EP3096197B1 - Systeme de commande pour vehicules - Google Patents

Systeme de commande pour vehicules Download PDF

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Publication number
EP3096197B1
EP3096197B1 EP16168831.2A EP16168831A EP3096197B1 EP 3096197 B1 EP3096197 B1 EP 3096197B1 EP 16168831 A EP16168831 A EP 16168831A EP 3096197 B1 EP3096197 B1 EP 3096197B1
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EP
European Patent Office
Prior art keywords
axis
control system
system axis
coil
vehicles according
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Application number
EP16168831.2A
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German (de)
English (en)
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EP3096197A3 (fr
EP3096197A2 (fr
Inventor
Henrik Andersen
Eric Vloemans
Marko Boving
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Grammer AG
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Grammer AG
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Priority claimed from DE102016108472.7A external-priority patent/DE102016108472B4/de
Application filed by Grammer AG filed Critical Grammer AG
Publication of EP3096197A2 publication Critical patent/EP3096197A2/fr
Publication of EP3096197A3 publication Critical patent/EP3096197A3/fr
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G5/00—Means for preventing, limiting or returning the movements of parts of a control mechanism, e.g. locking controlling member
    • G05G5/03—Means for enhancing the operator's awareness of arrival of the controlling member at a command or datum position; Providing feel, e.g. means for creating a counterforce
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G2009/0474—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks characterised by means converting mechanical movement into electric signals
    • G05G2009/04755—Magnetic sensor, e.g. hall generator, pick-up coil
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G2009/04766—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks providing feel, e.g. indexing means, means to create counterforce

Definitions

  • the invention relates to a control system for vehicles, in particular commercial vehicles, comprising a control lever element arranged along a first system axis, the first system axis being rigidly connected at a reference point to a second system axis and a third system axis, with the control system starting from a basic position of the control system by means of a Rotation around the reference point is deflectable.
  • Vehicles which are equipped with a plurality of movable elements in the sense of functional components or assemblies conventionally have a control system and control elements for controlling these movable elements.
  • Examples of such vehicles are a forklift truck or a tractor.
  • Another example is an excavator as an excavation machine, as it is known to be used for excavation work.
  • This excavator has (see also Figures 1a and 1b ) for example via four movable elements: a vehicle cabin that can be pivoted to the left and right, a first extension arm pivotably arranged on the vehicle cabin, a second extension arm pivotably arranged on the first extension arm, and finally an excavator shovel pivotably arranged on the second extension arm.
  • the last-mentioned three elements are preferably arranged to be pivotable upwards and downwards. So there are a total of two differently directed movements possible per element, so a total of eight.
  • joysticks or control sticks or control lever elements are known from the prior art, which are similar to a gear shift lever from a car and can be operated manually by the user of the vehicle (vehicle driver), for example an excavator (excavator operator) the vehicle cabin are arranged. These are arranged to be pivotable from an initial position (basic position, neutral position) to the left and to the right as well as to the front and to the rear, for example by the muscular strength of the driver.
  • the ISO 10968 standard deals, for example, with the assignment of the input movements or basic functions of the joystick to the output movements or machine functions of the excavator.
  • the movable element 11a corresponds to the vehicle cabin 14
  • the movable element 11b corresponds to the first extension arm 15
  • the movable element 11c corresponds to the second extension arm 16
  • the movable element 11d to the excavator shovel 26.
  • the first extension arm 15 is pivotably arranged with its first end 15a on the vehicle cabin 14, the second extension arm 16 being pivotably arranged with a first end 16a at the second end 15b of the first extension arm 15.
  • the excavator shovel 26 is in turn pivotably arranged. While the vehicle cabin 14 can be pivoted about an axis which is arranged parallel to the vertical direction 19c of the vehicle 13, the first 15 and second extension arms 16 and the excavator shovel 26 are arranged pivotable about axes which are arranged perpendicular to the vertical direction 9c of the vehicle 13.
  • a basic position of the vehicle cabin 14 generally corresponds to the position in which the longitudinal direction 19a of the vehicle cabin 14 is arranged parallel to the longitudinal extent of the vehicle 13 or the chains shown and with the driver's gaze in the direction of forward movement.
  • the width direction 19b and the height direction 19c of the vehicle 13 are also illustrated.
  • a pivoting movement of the left joystick 25a to the left I triggers a pivoting movement 11a1 of the vehicle cabin 14 to the left in accordance with the standard, and a pivoting movement of the left joystick 25a to the right r triggers a pivoting movement 11a2 of the vehicle cabin 14 to the right in accordance with the standard. If the left joystick 25a pivots forward v, a pivotal movement 11c1 is imposed on the second boom 16 forwards away from the vehicle cabin 14, while if the left joystick 25a pivots backwards h, a pivotal movement 11c2 of the second boom 16 backwards in the direction Vehicle cabin 14 takes place.
  • a pivoting movement of the right joystick 25b to the left I triggers a pivoting movement 11d1 of the excavator shovel 26 backwards in the direction of the vehicle cabin 14 and a pivoting movement of the right joystick 25b to the right r triggers a pivoting movement 11d2 of the excavator shovel 26 forwards away from the vehicle cabin 14 in accordance with the standard. If the right joystick 25b is pivoted forward v, a pivoting movement 11b2 backwards towards the vehicle cabin 14 is imposed on the first extension arm 15, while if the right joystick 25b is pivoted backwards h a pivoting movement 11b1 of the first extension arm 15 is applied to the front of the vehicle cabin 14 away takes place.
