EP3924588A1

EP3924588A1 - Door component and method

Info

Publication number: EP3924588A1
Application number: EP20707572.2A
Authority: EP
Inventors: Stefan Battlogg; Mathias Brandl
Original assignee: Inventus Engineering GmbH
Current assignee: Inventus Engineering GmbH
Priority date: 2019-02-11
Filing date: 2020-02-11
Publication date: 2021-12-22
Also published as: JP2022523757A; WO2020165179A1; US20220145689A1; CN113412360B; DE102019121640A1; CN113423910B; US20220149761A1; EP3924586A1; US11828099B2; CN113412360A; CN113423910A; WO2020165187A1

Abstract

The invention relates to a method and a door component (100) for pivoting a movable door leaf (104) for a motor vehicle (200), with a drive device (70) having an electric drive motor (75) for influencing pivoting of the door leaf (104) between a closed position (102) and an open position (103). A position measure (20) for the angular position of the door leaf (104) and a velocity characteristic (22) for the angular velocity (23) of the door leaf (104) are captured by means of a position sensor (19). When the door leaf (104) is pivoted, a setpoint electrical current intensity (24) is determined for the electric drive motor (75) using the velocity characteristic (22) and an associated setpoint voltage (25) is set. Subsequently, the current intensity (26) flowing through the drive motor (75) is determined. The setpoint voltage (25) is increased if the current intensity (26) flowing through the drive motor (75) is less than the setpoint electrical current intensity (24), and the setpoint voltage (25) is decreased if the current intensity (26) flowing through the drive motor (75) is greater than the setpoint electrical current intensity (24).

Description

Door component and procedure

The invention relates to a door component and a method for pivoting a movable door leaf of a door component for a motor vehicle with a drive device with an electric drive motor in order to influence a pivoting of the door leaf at least partially between a closed position and an open position.

In the prior art, there is the door movement of a car door by the driver without assistance (passive mode) and the active door, in which an electric motor moves the door independently. When the mode is active, the door is opened via e.g. B. the spindle unit of the damping unit is actively moved by a drive device (electric motor), the user does not have to apply any additional force. After the movement command from the user, the movement is then started and stopped by the drive device, a brake, e.g. B. the magnetorheological braking unit can support the motor in braking or blocking in an end position.

In passive mode, the entire force to move the door must be applied by the user. An electric motor, if available at all, does not help, nor does it consume any electricity. A z. B. magnetorheological rotary damper brakes or holds the door in the desired position.

In both modes, the braking device can be equipped with sensors

be equipped to position and speed the two To measure connection units relative to each other and to detect obstacles in front of the door and to brake the door before collisions or undesired operating conditions can occur.

It is the object of the present invention to provide a method and a device with which a simple, improved and in particular a more comfortable door opening is made possible.

This object is achieved by the method with the features of claim 1. The device according to the invention is

Subject matter of claim 12. Preferred embodiments and

Further developments are the subject of the subclaims. Further advantages and features are the subject of the subclaims.

A method according to the invention is used for (guided)

Pivoting a movable door leaf of a door component for a motor vehicle with a drive device with at least one electric drive motor in order to influence a pivoting of the door leaf at least partially between a closed position and an open position, with at least one position sensor a position measure for an angular position of the door leaf and a speed index for a

Angular speed of the door leaf can be detected. It is with a pivoting of the door leaf with the

Speed index determines an electrical default current strength for the electric drive motor and an associated default voltage is set. The current strength flowing through the drive motor is then determined. The default voltage is increased when the current flowing through the drive motor is less than the electrical current

Default current. The default voltage is reduced when the current intensity flowing through the drive motor is greater than the electric default current intensity. The invention has many advantages. A significant advantage is that the user has control of the door at all times. The door movement can be "feather-light" practically at any time. The user feels only a very low weight (low moving masses). The door moves almost by itself. Nevertheless, he is always in control and does not have to wait for a slow servomotor, for example The user specifies the speed.

The invention enables a simple, improved and

In particular, a more comfortable door opening with additional sensors that are as costly as possible. Preference is given to using existing sensors and if possible

Inexpensive sensors or measurement methods are added so that the total manufacturing costs do not become too high. It will

in particular makes it possible to dispense with an expensive torque or force sensor in the drive train of the door leaf for recording the door forces.

The "guided mode" differs from the two previously described operating modes (passive; active) from the prior art in that a motor supports the movement desired by the user and thus reduces the effort required by the user. Ideally, the user moves (guides) the door only with the

Fingertips and the combination of drive unit and brake try to keep the necessary leadership / movement force of the user at a constantly low level.

The door leaf can be in simple configurations

Be a door device or be designed as a door leaf connection. In this respect, the term door leaf also includes only a holder or a connection for a door leaf. The door leaf or the door structure of the door leaf does not have to be part of the door component.

The current intensity flowing through the drive motor can also be referred to as the motor current intensity. The current intensity flowing through the drive motor is preferably detected via a resistor arranged in series with the drive motor.

The drive motor is preferably arranged in an H-bridge.

In particular, the preset voltage is regulated via a proportional-integral regulator.

When determining the electrical

Default current for the electric drive motor and / or an associated default voltage the position measure

considered .

In particular, a horizontal alignment of the motor vehicle is taken into account. In particular, a position sensor or a location sensor can be used for this purpose. Different forces occur on the slope than on the plain. For example, forces in hilly San Francisco can be very different depending on whether you park uphill or downhill. The doors on the right / left can also be exposed to different forces on a slope.

At least one value for the spatial position of the motor vehicle is preferably recorded with a position sensor. In particular, with a current sensor, a value for the current strength of the

Drive device determined. Preferably contains one

stored table correction values. Particularly preferably, the position dimension is taken into account when determining the electrical default current intensity and / or an electrical default voltage.

A sensor with satellite support such as GPS or Glosnass etc. is preferably used and map material and online recordings (image recognition) are taken into account. Image recognition is a sub-area of pattern recognition and image processing. In image recognition, one tries to segment objects in an image. These become a symbolic description assigned, but no connections are sought between the objects, as is usual in pattern analysis. The camera systems that are present or installed in vehicles can be used for this (such as for parking aids, the autonomous

Driving ...) or your own cameras can be installed.

A wind sensor can also be used to determine the wind strength.

It is preferred that on request or at periodic intervals automatically a measure for an internal

Movement resistance is determined. As a result, the required support forces for normal cases can be recorded on the level, which are then compensated. Other influences such as the temperature are preferably used in addition in order to adjust the force appropriately.

Preferably with the measure for the internal

Movement resistance carried out a recalibration.

It is advantageous if by means of a sensor or by

Image recognition or a hand sensor a hand recognition

is carried out and the drive device is only activated if a hand of a user is in the immediate vicinity of the door leaf or touches it.

In all embodiments, it is preferred that in a z. B. after dog-initiated pivoting of the door leaf

Detection of the movement a (first) speed index is determined. There will then be a (first) electrical

Specified current strength for the electric drive motor and an associated (first) specified voltage determined. The first)

The default voltage is set. Then the

Drive motor flowing (first) amperage compared with the (first) electrical default amperage. If deviations (in particular greater than 2% or 5%) occur, a (second) specified voltage is preferably changed accordingly. The (second) preset voltage is set higher when the (first) current flowing through the drive motor is smaller and the (second) preset voltage is set lower when the flowing (first) current is higher. This enables the speed to be continuously adjusted.

