EP2795788A1 - Procédé permettant de déterminer la position absolue d'un actionneur linéaire - Google Patents

Procédé permettant de déterminer la position absolue d'un actionneur linéaire

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Withdrawn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)
English (en)
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/fr
Withdrawn legal-status Critical Current

Links

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.

Landscapes

  • 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)
  • Gear-Shifting Mechanisms (AREA)
  • Transmission And Conversion Of Sensor Element Output (AREA)
  • Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)

Abstract

L'invention concerne un procédé permettant de déterminer la position absolue d'un actionneur linéaire. Selon l'invention, la position angulaire en rotation du rotor du moteur électrique associé de l'actionneur linéaire est déterminée au moyen d'un premier capteur. La position angulaire en rotation d'une roue émettrice d'un deuxième capteur, accouplée au rotor avec un rapport de transmission spécial, est déterminée. La position absolue de l'actionneur linéaire est déduite de la valeur différentielle entre les positions angulaires en rotation déterminées. Le procédé peut être mis en œuvre de manière simple et de manière peu onéreuse.
EP12805964.9A 2011-12-23 2012-11-28 Procédé permettant de déterminer la position absolue d'un actionneur linéaire Withdrawn EP2795788A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102011089820A DE102011089820A1 (de) 2011-12-23 2011-12-23 Verfahren zum Ermitteln der Absolutposition eines Linearaktuators
PCT/EP2012/073880 WO2013092147A1 (fr) 2011-12-23 2012-11-28 Procédé permettant de déterminer la position absolue d'un actionneur linéaire

Publications (1)

Publication Number Publication Date
EP2795788A1 true EP2795788A1 (fr) 2014-10-29

Family

ID=47429750

Family Applications (1)

Application Number Title Priority Date Filing Date
EP12805964.9A Withdrawn EP2795788A1 (fr) 2011-12-23 2012-11-28 Procédé permettant de déterminer la position absolue d'un actionneur linéaire

Country Status (6)

Country Link
US (1) US20150316371A1 (fr)
EP (1) EP2795788A1 (fr)
KR (1) KR20140106593A (fr)
CN (1) CN104011991B (fr)
DE (1) DE102011089820A1 (fr)
WO (1) WO2013092147A1 (fr)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102013218304B4 (de) 2013-09-12 2023-09-14 Continental Automotive Technologies GmbH Verfahren zum Ermitteln der Absolutposition eines Linearaktuators
DE102013225273A1 (de) * 2013-12-09 2015-06-11 Siemens Aktiengesellschaft Zählgetriebe mit Zahn- bzw. magnetischen Polrädern
KR101687365B1 (ko) 2014-10-29 2016-12-16 이명해 모션제어장치
DE102014016189A1 (de) 2014-11-03 2016-05-04 Audi Ag Bestimmung einer Position eines beweglichen Elementes eines für ein Kraftfahrzeug bestimmten Linearaktuators
US10137878B2 (en) 2015-10-14 2018-11-27 Akebono Brake Industry Co., Ltd. Method for controlling a parking brake system
WO2024129680A1 (fr) * 2022-12-14 2024-06-20 Overair Inc. Capteur de position absolue utilisant de multiples capteurs de rétroaction rotatifs

Family Cites Families (10)

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Publication number Priority date Publication date Assignee Title
GB9902438D0 (en) * 1999-02-05 1999-03-24 Trw Lucas Varity Electric Improvements relating to electric power assisted steering assemblies
US6519549B1 (en) * 2000-07-31 2003-02-11 Delphi Technologies, Inc. Method and device for determining absolute angular position of a rotating body
FR2845212B1 (fr) * 2002-09-27 2005-03-18 Roulements Soc Nouvelle Dispositif de pilotage d'un moteur a commutation electronique au moyen d'un signal de position
ATE488905T1 (de) * 2004-07-10 2010-12-15 Schaeffler Technologies Gmbh Verfahren zum betreiben eines ec-motors
DE202005013037U1 (de) * 2005-08-18 2007-01-04 Brose Fahrzeugteile Gmbh & Co. Kommanditgesellschaft, Coburg Drehsensor sowie Kraftfahrzeug-Verstellsystem
EP1921347A3 (fr) * 2006-11-06 2010-08-04 Sener, Ingenieria Y Sistemas, S.A. Système d'actionnement de commande simple avec redondance et dispositif de sécurité
DE102007010737A1 (de) * 2007-02-27 2008-08-28 Valeo Schalter Und Sensoren Gmbh Vorrichtung zur Erfassung des absoluten Drehwinkels einer Welle
JP5267031B2 (ja) * 2008-10-09 2013-08-21 株式会社ジェイテクト 電動パワーステアリング装置
ES2692816T3 (es) * 2010-08-24 2018-12-05 Rotork Controls Limited Aparato adaptado para proporcionar una indicación de una posición angular de un elemento de entrada durante múltiples giros
CN201910728U (zh) * 2011-01-17 2011-07-27 杨衍圣 电动汽车用开关磁阻电机绝对位置传感器

Non-Patent Citations (1)

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Title
See references of WO2013092147A1 *

Also Published As

Publication number Publication date
CN104011991A (zh) 2014-08-27
CN104011991B (zh) 2017-09-05
WO2013092147A1 (fr) 2013-06-27
DE102011089820A1 (de) 2013-06-27
KR20140106593A (ko) 2014-09-03
US20150316371A1 (en) 2015-11-05

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