  • control lever element A control system for a control lever element is now to be developed which has several advantages.
  • the position of the control lever element should be detectable with regard to its pivoting out of the starting position to the left or to the right or to the front or to the rear.
  • the control lever element should be able to be returned to its starting position or basic position when the vehicle driver lets go of the control lever element in a pivoted position, so that its muscle force no longer acts on the control lever element.
  • control lever element should be actively controllable and / or programmably controllable via the control system; the means that the control lever element should be pivotable from the starting position to the left or to the right or forwards and / or backwards without the action of muscle power, whereby the sequence of the movement sequences should preferably be preprogrammed here.
  • a control system for vehicles comprising a control lever element arranged along a first system axis, the first system axis being rigidly connected at a reference point to a second system axis and a third system axis, starting from a basic position of the control system the control system can be deflected by rotating around the reference point, with at least one actuator element for actively moving the respective system axis and / or at least one resetting element for resetting the respective system axis to the basic position of the control system, each by means of an upper end with at least one of the second or third system axes is connected to a longitudinal axis.
  • a rotation of the control lever element around the reference point automatically causes a rotation of the entire system around the reference point due to the rigid connection of the first system axis with the second and third system axis.
  • the second and third system axes are also arranged rigidly to one another.
  • the control system is preferably deflectable in all directions starting from the basic position.
  • the end of the first system axis facing away from the reference point is defined as the first system point, with any other point on the first system axis also being able to be used for the consideration.
  • the control system and with it the first system point can therefore preferably experience a deflection about the second system axis and / or a deflection about the third system axis, both with regard to a positive (corresponds to a forward rotation) and a negative rotation (corresponds to a rotation to the rear) around the respective system axis.
  • a superposition of the deflections described is preferably possible.
  • a rotation of the first system point starting from the basic position in a range of + 90 ° and -90 ° around the second and also around the third system axis is preferably possible. More preferably, this rotation is continuously possible.
  • a rotation of the first system point takes place exclusively around the third system axis and thus preferably in the plane which is spanned by the first and the second system axis.
  • fx (px) is the equation of motion of the first system point, the function value fx (px) representing the coordinates of the first system point in relation to the first system axis and px the coordinates of the first system point in relation to the second system axis.
  • fx (px) and px it applies that they lie within the limits from 0 to R.
  • the arrows according to the Figures 2a and 2b as well as the three-dimensional coordinate system according to Fig. 2a illustrate these equations of motion fx (px) and fy (py).
  • the axis px is arranged parallel to the second system axis X, the axis py parallel to the third system axis Y and the axis fx, fy parallel to the first system axis Z.
  • the distance R from the first system point SP to the reference point 2 is shown.
  • the system according to the invention also ensures that the relevant system axis is actively controlled by means of the actuator element, so that an external control of the machine can be implemented without the need for intervention by the vehicle driver.
  • the system axis it is possible to automatically return the system axis to the basic position without the intervention of an active or controlled element.
  • the return preferably takes place when there is no longer any force that causes a deflection of the system axis (s).
  • This force is therefore, for example, the muscle force of the vehicle driver or the force provided by the actuator element.
  • control system according to the invention can preferably be deflected around the reference point by means of a rotation initiated by the control lever element. This is the case when the vehicle driver moves the control lever element manually. But it is also possible that the rotation is initiated by one or more actuator elements connected to the second and / or third system axis. This, in turn, is possible in that the actuator element actively causes the respective system axis to move.
  • control system can be deflected about all system axes to the same extent, it has proven to be advantageous if the first, second and third system axes are each arranged perpendicular to one another.
  • the basic position of the control system can be predefined and identified as the position that is present when none of the three system axes experiences a deflection, i.e. the basic position of the first, second and third system axes is also present, and when the resetting elements do no resetting work or no longer do any resetting work Afford.
  • the basic position of the control system corresponds to the position in which the first system axis in the height direction, the second system axis in the longitudinal direction and the third system axis in the width direction of a driver's cab of the vehicle are arranged.
  • a preferred embodiment provides that at least one measuring device for measuring the position of the second and / or the third system axis is connected to at least one of the second or third system axes by means of an upper end of a longitudinal axis.
  • the measuring device preferably detects the deflection of the respective system axis. Given a predefined distance between the upper end of the longitudinal axis of the measuring device and the reference point, the angle by which the respective axis has been deflected can thus be determined. By superposing the equations of motion of the various axes as described above, the total displacement of the system can also be calculated.
  • At least one of the longitudinal axes is preferably rigidly connected to the respective system axis connected to them with regard to a translational movement along the at least one longitudinal axis and connected to be movable with regard to a rotational movement about the respective system axis connected to them.
  • actuator elements is also used in the following when speaking of the actuator elements and / or resetting elements and / or the measuring devices.
  • the degrees of freedom of the elements are therefore preferably restricted in such a way that a shift between the upper end of the longitudinal axis and the system axis connected to it is not possible.