In particular, a new (second) speed index is determined periodically (at the same or also variable time intervals). It then becomes a (second) electrical one

Specified amperage for the electric drive motor and an associated (second) specified voltage determined. The (second) default voltage is set and dependent on the (second) current intensity flowing through the drive motor

adjusted if necessary.

The preset voltage is preferably set according to a time function. The time function is in each case preferably continuous up to the respective default voltage. The course can be linear. The course can also be one

Correspond to a power function or a sine function or be approximated thereby. Several periods or cycles can elapse before the determined specified voltage is reached.

It is possible and preferred that a cycle for measuring and setting the preset voltage differs from the interval between the measurement of the current intensity flowing through the drive motor. An entire period can contain different numbers of measurements of the current intensity and settings of the default voltage and

Have measurements of the amperage flowing through the drive motor.

In a preferred embodiment, in a method for pivoting a movable door leaf of a door component for a motor vehicle a drive device with an electric drive motor is used to influence a pivoting of the door leaf at least partially between a closed position and an open position. With one

Position sensor a position measure for an angular position of the door leaf and a speed index for a

Movement speed of the door leaf recorded. At a

Pivoting the door leaf with a sensor device, at least one electrical variable of the electric drive motor is detected and taken into account when controlling the electric drive motor so that, for. B. in the case of an at least partially dog-like and / or changed pivoting of the door leaf, the electrical variable induced in the drive motor is detected and then the drive motor is activated accordingly.

Another method according to the invention for pivoting a movable door leaf of a door component for a motor vehicle is with a drive device with an electrical one

Drive motor carried out in order to influence a pivoting of the door leaf by a user, preferably by a user's hand, at least partially between a closed position and an open position.

A position value for an angular position of the door leaf is detected with a position sensor and at least one value for the spatial position of the is obtained with a position sensor

Detected motor vehicle and a value for the current strength of the drive device is determined with a current sensor. A stored table contains correction values. At a

The pivoting of the door leaf controls a control device with the measured values and those stored in the table

Correction values the drive device.

In a preferred development, the user can

Preselect movement forces in the vehicle menu. The drive device is preferably supplemented by a fast-switching braking device and interacts with this via the control device.

The applicant reserves the right to apply for protection for a further procedure. Such a method is used to pivot a movable door leaf of a door component of a motor vehicle.

A drive device with an electric drive motor is used to drive a pivoting of the door leaf by a user, preferably by a user's hand, at least partially between a closed position and a

To influence the opening position. This is done with a

Position sensor detects a position value for an angular position of the door leaf. At least one value for or the spatial position of the motor vehicle is recorded with a position sensor. With a current sensor a value for the current strength of the

Drive device determined. A stored table contains correction values, in particular for the spatial position and / or a position value. When the door leaf is pivoted, a control device is used and these values are used

(Spatial position and / or position value and possibly other values) the door movement is calculated and the drive device is controlled by varying the specified voltage. Especially like that

controlled that the door leaf can be moved by the user with little force. In particular, the forces are low compared to the maximum forces that occur during pivoting. Preferably the powers are in many

Everyday situations low.

A device according to the invention comprises in particular a door component for a vehicle with a drive device with an electric drive motor and two connection units which can be moved relative to one another and which can be adjusted relative to one another by means of the drive motor. One of the two connection units is with a supporting structure and the other is the the two connection units can be connected to a movable door leaf in order to influence a movement of the door leaf at least partially between a closed position and an open position. A position sensor is included with which a position measure for a position of the two connection units relative to one another and a speed index for a movement speed of the two connection units relative to one another can be detected. At least one sensor device is assigned to the electric drive motor, with which at least one current intensity flowing through the drive motor can be detected. The control device is designed and set up to determine an electrical default current intensity for the electric drive motor when the door leaf is pivoted with the speed index and to set an associated default voltage. The control device is designed and set up to use the sensor device to determine the current intensity flowing through the drive motor at the specified voltage. A comparison device is included which is designed and set up for this purpose, which is determined by the

Compare drive motor flowing amperage with the specified amperage. The control device is designed and set up to increase the preset voltage when the current intensity flowing through the drive motor is less than that

electrical default amperage and to reduce the default voltage if the flowing through the drive motor

Amperage is greater than the electrical default amperage.

A vehicle is preferably a motor vehicle and in particular a passenger car (passenger car). It can also be trucks, buses, autonomous vehicles, self-driving taxis, or vehicles, OFF-highway vehicles.

An image recognition system is preferably included with which the near field of the door can be (dynamically) detected.

In particular, the coupling profile is articulated on both sides and designed in its shape in such a way that, despite the changing kinematic conditions, when the door leaf is moved, due to the connecting or

Door leaf pivot and the fastening points of the drive unit is always (almost) in the middle (in particular with a deviation of less than +/- 25%, preferably less than +/- 10%) in the cutout.

The position sensor (position sensor) and the sensor device are preferably read out periodically and in particular the data are recorded periodically. A frequency of data acquisition is in particular> 10 Hz and preferably> 100 Hz and particularly preferably greater than> 1 kHz and can be 10 kHz or

exceed .

The motor current intensity is preferably detected when the position dimension for the angular position of the door leaf changes (by a predetermined amount). It is also possible that

Motor current to be recorded continuously and periodically.

In all of the configurations, the control device is preferably assigned at least one storage device.

In particular, at least one table is stored in the memory device. Correction values for different environmental conditions can be found in the table or tables

as well as the kinematics of the door

(Hinge distances, articulation points ...). One is possible

Interpolation of the data in a table. It is also possible to store parameters of a function in the table so that a function or different functions can be used for adaptation.

A table with position data (inclination in longitudinal and transverse directions) is preferably available or calculation rules for inclination angles are stored. A braking device is preferably included. The

Braking device is particularly active at least in the end positions or at angular speeds that exceed a predetermined value.

At least one position sensor is preferably included. In particular, at least one angle sensor for detecting an inclination about the longitudinal axis and / or the transverse axis.

In all configurations, it is preferred that the

Drive device supports the manual force of the user (torque) in the direction of rotation.

A failsafe function is preferably integrated and the

Drive motor stops in the event of a power failure or accident

disengaged or decoupled. Then it will z. B. It is easier for children to open a door in an emergency.

A maximum speed of the door when opening can be limited. It may be possible that a door movement is stopped when e.g. B. hand contact with the door is no longer present in a gust of wind.

A controllable braking device is preferably included.

In particular, the braking device is designed as a magnetorheological transmission device and comprises at least one electrical coil.

A hand sensor is preferably included, with which a

Touching the door leaf by a hand of a user

is detectable. In particular, the hand sensor comprises a near field sensor and / or a capacitive sensor.

In all configurations, some or all of the following features are possible: The user gives the stationary door a start (start) and movement impulse, whereupon the drive unit (electric motor) starts and supports the movement (servo effect). The door should move at the same speed as the user's guiding hand. The user preferably does not notice any difference in the speed that the user specifies with his movement and the speed at which the motor supports the door actuator or the spindle.

If the vehicle is in the horizontal position, this can be done with less effort. It becomes complex in terms of actuator and control technology when the vehicle is tilted to the side, which means that very different forces occur depending on the direction of movement (e.g. the door practically falls on its own, closing requires a great deal of force and the customer quickly changes direction of movement ).

