageänderung ein Ersatzsignal für die Aktuatorposition bilden, dass um ein Vielfaches genauer und höher aufgelöst ist als das Signal eines Aktuatorpositionssensors . Another possibility is to determine the change in the angular position of the rotor of the associated electric ¬ motors of the linear actuator via a sensor, and to calculate therefrom the Po ¬ sitionsveränderung of the linear actuator. Such a rotor position sensor is required to operate the engine when an electronically commutated motor, such as a synchronous machine, is used. On- Because of the chosen translations, it usually results that a large number of engine revolutions is necessary for covering the entire actuator stroke. Assuming that linear actuator position and rotor position are read in with the same resolution and accuracy, summing up the rotor position change can provide a substitute signal for the actuator position that is many times more accurate and higher than the signal from an actuator position sensor.
Zur Verwendung des Aktuatorpositionsersatzsignales (durch Erfassung der Änderung der Rotorlage) muss dieses jedoch auf die tatsächliche Aktuatorposition referenziert werden. Es ist dabei bekannt, dies über konstruktive Maßnahmen zu rea¬ lisieren, die sicherstellen, dass sich der Aktuator bei Systemstart an einer bekannten Position befindet (Sperrklinke, Feder) . Eine andere Maßnahme besteht darin, einen Referenzlauf des Aktuators vorzusehen. Beide Methoden haben jedoch Nachteile. Das Vorsehen zusätzlicher Konstruktionselemente verursacht zusätzliche Kosten und erweitert das Feld mögli¬ cher Fehlerquellen und ist meist nur dann sinnvoll, wenn eine entsprechende Funktionalität auch anderweitig benötigt wird (z.B. Sperrklinke für Parkbremse) . Zur Durchführung ei¬ nes Referenzlaufs bei Systemstart müssen einige Randbedin¬ gungen erfüllt sein. Der Aktuator muss freigängig sein, es darf keine Beeinflussung des Systems von außen erfolgen, und es muss die Zeit zur Durchführung des Referenzlaufs bei je¬ dem Systemstart zur Verfügung stehen. Dies führt zu Einschränkungen bei der Systemverfügbarkeit und zur Notwendig¬ keit, eine externe Beeinflussung des Referenzlaufs sicher auszuschließen . Der vorliegenden Erfindung liegt die Aufgabe zugrunde, ein Verfahren zum Ermitteln der Absolutposition eines Linearak- tuators zur Verfügung zu stellen, das auf besonders einfache und kostengünstige Weise durchgeführt werden kann. However, to use the actuator position compensation signal (by detecting the change in rotor position), this must be referenced to the actual actuator position. It is known, this constructive measures to rea ¬ taping, to ensure that the actuator is at system start at a known position (pawl spring). Another measure is to provide a reference run of the actuator. Both methods, however, have disadvantages. The provision of additional construction elements causes additional costs and extends the field mögli ¬ cher error sources and is usually only useful if a corresponding functionality is also needed elsewhere (eg pawl for parking brake). To carry ei ¬ nes reference run at system startup some Randbedin ¬ conditions must be met. The actuator must be free to move, there shall be no interference of the system from the outside, and it must be available to the power-up when ever ¬ the time to carry out the reference run. This leads to restrictions in the system availability and to the necessity ¬ ability to safely exclude an external influence on the reference run. The object of the present invention is to provide a method for determining the absolute position of a linear actuator, which can be carried out in a particularly simple and cost-effective manner.
