Classifications

• • G—PHYSICS
  • G06—COMPUTING; CALCULATING OR COUNTING
  • G06F—ELECTRIC DIGITAL DATA PROCESSING
  • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
  • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
  • G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
  • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
  • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
  • B60K35/10—Input arrangements, i.e. from user to vehicle, associated with vehicle functions or specially adapted therefor
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
  • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
  • B60K35/20—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor
  • B60K35/25—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor using haptic output
• • 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
  • G06—COMPUTING; CALCULATING OR COUNTING
  • G06F—ELECTRIC DIGITAL DATA PROCESSING
  • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
  • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
  • G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
  • G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
  • G06F3/0362—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of 1D translations or rotations of an operating part of the device, e.g. scroll wheels, sliders, knobs, rollers or belts
• • G—PHYSICS
  • G06—COMPUTING; CALCULATING OR COUNTING
  • G06F—ELECTRIC DIGITAL DATA PROCESSING
  • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
  • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
  • G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
  • G06F3/0484—Interaction techniques based on graphical user interfaces [GUI] for the control of specific functions or operations, e.g. selecting or manipulating an object, an image or a displayed text element, setting a parameter value or selecting a range
  • G06F3/0485—Scrolling or panning
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
  • B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
  • B60K2360/11—Instrument graphical user interfaces or menu aspects
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
  • B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
  • B60K2360/126—Rotatable input devices for instruments
• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
  • G05G1/00—Controlling members, e.g. knobs or handles; Assemblies or arrangements thereof; Indicating position of controlling members
  • G05G1/08—Controlling members for hand actuation by rotary movement, e.g. hand wheels

Definitions

• the present invention relates to a control interface for a motor vehicle for transmitting a haptic feedback to a user to inform him of the taking into account of a command.
• the invention also relates to a method of controlling said haptic feedback control interface.
• the haptic feedback generated for example by the user manipulating a wheel is generally composed of resistance forces of variable values, creating hard points and bearings, corresponding to different commands for the devices controlled via the interface.
• the haptic feedback is advantageous in the car because it requires little attention from the driver.
• Interfaces having a magnetorheological fluid capable of creating a braking force to a rotating element in the fluid when a magnetic field is applied to the fluid because the viscosity of the magnetorheological fluid changes with the intensity of the fluid. magnetic field applied.
• the magneto-rheological fluids can thus generate a braking force on the rotating element immersed in the fluid.
• the fluidity increases or decreases, the user perceiving a change of effort.
• the intensity of the magnetic field may have a slot shape for which the intensity is zero or low except at the indexing positions where this intensity is strong so as to create a significant resistance force to the passage of an indexed position. It is when he perceives the maximum value that the user stops his rotation or identifies a command position.
• One of the aims of the present invention is to improve the haptic feeling of the indexing so that it gives the illusion to the user to manipulate a conventional mechanical button, especially when the user manipulates the button after a period of time. immobilization, out of an indexed position.
• the present invention relates to a control interface to haptic feedback for a motor vehicle comprising:
• a magneto-rheological fluid module comprising a movable element, a magnetorheological fluid in contact with the movable element and a unit for applying a magnetic field configured to apply a magnetic field to the magnetorheological fluid and to modify the intensity of the magnetic field applied in order to generate a haptic feedback to the user displacing the mobile element by modifying the magnetic field applied to the magnetorheological fluid, and
• a processing unit connected to the unit for applying a magnetic field, configured to drive the unit for applying a magnetic field in order to index at least one position of the mobile element by generating a force braking to the moving element according to a programmed effort pattern
• a stop sensor for detecting a stopping position of the movable member
• the processing unit is connected to the stop sensor and configured to shift the programmed effort pattern relative to the stopping position of the movable element.
• the user moves the movable element again, he can for example perceive a force pattern corresponding to exiting an indexed position, as if he had stopped in a stable position indexed and had remained in this stable position or as if the movable element had itself reached the stable indexing position following or preceding an unstable stop position.
• This reinitialization of the programmed effort pattern makes it possible in particular for the user not to perceive intermediate forces, other than an indexed position, such as relating to the remainder to be traveled of a programmed effort reason interrupted before its complete execution.