The damping unit can be designed in different variants. It can e.g. B. act damper, which is designed as a cylinder. The cylinder is divided into two chambers by a piston, which are divided by a damping valve

are connected to each other and as a working medium

contains magnetorheological fluid (patent application

WO 2017/081280). Or you can use a magnetorheological rotary damper, which converts a linear movement into a rotary movement with a spindle and dampens this (patent application DE 10 2017 111 032 A1). The drive device can comprise any desired electric motor which can apply sufficient force to move the two connection units against one another.

Further advantages and features of the present invention emerge from the exemplary embodiments which are explained below with reference to the accompanying figures.

In the figures show:

Figure 1 is a highly schematic plan view of a Motor vehicle with a device with a drivable door with a braking device;

Figure 2 shows a device with a drive device and

a braking device in a schematic section;

FIG. 3 shows an enlarged schematic detail for devices according to FIG. 2;

FIG. 4 shows a perspective view of the device according to FIG

FIG. 2 in a middle position;

FIG. 5 shows a plan view of the device according to FIG. 2 in an extended position;

FIG. 6 shows a plan view of the device according to FIG. 2 in a retracted position;

FIG. 7 a sectioned schematic diagram; FIG. 8 shows the force profile of a device according to FIG. 7; FIG. 9 shows a control scheme; FIG. 10 shows a basic diagram with influences recorded by sensors that can be taken into account;

FIG. 11 shows a circuit diagram for operating the drive motor;

Figure 12 shows the course of the current intensity of the drive motor over the

Time; and

FIG. 13 shows the course of the preset voltage over time.

Figure 1 shows the application of the door component 100 according to the invention on a motor vehicle 200 and here on one

Passenger cars. The motor vehicle 200 is in a

schematic top view shown from above. To the

Motor vehicle 200 are two designed as doors here Door components 100 each with a door device 154 is provided. The door device 154 is designed here as a door leaf 104. The doors are both in the open position 103, here at an angle 61. Hatched

A door is shown in the closed position 102.

For the controlled damping of the pivoting movement or for braking the pivoting movement of the doors 104 through to blocking, the door components 100 each include a controllable braking device 1, which acts as a rotary brake or rotary damper or the like

is trained. The door components each include

Connection units 151 and 152, one of which is connected to a

Support structure of the motor vehicle 200 such as the body

is connected, while the other is connected to the door leaf 104, so that when the door 100 opens or closes, a relative movement of the connection units 151 and 152 takes place. The connector units 151 and 152 move linearly. It is converted into a rotary movement, which is braked or damped or blocked in a controlled manner by the rotary damper 1 of the door component 100.

The door component 100 comprises the braking device 1 and the connection units 151 and 152 and is used for the guided movement of the doors and thus for targeted acceleration and for

targeted damping or braking of the rotational movement of the doors (and possibly flaps) on a motor vehicle 200.

The motor vehicle 200 has sensors 160 for scanning the surroundings or for recognizing the surroundings. At least one GPS sensor 63 and / or one position sensor 62 is included on or in the motor vehicle 200 or on or in the door component 100. It is possible that only one central GPS and / or position sensor 62 is present. It may also be possible to determine the current position of motor vehicle 200. Using existing map material in the motor vehicle or using a central memory of the motor vehicle or in z. B. the memory device 57 contained or online The current location can be called up using the map material. It is possible to find out about the current situation and

To determine inclination information for the motor vehicle and the individual door components 100 or to recognize the surroundings by means of image recognition or to optimize the recognition.

Inclination information in the horizontal longitudinal and transverse directions can also be recorded directly via an inclination sensor 64 or the position sensor 62. In any case, it can preferably be determined whether the car is standing on a slope and in which direction it is inclined. This can be used to determine whether the doors are closed or opened by weight

open position are preloaded. On an inclined plane, one (e.g. the left) side door can also be preloaded into the closed position and the other (e.g. the right) side door into the open position, depending on the

Alignment of the motor vehicle on the inclined plane.

A control device 55 is used to control the door component 100 with the door leaf 104. The control can also be carried out by a central control of the motor vehicle 200. A central controller can then be provided in the motor vehicle 200 for all door components 100 (and possibly further control tasks).

The control device 55 here comprises a proportional-integral controller 53, a comparison device 56, a memory device 57 with z. B. stored therein tables 58 or data. The control device 55 can comprise a position sensor 62, a GPS sensor 63 (or any other satellite-based location or positioning system), an inclination sensor 64 and at least one hand sensor 59. Or at least one of the named sensors is assigned to the control device 55 or the control device 55 obtains measurement data from such sensors. A current sensor 65 of the sensor arrangement detects the current flowing through drive motor 75 and controls it as a function of position with the correction data stored in table 58

Motor current.

A hand sensor 59 can be used, for example, to detect whether a user is touching or grasping motor vehicle 200 or, in particular, a door. Or it can be detected with the hand sensor 59 whether the hand is in the immediate vicinity of the door leaf 104. This can also be done through image recognition. It is possible for a motor-assisted movement only

is carried out when a hand 90 or a body part of the user is in electrically conductive connection with the door leaf 104 or the body. It is also possible that, for. B. a capacitive measurement is carried out and an active one

The movement is controlled when a hand 90 is at a short distance from e.g. B. less than 10 cm or

preferably less than 5 cm or 2 cm from that

Door leaf 104 is located. Such a hand sensor can be in the

Door leaves 104 or other components of the motor vehicle 200 can be integrated.

A position sensor 19 can directly detect the angle of the door. Or the position sensor 19 detects a position that is representative of the angle of the door. In any case, an angular position of the door can be derived from the position dimension 20 (see FIG. 9). From the change in the angular position of the door or the position dimension 20 over time, an angle

speed 23 and a speed index 22

be derived. It is also possible to use z. Tie

Exterior mirrors or integrated in the body

Sensor devices 60 derive a position measure 20.

FIG. 2 shows an exemplary embodiment in section, a movement influencing device 50 for a door or

Door component 100 is provided. The door component 100 or the movement influencing device 50 comprises connection units 151 and 152 for mounting on a motor vehicle. The first Component 32 is here, for example, firmly connected to the door. On the first component 32, a rotary mount 3, designed here as a coupling rod 3, is provided. The second component 33 is rotatably mounted on the rotary mount 3, the second component 33 comprising a threaded spindle 4 on the outside and to this extent being designed as a spindle unit 4.

A third component 34 is provided, which is designed as a spindle unit 5. The third component 34 is coupled to the second component 33. The spindle unit 5 comprises a

Spindle nut 5 with an internal thread, which with the

External thread of the spindle unit 4 of the second component 33 meshes. About the mutually engaged spindle units 4 and 5 is an axial movement of the two

Connection units 151 and 152 relative to one another in a

Turning motion converted.

To brake the rotary movement, a controllable braking device 1 is formed in the interior of the second component 33. The braking device 1 is designed as a controllable rotary brake in order to at least partially dampen a movement of a door leaf 104 in a controlled manner between a closed position 102 and an open position 103. The is used for controlled movement

Drive device 70 with the drive motor 75.