Diese Aufgabe wird erfindungsgemäß durch ein Verfahren zum Ermitteln der Absolutposition eines Linearaktuators gelöst, das die folgenden Schritte umfasst: This object is achieved according to the invention by a method for determining the absolute position of a linear actuator, which comprises the following steps:
Ermitteln der Drehwinkellage des Rotors des zugehörigen Elektromotors des Linearaktuators mit einem ersten Sensor; Determining the angular position of the rotor of the associated electric motor of the linear actuator with a first sensor;
Ermitteln der Drehwinkellage eines mit dem Rotor über ein spezielles Übersetzungsverhältnis gekoppelten Geberrades ei¬ nes zweiten Sensors; und Determining the angular position of a coupled to the rotor via a special gear ratio encoder wheel ei ¬ nes second sensor; and
Berechnen des Differenzwertes aus den ermittelten Drehwinkellagen und Ableiten der Absolutposition des Linearaktuators aus dem ermittelten Differenzwert. Calculating the difference value from the determined rotational angle positions and deriving the absolute position of the linear actuator from the determined difference value.
Erfindungsgemäß wird somit vorgeschlagen, den Linearaktuator mit einem zweiten rotatorischen Sensor auszustatten, der mit einer besonders gewählten Übersetzung angekoppelt ist, so dass die Drehwinkellage des Rotors und die sich aus einer übersetzten Rotordrehung resultierende Drehwinkellage er- fasst werden können. Aus den ermittelten Drehwinkeln wird ein Differenzwert errechnet, aus dem die lineare According to the invention, it is thus proposed to equip the linear actuator with a second rotary sensor which is coupled with a particularly selected gear ratio so that the rotational angle position of the rotor and the rotational angle position resulting from a translated rotor rotation can be detected. From the determined rotation angles, a difference value is calculated from which the linear
Absolutposition des Linearaktuators abgeleitet werden kann. So ergibt sich die absolute Position des Aktuators aus der folgenden Beziehung: Absolute position of the linear actuator can be derived. Thus, the absolute position of the actuator results from the following relationship:
Absolute Position des Aktuators = ermittelter Differenzwinkel x theoretischer Gesamthub / 360° Absolute position of the actuator = determined differential angle x theoretical total stroke / 360 °
Mit „theoretischem Gesamthub" ist hierbei der Erfassungsbe¬ reich multipliziert mit der Steigung des Systems gemeint. With "theoretical total stroke" here is the Erfassungsbe ¬ rich multiplied meant by the slope of the system.
Da sich der Differenzwinkel über die Anzahl der Umdrehungen verändert, kann hieraus die Absolutposition des Linearaktua- tors ermittelt werden. Since the differential angle changes over the number of revolutions, the absolute position of the linear actuator can be determined from this.
Die Kopplung des Geberrades des zweiten Sensors mit dem Ro¬ tor erfolgt vorzugsweise über ein formschlüssiges Getriebe. Für dieses wird vorzugsweise ein Übersetzungsverhältnis von 1 : x gewählt, wobei x einen geringfügig von einer ganzen Zahl abweichenden Wert darstellt. Bei einer besonders bevorzugten Ausführungsform wird ein Übersetzungsverhältnis von 1 : 2,1 verwendet, wobei hier beispielsweise ein Geberrad des zweiten Sensors mit 42 Zähnen und ein Geberrad des ersten Sensors mit 20 Zähnen eingesetzt wird. The coupling of the encoder wheel of the second sensor with the Ro ¬ tor is preferably carried out via a positive gear. For this, preferably, a transmission ratio of 1: x is selected, where x represents a slightly different from an integer value. In a particularly preferred embodiment, a transmission ratio of 1: 2.1 is used, in which case, for example, a transmitter wheel of the second sensor with 42 teeth and a transmitter wheel of the first sensor with 20 teeth are used.
Für das Beispiel mit einem Übersetzungsverhältnis von i = 1 : 2,1 kann durch Anwendung der folgenden Rechenvorschrift For the example with a gear ratio of i = 1: 2,1, by applying the following calculation rule
Differenzwinkel X = Drehwinkel des Rotors - 2* Drehwinkel des zweiten Sensors ein monoton ansteigendes Signal über ca. 10 Motorumdrehungen erzeugt werden, welches mittels Multiplikation mit der Ge- triebeübersetzung und Verrechnung mit einem linearen Offset direkt als Positionssignal verwendet werden kann. Difference angle X = rotation angle of the rotor - 2 * rotation angle of the second sensor generates a monotonously rising signal over approx. 10 engine revolutions, which is multiplied by the gear ratio and offset with a linear offset can be used directly as a position signal.
