EP3014221A1 - Procédé de calcul de l'angle de rotation d'un arbre, utilisation du procédé et moteur d'essuie-glace - Google Patents

Procédé de calcul de l'angle de rotation d'un arbre, utilisation du procédé et moteur d'essuie-glace

Info

Publication number
EP3014221A1
EP3014221A1 EP14731657.4A EP14731657A EP3014221A1 EP 3014221 A1 EP3014221 A1 EP 3014221A1 EP 14731657 A EP14731657 A EP 14731657A EP 3014221 A1 EP3014221 A1 EP 3014221A1
Authority
EP
European Patent Office
Prior art keywords
shaft
rotation angle
rotation
angle
sensor element
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Withdrawn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
EP14731657.4A
Other languages
German (de)
English (en)
Inventor
Rainer Siedler
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.)
Valeo Systemes dEssuyage SAS
Original Assignee
Valeo Systemes dEssuyage SAS
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 Valeo Systemes dEssuyage SAS filed Critical Valeo Systemes dEssuyage SAS
Publication of EP3014221A1 publication Critical patent/EP3014221A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • 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
    • G01D5/24471—Error correction
    • G01D5/2449—Error correction using hard-stored calibration data
    • 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
    • G01D5/24471—Error correction
    • G01D5/24495—Error correction using previous values
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
    • B60S1/00—Cleaning of vehicles
    • B60S1/02—Cleaning windscreens, windows or optical devices
    • B60S1/04—Wipers or the like, e.g. scrapers
    • B60S1/06—Wipers or the like, e.g. scrapers characterised by the drive
    • B60S1/08—Wipers or the like, e.g. scrapers characterised by the drive electrically driven
    • B60S1/0818—Wipers or the like, e.g. scrapers characterised by the drive electrically driven including control systems responsive to external conditions, e.g. by detection of moisture, dirt or the like
    • B60S1/0822—Wipers or the like, e.g. scrapers characterised by the drive electrically driven including control systems responsive to external conditions, e.g. by detection of moisture, dirt or the like characterized by the arrangement or type of detection means
    • B60S1/0862—Wipers or the like, e.g. scrapers characterised by the drive electrically driven including control systems responsive to external conditions, e.g. by detection of moisture, dirt or the like characterized by the arrangement or type of detection means including additional sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
    • B60S1/00—Cleaning of vehicles
    • B60S1/02—Cleaning windscreens, windows or optical devices
    • B60S1/04—Wipers or the like, e.g. scrapers
    • B60S1/32—Wipers or the like, e.g. scrapers characterised by constructional features of wiper blade arms or blades
    • B60S1/34—Wiper arms; Mountings therefor
    • B60S1/3425—Constructional aspects of the arm
    • B60S1/3443—Wiper shafts