  • the upper end of its longitudinal axis and the elements rigidly connected to this upper end will also move.
  • a rotation of the respective system axis around the reference point or around one of the other two system axes shifts the upper point of the longitudinal axis of the elements connected to them depending on the extent of the deflection and the position of the element relative to the reference point.
  • a proper rotation of the respective system axis that is to say a rotation of the respective system axis about itself, however, preferably has no influence on the position of the longitudinal axes of the elements connected to it.
  • a rotation of the system axes relative to the upper ends of the longitudinal axes of the actuator elements and / or restoring elements is therefore preferably possible.
  • This is preferably implemented in that the connection point between the upper end of the longitudinal axis of the actuator elements and / or restoring elements and the respective system axis is designed as a ball joint or as a sliding sleeve aligned along the respective system axis with appropriate play.
  • the longitudinal axes of the elements are each rigidly connected to the system axis connected to them with regard to a translational movement along this system axis, that is to say arranged in a non-displaceable manner along this system axis.
  • Another preferred embodiment provides that the longitudinal axes of the elements are arranged displaceably in this regard.
  • the second end of the longitudinal axes of the elements is mounted displaceably along the longitudinal axis. Further preferably at least one, preferably all remaining degrees of freedom are otherwise blocked, which can be implemented, for example, by a sliding bush in which the second end of the longitudinal axis is movably mounted. In particular, it is preferred that with maximum deflection upwards and with maximum deflection downwards the longitudinal axis is at least partially arranged between an upper and a lower end of the sliding bush.
  • an upper and / or lower end stop which can be implemented, for example, by two stop disks rigidly connected to the longitudinal axis and arranged on this outside the sliding bushing, which enable reaching the corresponding end stop by contacting the respective stop disk with the corresponding Ensure the upper or lower end of the sliding bush.
  • the longitudinal axes of the actuator element, restoring element and the measuring device connected to the second system axis are each arranged parallel to one another and / or perpendicular to the second system axis.
  • the described arrangement perpendicular to the second system axis ensures that a deflection of the second system axis with the greatest possible transmission ratio is converted into a deflection of the upper end of the longitudinal axes of the actuator element, restoring element and the measuring device, which among other things reduces the measurement inaccuracy. Furthermore, the installation space can be optimally used due to the explained parallel arrangement of the longitudinal axes. In addition, this allows the deflection of the measuring device to be converted to the deflection of the actuator element or the resetting element as simply as possible.
  • the longitudinal axes of the actuator element, restoring element and the measuring device connected to the third system axis are each arranged parallel to one another and / or perpendicular to the third system axis.
  • the first and / or the second actuator element is designed as a magnetic drive element which comprises a magnet arranged movably to a first coil and rigidly connected to the longitudinal axis of the actuator element, a position of the magnet being concentric relative to it surrounding first coil can be changed at least in the direction of the longitudinal axis of the actuator element by means of a change in a current strength of a current flowing through the first coil.
  • the longitudinal axis of the actuator element By changing the position of the magnet, the longitudinal axis of the actuator element, and in particular its upper end point, experience a change in position, which advantageously takes place in the direction of the longitudinal axis of the actuator element.
  • This change in position of the upper end point of a magnetic drive element is also transferred into a change in position of the system axis connected to the respective actuator element due to the described degrees of freedom of the control system.
  • the change in the current strength and thus also the change in position of the magnet can be precisely determined, which means that the actuator element intervenes in the control system guaranteed.
  • programs can be created which are stored in the control device of the control system and which map predefined and / or signal-dependent movement sequences of the magnetic drive element.
  • first and / or second actuator element can be controlled by means of a corresponding first signal from a control device of the control system.
  • movements of the first and / or the second actuator element along the respective longitudinal axis can therefore preferably be carried out in a programmable manner by the first signal of the control device of the control system.
  • the current can preferably also be switched off so that, for example, in the event of an introduced force due to manual actuation of the control system starting from the control lever element, no counterforce, which is undesirable in this case, is built up on the part of the magnetic drive element.
  • the entire system can either transmit a movement of the control lever element to the elements mentioned or a movement of the actuator element (programmed) can be generated, which results in a movement of the control lever element.
  • the active system actuator element
  • the passive system reset element
  • the programming of movement sequences is possible, which are transmitted to the control lever element by means of the active force generator. It is therefore possible for the excavator operator to carry out another work while the excavator shovel, for example, automatically and preprogrammed repeatedly moves from top to bottom or the driver's cab rotates from left to right after a certain sequence of movements of the excavator shovel.
  • the driver can be warned of a possible danger that he is not currently aware of by vibrating the control lever element or blocking a movement of the control lever element in at least one direction by the active system. This is advantageous if the driver hits a solid obstacle with the excavator shovel, which is moved by the control lever element, whereupon the movement of the excavator shovel is stopped. If the excavator driver continues to press the control lever element in the same direction, the control system recognizes that the force for executing this movement is increasing until it finally exceeds a predeterminable upper limit.
  • the control system then sends a command to change the inductance of the first coil in the active force generator in order to counteract the muscular strength of the excavator operator as described above with an active force and, for example, to block movement in the direction that is harmful to the excavator bucket towards the obstacle.