Generell gilt, dass die Absolutposition des Linearaktuators aus der Drehwinkeldifferenz vorzugsweise unter Berücksichti¬ gung eines linearen Offset ermittelt wird. In general, the absolute position of the linear actuator is preferably determined from the difference in rotational angle taking into ¬ supply of a linear offset.
Hinsichtlich des Winkeloffsets sei das Verfahren wie folgt präzisiert : With regard to the angular offset, the method is specified as follows:
Bei Produktion oder bei einem Referenzlauf des Systems wer¬ den die Winkeloffsets der beiden Sensoren in einer bekannten Lage gemessen und gespeichert. Die bekannte Lage ist sinn¬ vollerweise eine Endlage. Nach Einschalten des Systems wer¬ den dann ein Winkel 1 aus Winkel_l=atan sinl/cosl)- Winkeloffset_l At production or at a reference run of the system ¬ which the angle offset of the two sensors is measured in a known location and stored. The known position is reasonable ¬ full as a final position. After switching on the system ¬ then the angle a 1 of Winkel_l = atan sinl / cosl) - Winkeloffset_l
und ein Winkel 2 aus Winkel_2=atan ( sin2 /cos2 ) -Winkeloffset_2 gebildet. In der Endlage sind beide Winkel=0. Jetzt kann die weitere Auswertung mittels der beschriebenen Gleichungen ablaufen. Zum Betrieb des Elektromotors ist ein weiterer Winkeloffset notwendig, der den Winkelunterschied zwischen Rotorwinkel aus atan ( sin/cos ) und der Lage der Permanentmag¬ nete beschreibt. Hiermit wird ein Win- kel_Motor=atan ( sinl /cosl ) - Winkeloffset_Motor gebildet und für die Regelung des Motors verwendet. and an angle 2 is formed from angle_2 = atan (sin2 / cos2) angle offset_2. In the end position both angles = 0. Now the further evaluation can proceed by means of the described equations. To operate the electric motor a further angular offset is required that describes the angular difference between rotor angle of atan (sin / cos) and the position of the Permanentmag ¬ designated. This forms an angle_motor = atan (sinl / cosl) angle offset motor and is used to control the motor.
Nach der Ermittlung der Absolutposition des Linearaktuators ist es vorteilhaft, nur noch den ersten Sensor zur Gewinnung der Linearposition des Linearaktuators zu verwenden, um entsprechenden Rechenaufwand zu sparen. Bei Verwendung von Rotorlagesensoren (ersten Sensoren) , die nicht direkt absolut zur elektrischen Motorlage sind (Bei¬ spiel: MR-Sensor und Synchronmotor mit ungerader After determining the absolute position of the linear actuator, it is advantageous to use only the first sensor for obtaining the linear position of the linear actuator to save corresponding computational effort. With the use of rotor position sensors (first sensors), which are not directly absolute to the electric motor position (at ¬ game: MR sensor and synchronous motor having an odd
Polpartzahl) , kann mithilfe des Polpartzahl), can by using the
Aktuatorpositionsersatzsignales ein auf eine Motorumdrehung absolutes Rotorlageersatzsignal gebildet werden. Aus diesem (und aus im Speicher abgelegten Offsetwerten) kann dann direkt auf die zur Motorkommutierung erforderliche elektrische Winkellage des Elektromotors geschlossen werden. Auf diese Weise kann bei der Systemauslegung die Auswahl der Motorpolpaarzahl und des eingesetzten Rotorpositionssensors (ersten Sensors) voneinander unabhängig erfolgen.  Actuator position compensation signals are formed on a motor revolution absolute rotor position replacement signal. From this (and stored in the memory offset values) can then be closed directly to the motor commutation required electrical angular position of the electric motor. In this way, in the system design, the selection of the Motorpolpaarzahl and the rotor position sensor used (first sensor) are independent of each other.