• the offset of the haptic pattern is all the more interesting that the programmed effort pattern is hard, as it may be the case for example for a rotary element whose indexing has twenty notches on a rotation of 360 ° . The feeling thus approaches that of a mechanical indexing having stable positions indexing positions.
• the offset of the programmed effort pattern as a function of the stopping position of the movable element makes it possible to improve the coherence between the haptic feeling and the display if appropriate. Indeed, by simulating the tilting of the mobile element in indexed position, the feeling of indexing becomes consistent with the display for which a graphic element can only be selected / modified, or not. Indeed, an indexed position generally corresponds to a discrete state for a list or for a value (even very small). In the opposite case, the position is not generally notched.
• the processing unit is configured to shift the programmed effort pattern when the stop position is different from an indexed position
• the processing unit is configured to shift the programmed effort pattern so that the stop position coincides with an indexed position
• the programmed effort pattern is shifted so that the stop position coincides with the indexed position closest to the stop position
• the processing unit is configured so that:
• the programmed effort pattern is shifted so that the position of stop coincides with the next indexed position
• the programmed effort pattern is shifted so that the stop position coincides with the previous indexed position
• the processing unit is configured to shift the programmed effort pattern according to a kinematic parameter which precedes the stopping of the movable element
• a moving speed of the movable element less than 15 ° / s is a stop
• the stop sensor comprises a position sensor and / or a speed and / or contact and / or force sensor
• the mobile element is rotatable
• control interface comprises a display device for displaying at least one command to the user and the processing unit is configured to control the scrolling of the display of successive commands on the display device and / or to change the value of a parameter, such as a choice of an index in a list, sound volume, temperature or control of the gearbox, displayed on the display device.
• a parameter such as a choice of an index in a list, sound volume, temperature or control of the gearbox
• the subject of the invention is also a method of controlling an interface of control as described above, characterized in that indexes at least one position by generating a braking force to the rotating element according to a programmed effort pattern and shifts the programmed effort pattern relative to a position d stopping of the movable element, when the stopping of the movable element is detected.
• the programmed force pattern is shifted when the stopping position is different from an indexed position
• the effort pattern programmed is shifted so that the stop position coincides with an indexed position
• the effort pattern programmed is shifted so that the position of stop coincides with the next indexed position
• the programmed effort pattern is shifted according to a kinematic parameter which precedes the stopping of the movable element.
• the movable element is movable in translation and the offset of the programmed effort pattern is linear or the movable element is rotatable and the offset of the programmed effort pattern is angular.
• FIG. 1 represents a schematic view of elements of a haptic feedback control interface for a motor vehicle
• FIG. 2 represents an example of a programmed effort pattern in Nm as a function of the angular position of a moving element in clockwise rotation and a first example of an offset programmed effort pattern
• FIG. 3 represents a second example of offset. the programmed effort pattern
• FIG. 1 represents a control interface 1 with a haptic feedback for a motor vehicle, for example mounted in the dashboard or in a central console of the vehicle, for controlling on-board vehicle systems such as the air-conditioning system, radio system, music, telephone, ventilation or navigation.
• a haptic feedback for a motor vehicle, for example mounted in the dashboard or in a central console of the vehicle, for controlling on-board vehicle systems such as the air-conditioning system, radio system, music, telephone, ventilation or navigation.
• the control interface 1 comprises a magneto-rheological fluid module 3 and a processing unit 18.
• the magneto-rheological fluid module 3 comprises a mobile element 6, mobile in rotation or translation, a magnetorheological fluid 7 in contact with the mobile element 6 and a magnetic field application unit 4.
• the magnetic field application unit 4 is configured to supply a coil 8 with current and modify the supply in order to apply a magnetic field to the magnetorheological fluid 7 and to modify the intensity of the magnetic field applied to generate a haptic feedback to the user moving the movable element 6 by modifying the magnetic field applied to the magnetorheological fluid 7.
• the mobile element 6 is rotatable.
• the magnetorheological fluid module 3 may comprise a gripping element 5, integral with the movable element 6, that is to say rigidly connected to the movable element 6.
• the gripping element 5 is for example made of material with the movable member 6 or clipped on the movable member 6 or fixed by pin or by any other known fastening means.
