GB2385139A - Method for estimating the position and velocity of an EMVA armature - Google Patents

Method for estimating the position and velocity of an EMVA armature Download PDF

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Publication number
GB2385139A
GB2385139A GB0224253A GB0224253A GB2385139A GB 2385139 A GB2385139 A GB 2385139A GB 0224253 A GB0224253 A GB 0224253A GB 0224253 A GB0224253 A GB 0224253A GB 2385139 A GB2385139 A GB 2385139A
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United Kingdom
Prior art keywords
solenoid
estimating
solenoid coil
armature
valve
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GB0224253A
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GB2385139B (en
GB0224253D0 (en
Inventor
Lawrence Andrew Mianzo
Ibrahim Haskara
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Visteon Global Technologies Inc
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Visteon Global Technologies Inc
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Classifications

    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F01MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
    • F01LCYCLICALLY OPERATING VALVES FOR MACHINES OR ENGINES
    • F01L9/00Valve-gear or valve arrangements actuated non-mechanically
    • F01L9/20Valve-gear or valve arrangements actuated non-mechanically by electric means

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Valve Device For Special Equipments (AREA)
  • Magnetically Actuated Valves (AREA)
  • Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
  • Control Of Electric Motors In General (AREA)
  • Reciprocating, Oscillating Or Vibrating Motors (AREA)

Abstract

A method for estimating the position and velocity of an armature (20) in an electromagnetic valve actuation system for an engine, the system including a first solenoid coil (28) that energises and attracts the valve armature based on a first solenoid command. The method includes obtaining a parameter for the solenoid command, measuring a property of the solenoid coil, and estimating the position and velocity of the armature based on these. The system may include a second solenoid coil (30) to energise and attract the armature in the opposite direction. The solenoid parameters may be measured or calculated, and the property may be a measured voltage, current or magnetic flux of the coil. Means for calculating an error is included to improve the position and velocity estimations.