Definitions

  • the invention relates to a method for calculating the angle of rotation of a shaft, in particular the shaft of a windscreen wiper motor, according to the preamble of claim 1. Furthermore, the invention relates to the use of a method according to the invention and a windscreen wiper motor, which is designed to carry out a method according to the invention.
  • a method according to the preamble of claim 1 is known from practice even with windshield wiper motors and serves in particular to stop the windshield wiper motor as needed so that it reaches the desired reversal points in the reciprocating motion of the windshield wiper motor moving wiper blades as accurately as possible.
  • the exact knowledge of the (absolute) angle of rotation of the shaft in a windshield wiper motor for example, required to control wiper blades on the longitudinal side spray openings for applying a washing liquid to the vehicle window, to control the spray openings by a corresponding control, for example, a washing liquid pump for the spray holes .
  • the known from the prior art sensor devices for detecting the rotation angle of a shaft are in particular designed as non-contact measuring sensor devices using Hall sensors as sensor elements.
  • the Hall sensors arranged fixedly in the region of the shaft react to the change in a magnetic field by means of permanent magnet elements arranged on the shaft and rotating therewith.
  • the signals of the sensor element are in an evaluation of the Sensor device processed by means of an algorithm and then supplied, for example, a processor of the controller of the windshield wiper motor, eg via a serial interface, a pulse width modulation or an analog voltage as an input value.
  • a processor of the controller of the windshield wiper motor eg via a serial interface, a pulse width modulation or an analog voltage as an input value.
  • the invention has the object, a method for calculating the rotation angle of a shaft, in particular the shaft of a windshield wiper motor according to the preamble of claim 1 such that the above-explained time delay between the detection of Angle value is compensated by the sensor element and the forwarding of the result for the rotation angle to the control device by the evaluation device. This is to ensure that the value determined by the evaluation device for the rotation angle of the shaft always corresponds to the actual rotation angle at the time of detection by the sensor element.
  • This object is achieved in a method for calculating the rotation angle of a shaft with the features of Claim 1 achieved in that the algorithm includes a correction value, which takes into account a rotation angle deviation caused by the time delay between the detection of the rotation angle by the sensor element and the forwarding of the calculated value of the evaluation device to the control device.
  • the correction value be calculated from the product of a maximum occurring rotational angle deviation multiplied by the quotient of the angular velocity of the shaft at the time of detection of the angular position by the sensor element and the maximum angular velocity of the shaft.
  • the algorithm taking into account the angular velocity of the shaft modifies a correction value such that regardless of the rotational speed of the shaft of the evaluation always generates or outputs a measured value corresponding to the actual position of the shaft at the measurement time.
  • the knowledge is made use of that the rotation angle deviation is at least approximately proportional to the rotational speed of the shaft. If the delay in the context of the data transmission in the first approximation is constant, the time delay can be compensated by the corresponding correction value.
  • the maximum occurring rotational angle deviation is determined by means of experiments, and that in the experiments, the rotation angle of the shaft is detected by means of the sensor device and additionally by means of a further device, wherein the further device is adapted to detect the actual rotation angle of the shaft at the time of detection of the rotation angle by the sensor element of the sensor device.
  • the use of the method according to the invention in determining the angle of rotation of a shaft in a windscreen wiper motor is provided.
  • the invention also includes a windscreen wiper motor, which has an evaluation device for determining the rotational angle of a shaft, wherein the evaluation device comprises an algorithm which is adapted to carry out a method according to the invention.
  • Fig. 1 shows a windscreen wiper motor in a highly simplified representation
  • FIG. 2 shows a diagram for illustrating an angle error occurring when rotating a shaft of the windscreen wiper motor according to FIG. 1.
  • Fig. 1 is a windshield wiper motor 10 is shown with a preferably a drive shaft forming shaft 1 in a greatly simplified representation.
  • the shaft 1 is in particular, but not limiting, to the armature shaft of the drive motor designed as an electric motor of the windshield wiper motor 10.
  • the shaft 1 rotates according to the double arrow 1 1 in different directions.
  • the windshield wiper motor 10 or the shaft 1 serves to actuate windshield wipers, not shown, for cleaning a vehicle window of a motor vehicle.
  • the windshield wiper motor 10 For demand-driven control or actuation of the windshield wiper motor 10, it is necessary to know the angular position of the shaft 1, in particular its absolute rotation angle ⁇ with respect to a reference position of the shaft 1.
  • the windshield wiper motor 10 comprises a sensor device 15, which comprises at least one Hall sensor element 16 as contactless measuring sensor device 15, which is designed to detect the advancing movement of permanent magnet elements 17 arranged on the circumference of the shaft 1.
  • a rotation angle ⁇ of the shaft 1 of 90 °, 180 °, 270 °, 360 °, etc.
  • the prior art is known per se.
  • the change of the magnetic field detected by the Hall sensor element 16 when the permanent magnet element 17 moves past generates, for example, a voltage signal which is supplied by way of example via a line 18 to an evaluation device 20.
  • the evaluation device 20 is a component of the sensor device 15.
  • the evaluation device 20 calculates the rotational angle ⁇ of the shaft 1 and forwards it, for example, to a processor 21 of the control device 25 of the windshield wiper motor 10.
  • the transmission of the measured value takes place z. B. via a serial interface 19, in the form of a pulse width modulation or in the form of an analog voltage.
  • a physically induced time delay At is present.
  • This time delay ⁇ t corresponds to a rotational angle deviation ⁇ by which the shaft 1 is further rotated by the permanent magnet element 17 at the time of transmission of the measured value for the rotational angle ⁇ to the processor 21 in relation to the time of detection of the rotational angle ⁇ .
  • the rotational angle deviation ⁇ is proportional to the rotational angular velocity LU of the shaft 1.
  • the evaluation device 20 has an algorithm 22, which includes a consideration of the instantaneous rotational angular velocity LU of the shaft 1.
  • the rotation angle speed LU of the shaft 1 can also be determined, for example, by means of the sensor device 15 from the time interval between two consecutive signals produced by the permanent magnet elements 17 at the Hall sensor element 16.
  • FIG. 2 FIG.
  • the second shows, in each case over the time t, the angle of rotation ⁇ of the shaft 1 for different rotational directions of the shaft 1, which is represented by the curve A.
  • the curve B represents the rotation angle deviation ⁇ during the rotation of the shaft 1. It can be seen that the maximum rotation angle deviation ⁇ , depending on the direction of rotation of the shaft 1, for example, reaches a value of -3 ° and + 3 °. In the central portion of the curve A, while the shaft 1 is stationary, no rotational angle deviation ⁇ can be present, so that the rotational angle deviation ⁇ is zero.
  • ⁇ (max) means the maximum rotational angle deviation of the rotational angle ⁇ at maximum rotational angular velocity LU of the shaft 1, like this one as previously explained with reference to FIG. 2 was determined.
  • the quotient Lii / Lu (max) expresses the relationship between the instantaneous rotational angular velocity LU of the shaft 1 and the maximum rotational angular velocity LU of the shaft 1.
  • the maximum rotational angle deviation Aa (max) of the rotational angle ⁇ is three degrees.
  • the maximum angular deviation Aa (max) is normally independent of the direction of rotation. If this is not the case in exceptional cases, the direction of rotation of the shaft 1 must also be taken into account.
  • a correction value k which takes into account the time delay between the detection of a measurement signal by a sensor device 15 and the transmission of a corresponding measurement signal for the rotation angle ⁇ to a downstream unit, for example a processor 21.
  • a correction value kmod is determined which permits a different mathematical calculation method for the rotation angle ⁇ of the shaft 1, for example by taking the measurement value .
  • alpha Rotation angle ⁇ is multiplied by a correction value k m0 d and not added, as described above.