The coupling profile 153 is mounted on the third component 34 so as to be pivotable about the pivot axis 34a. The pivot axis 34a can, for. B. be designed as a bolt or stub axle on the third component 34 and receive an eye of the coupling profile 153 pivotably. The pivot axis 34a lies transversely and here perpendicular to the axis of rotation 33a of the second component 33. The, in particular, rod-shaped coupling profile 153 is pivotable at the second end about the pivot axis 152a with the second

Connection unit 152 connected. The pivot axis 152a can, for. B. also be designed as a bolt or axle stub on the second connection unit 152 and an eye of the coupling profile 153 record pivotable. The coupling profile 153 is pivotably connected at a first end to the third component 34 and at a second end to the second connection unit 152. The second connection unit 152 can e.g. B. be attached or formed on the A-pillar or the B-pillar of the motor vehicle.

For active control or active guidance of the door is the

Drive device 70 received in second component 33. The drive housing 71 is rotatable on one

Drive mount 73 mounted. One standard non-rotating

The connection between the drive housing 71 of the drive motor 75 and the first component 32 can be canceled by the actuator 80, which here comprises a drive 86. The drive 86 can be moved in the vertical direction and thus cancel a rotationally fixed connection of the drive housing with the first component 32 or create it again. The actuator 80 is only provided as an option and, when installed, enables the door of the motor vehicle to be swiveled easily and without interference in a “manual mode” without motor assistance. In many

The actuator 80 is not included and the embodiments

Drive motor 75 is continuously engaged.

The first spindle unit 4 is formed on the second component 33. Furthermore, the second spindle unit 5 is formed on a third component 34. The internal toothing of the spindle unit 5 designed as a spindle nut engages with the external toothing of the threaded spindle

Spindle unit 4, so that when the second component is rotated relative to the third component, there is an axial displacement of the connection units 151 and 152 with respect to one another.

Activating the drive motor 75 then causes the two components 32 and 33 to rotate directly relative to one another. Since a threaded spindle 4 is formed on the second component 33, which engages with the threaded nut 5 of the third Component 34 is, thus via the engine

Axial displacement of the connection units 151 and 152 causes one another.

In the decoupled position, when the actuator 80 is not rotationally coupled to the drive housing 71, a simple and purely manual adjustment of the angular position of the components 33 and 32 to one another can be effected.

The drive unit does not necessarily have to be coaxial to the

Braking device 1 can be arranged. This can also be arranged parallel or offset to it. The torque transmission can for example be via a V-belt, toothed belt,

Gears, bevel gears, chain drives, friction wheels or

the like take place. On the shaft 72, for. B. a

Toothed belt pulley are attached. The component 33 can have a toothed belt profile at the outer end, which is then connected to the toothed belt pulley by means of a toothed belt

Movement influencing device 50 or the drive unit 70 is operatively connected.

Figure 3 shows an enlarged detail of the

Movement influencing device 50 with the drive device 70 and the braking device 1. Of the three components 32, 33 and 34, the first component 32 is with the body of the

Motor vehicle 200 connected and the second component 33 is connected or coupled to the door leaf 104. The second component 33 is rotatably mounted via the rotary mount 3, which is designed here as an axle unit. Between the axle unit 3, which is also called

Coupling rod can be referred to, and the second component 33 bearings 7 are arranged. Between the bearings 7 are

electrical coils 9 are arranged, each of which is adjacent to the rotating body 2 in the axial direction. With the electrical coils 9, a magnetic field source 8 is made available. If a magnetic field is generated with the electrical coils 9, this leads to a braking torque between the two components 32 and 33. About the braking device 1 can be applied a strong braking torque in any angular positions, so that a

unintentional change in the opening angle of the door leaf 104 is prevented.

In Figure 3, the course of the magnetic field 10 or field lines of a magnetic circuit are shown as an example.

The magnetic field generated by the electric coil 9 as a magnetic field source 8 runs through a section of the magnetically

conductive sleeve 17 and passes through a rotating body 2 arranged adjacent to the electrical coil and enters the coupling rod or rotary mount 3, which is also made of a ferromagnetic material, and runs axially back to the next rotating body 2, where the magnetic field lines again radially through a rotating body 2 pass through and into the sleeve 17 and are closed there. Two separate rotating bodies 2 are preferably provided between two axially adjacent coils. Several magnetic circuits can be provided, which are axially spaced from one another. Each magnetic circuit can, for example, comprise two rows of rotating bodies 2, which are each arranged to the right and left of an electrical coil 9 distributed around the circumference. The rule here is the more

Magnetic circuits / rotating body units are executed, the higher the maximum braking torque.

It is also possible for rotating bodies elongated in the axial direction to be provided, so that one end of a long

elongated cylindrical rotating body from the magnetic field of the electrical coil 9 adjacent on one axial side

is traversed, while the other end of the cylindrical rotating body 2 is traversed by the magnetic field of the next electrical coil 9.

Centrally in the interior of the coupling rod 3 or the rotary receptacle 3, a channel 21 can be formed, which for example includes branching channels, for example to the individual electrical Coils 9 run in order to supply the individual electrical coils 9 with current in a targeted manner.

The coupling rod or rotary mount 3 is in particular firmly connected to the first component 32 and can optionally be formed in one piece with it or also screwed or welded to it.

It is possible that between the individual series of

Rotary bodies 2 are each provided intermediate rings 18 to separate the individual magnetic circuits from one another.

The external thread 14 of the can also be clearly seen in FIG

Threaded spindle 4, which is in engagement with the internal thread 15 of the spindle nut 5.

The sleeve 17 is non-rotatably connected to the threaded spindle 4 as a second component 33 and, for example, is glued. The use of a sleeve 17 made of a ferromagnetic material enables the threaded spindle 4 per se, for example from a

Manufacture plastic, the use of special plastics is advantageous here. This leads to a considerable saving in weight. In addition, self-lubrication of the intermeshing threaded areas of the spindle units 4 and 5 can be achieved, so that the door component 100 can be operated maintenance-free and with low friction.

A seal 13 is arranged adjacent to the roller bearing 7, which seal comprises, for example, a shaft sealing ring and is in

touchingly seals all gaps. Since the rotary mount 3 is preferably made of a ferromagnetic material and

for example, a relatively soft steel is made

preferably a race 28 made of a hardened material in the area of the seal 13 is applied to the rotary mount 3 in order to prevent wear.

Inside is in the cavity between the rotary seat 3 and the sleeve 17 (if the threaded spindle is made for example Plastic) or the inner wall of the threaded spindle 4 (if it consists of a ferromagnetic material and no sleeve 17 is present) and the outer surface of the rotary mount 3, preferably accommodates a plurality of magnetic circuits. In this case, electrical coils 9 are either wound directly onto the rotary mount 3 in the hollow cylindrical interior or wound onto the coil holder 11, which is then pushed onto the coupling rod 3.

A plurality of rotating bodies or rolling bodies 2, through which the magnetic field of the magnetic circuit is closed, are preferably accommodated on each axial side adjacent to the electrical coils 9. For example, in an axial position for

Example 8 or 10 rotating body 2 distributed on the circumference

to be ordered.

Figure 4 to Figure 6 show different positions of the

Movement influencing device 50 according to Figure 2. Figure 4 shows the movement influencing device 50 in a central position in which the spindle nut 5 is in a

Intermediate position. The coupling profile 153, which can be seen here in perspective and is designed to be elongated, extends a middle path section through the cutout 32b on the sheet metal or guide sheet 32b. The guide plate 32b is firmly connected to the first component 32 and, in particular, is formed in one piece thereon.