Description

F l 23851 39 - 1 - METHOD FOR ESTIMATING THE POSITION AND THE VELOCITY
OF AN EMVA ARMATURE
This invention relates generally to the valve actuation 5 field and, more specifically, to a method for estimating the
position and the velocity of a valve armature in an electromagnetic valve actuator system.
In a conventional engine of a typical vehicle, a valve is 10 actuated from a closed position against a valve seat to an open position at a distance from the valve seat to selectively pass a fluid, such as a fuel and air mixture, into or out of a combustion chamber. Over the years, several advancements in valve actuations, such as variable valve 15 timing, have improved power output, fuel efficiency, and exhaust emissions. Variable valve timing is the method of actively adjusting either the duration of the close or open cycle, or the timing of the close or open cycle of the valve. Several automotive manufacturers, including Honda and 20 Ferrari, currently use mechanical devices to provide variable valve timing in their engines.
A more recent development in the field of variable valve
timing is the use of two solenoid coils located on either 25 side of an armature to open and close the valve heads.
Activation of one of the solenoid coils creates an electromagnetic attractive force on the armature, which moves the valve in one direction toward the active coil.
Activation of the opposing solenoid coil creates an
- 2 electromagnetic attractive force on the armature toward the opposing active coil, which moves the valve in the other direction. This system, also known as electromagnetic valve actuator (or "EMVA"), allows for an continuous variability 5 for the duration and timing of the open and clone cycles, which promises even further improvements in power output, fuel efficiency, and exhaust emissions.
In an engine, it is desirable to swiftly move the valve 10 between the open position and the closed position and to "softly seat" the valve against the valve seat. The force created by the EMVA, which is related to the distance between the solenoid coil and the armature and the applied coil activation current, increases non-linearly as the 15 armature approaches the solenoid coil. In fact, the solenoid coil can forcefully slam the armature against the solenoid coil, which may also forcefully slam the valve head into the valve seat. The slamming of the valve against the valve seat, or the slamming of the armature against the solenoid 20 coils, causes undesirable noise, vibration, and harshness ("NVH") within the vehicle.
U.S. Patent Application Serial No. lo/109,350, which is hereby incorporated in its entirety by this reference, 25 teaches a method of controlling an EMVA to minimize NVH.
The method is partially dependent on the position and the velocity of the armature. While the position of the armature may be measured by a position sensor, the incorporation of a position sensor into the EMVA is
relatively expensive. Thus, there is a need in the automotive industry to create a method for estimating the position and the velocity of the valve armature without a position sensor.
The invention will now be described, by way of example only, with reference to the following Figures in which: Figures 1A, 1B, and 1C are cross-sectional views of an 10 electromagnetic valve actuator used in the preferred methods. The following description of the two preferred methods of
the invention is not intended to limit the invention to 15 these preferred methods, but rather to enable a person skilled in the art to make and use this invention.
As shown in Figures 1A, 1B, and 1C, the preferred methods of the invention can be used to control an electromagnetic 20 valve actuator 10 ("EMVA") of an engine of a vehicle. The preferred methods may also be used to control an EMVA 10 of other suitable devices, such as an engine of a watercraft, an engine of an aircraft, or other fluid actuating systems.
25 The EMVA 10 used in the preferred methods includes a valve head 12 that moves between an open position (shown in Figure 1A) and a closed position (shown in Figure 1C). The valve head 12 functions to selectively pass fluid through an (
- 4 - orifice 14 by moving from a closed position to an open position. Preferably, the valve head 12 selectively moves a distance from the orifice 14, which allows the passage of a fuel and air mixture into a combustion chamber of an engine 5 (only partially shown), and then moves against a valve seat 16 around the orifice 14 to block the passage of the fuel and air mixture.
The EMVA 10 used in the preferred methods also includes a 10 valve stem 18, an armature stem 20, a first spring 22, and a second spring 24. The valve stem 18 functions to actuate the valve head 12 from a location remote from the orifice 14. The armature stem 20, the first spring 22, and tile second spring 24 collectively cooperate with the valve stem 15 18 to substantially negate the effects of temperature changes on the EMVA 10. The first spring 22 biases the va';re stem 18 toward the armature stem 20, while the second spring 24 biases the second valve stem toward the valve stem 18. In this manner, the valve stem 18 and the armature stem 20 20 substantially act as one unit during the movement of the valve head 12, but allow for the elongation of the valve stem 18 caused by temperature fluctuations within the engine. In addition to providing forces to bias the valve stem 18 and the armature stem 20 together, the first spring 25 22 and the second spring 24 are preferably designed to bias the valve head 12 into an equilibrium position or "middle position" (shown in Figure 1B) between the open position and the closed position.
5 - The EMVA 10 used in the preferred methods also includes a valve armature 26 coupled to the valve head 12 through the armature stem 20 and the valve stem 18, a first solenoid coil 28 located on one side of the armature 26, and a second 5 solenoid coil 30 located on the other side of the valve armature 26. Preferably, the valve armature 26 extends from the armature stem 20 with a rectangular, cylindrical, or other appropriate shape and includes a magnetizable and relatively strong material, such as steel. The first 10 solenoid coil 28 functions to create an electromagnetic force on the valve armature 26 to move the valve head 12 into the closed position, while the second solenoid coil 30 functions to create an electromagnetic force on the valve armature 26 to move the valve head 12 into the open 15 position.
The EMVA 10 used in the preferred methods also includes an input commander (not shown), which functions to alternatively activate the solenoid coils to move the valve 20 head 12 from open position, through the middle position, and into the closed position and to move the valve head 12 from the closed position, through the middle position, and into the open position. The input commander preferably allows for the continuous operation of the valve head 12 with a 25 cycle time of about 3 milliseconds, depending on the spring constants, the distance of armature travel, and the mass of the elements, amongst other factors.
- 6 The preferred methods of estimating the position and the velocity of the armature include: obtaining a parameter for the first solenoid command and the second solenoid command, measuring a property of the first solenoid coil 28 and the 5 second solenoid coil 30, and estimating the position and the velocity of the valve armature 26 based on the obtained parameter for the first solenoid command, the obtained parameter for the second solenoid command, the measured property of the first solenoid coil 28, and the measured 10 property of the second solenoid coil 30. The preferred methods may further include other acts as described below or as envisioned by a skilled person in the art.