Das erfindungsgemäße Verfahren lässt sich einfach und kos¬ tengünstig durchführen. Es ist lediglich ein zweiter Sensor erforderlich. Konstruktive Maßnahmen, die sicherstellen, dass sich der Aktuator bei Systemstart an einer bekannten Position befindet, sind nicht nötig. Des Weiteren muss kein Referenzlauf bei Systemstart durchgeführt werden. The inventive process can be carried out easily and kos ¬-effectively. Only a second sensor is required. Constructive measures to ensure that the actuator is in a known position at system startup are not necessary. Furthermore, no reference run must be performed at system startup.
Die Erfindung wird nachfolgend anhand eines Ausführungsbei¬ spiels in Verbindung mit der Zeichnung im Einzelnen erläutert. Es zeigen: The invention will be explained below with reference to an Ausführungsbei ¬ game in conjunction with the drawings in detail. Show it:
Figur 1 ein Diagramm der Rohsignale des Rotorsensors Figure 1 is a diagram of the raw signals of the rotor sensor
(ersten Sensors) und des zweiten Sensors; und  (first sensor) and the second sensor; and
Figur 2 ein Diagramm, das das Ausgangssignal über Motorumdrehungen zeigt. Bei dem hier beschriebenen Ausführungsbeispiel sitzt der erste Sensor (Rotorlagesensor) mittig auf der Motorwelle und besitzt ein Zahnrad mit 20 Zähnen. Parallel neben diesem ersten Sensor ist ein zweiter Sensor angeordnet, dessen Geberrad 42 Zähne aufweist und mit dem Zahnrad des ersten Sensors kämmt. Der zweite Sensor ist somit mit einem Über¬ setzungsverhältnis von i = 1 : 2,1 mit dem ersten Sensor gekoppelt . Figure 2 is a diagram showing the output over engine revolutions. In the embodiment described here, the first sensor (rotor position sensor) sits centrally on the motor shaft and has a gear with 20 teeth. Parallel to this first sensor, a second sensor is arranged, the transmitter wheel has 42 teeth and meshes with the gear of the first sensor. The second sensor is thus with an ¬ gear ratio of i = 1: 2.1 coupled with the first sensor.
Die entsprechende Abtastung der Zahnräder erfolgt über Mag¬ neten. Die Signalauswertung wird über Platinen mit zwei Sen- sor/ICs durchgeführt. The corresponding sample of the gears via Mag ¬ Neten. The signal evaluation is carried out via boards with two sensors / ICs.
Bei einer anderen Ausführungsform wird die Winkellage der Zahnräder durch Messung der Richtung des emittierten Magnetfeldes von formschlüssig mit den Zahnrädern verbundenen Magneten über zwei magnetische Sensoren (bevorzugt MR-Sensoren) ermittelt . In another embodiment, the angular position of the gears is determined by measuring the direction of the emitted magnetic field of positively connected to the gears magnet via two magnetic sensors (preferably MR sensors).
In Figur 1 sind die Rohsignale des Rotorsensors (ersten Sen¬ sors) und des zweiten Sensors dargestellt, die den Verlauf der gemessenen Umdrehungen bezogen auf die Motorumdrehungen wiedergeben. Durch die Rechenvorschrift 1 shows the raw signals of the rotor sensor (first Sen ¬ sors) and the second sensor are presented that related to the course of the measured revolutions reflect on the engine revolutions. By the calculation rule
Drehwinkeldifferenz X = Rotorwinkel - 2* Winkel Sensor 2 kann ein monoton ansteigendes Signal über ca. 10 Motorumdre¬ hungen erzeugt werden, welches mittels Multiplikation mit der Getriebeübersetzung und Verrechnung mit einem linearen Offset direkt als Positionssignal verwendet werden kann. Dieses Signal ist in Figur 2 dargestellt. Wie erwähnt, müs- sen vor Ausführung der Berechnung noch die Offsets der beiden Sensoren abgezogen werden, d.h. die Winkelwerte, die sich ergeben, wenn sich der Linearaktuator in der Endposition befindet. Rotation angle difference X = rotor angle - 2 * Angle sensor 2, a monotonically increasing signal over about 10 Motorumdre ¬ ments generated, which can be used directly by means of multiplication with the gear ratio and offsetting with a linear offset as a position signal. This signal is shown in FIG. As mentioned, Before executing the calculation, the offsets of the two sensors must still be subtracted, ie the angle values which result when the linear actuator is in the end position.