It can be seen that the cutout 32b is only slightly wider than the coupling profile 153. The construction shown enables a very narrow construction in which the clear width can be smaller than twice the width of the

Coupling profile 153 perpendicular to its longitudinal extent. This is achieved in that the coupling profile 153 is articulated on both sides and is designed in its shape so that it is at a distance from each other despite the changing kinematic conditions when moving the door leaf Connection or door leaf pivoting and fastening points 152a of the drive unit are always located centrally in the cutout 32b.

The first component 32 can essentially consist of a bent or folded sheet metal and directly connected to a door leaf 104 via z. B. screws 151a are screwed.

In particular, the device is mounted inside the door or inside a door structure of the door leaf 104.

FIG. 5 shows a top view of a fully extended coupling profile 153. The device is located in FIG

extended end position and the coupling profile 153 extends maximally through the cutout 32b. In the top view according to FIG. 6, it can be clearly seen that the coupling profile 153 has several and here two curvatures 153d and 153e, which here run in opposite directions. As a result, the ends of the coupling profile 153 extend parallel to one another and are arranged offset by less than a width transversely to the longitudinal extension. The exact profile shape depends on the installation situation. In any case, a narrow structure is achieved here, which, even in operation, only requires a small amount of space when installed in the interior of a

Door leaf required.

Figure 6 shows a plan view of the

Movement influencing device 50 according to Figure 2 in a largely retracted position. The coupling profile 153 is largely retracted and does not extend laterally beyond the diameter of the second component 33 or the third component 34.

As FIGS. 4, 5 and 6 show, a guide plate 32a for fastening to a door leaf 104 is fastened to the first component 32. The guide plate 32a comprises a cutout 32b through which the coupling profile 153 is passed. The coupling profile 153 is with the third component 34 and the second

Connection unit 152 is pivotably coupled and is elongated and curved. FIG. 7 shows a schematic basic sketch of the functioning of the agnetorheological transmission device 40 with the

Basic principle of the rotary damper or the braking device 1. This figure is basically also shown in WO 2017/001696 A1. The relevant description and the entire content of WO 2017/001696 A1 is therefore included in the disclosure of the present invention.

FIG. 7 shows two components 32 and 33, the relative movement of which is to be damped or specifically influenced by the transmission device 40. For this purpose, a plurality of rotating bodies 2, which are embedded in a magnetorheological fluid 6, are arranged in a gap 35 between the components 32 and 33. The rotating bodies 2 are separate parts 36 and function as

Magnetic field concentrators, which leads to a wedge effect when the magnetic field is applied and the components 32 and 33 move relative to one another, resulting in wedge-shaped areas 46 in which the magnetorheological particles collect and, via the wedge effect, further rotation of the rotating body 2 and a

Effectively brake the relative movement of the components 32 and 33 to one another.

The free distance 39 between the rotating body 2 and the surface of the components 32 and 33 is basically greater than a typical or average or maximum

Particle diameter of a magnetorheological particle in the magnetorheological fluid. This “MRF wedge effect” results in a considerably stronger influence than would be expected. This leads in particular to a high static force that can be used as a holding force.

The rotary dampers or braking device shown here in the exemplary embodiments in FIG. 1 preferably all function according to this "MRF wedge effect".

The high static force can be used effectively as a holding force and can be used advantageously, as Figure 8 shows, in which the force curve of the braking force of the agnetorheological transmission device 40 or the braking device 1 is shown over the number of revolutions of the rotating body (and analogously also of the rotating spindle unit). It turns out that with

Standstill of the rotating body 2 a very high braking force is generated. If the user overcomes the braking force that keeps the door open, the braking force also decreases when the door is still open

applied magnetic field decreases significantly with increasing speed, so that the user can easily close the door even with applied magnetic field after overcoming the sufficient holding force.

This effect means that, in principle, a high holding force is generated in any angular position

But user can quite easily overcome to close the door. This makes a very convenient function for

Provided. The closing function can be motorized

supported so that only light forces at all times

must be applied.

With the invention, the drive device can be regulated. An essential aspect lies in the regulation of the

Drive device 70 and / or the braking device 1 and at the speed at which the braking device 1 can be controlled and moved or braked. In particular the speed with which the direction can be changed.

The control of the drive motor 75 takes place via the set current. The control sequence is shown in FIG.

Initial state: The door is in the lock or when it is open:

braked / blocked. If the door is moved from the outside (i.e. by the user), the braking device 1 is released and the parts move towards one another. The movement of the

Drive motor 75 (electric motor) is a first in the drive motor Induced current and this is measured. The control device 55 (regulation) then actively increases the current in the

opposite direction until the induced current is balanced and then outputs a small offset current above it. Due to the offset current, the drive motor moves the door leaf 104 or the connection units 151, 152 with little additional force as long as the door is moved by the user. If the user changes the speed of the movement, the induced current also changes and the proportional-integral controller 53 also regulates the current to the drive motor 75 accordingly. As a result, the force (torque) used by the drive motor is adapted to the change in the user's speed. If the user brakes the movement, the offset current of the

Drive motor 75 too large, and the controller 53 regulates this back.

The control device 55 controls the door component 100. It is with a position sensor 19 a position measure 20 for an angular position of the door leaf 104 and a

Speed index 22 for an angular speed 23 of the door leaf 104 is detected. The values can be recorded periodically. If a pivoting of the door or the door leaf 104 is detected, a speed index 22 is determined from the angular speed 23 (or vice versa). With the speed index 22, the in the

The table 58 stored in the storage device 57 determines an electrical default current intensity 24 for the electrical drive motor 75. The associated preset voltage is then 25

set.

The associated default voltage 25 is determined from empirical values. For example, in the plane without an outer

Loads Basic values for the friction are determined, which are then taken into account in order to achieve a practically force-free guidance of the door (consideration of aging or wear). Then the flowing through the drive motor 75

Amperage 26 measured or determined. The current intensity 26 actually flowing is compared with the specified electrical current intensity 24 (for the speed index 22).

The default voltage 25 is increased when the through the

Drive motor 75 flowing current intensity 26 is less than the electrical default current intensity 24. It is then assumed that the user wants to accelerate the door.

The default voltage 25 is reduced when the through the

Drive motor 75 current intensity 26 flowing is greater than the specified electrical current intensity 24. It is then assumed that the user wants to brake the door.

In particular, the spatial position and orientation of the door to be moved is taken into account. A location on a slope where the door has to be opened against gravity is taken into account accordingly and the resulting forces are balanced.

The last steps are continued iteratively in order to always give the user the feeling of "powerless guidance".

The temperatures of the door and / or the surroundings can also be taken into account. There are different

Resistance forces and moments when the car is in the sun in summer and when the car is outside in winter. This also applies if the occupant has objects such as puts down a large drinking bottle.

The drive motor 75 is preferably operated via an H-bridge 52 (FIG. 11). This circuit is used when a drive motor 75 is to be operated in both directions. If a current is induced in the drive motor 75 against the operating direction, this current flows via the shunt resistor 27 and is measured there via the voltage drop. Figure 11 shows one Circuit for operating a direct current motor as drive motor 75 in both directions. The Mostet transistors with

Free-wheeling diodes control the possible current direction (and the sign of the voltage) via the so-called bridge arm to which the DC motor is connected. The current can be measured at the shunt resistor 27 via the voltage drop. Depending on which Mosfet current lets through and in which direction, the current flows in a different direction. The voltage is measured across resistor 27.

FIGS. 12 and 13 show the course of the voltage over time (FIG. 13) and the current intensity over the motor angle (FIG. 12). The end of the diagram shows the fully open state.