The first preferred method of the invention includes 15 obtaining input voltage and measuring current at the solenoid coils. This method, which includes a four state observer, may be reduced to a three state observer if the first solenoid coil and the second solenoid coil are not operated simultaneously. The second preferred method of the 20 invention, which includes a two state observer, includes obtaining input current and measuring flux at the solenoid coils. An observer is a well known method from control systems literature that reconstructs unmeasured parameters or states from measured parameters or states. An observer 25 is typically composed of two components; a model replication component and a feedback correction term based on the error between the measured and estimated state.
In the first preferred method, the first step of obtaining a parameter preferably includes obtaining input voltage for the first solenoid command and the second solenoid command.
Obtaining input voltage is preferably accomplished by either 5 measuring input voltage with a suitable sensor or calculating input voltage based on the solenoid commands with a suitable processor. Obtaining input voltage may alternatively be accomplished with other suitable devices or methods. The second step of measuring a property includes 10 measuring current at the first solenoid coil and the second solenoid coil. Measuring current at the solenoid coils is preferably accomplished with a current sensor with a differential amplifier that outputs a voltage proportional to the current, but may alternatively be accomplished with 15 any suitable device or method.
In first preferred method, the third step of estimating the position and the velocity of the valve armature preferably uses a model of the EMVA based on the following four first 20 order nonlinear ordinary differential equations: x,=x2 X2=-X[-CX2 -kX, + fem(xl x3'x4)- fc] m 3 [L 64I',,(,] [ x,,xa)]
- 8 - F X [U2 - RCCX4 - ax x2] The four states include: xl, the position of the valve armature; X2, the velocity of the valve armature; X3, the 5 current of the first solenoid coil; and X4, the current of the second solenoid coil. The parameter for the solenoid commands include: u1 and U2, the input voltages of the first solenoid coil and the second solenoid coil, respectively.
Other elements of the equation include: c, the damping; k, 10 the effective spring stiffness; m, the effective moving mass of the valve armature, the valve head, a portion of the first and second springs, the spring keepers and lash caps, the armature stem, and the valve stem; Roc and RCC, the resistance of the respective solenoid coils; Loc and LCC, the 15 inductance of the respective solenoid coils; Aim and cc, the magnetic flux of the respective solenoid coil; fem' the magnetic force acting on the valve armature; and fe, the engine load disturbance acting on the EMVA.
20 The damping and stiffness of the model are represented as linear, but may alternatively be represented as non-linear.
Further, the equations preferably include several simplifications, including the omission of saturation of the armature position and eddy current losses, but may 25 alternatively include further simplifications. By solving for the four states, the position and the velocity of the
- 9 - valve armature can be estimated from the input voltage for the first solenoid command, the input voltage for the second solenoid command, the measured current at the first solenoid coil, and the measured current at the second solenoid coil.
5 The position and the velocity of the valve armature may, of course, be estimated from the input voltages and the measured currents with other suitable models or equations.
In the second preferred method, the first step of obtaining 10 a parameter includes obtaining input current for the first solenoid command and the second solenoid command. Obtaining input current is preferably accomplished by either measuring input current with a suitable current sensor or calculating input current based on the solenoid command with a suitable 15 processor. Obtaining input current may alternatively be accomplished with other suitable devices or methods. The second step of measuring a property includes measuring flux at the first solenoid coil and the second solenoid coil.
Measuring flux at the solenoid coils is preferably 20 accomplished with a suitable sensor, such as a hall effect sensor, but may alternatively be accomplished with any suitable device or method.
In the second preferred method, the third step of estimating 25 the position and the velocity of the valve armature preferably uses a model of the EMVA based on two equations similar to the first and second equations presented above.
By solving for the two states, the position and the velocity of the valve armature can be estimated from the input
current for the first solenoid command, the input current for the second solenoid command, the measured flux at the first solenoid coil, and the measured flux at the second solenoid coil. The position and the velocity of the valve 5 armature may, of course, be estimated from the input currents and the measured fluxes with other suitable models or equations.
The preferred methods may also include a feedback correction 10 term. The feedback preferably includes estimating the property of the first solenoid coil; calculating a first error based on the estimated property and the measured property of the first solenoid coil; estimating the property of the second solenoid coil; and calculating a second error 15 based on the estimated property and the measured property of the second solenoid coil. The estimation of the position and the velocity of the valve armature is further based on the calculated first error and the calculated second error. This feedback of the calculated errors provides a correcting 20 effect, which may increase accuracy of the estimation.
In the first preferred method, the feedback correction term preferably includes estimating the current of the first solenoid coil; calculating a first error based on the 25 estimated current and the measured current at the first solenoid coil; estimating the current of the second solenoid coil; and calculating a second error based on the estimated current and the measured current at the second solenoid coil; wherein said estimating the position and the velocity
- 11 of the valve armature is further based on the calculated first error and the calculated second error. The feedback loop of the first preferred method may, of course, be based on other suitable factors, equations, or models.
In the second preferred method, the feedback correction term preferably includes estimating the flux of the first solenoid coil; calculating a first error based on the estimated flux and the measured flux of the first solenoid 10 coil; estimating the flux of the second solenoid coil; calculating a second error based on the estimated flux and the measured flux of the second solenoid coil; wherein said estimating the position and the velocity of the valve armature is further based on the calculated first error and 15 the calculated second error. The feedback loop of the second preferred method may, of course, be based on other suitable factors, equations, or models.
Although the preferred methods of the invention have been 20 described with respect to two solenoid coils, the preferred methods can be used with only the active coil of the first solenoid coil and the second solenoid coil. Using only the active coil reduces the observer order, complexity, and computational time. Further, although the preferred methods 25 of the invention have been described with respect to one EMVA (an intake valve), the preferred methods can be used on multiple EMVAs (both intake valves and exhaust valves) within an engine.
As a person skilled in the art will recognize from the previous detailed description and from the figures and
claims, modifications and changes can be made to the preferred methods of the invention without departing from 5 the scope of this invention defined in the following claims.