• the gripping element 5 can be coupled to the movable element 6 via a gear system, chains, belts or any other mechanical means for ensuring a coupling between the gripping element 5 and the movable element 6.
• a haptic feedback is generated to the user who moves the movable element 6, for example via the gripping element 5, by modifying the magnetic field applied to the magnetorheological fluid 7.
• haptic refers to a return by the touch, such as a variable resistance force.
• the magnetorheological fluid 7 has the property that its viscosity varies under the effect of a variable magnetic field.
• the resistance force induced by the magnetorheological fluid 7 is low when no magnetic field is applied and becomes more and more important when the intensity of the magnetic field increases.
• Magnetorheological fluids can thus be used as magneto-rheological brakes.
• the application of a niche-shaped intensity makes it possible to create hard points generating indexing positions for which the intensity is more or less important.
• the magnetic field created by a coil being proportional to the current flowing through it, it is possible to vary the intensity of the magnetic field created in the center of the coil 8 by varying the supply of the coil 8.
• the variation of the intensity of the magnetic field applied to the magnetorheological fluid 7, makes it possible to vary the viscosity of the fluid, and thus the resistance force exerted by the fluid. It is thus possible to vary or modulate the force with which the mobile element 6 can be moved to generate a haptic feedback specific to the user handling the mobile element 6.
• the control interface 1 may further include a position sensor 20, configured to measure the position of the movable member 6, such as the angular position in the illustrated case of a rotating movable member 6. It may for example comprise an encoder, such as an optical encoder or a piezoelectric device. The position sensor 20 may be located at different locations near the movable member 6.
• the magnetorheological fluid module 3 comprises a base 9 having a generally cylindrical shape extending along an axis of rotation Z of the module 3, closed at one of its ends. by a fixed central axis 10 oriented along the axis of rotation Z, defining an annular cavity 11.
• the rotary element 6 is rotatably mounted on the fixed base 9, around the axis of rotation Z.
• the cavity 11 is intended to receive on the one hand the magnetorheological fluid 7 and on the other hand an end of the rotary element 6.
• the rotary element 6 is then partially immersed in the magneto-rheological fluid 7.
• the base 9 also has an annular housing 12 which at least partially surrounds the cavity 11.
• the annular housing 12 receives one or more coil (s) 8 which, together with its (their) power supply (s) (not shown), forms the unit for applying a magnetic field 4 to the magnetoid fluid. rheological 7.
• the resistance force applied by the magnetorheological fluid 7 to the rotary element 6 varies as a function of the fluid surface in contact with the rotary element 6.
• the magnetorheological fluid 7 may comprise a plurality of cylindrical and concentric end walls 13 extending along the axis of rotation Z and facing complementary walls extending from the bottom of the cavity 11.
• the base 9 comprises a complementary wall 14, which is interposed between the end walls 13 of the rotary element 6 to increase the facing surfaces between the rotary element 6 and the base 9 and thus increase the force torque that can be exerted on the rotary element 6 with a given power supply.
• the magnetorheological fluid module 3 further comprises seals 16, for example interposed on the one hand, between the cavity 11 and a cover 15 closing the cavity 11 and, on the other hand, between the cavity 11 and a shoulder of the rotating element 6.
• the seals 16 seal to prevent leakage of the magnetorheological fluid 7 out of the cavity 11.
• the lid 15 also comprises a housing receiving a bearing or ball bearing 17 which ensures the connection in rotation between the base 9 and the rotary element 6.
• the processing unit 18 is connected to the application unit of a magnetic field 4, and for example to the position sensor 20.
• the processing unit 18 is configured to drive the application unit of a magnetic field 4 to index at least one position of the movable member 6 by generating a braking force to the movable member 6 according to a programmed effort pattern C1.
• the programmed effort pattern C1 defines a predetermined braking force profile as a function of the position of the movable element 6 over a moving range of the movable element 6.
• An indexing thus comprises a plurality of force patterns programmed successive scrolling with the displacement of the movable member 6, they may be separate or similar.
• the intensity of the magnetic field may have a slot shape in which the intensity is zero or low except at indexing positions where this intensity is strong so as to create a significant resistance force to the passage of positions indexing.