It can be clearly seen that the user is pulling out of the door

in the closed state. A current is induced in the drive motor 75 by the forced movement. The

The voltage initially remains 0. The control device then recognizes that the door is to be opened and readjusts the preset voltage 25 so that the current intensity 26 corresponds to the preset current intensity 24. At the time of 4.5 seconds, the door is fully open and the user brakes the door slightly. The system recognizes this immediately and brakes practically immediately. There is an extremely rapid drop in time. The system reacts very quickly to changes. The voltage is increased when the motor is turned (opening the door). The tension is increased linearly and not suddenly. When the door is no longer accelerated by the user, the tension is reduced again.

The course of the motor current 26 shown in FIG. 12 when the door is opened as a function of the door angle shows that a negative current flows at the beginning of the door opening, the motor generates current. The controller regulates the voltage and a current begins to flow in a positive direction, thus driving the motor. FIG. 12 shows the current curve when the door is opened. In the first second or the first rotation of the motor on the

A current of slightly less than -1A is induced in the spindle (the motor generates current, the current flows in the opposite direction than in load operation). The controller detects the current and increases the voltage according to FIG. 12. A current then flows in the positive direction and the drive motor 75 actively rotates with it until the door is no longer pushed by the user. The induced current is about 1/3 (but negative) of the current that the motor consumes during active assistance.

An angle sensor is also used in the motor or in the drive train or on the door. When a change in angle is measured, the motor switches on.

In all cases, the variables are preferably controlled via PI controller 53 (proportional-integral controller). The PI controller 53 can be implemented on any computer unit, e.g. B. on a microcontroller, on the on-board computer of the vehicle, etc. This control device 55 (control unit) outputs a control signal for the drive and brake unit of the door as a function of sensor data and a calculation algorithm.

The magnetorheological braking device 1 can support the drive motor 75 in braking the door 104. The drive motor 75 then does not stop itself, but is actively braked. When the vehicle is at a standstill, the braking device 1 brakes in order to prevent unintentional movement (opening or closing) of the door. In addition, an aid to getting in and out can be implemented in that the door is held in one position by the braking device 1 or MRF brake, and the person can hold on to the door and pull it out (aid to getting out). This is very beneficial in tight parking spaces. The benefit of an additional

Braking device 1 to motor 75 is the low power consumption. If an electric motor is used for braking, it needs more electricity than an MRF brake. If the drive motor 75 stops (Blocking) is used, high currents flow, causing it to heat up and, because of the resulting increase in resistance in the windings, the current continues to rise. Very high currents then flow.

The door or the braking device is preferably equipped with at least one position sensor 19 in order to be able to determine the position and the speed of movement of the door. The movement of the door is recorded in high resolution so that the

Braking device 1 can be switched / released quickly. This is necessary if the door is braked heavily in front of an obstacle and is then to be moved in the other direction. If the braking does not ease immediately, the door cannot immediately be moved in the opposite direction again. In the case of the relatively heavy vehicle doors, an abrupt braking process immediately leads to load peaks and vibrations, which are then difficult to control. From the vehicle manufacturer and the customer

What is required is gentle (harmonious) braking, which is possible with the fast and continuously variable MRF braking device 1.

Fast switching is also required (in

Millisecond range), because a lagging switching of the electric motor and / or the braking device 1 would lead to the door swinging open or unwanted counter movements. The deceleration of the door preferably follows a root function. The closer the door comes to the desired position (e.g. closed), the more it brakes. The door is not braked abruptly, but "gently", which gives the user a better haptic feeling. For this, it is necessary to be able to measure the exact position of the door in order to implement this function well.

The signal from the sensors (position sensor, angle sensor,

Distance sensor, acceleration sensor in door or vehicle) is filtered with a filter (for example with a Kalman filter), to eliminate noise from the sensor. With one

Distance sensor a resolution of lpm can be achieved.

The spindle used moves by 30mm per revolution, the

The resolution for the revolution of the drive motor 75 is thus 0.012 °. The displacement sensor sits here z. B. on the spindle unit.

A resolution of 1 micrometer in the axial direction of the spindle results in a resolution of approx. 0.012 ° angle of the

Drive motor 75. This means that there are more than 1000 signals per 1 ° change in the angle of the door. 1 ° rotation of the drive motor 75 corresponds to 0.065 ° door opening. 1 ° door opening corresponds to an angle of 15.38 ° for the drive motor 75 with the spindle used. The accuracy of the angle determination of the door opening results in << 0.1 ° and for the opening of the door there is an angular resolution of <0, 1 °, according to the distance sensor. Due to the play of the spindle units and the

Drive motor 75, the resolution is higher.

A position sensor or acceleration sensor in the door or in another area in the vehicle measures the direction of the

Acceleration. This allows conclusions to be drawn about the position of the vehicle. When the vehicle is tilted, the acceleration due to gravity points in a different direction. As a result, the control device 55 knows what force is acting on the door, even if no users are moving the door.

The door can also be equipped with touch sensors (hand sensor 59) (resistance sensor or capacitive sensor) so that the control of the braking device recognizes when a person touches and guides the door. So it can be ruled out that the door z. B. is pushed open by the wind and the control interprets this as a user hand 90 and additionally supports the movement of the door by the wind. If the car is parked on a downward slope / inclined position and the door 104 is pushed open uphill, this can prevent the door from accidentally closing. It is reversed Unintentional opening (especially at an opening angle that is too large) is prevented when the door leaf 104 is opened downhill.

A detection of whether the wind or the user is guiding the door leaf 104 can also be done by the near-field sensors (including with

Image recognition). This recognizes whether the user is standing by the door or not. What is wanted can also be recognized from the movement pattern. The user opens the door and usually closes it again immediately. This is a continuous process that takes just a few seconds and is clearly guided by the user. However, if the door is open for a longer period of time, wind influences can be decisive.

Networking the door control device with a weather app and / or GPS (position data) also helps to increase the

Control quality. In a multi-storey car park, wind is less likely to be a disturbance than at Mount Washington. If the user always uses the same parking lot or garage, the control can learn from this with deep learning and optimize itself so that the user receives better support / door guidance quality. This also applies to the user himself (left / right-handed;

Woman / man / child ..) and the habits of the user or with increasing play in the components or with wear. The power assistance can also be varied intelligently. At night, i.e. time-dependent (and / or position-dependent), the door can always be moved more slowly and quietly into the closed position so as not to disturb or wake up the family and neighbors. The same applies when children close the rear doors so that unintentional finger trapping causes as little pain as possible. The other managers and the wishes of children can also be taken into account in this way. A voice assistant could also provide additional security.

The user can also have different strengths

Set the support levels on the vehicle (on-board computer or via app). So every user can choose the intensity of support they want.

It is advantageous if the door component 100 is additionally equipped with sensors 160 distance sensors (e.g.

Ultrasonic sensor, optical sensors, inductive sensors,

Light barrier, camera systems, lidar, radar etc.) in order to

recognize whether there are any obstacles in front of the door. In this way, the control can force braking in order to avoid damage to your own and other people's vehicles.

Sensors between the door and the car (frame) can detect if something is in between (e.g. hand, finger, etc.) and the controller gives the braking device a signal to stop the door.