  • a simple vibration movement of the control lever element as a warning to the excavator operator would also be conceivable here.
  • the active system can support the passive system by providing additional forces at least on the last section and make the excavator operator's work easier.
  • the first and / or the second passive restoring element comprise a sliding rod which forms the longitudinal axis of the restoring element and which is movably mounted within a hollow cylindrical housing along its longitudinal axis, wherein in the basic position of the control system within the housing a second upper disk and a second lower disk, between which a compression spring is arranged under preload, each arranged in contact with the housing, and wherein a first upper disk adjacent to the second upper disk and a first lower disk adjacent to the second lower disk each on a side facing away from the compression spring are arranged adjacent to them second disk, wherein the first upper and the first lower disk are rigidly connected to the slide bar.
  • the housing has an upper and a lower end face, the second upper disk being arranged in contact with an interior of the upper end face and the second lower disk being arranged in contact with an interior of the lower end face, and wherein in a basic position of the restoring element, the first upper disk is arranged in contact with the second upper disk and the first lower disk is arranged in contact with the second lower disk.
  • the two second disks are preferably only pushed onto the slide bar, but do not form a connection or friction connection with it, but are mounted so as to be movable and in particular displaceable with respect to the slide bar.
  • the two second disks are also preferably movably and in particular displaceably mounted opposite the housing, but in the basic position of the control system they are each in contact with an interior of the respective end face.
  • recesses are arranged in the hollow cylindrical housing on the end faces of the housing for the arrangement of the longitudinal axis. These are preferably designed circular and have a diameter which is of course greater than a diameter of the slide rod. Furthermore, it is preferred that a diameter of the second disks is greater than the diameter of the recesses and than the diameter of the slide rod. More preferably, a diameter of the first disks is smaller than a diameter of the recesses and larger than the diameter of the slide rod.
  • the first upper disk rigidly connected to the slide bar can move the second upper disk adjacent to it downwards and arrange it at a distance from the housing when the longitudinal axis of the restoring element changes, for example through manual actuation by the vehicle driver and a correspondingly applied force shifts downward along the direction of the longitudinal axis.
  • the contact between the first lower and the second lower disk is interrupted.
  • the compression spring arranged between the two second disks is compressed even more in this case and thus builds up a counterforce for moving the longitudinal axis. If the force that triggers the displacement of the slide bar is no longer applied, the counterforce of the compression spring ensures that the compression spring relaxes again and the second disks are pushed apart again until the second disks are in contact with the housing again, and in particular the basic position of the respective system axis present. Thus, as described, passive return to the basic position is possible without arranging an active element.
  • the first and / or the second measuring device comprise an electrical oscillating circuit which has at least one sensor, a second coil with a variable length and a capacitor connected in series with the second coil, with the sensor being used to change the length of the second coil can be detected directly or indirectly and transmitted to the control device of the control system via a corresponding second signal.
  • the length of the second coil can be changed here if the system axis connected to the measuring device and thus the longitudinal axis of the measuring device is moved upwards or downwards, so that a value of the change in the length of the coil is unambiguously and, in particular, a value of a deflection can be assigned to the system axis.
  • the second coil is preferably designed here as a cylindrical air core coil, the length of which is very large compared to the diameter of the cross section of the coil.
  • a change in the length of the coil causes a change in the inductance and the resonance frequency of the resonant circuit.
  • the determination of the changed resonance frequency is determined on the basis of the sensor value by means of the control device and evaluated in relation to the associated value of the displacement of the control system or the system axis.
  • the self-inductance of a coil can also be changed by a core (iron core) in the coil, since such a magnetic conductor increases the magnetic flux.
  • a core iron core
  • the core can be directly or indirectly mechanically connected to the control lever element.
  • Fig. 2a shows the schematic structure of a control system S according to the invention according to a first variant.
  • a control lever element 1 (“joystick handle”) arranged along a first system axis Z can be seen, a central pivot point (“Central Pivot Point”) being arranged as a reference point 2 of the control system S at a lower end of the first system axis Z.
  • Central Pivot Point arranged as a reference point 2 of the control system S at a lower end of the first system axis Z.
  • the system axis Z is arranged in the direction of vertical extension of the control lever element 1.
  • a second system axis X and a third system axis Y are arranged in the form of linear sliding rods, which in the present case are arranged both at a right angle, i.e. perpendicular to one another and at a right angle to the first system axis Z.
  • the system axes X, Y, Z are preferably connected to one another by means of a rigid connection at reference point 2. Starting from the basic position SG of the control system S shown here, the control system S can be deflected by means of a rotation about the reference point 2.
  • actuator element 5 (“X-axis Active Force Generator”) and a restoring element 6 (“X-axis Passive Return Force Generator”) are arranged on the second system axis X.
  • actuator element 7 (“Y-axis Active Force Generator”) and a restoring element 8 (“Y-axis Passive Return Force Generator”) are arranged on the third system axis Y.
  • the actuator elements shown are 5; 7 for actively moving the respective system axis X, Y and the restoring elements 6; 8 for resetting the respective system axis X, Y into the basic position SG of the control system S; S 'and in the present case each by means of an upper end 5a1, 6a1; 7a1, 8a1 of a longitudinal axis 5a, 6a; 7a, 8a connected.