Claims

Patentansprüche claims
1. Verfahren zum Ermitteln der Absolutposition eines Line- araktuators mit den folgenden Schritten: 1. A method for determining the absolute position of a linear actuator with the following steps:
Ermitteln der Drehwinkellage des Rotors des zughörigen Elektromotors des Linearaktuators mit einem ersten Sensor; Determining the angular position of the rotor of the associated electric motor of the linear actuator with a first sensor;
Ermitteln der Drehwinkellage eines mit dem Rotor über ein spezielles Übersetzungsverhältnis gekoppelten Ge¬ berrades eines zweiten Sensors; und Determining the angular position of a coupled to the rotor via a special gear ratio Ge ¬ berrades a second sensor; and
Berechnen des Differenzwertes aus den ermittelten Drehwinkellagen und Ableiten der Absolutposition des Linearaktuators aus dem ermittelten Differenzwert. Calculating the difference value from the determined rotational angle positions and deriving the absolute position of the linear actuator from the determined difference value.
2. Verfahren nach Anspruch 1, dadurch kennzeichnet, dass ein Übersetzungsverhältnis von 1 : x gewählt wird, wo¬ bei x einen geringfügig von einer ganzen Zahl abweichenden Wert darstellt. 2. The method according to claim 1, characterized in that a transmission ratio of 1: x is selected, where ¬ at x represents a slightly different from an integer value.
3. Verfahren nach Anspruch 1 oder 2, dadurch gekennzeichnet, dass ein Übersetzungsverhältnis von 1 : 2,1 ver¬ wendet wird. 3. The method according to claim 1 or 2, characterized in that a transmission ratio of 1: 2.1 is ver ¬ applies.
4. Verfahren nach Anspruch 3, dadurch gekennzeichnet, dass ein Geberrad des zweiten Sensors mit 42 Zähnen und ein Geberrad des ersten Sensors mit 20 Zähnen verwendet wird . Verfahren nach einem der vorangehenden Ansprüche, dadurch gekennzeichnet, dass die Absolutposition des Linearaktutors aus der Drehwinkeldifferenz unter Berücksichtigung eines linearen Offset ermittelt wird. 4. The method according to claim 3, characterized in that a sender wheel of the second sensor with 42 teeth and a sender wheel of the first sensor with 20 teeth is used. Method according to one of the preceding claims, characterized in that the absolute position of the linear actuator is determined from the rotational angle difference taking into account a linear offset.
Verfahren nach einem der vorangehenden Ansprüche, dadurch gekennzeichnet, dass nach der Ermittlung der Absolutposition des Linearaktutors nur noch der erste Sensor zur Gewinnung der Linearposition des Linearak- tuators verwendet wird. Method according to one of the preceding claims, characterized in that after the determination of the absolute position of the linear actuator only the first sensor is used to obtain the linear position of the linear actuator.
EP12805964.9A 2011-12-23 2012-11-28 Method for determining the absolute position of a linear actuator Withdrawn EP2795788A1 (en)

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DE102011089820A DE102011089820A1 (en) 2011-12-23 2011-12-23 Method for determining the absolute position of a linear actuator
PCT/EP2012/073880 WO2013092147A1 (en) 2011-12-23 2012-11-28 Method for determining the absolute position of a linear actuator

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WO2013092147A1 (en) 2013-06-27
KR20140106593A (en) 2014-09-03

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