• the intensity of the magnetic field increases or decreases gradually in a curve at least partially sinusoidal.
• the intensity has, for example, a quarter-sine shape at each indexing position.
• Other patterns or resistance strength profiles depending on the position are also possible, for example triangular or sawtooth profiles distributed around the indexing positions, so that they are perceived as a progressive hard point. overcome.
• the control interface 1 may further comprise a display device 22, such as a screen, for displaying at least one command to the user.
• the processing unit 18 is then configured to control the scrolling of the display of successive commands on the display device 22, for example as a function of the position of the mobile element 6 provided by the position sensor 20.
• Scroll control means the control of the scrolling speed and / or the acceleration of the scrolling and / or the stopping of the scrolling of the successive commands displayed.
• the processing unit 18 allows the user, for example, to select an item from a menu displayed on a screen of the display device 22, such as an item in a list of telephone contacts or pieces of music.
• the processing unit 18 may further be configured to change the value of a parameter displayed on the display device 22, such as a choice of an index in a list or such as the adjustment of the sound volume or the temperature, or such as the control of the gearbox, for example depending on the position of the movable element 6 provided by the position sensor 20.
• a parameter displayed on the display device 22 such as a choice of an index in a list or such as the adjustment of the sound volume or the temperature, or such as the control of the gearbox, for example depending on the position of the movable element 6 provided by the position sensor 20.
• the interface 1 further comprises a stop sensor connected to the processing unit 18 for detecting the stopping position of the mobile element 6.
• a stop position corresponds to the immobilization of the movable element 6 or its very slow displacement, that is to say at a displacement speed for example less than 15 ° / s.
• the stop can be detected by measuring the speed of the movable element 6 and / or the braking force and / or by measuring the displacement of the movable element 6 and / or by the absence of contact of the movable element 6 or the gripping element 5.
• the stop sensor comprises, for example, the position sensor 20 and / or a speed and / or contact sensor 26 and / or a force sensor 21.
• the contact sensor 26 comprises for example a capacitive sensor placed at the level of the gripping element 5 as represented in FIG. 1. According to its configuration, the capacitive sensor can detect a finger of the user when the latter touches the gripping element 5.
• the contact sensor 26 may also comprise a resistive type contact sensor placed at the level of the gripping element 5 which makes it possible to detect the touch of the user at the level of the gripping element 5.
• the contact sensor 26 may also be an optical sensor, for example an infrared sensor located at the level of the gripping element 5 and making it possible to detect the touch of the user or an optical sensor, such as a camera whose field includes the gripping element 5.
• the camera (not shown) is for example located at the ceiling of a motor vehicle and is oriented towards the central console comprising the control interface 1 with the magneto fluid module 3.
• the camera is coupled to a processing unit comprising an image analysis software which makes it possible to detect the touch of the gripping element 5.
• the speed sensor is configured to measure the moving speed of the movable member 6.
• the speed sensor for example, uses the signals from the position sensor 20 and measures the associated flow of time.
• the force sensor 21 makes it possible to measure the force exerted on the mobile element 6, for example by a piezoresistive, capacitive, resistive or any other technology known to those skilled in the art for detecting a force variation such as, for example strain gauges, etc.
• the force sensor 21 may also be used to trigger the supply of the application unit 4 and / or to determine the haptic feedback pattern to be applied depending on the direction of movement of the mobile element 6.
• the force sensor 21 comprises for example at least one torque sensor.
• the torque sensor can for example provide a signal, such as an output voltage, representative of a force exerted on the movable element 6. It can also, at the same time, provide a direction of rotation of the movable element 6.
• the torque sensor is therefore configured to provide a signal representative of a direction and / or a force exerted on the movable element 6, this signal can also be used to drive the drive unit. application of a magnetic field 4 and apply the desired haptic feedback.
• the processing unit 18 is configured to shift the programmed effort pattern
• At least one position is indexed by generating a braking force on the rotary element 6 according to a programmed effort pattern C1 and the pattern is shifted programmed force C1 relative to a stopping position of the movable member 6, when the stopping of the movable member 6 is detected.
• the offset of the programmed effort pattern C1 thus makes it possible to reset it, that is to say, to keep the shape of the braking force profile but to move it according to the position of the movable element 6.