  • the elements 5, 6, 7, 8 in the present case are essentially cylindrical, with the central axes 5a, 6a, 7a, 8a of the elements 5, 6, 7, 8 in the shown basic position SG of the control system S each parallel to one another and parallel to the first system axis Z and each perpendicular to the system axes X, Y are arranged.
  • Measuring devices 9 (Spring Based LC-tank for X-Axis position measurement") and 10 ("Spring Based LC-tank for Y-Axis position measurement") arranged on the second X and on the third system axis Y by means of connections 3c and 4c are also cylindrical in the present case, the central axes 9a and 10a being arranged perpendicular to the second X and the third system axis Y in the basic position SG shown.
  • the measuring devices 9; 10 are for measuring the position of the second and / or the third system axis X; Y and connected to these in each case by means of an upper end 9a1, 10a1 of a longitudinal axis 9a, 10a.
  • the actuator elements 5; 7 each have a smaller distance from the reference point 2 than the restoring elements 6 arranged on the same system axis X, Y; 8 and measuring devices 9; 10.
  • the restoring elements 6; 8 each have a smaller distance from the reference point 2 than the measuring devices 9 arranged on the same system axis X, Y; 10.
  • the further a point to be considered is located on the respective system axis X, Y from reference point 2, the greater the deflection that the respective point experiences when the system axis X, Y is pivoted.
  • this also applies to the connection points 3a, 3b, 3c, 4a, 4b, 4c.
  • the arrangement of the actuator elements 5, 7 shown has the advantage that the path that has to be covered by the actuator element 5, 7 in order to actively move the system axes X, Y is small and can be compensated for by a correspondingly high torque, for example.
  • the risk of a measurement error when determining the degree of deflection of the system axes X, Y by the measuring devices 9 is reduced; 10, because due to their relatively large distance from the reference point 2 there is a relatively high deflection of the system axes X, Y at the respective connections 3c, 4c and the measurement error has less of a percentage effect.
  • the arrangement shown of the restoring elements 6; 8, on the other hand, is a successful compromise.
  • connections 3a, 3b, 3c and 4a, 4b, 4c between the elements 5, 6, 7, 8, 9, 10 and the second system axis X or the third system axis Y are designed so that with an inclination of the respective system axis X, Y the axes 5a, 6a, 9a or 7a, 8a, 10a of the elements 5, 6, 9 or 7, 8, 10 directly connected to this system axis X, Y downwards or upwards be moved.
  • the elements 5, 6, 7, 8, 9, 10 are thus connected in parallel to the control lever element 1, with the respective lower end 5a2, 6a2, 7a2, 8a2, 9a2, 10a2 of the axes 5a, 6a, 7a, 8a, 9a, 10a a fixed bearing is arranged in the present case.
  • the elements 6, 8 serve to provide a passive restoring force to restore the initial position or basic position SG of the control lever element 1.
  • the elements 5, 7 serve to provide an active force for the programmed movement of the control lever element 1.
  • the elements 9 , 10 are used to measure the position with regard to the degree of pivoting of the control lever element 1 from its basic position SG.
  • control system S, S 'according to the invention is therefore characterized by a high degree of compactness.
  • control system S ' corresponds to the structure of the control system S according to Fig. 2a , although no measuring devices 9, 10 can be seen.
  • the measuring devices 9, 10 not as in Fig. 2a shown parallel to the elements 6, 8, but in series with these elements 6, 8, so for example below the actuator elements 6, 8 are arranged, wherein the same longitudinal axis can be used for both elements 5 and 9 or 7 and 10.
  • the measuring devices 9, 10 in series with the elements 5 and 7, for example below these elements 5 and 7.
  • the measurement results of the elements 9, 10 can thus be used as input signals 12 ′, 12 ′′ (illustrated schematically in FIG Fig. 2a ) the basis for the control of the system axes X, Y or the control lever element 1 by the actuator elements 6, 8 by means of suitable output signals 56 (see Figure 5a ) be through the higher-level control device CU.
  • FIG. 3 shows the structure of the restoring element 6 from FIG Fig. 2a , wherein the restoring element 8 can also be constructed as described below.
  • the restoring element 6 essentially comprises a sliding rod 31 ("sliding rod”), which forms the longitudinal axis 6a of the restoring element 6 and inside a hollow cylindrical one Housing 33 (“Housing”) and is arranged movably mounted to this housing 33 along its longitudinal axis 31a.
  • Both elements 31, 33 are cylindrical in the present case, with central axes or longitudinal axes 31a, 33a of the elements 31, 33 being aligned.
  • a spring 34 in the form of a spiral spring or compression spring under preload ("preloaded spring") between a second upper 32a and a second lower disk 32b or rings ("ring”) arranged.
  • the housing 33 has an upper 36a and a lower end face 36b, the second upper disk 32a being arranged in contact with an interior of the upper end face 36a and a second lower disk 32b with an interior of the lower end face 36a.
  • first upper disk 35a and a first lower disk 35b are rigidly connected to the rod or slide rod 31 with this slide rod 31 and limit the movement of the slide rod 31 to the housing 33.