Due to the inertia of the door and the inevitable play of the individual components of the braking device 1, the door vibrates slightly after a desired movement. In the present invention, the fast regulation (kHz) and the possibility of the fast switchable braking are used to directly use the inertia or the swinging of the door to move in the opposite direction. When opening, the door is stopped in an open end position and oscillates due to the play or softness of the components after braking. The user wants to close the door again immediately. The sensors detect when the door swings in the closing direction and release the braking device 1 exactly then and very quickly (single-digit millisecond range), whereby the oscillation pulse is used to close the door and thus also reduce the starting current from the drive motor 75 (electric motor) becomes. Would the

If the braking device 1 is released too slowly and the door is already swinging in the opening direction, the electric motor would have to work against it, which requires high starting torques / currents. In addition to the increased power consumption and component load, this would also result in an unattractive haptic and acoustic behavior of the door. The engine "whines" at such loads, which the user considers a bad thing Quality feature is interpreted. If the user does not move the door, it is held by the (MRF) braking device 1. The spindle unit with the drive motor 75

be prestressed, d. That is, the motor is operated with a low current (a few mA), as a result of which it tries to rotate the spindle unit against the braking device 75. When the user moves the door, the braking device 1 is released and the drive motor 75 rotates immediately. The required start time of the drive motor 75 is shortened and the user does not feel any dead time in supporting the motor.

The door can be fixed in the position desired (guided there) by the user by means of a movement pattern (e.g., quick opening / closing of the door in the desired position) or a button

(braked) so that the driver can hold onto it when getting in or out (getting out / boarding aid).

Advantages of the guided mode:

• The door can be opened easily (without exerting too much force), no matter what position the vehicle is in (uphill, downhill, at an angle, headwind ...)

• Simple handling, same use as classic door, door handles etc. are the same, no buttons, gestures etc.

necessary.

• Safety: The user must always specify the movement, the door is not opened and closed independently. Sensors prevent damage from collision; Trapping in door.

• As long as the user guides the door, he is responsible for the movement. Therefore, less expensive sensor technology is required for this (fewer near-field detection sensors). This is a for vehicles in the lower price ranges

Advantage.

Preferably, the braking device 1 is in a holding or swinging movements of the door leaf 104

Direction of rotation reversal position opened in such a way that lower when the user requests a movement in one direction

Driving forces are necessary.

In particular, the control device 55 recognizes whether a

User is near the door.

In all configurations, it is preferred that a control via wired or wirelessly connected or

coupled control switches or control surfaces is possible.

The door can preferably be controlled by voice input. For this purpose, speech recognition can be carried out (locally or remotely). The transmission of commands can be done by voice. Possible are e.g. B. Commands like:

"Open the door" or "open"

"Close door" or "close"

- "door stop"

"Block the door" (e.g .: with the exit aid)

"Close the door quietly"

"More support"

It is also possible to name a specific door:

"Close front left door" or "open" etc.

Especially the exit aid can have its own button for

Have or need to activate. This can be disadvantageous (where should it be placed, cable connection, etc.). With a

Voice command is easy and inexpensive. It may and may be necessary that a voice command must be confirmed before it is carried out. Execution can also be denied, e.g. B. when driving.

A microphone is preferably installed.

In addition, the following options for the design of doors of motor vehicles can be implemented:

1. Active doors. I.e. , the door moves actively at the push of a button or by another control command, driven by an electric motor, and is braked by means of a brake. All of this without outside interference. Sensors recognize necessary stop positions.

2. Passive doors. The door is moved by the user and is itself passive (and is braked to the maximum). Intelligent damping can be carried out using sensors and B. be stopped in front of an obstacle.

3. Passive "active" door: The electric motor etc. is

disengaged and the otherwise active door can be moved passively with little and in any case reasonable effort.

The semi-active door described here is a new option:

The door is moved by the user as in the previous mode 2 (passive), but the electric motor in combination with the brake supports the movement. So the door z. B. can be moved with one finger. As long as the finger (hand) guides the door, the door follows the movement of the hand or the user's specification with minimal counterforce.

The force with which the door follows can be preset (e.g. in the vehicle settings menu; or in the ignition key; in an app. Etc.) The door can also be pushed slightly and then moves very slowly, only to be stopped with a finger Man "leads" the door, the door makes (preferably) nothing (or almost nothing) independently. The trick here is to guess what the user wants (sensor ...) and to regulate the motor in such a way that the door does not make any movements that are "unnatural" (jerking, excessive deceleration, too stiff; changes in direction of rotation are critical ...) .

This is also possible in the slope. The electric motor then compensates for the changing forces (otherwise the door would be lighter in one direction and more difficult in the other). The door always moves "elegantly" or quasi

Gravity free.

By means of a movement pattern or button, the door can be fixed (braked) in the position desired by the user (guided there) so that he can hold on to it when getting in or out (getting out / boarding aid).

Another advantage of this solution is that disengagement can be dispensed with. This is a great advantage in terms of cost, weight and installation space.

It is beneficial for a user to pass a car door

can close. This is particularly advantageous when a low closing force is required.

The door then does not open "by itself", but is guided with minimal effort. The drive motor provides the support and the braking device brakes when necessary

adjusted so that minimal force is required at all times.

The electric motor including the gearbox should be relatively strong, as the door forces and travel speeds are high (exit aid: up to 2,000N; actuating force up to 1,000N). Therefore it is possible to have the motor and gearbox (as with the electric

Tailgate) hears what is not wanted. Gear with

Plastic gears and encapsulation in the form of sound insulation only provide limited relief.

Most vehicles have a door in the door

Speakers arranged. This is usually only a few centimeters away from the active door adjuster (= drive motor). Counter-sound can now be emitted via the loudspeaker when the door adjuster is active. The noise from the door adjuster does not change much in the frequency spectrum. In addition, the door adjuster is activated, so you know what to do or what to do. It is not an undefined source of noise. The load is known from the sensor signals (e.g. yaw sensor: vehicle leaned). This means that counter-noise can be used very efficiently.

In all of the configurations, the drive motor 75 can also be a synchronous motor, asynchronous motor, disc armature, ultrasonic motor, piezo motor or axial gap motor, with or without a gear 74, without being restricted thereto.

The drive motor can in particular be operated with 12, 24 or 48 volts.

The gear 74 can be a planetary gear, conventional

Transmission, harmonic transmission (harmonic transmission), CVT, without being limited to them. The transmission elements (such as the gearwheel) can be made of steel, plastic,

fiber-reinforced materials, non-ferrous metals or the like.