Claims (1)

1. A method for estimating the position and the velocity of a valve armature in an electro-magnetic valve actuation system, which comprises a first solenoid coil that energizes 5 and attracts the valve armature based on a first solenoid command, said method comprising: obtaining a parameter for the first solenoid command; measuring a property of the first solenoid coil; and estimating the position and the velocity of the valve 10 armature based on the obtained parameter and the measured property. 2. A method according to claim 1 wherein said obtaining a parameter includes measuring a parameter for the first 15 solenoid command.
3. A method according to claim 1 wherein said obtaining a parameter includes calculating a parameter for the first solenoid command based on the first solenoid command.
4. A method according to any of claims 1 to 3, the method further comprising: estimating the property of the first solenoid coil; and calculating an error based on the estimated property 25 and the measured property; wherein said estimating the position and the velocity of the valve armature is further based on the calculated error.
5. A method according to any of claims 1 to 4, in an electro-magnetic valve actuation system that comprises a second solenoid coil that energizes and attracts the valve 5 armature in an opposite direction based on a second solenoid command, said method further comprising: obtaining a parameter for the second solenoid command; measuring a property of the second solenoid coil; and estimating the position and the velocity of the valve 10 armature based on the obtained parameter for the first solenoid command, the obtained parameter for the second solenoid command, the measured property of the first solenoid coil, and the measured property of the second solenoid coil.
6. A method according to claim 5 further comprising: estimating the property of the first solenoid coil; calculating a first error based on the estimated property and the measured property of the first solenoid 20 coil; estimating the property of the second solenoid coil; and calculating a second error based on the estimated property and the measured property of the second solenoid 25 coil; wherein said estimating the position and the velocity of the valve armature is further based on the calculated first error and the calculated second error.
- 15 7. A method according to any of claims 1 to 6, wherein the said obtaining a parameter includes obtaining input voltage for the first solenoid command, wherein said measuring a property includes measuring current at the first solenoid 5 coil; and wherein said estimating the position and the velocity of the valve armature is based on the input voltage and the measured current.
8. A method according to claim 7 wherein said obtaining 10 input voltage includes measuring input voltage.
9. A method according to claim 7 wherein said obtaining input voltage includes calculating input voltage based on the first solenoid command.
10. A method according to any of claims 7 to 9, the method further comprising: estimating the current at the first solenoid coil; and calculating an error based on the estimated current and 20 the measured current; wherein said estimating the position and the velocity of the valve armature is further based on the calculated error. 25 11. A method according to any of claims 7 to 10 in an electro-magnetic valve actuation system that comprises a second solenoid coil that energizes and attracts the valve armature in an opposite direction based on a second solenoid command, said method further comprising:
- 16 obtaining input voltage for the second solenoid command; measuring current at the second solenoid coil; and estimating the position and the velocity of the valve 5 armature based on the input voltage for the first solenoid command, the input voltage for the second solenoid command, the measured current at the first solenoid coil, and the measured current at the second solenoid coil.
10 12. A method according to claim 11 further comprising: estimating the current of the first solenoid coil; calculating a first error based on the estimated current and the measured current at the first solenoid coil; estimating the current of the second solenoid coil; and 15 calculating a second error based on the estimated current and the measured current at the second solenoid coil; wherein said estimating the position and the velocity of the valve armature is further based on the calculated 20 first error and the calculated second error.
13. A method according to any preceding claim wherein said obtaining a parameter includes obtaining input current for the first solenoid command, wherein said measuring a 25 property includes measuring flux at the first solenoid coil; and wherein said estimating the position and the velocity of the valve armature is based on the input current and the measured flux.
- 17 14. A method according to claim 13 wherein said obtaining input current includes measuring input current.
15. A method according to claim 13 wherein said obtaining 5 input current includes calculating input current based on the first solenoid command.
16. A method according to any of claims 13 to 15, the method further comprising: 10 estimating the flux at the first solenoid coils and calculating an error based on the estimated flux and the measured flux; wherein said estimating the position and the velocity of the valve armature is further based on the calculated 15 error.
17. The method of any of claims 13 to 15 in an electro-
magnetic valve actuation system that comprises a second solenoid coil that energizes and attracts the valve armature 20 in an opposite direction based on a second solenoid command, said method further comprising: obtaining input current for the second solenoid command; measuring flux at the second solenoid coil; and 25 estimating the position and the velocity of the valve armature based on the input current for the first solenoid command, the input current for the second solenoid command, the measured flux at the first solenoid coil, and the measured flux at the second solenoid coil.
18. A method according to claim 17 further comprising: estimating the flux of the first solenoid coil; calculating a first error based on the estimated flux 5 and the measured flux of the first solenoid coil; estimating the flux of the second solenoid coil; calculating a second error based on the estimated flux and the measured flux of the second solenoid coil; wherein said estimating the position and the velocity 10 of the valve armature is further based on the calculated first error and the calculated second error.
GB0224253A 2001-12-11 2002-10-18 Method for estimating the position and the velocity of an EMVA armature Expired - Fee Related GB2385139B (en)