  • the first upper disk 35a is adjacent to the second upper disk Disk 32a and the first lower disk 35b adjacent to the second lower disk 32b each on a side of the second disk 32a adjacent to them facing away from the compression spring 34; 32b are arranged.
  • the first upper disk 35a is arranged in contact with the second upper disk 32a and the first lower disk 35b is arranged in contact with the second lower disk 32b.
  • the present arrangement ensures that the second upper disk 32a presses the spring 34 further together by a movement of the slide rod 31 downwards z32. Analogously to this, a movement of the slide rod 31 upward z31 causes the second lower disk 32b to compress the spring 34. These movements can in turn by the movement of the control lever element (reference number 1 from Fig. 2 ) caused.
  • the preload pushes the spring 34 apart again; that is, the spring 34 relaxes within the space between the second upper 32a and the second lower disk 32b and pushes the rod 31 upwards again via the connection between the upper disks 32a, 35a and the lower disks 32b, 35b below z32.
  • the control lever element reference number 1 from Fig. 2
  • Fig. 4 shows the structure 41 of a measuring system or a measuring device 9 for determining the position of the pivot lever element 1 according to FIG Fig. 2a , wherein the measuring system or the measuring device 10 can also be configured in this way.
  • the following description for the measuring devices 9, 10 according to FIG Figure 2b hold true.
  • the measuring device 9 comprises a circuit with a coil 43 (“Conductive Coil (Inductor)”), which has a variable length 1 ′ and an inductance L.
  • the coil 43 is in the form of a helical spring.
  • a capacitor 42 connected in series with the coil 43 (“capacitor”) with capacitance C is arranged.
  • the displacement or compression 45 (“Mechanical Deformation of the Conductive Coil") of this coil 43 designed as a spring functions analogously to the displacement or compression of the spring with the character 34 from FIG Fig. 3 so that in particular the displacement of the coil 43 relative to a housing (not shown) can be determined by means of suitable sensors 44 (“detectors”). In particular, it can also be determined (for example by arranging two sensors) whether the compression of the coil 43, i.e. the change in length ⁇ l 'of the coil 43, is caused by moving the upper end of the coil 43 downwards or by moving the lower end of the coil 43 upwards. This in turn allows conclusions to be drawn about the direction in which the control lever element 1 connected to the measuring device 9 is pivoted.
  • a compression of the coil 43 also causes a change .DELTA.L in the inductance L of the coil 43, from which, given a known capacitance C, a change in the resonance frequency f 0 can be inferred.
  • This determination of the change in the resonance frequency f 0 thus ultimately allows the position or the change in position of the control lever element 1 to be determined.
  • the measuring device 9 and its electrical oscillating circuit LC comprises at least one sensor 44, by means of which the change ⁇ l 'in the length l' of the coil 43 can be detected directly or indirectly, for example via the change ⁇ L in the inductance L, and via a corresponding second signal 46 can be transmitted to a superordinate control device CU of the control system S shown.
  • the passive reset system can be supported by an active force supply system.
  • the associated actuator element 5 can be configured, for example, in the form of a magnetic drive element M, as in accordance with FIGS Figures 5a, 5b and 5c illustrated.
  • the Figure 5a a top view
  • Figure 5b a cross-sectional view through the in Figure 5a level and illustrated according to arrows AA
  • Figure 5c a perspective view of the magnetic drive element M.
  • a cylindrical permanent magnet 51 (“permanent magnet”) is arranged within a non-magnetic carrier 53 (“non magnetic carrier”) adjacent to magnetic material 52 (“magnet flux optimisation (magnetic material)”).
  • a magnetic ring 54 (“magnetic ring”) is arranged around the non-magnetic carrier 53.
  • a coil 55 in the form of electrically conductive windings (“circular electrically conductive windings”) is arranged on the non-magnetic carrier 53.
  • the magnet 51 is arranged so as to be movable relative to the coil 55 surrounding it concentrically and is rigidly connected to a longitudinal axis 5a, not shown, of the actuator element 5.
  • the position of the magnet 51 can be changed at least in the direction of the longitudinal axis 5a of the actuator element 5 and elements connected to it.
  • a shaft is arranged on the magnet 51 or in the interior of the bore arranged in the magnet 51 and is rigidly connected to the magnet 51.
  • This shaft can, like the axes 5a, 7a, according to FIG Figures 2a / 2b be arranged. A movement of the magnet 51 can thus be transmitted to the axes 5a, 7a and thus to the control lever element 1 as described above.
  • movements of the actuator element 5 along the respective longitudinal axis 5a can be carried out in a programmable manner by means of a corresponding first signal 56 of the control device CU of the control system S by means of a control of the current intensity.
  • Fig. 6 shows a possible course of the torque T '("Torque") as a function of the adjustment path x ("Travel") or the pivoting path of the control lever element 1 using a diagram with the axes T for torque and x for adjustment path. In the present case, for the sake of simplicity, the latter is to be equated with a pivoting angle of the control lever element 1.
  • the torque limits T * min, T * max of the present arrangement are shown, namely a minimum torque T * min to be applied (“minimum application torque”) and a maximum torque T * max to be applied (“maximum application torque”).
  • minimum application torque a minimum torque T * min to be applied
  • maximum application torque a maximum torque T * max to be applied
  • the latter corresponds to at least twice the breakaway torque Tbo ("break-out torque"), ie the maximum torque required to separate an existing adhesive connection.