• This offset is linear if the movable member 6 is movable in translation and is angular for a rotating movable member 6.
• An indexed position is for example a position of the movable member 6 for which the braking force passes through a maximum or a minimum.
• the processing unit 18 is configured to shift the programmed effort pattern C1 when the off position A; B is different from an indexed position P1, P2.
• the processing unit 18 is configured to shift the programmed effort pattern C1 so that the stop position A, B coincides with an indexed position P1, P2.
• the processing unit 18 is configured to shift the programmed effort pattern C1 so that the stop position A; B coincides with a position of the movable element 6 for which the braking force passes through a minimum or for which the braking force is between a maximum and a minimum, for example for a force value of order of half the difference between the maximum and the minimum.
• the programmed effort pattern C1 comprises a first weak braking force followed by a second strong braking force
• the programmed effort pattern C1 is shifted so that the stop position A; B coincides with the indexed position P1, P2 closest to the stop position A; B.
• the programmed effort pattern C1 is shifted so that the position stop A; B coincides with the indexed position P2,
• the programmed effort pattern C1 is shifted so that the stopping position A; B coincides with the previous indexed position.
• the processing unit 18 is configured to shift the programmed effort pattern C1 as a function of a kinematic parameter which precedes the stopping of the movable element 6.
• the kinematic parameter which precedes the stopping of the mobile element 6 is, for example, the speed of displacement of the mobile element 6 or the number of indexed positions of the mobile element 6, preceding the stopping of the mobile element 6
• the programmed effort pattern C1 is shifted to the same position as long as the moving speed of the movable element 6 is too slow, that is to say less than a movement speed, for example of 15 ° / s.
• the processing unit 18 controls the unit for applying a magnetic field 4 in order to index two positions P1, P2 of the rotating mobile element 6 by a pattern programmed effort C1.
• C1 has two maximums.
• the force increases then decreases gradually forming a first maximum, then increases and decreases gradually forming a second maximum less than the first maximum.
• the first maximum indexes a first angular position P1 and the second maximum indexes a second angular position P2 of the movable member 6.
• the processing unit 18 controls the unit for applying a magnetic field 4 to angularly shift the programmed effort pattern C1 as a function of the position of stop A of the movable element 6.
• the programmed effort pattern C1 is shifted so that, once shifted (stress pattern C2), the stop position A coincides with the indexed position of the nearest programmed effort pattern C1. of the stop position A, that is to say the second angular position P2 in the example.
• the programmed effort pattern C1 is thus angularly offset in the counterclockwise direction by an angular value D1 corresponding to the difference between the second angular position P2 of the second maximum force and the stop position A.
• FIG. 3 Considering in a second example (FIG. 3) that the user starts the rotation of the rotary element 6 from the first angular position P1 to modify the value of a parameter as in the preceding example, but that it stopping the rotation of the movable element 6 after having reached the threshold value of effort of the second maximum indexing the second angular position P2.
• the movable element 6 thus stops for example at the stop position B.
• the processing unit 18 controls the unit for applying a magnetic field 4 to angularly shift the programmed effort pattern C1 as a function of the position of stopping B of the movable element 6.
• the programmed effort pattern C1 is shifted so that, once shifted (force pattern C3), the stop position B coincides with the indexed position closest to the stop position B , that is to say the second position angular P2 in the example.
• the programmed effort pattern C1 is thus angularly offset by an angular value D2 corresponding to the difference between the second angular position P2 of the second maximum force and the stop position B.

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• Engineering & Computer Science (AREA)
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• General Physics & Mathematics (AREA)
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• Chemical & Material Sciences (AREA)
• Combustion & Propulsion (AREA)
• Transportation (AREA)
• Mechanical Engineering (AREA)
• Automation & Control Theory (AREA)
• Mechanical Control Devices (AREA)

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• 2014
  • 2014-11-06 FR FR1402526A patent/FR3028329B1/fr active Active
• 2015
  • 2015-11-04 EP EP15808705.6A patent/EP3215911A1/de not_active Withdrawn
  • 2015-11-04 WO PCT/FR2015/052980 patent/WO2016071634A1/fr active Application Filing

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