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)

Abstract

L'invention concerne un procédé de calcul de l'angle de rotation (α) d'un arbre (1), en particulier de l'arbre (1) d'un moteur d'essuie-glace (10), au moyen d'un dispositif de capteur (15) qui comporte un élément de capteur (16) destiné à détecter la position angulaire de l'arbre (1). Le dispositif de capteur (15) calcule l'angle de rotation (α) à l'aide de la valeur de mesure α(mes) détectée par l'élément de capteur (16). L'ange de rotation (α) calculé est transmis à un dispositif de commande (25) au moins indirectement sous la forme d'une valeur d'entrée et le dispositif de capteur (15) comprend un dispositif d'évaluation (20) qui utilise un algorithme (22) pour calculer l'angle de rotation (α) de l'arbre (1) sur la base de la valeur de mesure α(mes) de l'élément de capteur (16).
EP14731657.4A 2013-06-28 2014-06-23 Procédé de calcul de l'angle de rotation d'un arbre, utilisation du procédé et moteur d'essuie-glace Withdrawn EP3014221A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102013106818.9A DE102013106818A1 (de) 2013-06-28 2013-06-28 Verfahren zur Berechnung des Drehwinkels einer Welle, Verwendung eines Verfahrens und Scheibenwischermotor
PCT/EP2014/063095 WO2014206904A1 (fr) 2013-06-28 2014-06-23 Procédé de calcul de l'angle de rotation d'un arbre, utilisation du procédé et moteur d'essuie-glace

Publications (1)

Publication Number Publication Date
EP3014221A1 true EP3014221A1 (fr) 2016-05-04

Family

ID=50979781

Family Applications (1)

Application Number Title Priority Date Filing Date
EP14731657.4A Withdrawn EP3014221A1 (fr) 2013-06-28 2014-06-23 Procédé de calcul de l'angle de rotation d'un arbre, utilisation du procédé et moteur d'essuie-glace

Country Status (3)

Country Link
EP (1) EP3014221A1 (fr)
DE (1) DE102013106818A1 (fr)
WO (1) WO2014206904A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116067670B (zh) * 2023-01-10 2023-07-14 浙江松田汽车电机系统股份有限公司 一种刮水器总成刮角测试仪

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4439233A1 (de) * 1993-12-29 1995-07-06 Boehringer Andreas Gebersystem zur Ermittlung wenigstens einer der drei Größen Drehbeschleunigung, Winkelgeschwindigkeit oder Winkellage eines rotierenden Bauteils
GB2465980A (en) * 2008-12-03 2010-06-09 Gm Global Tech Operations Inc A wiper control system

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ATE391836T1 (de) * 2004-08-28 2008-04-15 Luk Lamellen & Kupplungsbau Verfahren zum bestimmen der phasenlage einer nockenwelle einer brennkraftmaschine
DE502006006465D1 (de) * 2006-11-17 2010-04-29 Amo Automatisierung Messtechni Positionsmesseinrichtung
DE102008001408A1 (de) * 2008-04-28 2009-10-29 Robert Bosch Gmbh Offsetwinkelbestimmung bei Synchronmaschinen
DE102010010805B4 (de) * 2010-03-09 2021-08-12 Sew-Eurodrive Gmbh & Co Kg Verfahren zur Verbesserung von bereit gestellten Signalwerten, Vorrichtung zur Durchführung eines Verfahrens und Verwendung einer Extrapolation
US8228217B2 (en) * 2010-06-15 2012-07-24 Analog Devices, Inc. Filter for the suppression of noise in resolver-to-digital converters
DE102010041444A1 (de) * 2010-09-27 2012-03-29 Robert Bosch Gmbh Geberrad einer Sensoranordnung zum Erfassen eines Drehwinkels und/oder einer Drehzahl einer Welle, Drehwinkel- und/oder Drehzahlsensor und Sensoranordnung
DE102011054953A1 (de) * 2011-10-31 2013-05-02 Valeo Systèmes d'Essuyage Verfahren zur Ansteuerung eines Scheibenwischermotors