  • break-out torque breakaway torque
  • a value known from practice for this breakaway torque is typically 1.5 Nm.
  • the torque T increases with a high slope m2 up to a maximum value Tmax, and then drops with a negative slope m3, which is also high in terms of its magnitude, down to a torque Tmin, which in the present case is the lowest value within the example curve T ' having.
  • the torque then increases again with a steep slope m4.
  • the active force system is programmed in such a way that, depending on the distance covered x or depending on the current section of the path, it either actively opposes the driver with force (see passages with inclines m2, m4) or actively supports the driver (see passages with Gradients m3).
  • this serves to warn the driver of a danger (as described above); however, it can also be a kind of information for him to indicate by means of the abrupt change in torque that a first work level is now left when a first travel range is left and a second work level is started when a second travel range is entered. For him, for example, this means that the lights on the excavator are or must be switched on.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Control Devices (AREA)

Claims (11)

  1. Système de commande (S; S') pour véhicules, en particulier véhicules utilitaires, comportant un élément levier de commande (1) disposé le long d'un premier axe de système (Z), le premier axe de système (Z) étant relié de façon rigide avec un deuxième axe de système (X) et un troisième axe de système (Y) en un point de référence (2), le deuxième axe de système (X) et le troisième axe de système (Y) étant disposés de façon rigide l'un par rapport à l'autre, le système de commande (S ; S') pouvant être dévié autour du point de référence (2) au moyen d'une rotation à partir d'une position de base (SG) du système de commande (S ; S'),
    caractérisé par le fait qu'
    au moins un élément actionneur (5 ; 7) pour le déplacement actif de l'axe de système respectif (X, Y) et au moins un élément de rappel (6 ; 8) pour le rappel de l'axe de système respectif (X, Y) dans la position de base (SG) du système de commande (S ; S') sont reliés directement avec au moins l'un du deuxième (X) ou troisième (Y) axe de système, à chaque fois au moyen d'une extrémité supérieure (5a1, 6a1 ; 7a1, 8a1) d'un axe longitudinal (5a, 6a ; 7a,8a).
  2. Système de commande (S ; S') pour véhicules selon la revendication 1,
    caractérisé par le fait que
    le premier (Z), le deuxième (X) et le troisième (Y) axe de système sont disposés à chaque fois perpendiculairement l'un à l'autre.
  3. Système de commande (S') pour véhicules selon l'une des revendications 1 ou 2,
    caractérisé par le fait qu'
    au moins un dispositif de mesure (9 ; 10) pour la mesure de la position du deuxième et/ou troisième axe de système (X ; Y) est relié avec au moins l'un du deuxième (X) ou troisième (Y) axe de système, à chaque fois au moyen d'une extrémité supérieure (9a1, 10a1) d'un axe longitudinal (9a, 10a).
  4. Système de commande (S') pour véhicules selon l'une des revendications précédentes,
    caractérisé par le fait qu'
    au moins l'un des axes longitudinaux (5a; 6a; 7a; 8a; 9a; 10a) avec l'axe de système respectif (X ; Y) relié avec eux est relié de façon rigide en ce qui concerne un déplacement de translation le long dudit au moins un axe longitudinal (5a ; 6a ;
    7a ; 8a ; 9a ; 10a) et relié de façon mobile en ce qui concerne un déplacement de rotation autour de l'axe de système respectif (X ; Y) relié avec eux.
  5. Système de commande (S ; S') pour véhicules selon l'une des revendications 3 ou 4,
    caractérisé par le fait que
    dans une position de base (XG) du deuxième axe de système (X), les axes longitudinaux (5a ; 6a ; 9a) de l'élément actionneur (5), de l'élément de rappel (6) et du dispositif de mesure (9) reliés avec le deuxième axe de système (X) sont disposés à chaque fois parallèlement l'un à l'autre et/ou perpendiculairement au deuxième axe de système (X).
  6. Système de commande (S ; S') pour véhicules selon l'une des revendications 3 à 5,
    caractérisé par le fait que
    dans une position de base (YG) du troisième axe de système (Y), les axes longitudinaux (7a ; 8a ; 10a) de l'élément actionneur (7), de l'élément de rappel (8) et du dispositif de mesure (10) reliés avec le troisième axe de système (Y) sont disposés à chaque fois parallèlement l'un à l'autre et/ou perpendiculairement au troisième axe de système (Y).
  7. Système de commande (S ; S') pour véhicules selon l'une des revendications précédentes,
    caractérisé par le fait que
    le premier (5) et/ou le second (7) élément actionneur sont réalisés en tant qu'élément d'entraînement magnétique (M), lequel comporte un aimant (51) disposé mobile par rapport à une première bobine (55) et relié de façon rigide avec l'axe longitudinal (5a ; 7a) de l'élément actionneur (5 ; 7), une position de l'aimant (51) par rapport à la première bobine (55) l'entourant de façon concentrique étant modifiable au moyen d'une modification d'une intensité de courant d'un courant traversant la première bobine (55) au moins en direction de l'axe longitudinal (5a ; 7a) de l'élément actionneur (5 ; 7).