List of reference symbols:

1 braking device 42 axis of rotation

2 rotating bodies, rolling bodies 46 Kei1form

3 rotary mount, axis unit, 50 movement influencing coupling rod device, device

4 spindle unit, 51 displacement sensor

Threaded spindle 52 H-bridge

5 spindle unit, 53 PI controller

Spindle nut 54 induced electrical

6 magnetorheological fluid size

7 warehouse 55 control device

8 magnetic field source 56 comparison device

9 electrical coil 57 storage device

10 Magnetic Field 58 Table

11 Spool holder 59 Hand sensor

12 threaded nut 60 sensor device

13 Seal 61 bracket (of the door)

14 external thread 62 position sensor

15 internal thread 63 GPS sensor

16 Hole nut 64 Inclination sensor

17 Sleeve 65 current sensor

18 intermediate ring 70 drive device

19 position sensor, 71 drive housing

Position sensor 72 drive shaft

20 Position dimension 73 drive mount

21 channel 74 gear

22 Speed code 75 drive motor

23 angular velocity, 76 drivers

Movement speed 80 actuator

24 default current 81 preload unit

25 Default voltage 86 drive

26 current strength 90 hand

27 Resistance 100 door component

28 Race 102 closed position

29 Cable 103 Open position

30 Force curve 104 door component

32 Component 151 Connection unit

32a guide plate 151a screw

32b Cutout 152 connection unit

33 Component 152a pivot axis

34 Component 153 coupling profile

34a pivot axis 153d curvature

35 gap 153e curvature

36 separate part 154 door equipment

39 free distance 160 sensor

40 transmission device 200 motor vehicle

Claims

Expectations :

1. A method for pivoting a movable door leaf (104) of a door component (100) for a motor vehicle (200) with a drive device (70) with an electrical one

Drive motor (75) to pivot the door leaf

(104) to influence at least partially between a closed position (102) and an open position (103), with a position sensor (19) a position measure (20) for an angular position of the door leaf (104) and a

Speed index (22) for an angular speed (23) of the door leaf (104) are detected,

characterized,

that when the door leaf (104) is pivoted with the speed code (22) an electrical

Preset current strength (24) for the electric drive motor (75) is determined and that an associated preset voltage (25) is set

and that then the current intensity (26) flowing through the drive motor (75) is determined,

and that the preset voltage (25) is increased when the current intensity (26) flowing through the drive motor (75) is less than the electrical preset current intensity (24),

and that the preset voltage (25) is reduced when the current intensity (26) flowing through the drive motor (75) is greater than the electric preset current intensity (24).

2. The method of claim 1, wherein the by the drive motor

(75) flowing current strength (26) is detected via a resistor (27) arranged in series with the drive motor.

3. The method of claim 1 or 2, wherein the drive motor

(75) is arranged in an H-bridge (52).

4. The method according to any one of the preceding claims, wherein a regulation of the default voltage (25) takes place via a proportional-integral controller (53).

5. The method according to any one of the preceding claims, wherein the position measure (20) when determining the electrical

Preset current strength (24) and / or an electrical one

Default voltage (25) is taken into account.

6. The method according to any one of the preceding claims, wherein with a position sensor (62) at least one value for the spatial position of the motor vehicle (200) is detected and with a current sensor (65) a value for the current strength of the

Drive device (70) is determined and wherein a stored table (58) contains correction values and wherein the position measure (20) when determining the electrical default current strength (24) and / or an electrical

Default voltage (25) is taken into account.

7. The method according to any one of the preceding claims, wherein a horizontal alignment of the motor vehicle (200)

is taken into account.

8. The method according to any one of the preceding claims, wherein a GPS sensor is taken into account.

9. The method according to any one of the preceding claims, wherein a measure for an internal movement resistance is determined.

10. The method according to any one of the preceding claims, wherein with the measure for the internal resistance to movement

Recalibration is performed.

11. The method according to any one of the preceding claims, wherein

a hand detection is carried out by means of a hand sensor and the drive device is only activated when a hand of a user is in the immediate vicinity of the door leaf.

12. A method for pivoting a movable door leaf (104) of a door component (100) for a motor vehicle (200) with a drive device (70) with an electrical one Drive motor (75) to pivot the door leaf (104) by a user, preferably by a

User hand, at least partially between one

Influencing closed position (102) and an open position (103),

- A position value (20) for an angular position of the door leaf (104) being recorded with a position sensor (19),

- at least one value for the spatial position of the motor vehicle (200) is detected with a position sensor (62),

- a value for the current strength of the drive device (70) is determined with a current sensor (65),

- a stored table (58) contains correction values, characterized in that

that upon pivoting of the door leaf (104) a

Control device (55) with the measured values and the correction values stored in table (58)

Drive device controls.

13. The method according to any one of the preceding claims, wherein the drive device (70) by a fast switching

Braking device (1) is supplemented and is in interaction with this via the control device (55).

14. The method according to any one of the preceding claims, wherein the user can preselect the movement forces in the vehicle menu.

15. The method in particular according to the preamble of claim 1 or according to one of the preceding claims, wherein upon pivoting of the door leaf (104) with a

Sensor device (60) detects at least one electrical variable (26) of the electric drive motor (75) and when the electric drive motor (75) is activated

is taken into account,

so that z. B. at least partially doggy

initiated and / or changed pivoting of the Door leaf (104), the electrical variable (54) induced in the drive motor (75) is detected and the drive motor (75) is then actively activated accordingly.

16. Door component (100) for a vehicle (100) with a

Drive device (70) with an electric drive motor (75) and two movable relative to one another

Connection units (151, 152), which by means of the

Drive motor (75) are adjustable relative to each other, wherein one of the two connection units (151, 152) can be connected to a support structure and the other of the two connection units (151, 152) can be connected to a movable door leaf (104) in order to move the door leaf (104 ) to influence at least partially between a closed position (102) and an open position (103),

wherein a position sensor (19) is included, with which a position measure (20) for a position of the two

Connection units (151, 152) relative to one another and a speed code (22) for one

Movement speed (23) of the two connection units (151, 152) relative to one another can be detected,

characterized,

that the electric drive motor (75) is assigned at least one sensor device (60) with which at least one current intensity (26) flowing through the drive motor (75) can be detected,

and that the control device (55) is designed and set up to determine an electrical default current intensity (24) for the electric drive motor (75) and to set an associated default voltage (25) when the door leaf (104) is pivoted with the speed code (22) ,

and that the control device (55) is designed and set up to use the sensor device (60) to determine the current intensity (26) flowing through the drive motor (75) at the specified voltage (25), and that a comparison device (56) is included, which is designed and set up to be determined by the

Drive motor (75) flowing amperage (26) with the

Compare the default current (24),

and that the control device (55) is designed and set up to increase the preset voltage (25) when the current intensity (26) flowing through the drive motor (75) is less than the electrical preset current intensity (24) and the preset voltage (25) reduce when the current intensity (26) flowing through the drive motor (75) is greater than the electrical default current intensity (24).

17. Door component (100) according to the preceding claim, wherein the position sensor 19 and the sensor device (60) are read out periodically.

18. Door component (100) according to one of the preceding claims, wherein the current intensity (26) of the drive motor (75) is detected when the position dimension (20) for the angular position of the door leaf (104) changes.

19. Door component (100) according to one of the preceding claims, wherein the control device (55) is assigned a memory device (57).

20. Door component (100) according to the preceding claim, wherein at least one table (58) is stored in the memory device (57).

21. Door component (100) according to one of the preceding claims, wherein a controllable braking device (1) is included.

22. Door component (100) according to the preceding claim, wherein the braking device (1) as a magnetorheological

Transmission device (40) is formed and comprises at least one electrical coil (9).

23. Door component (100) according to one of the preceding claims, wherein a hand sensor (59) is included, with which a hand of a touch of the door leaf (104)

User is detectable.

24. Door component (100) according to the preceding claim, wherein the hand sensor (59) comprises a near field sensor and / or a capacitive sensor.

25. Door component (100) according to one of the preceding claims, wherein an image recognition system (59) is included, with which the near field of the door can be dynamically detected.

26. Door component according to one of the preceding claims, wherein the coupling profile (153) is articulated on both sides and is designed in its shape so that it is in spite of the changing kinematic conditions when moving the door leaf due to the mutually spaced connection or door leaf pivot and the attachment points

(152a) of the drive unit is always centered in the cutout (32b).