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4439233A1 (de) * 1993-12-29 1995-07-06 Boehringer Andreas Gebersystem zur Ermittlung wenigstens einer der drei Größen Drehbeschleunigung, Winkelgeschwindigkeit oder Winkellage eines rotierenden Bauteils
GB2465980A (en) * 2008-12-03 2010-06-09 Gm Global Tech Operations Inc A wiper control system

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of WO2014206904A1 *

Also Published As

Publication number Publication date
DE102013106818A1 (de) 2014-12-31
WO2014206904A1 (fr) 2014-12-31

Similar Documents

Publication Publication Date Title
DE102016209833B4 (de) Verfahren und Vorrichtung zum Bestimmen eines Fahrerhandmoments an einem Lenkrad eines Fahrzeugs
DE102007050173B3 (de) Verfahren und Vorrichtung zur Erhöhung der Genauigkeit der Positionsbestimmung eines motorgetriebenen Schließteiles eines Fahrzeugs
EP0899847B1 (fr) Procédé pour la détermination de la position et de la direction du mouvement d'une partie mobile entraînée par un moteur électrique
DE102019104169B4 (de) Quadrantenbasierte reibungskompensation für eine schätzung der reifenlast in lenkungssystemen
EP2100798A2 (fr) Chariot de manutention, en particulier véhicule empileur
EP2659318B1 (fr) Procédé et dispositif destinés à fournir une information de déplacement, notamment pour détecter le blocage d'un système de fermeture
DE102011105502A1 (de) Verfahren zum Abgleich eines Phasenversatzes zwischen einem Rotorlagesensor und der Rotorlage eines elektrisch kommutierten Motors
DE102009028914A1 (de) Verahren und Vorrichtung zum Erkennen eines Einklemmfalls bei einem Schließen eines Schließelements sowie eine Schließvorrichtung
EP2651721B1 (fr) Procédé de réglage de la force de serrage exercée par un frein de stationnement
WO2019029967A1 (fr) Étalonnage de capteurs de véhicule
EP3011359A2 (fr) Capteur de mesure à ultrasons et procédé de fonctionnement d'un capteur de mesure à ultrasons
DE4039038A1 (de) Verfahren und vorrichtung zur steuerung der scheibenwischerbewegung von kraftfahrzeugen, insbesondere omnibussen und lastkraftwagen
WO2014206904A1 (fr) Procédé de calcul de l'angle de rotation d'un arbre, utilisation du procédé et moteur d'essuie-glace
WO2011012376A1 (fr) Procédé et dispositif de détection de pincement à commande temporelle
EP3371609B1 (fr) Surveillance de la vitesse d'un entrainement avec protection contre les erreurs
DE102019211800B4 (de) Verfahren und Vorrichtung zum Ermitteln der Drehzahl und des Drehwinkels einer Motorwelle eines mechanisch kommutierten Gleichstrommotors
WO2021151570A1 (fr) Procédé de fin d'opération de conduite automatisée d'un véhicule
EP0340480B1 (fr) Méthode pour la détermination de la vitesse d'une machine
WO2009043698A1 (fr) Procédé et dispositif visant à identifier une inversion de sens de fonctionnement dans une unité d'actionnement électrique de véhicule
WO2014117961A1 (fr) Procédé et dispositif de détermination du décalage dans un système lève-vitre électrique
DE102012002771B4 (de) Elektromechanisches Fahrzeuglenksystem
DE102015207333B4 (de) Verfahren und Vorrichtung zum Generieren eines Lenkwinkels
EP3839153B1 (fr) Procédé d'étalonnage d'un capteur de position
EP3704790B1 (fr) Procédé de détermination de la position du rotor de machines électriques synchrones sans capteur mécanique
DE102013001590B4 (de) Verfahren zum erkennen eines bedienzustandes eines lenkrads in einem lenksystem eines kraftfahrzeugs

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

17P Request for examination filed

Effective date: 20151217

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

AX Request for extension of the european patent

Extension state: BA ME

DAX Request for extension of the european patent (deleted)
17Q First examination report despatched

Effective date: 20170529

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE APPLICATION IS DEEMED TO BE WITHDRAWN

18D Application deemed to be withdrawn

Effective date: 20180630