  8. Système de commande (S ; S') pour véhicules selon l'une des revendications précédentes,
    caractérisé par le fait que
    le premier (5) et/ou le second (7) élément actionneur sont aptes à être commandés au moyen d'un premier signal correspondant (56) d'un dispositif de commande (CU) du système de commande (S ; S').
  9. Système de commande (S ; S') pour véhicules selon l'une des revendications précédentes,
    caractérisé par le fait que
    le premier (6) et/ou le second (8) élément de rappel comportent une tige coulissante (31) formant l'axe longitudinal (6a ; 8a) de l'élément de rappel (6 ; 8), laquelle est montée déplaçable le long de son axe longitudinal (31a) à l'intérieur d'un boîtier cylindrique creux (33), où, dans la position initiale (SG) du système de commande [S ; S'] à l'intérieur du boîtier (33), une seconde plaque supérieure (32a) et une seconde plaque inférieure (32b), entre lesquelles un ressort de compression (34) est disposé sous précontrainte, sont disposées à chaque fois en contact avec le boîtier (33), et où une première plaque supérieure (35a) adjacente à la seconde plaque supérieure (32a) et une première plaque inférieure (35b) adjacente à la seconde plaque inférieure (32b) sont disposées à chaque fois sur un côté, tourné à l'opposé du ressort de compression (34), de la seconde plaque (32a ; 32b) qui leur est adjacente, où la première plaque supérieure (35a) et la première plaque inférieure (35b) sont reliées de façon rigide avec la tige coulissante (31).
  10. Système de commande (S ; S') pour véhicules selon la revendication 9,
    caractérisé par le fait que
    le boîtier (33) présente une face frontale supérieure (36a) et une face frontale inférieure (36b), la seconde plaque supérieure (32a) étant disposée en contact avec un intérieur de la face frontale supérieure (36a) et une seconde plaque inférieure (32b) étant disposée en contact avec un intérieur de la face frontale inférieure (36a), et où, dans une position de base (6G ; 8G) de l'élément de rappel (6 ; 8), la première plaque supérieure (35a) est disposée en contact avec la seconde plaque supérieure (32a) et la première plaque inférieure (35b) est disposée en contact avec la seconde plaque inférieure (32b).
  11. Système de commande (S ; S') pour véhicules selon la revendication 3 ou l'une des revendications 4 à 10 en combinaison avec la revendication 3,
    caractérisé par le fait que
    le premier (9) et/ou le second (10) dispositif de mesure comportent un circuit oscillant électrique (LC), lequel présente au moins un capteur (44), une seconde bobine (43) avec une longueur variable (l') et un condensateur (42) connecté en série avec la seconde bobine (43), une modification (Dl') de la longueur (l') de la seconde bobine (43) étant détectable directement ou indirectement au moyen du capteur (44) et étant transférable au dispositif de commande (CU) du système de commande (S, S') par l'intermédiaire d'un second signal correspondant (46).
EP16168831.2A 2015-05-11 2016-05-10 Systeme de commande pour vehicules Active EP3096197B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102015107364 2015-05-11
DE102016108472.7A DE102016108472B4 (de) 2015-05-11 2016-05-09 Steuersystem für Fahrzeuge

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EP3096197A2 EP3096197A2 (fr) 2016-11-23
EP3096197A3 EP3096197A3 (fr) 2017-02-08
EP3096197B1 true EP3096197B1 (fr) 2020-11-25

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2020208601A1 (fr) * 2019-04-11 2020-10-15 Walvoil S.P.A. Appareil de commande modulaire pour actionner des systèmes de vanne hydraulique
IT202000023773A1 (it) * 2020-10-08 2022-04-08 Walvoil Spa Apparecchiatura di comando per l’azionamento di sistemi idraulici valvolari
EP3992749A1 (fr) 2020-10-08 2022-05-04 Walvoil S.p.A. Element de contrôle pour opérer des systèmes de valves hydrauliques
IT202000023860A1 (it) 2020-10-09 2022-04-09 Walvoil Spa Apparecchiatura di comando per l’azionamento di sistemi idraulici valvolari

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US3277248A (en) * 1965-07-19 1966-10-04 Western Electric Co Switch control unit with improved pivot arm actuator structure
US20060055671A1 (en) * 1997-03-14 2006-03-16 Avix Inc. Input device for improving man-machine interface

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US5805140A (en) * 1993-07-16 1998-09-08 Immersion Corporation High bandwidth force feedback interface using voice coils and flexures
FR2888009B1 (fr) * 2005-06-30 2007-09-07 Dassault Aviat Dispositif de commande comportant deux manches couples pour permettre de placer des organes commandes dans des positions souhaitees
US8087619B2 (en) * 2008-07-30 2012-01-03 Honeywell International, Inc. Active control stick assembly including traction drive

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Publication number Priority date Publication date Assignee Title
US3277248A (en) * 1965-07-19 1966-10-04 Western Electric Co Switch control unit with improved pivot arm actuator structure
US20060055671A1 (en) * 1997-03-14 2006-03-16 Avix Inc. Input device for improving man-machine interface

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Publication number Publication date
EP3096197A3 (fr) 2017-02-08
EP3096197A2 (fr) 2016-11-23

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