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Cited By (1)

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GB2535158A (en) * 2015-02-09 2016-08-17 Gm Global Tech Operations Llc Method for operating a digital inlet valve

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GB2463484B (en) 2008-09-12 2010-11-17 Controlled Power Technologies Apparatus and manufacturing process for an electrical machine
CN112810666B (en) * 2019-11-15 2023-02-10 比亚迪股份有限公司 Train positioning and speed measuring method, equipment, system, computer equipment and storage medium

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EP1069284A2 (en) * 1999-07-13 2001-01-17 Siemens Automotive Corporation A method of using inductance for determining the position of an armature in an electromagnetic solenoid
DE10020896A1 (en) * 2000-04-29 2001-10-31 Lsp Innovative Automotive Sys Position detection method for armature of electromagnetic setting device e..g. for gas changing valve of IC engine

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Publication number Priority date Publication date Assignee Title
US5424637A (en) * 1993-03-15 1995-06-13 Caterpillar Inc. Method and apparatus for determining the position of an armature in an electromagnetic actuator using observer theory
DE19544207A1 (en) * 1995-11-28 1997-06-05 Univ Dresden Tech Model-based measurement and control of electromagnetic actuator movements
DE19836769C1 (en) * 1998-08-13 2000-04-13 Siemens Ag Electromagnetic actuator armature position determining method e.g. for IC engine gas-exchange valve
EP1069284A2 (en) * 1999-07-13 2001-01-17 Siemens Automotive Corporation A method of using inductance for determining the position of an armature in an electromagnetic solenoid
DE10020896A1 (en) * 2000-04-29 2001-10-31 Lsp Innovative Automotive Sys Position detection method for armature of electromagnetic setting device e..g. for gas changing valve of IC engine

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2535158A (en) * 2015-02-09 2016-08-17 Gm Global Tech Operations Llc Method for operating a digital inlet valve

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Publication number Publication date
GB2383141B (en) 2004-03-17
JP2003284369A (en) 2003-10-03
GB0221623D0 (en) 2002-10-30
GB2383141A (en) 2003-06-18
FR2833424A1 (en) 2003-06-13
GB2385139B (en) 2004-02-04
GB0224253D0 (en) 2002-11-27

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Effective date: 20061018