KR101131315B1 - Method for the Adaptation of a Sensor Signal of a Sensor to Report the Position of an Adjustable Component in a Position Adjusting Part - Google Patents

Abstract

The present invention relates to a method of adapting a sensor signal of a sensor for notifying a position of a movable component to a position controller for comparing a sensor signal and a setting signal, which are actual signals, and the movable component may be moved to a final position along a movement path. The sensor gain of the sensor provides the ratio of the signal change of the sensor signal to the corresponding position change of the movable part.

Moving the movable component along the movement path from the first position to the second position corresponding to the signal change of the sensor signal by the preset gain,

Changing the setting signal of the position controller to further move the movable part from the second position to the final position through readjustment, the final position being found through the measurement of a constant control deviation;

For adaptation of the actual sensor signal, a step of calculating sensor gains is provided from a first position having a corresponding first sensor signal and a final position having a corresponding second sensor signal.

Position Control, Sensor Signal, Sensor Amplification, Electric Regulator, Sensor, Movable Parts

Description

{Method for the Adaptation of a Sensor Signal of a Sensor to Report the Position of an Adjustable Component in a Position Adjusting Part}

The present invention relates to a method of adapting a sensor signal of a sensor for notifying a position of a movable component to a position controller for comparing a sensor signal and a setting signal, which are actual signals, and the movable component may be moved to a final position along a movement path. The sensor gain of the sensor provides the ratio of the signal change of the sensor signal to the corresponding position change of the movable part.

Methods of this type are known. This is the case, for example, of adaptation of the sensor signal of the electrical regulator by means of a position notification through the arrival of at least one final position which is defined position of the electrical regulator and formed as a mechanical end stop. The electrical regulator has two final positions formed as mechanical end stops, between which the electrical regulator can be moved along the path of travel. The mechanical end stop is a lower mechanical stop and an upper mechanical stop. Without current supply, the electrical regulator is located at the lower mechanical stop. The position of the electrical regulator is generally given as a percentage of the total travel length, with 0% corresponding to the lower mechanical stop and 100% corresponding to the upper mechanical stop. Sensors formed as position sensors provide a voltage signal that can be converted, in an ideal case, linearly to an open percentage. The conversion is performed by the inverse of the sensor gain of the position sensor provided as the factor VPSTG. The sensor signal of the upper mechanical stop is adapted as follows. In order to prevent mechanical damage due to the very rapid movement of the upper mechanical stop during adaptation, the worst case factor is first determined from the manufacturer's average sensor gain and gain tolerance of the electrical regulator, which is more than the factor VPSTG, which is the inverse of the actual sensor gain. Big. The regulator is then controlled by the position control to the full overall path length (100% open). Since the worst case-factor is used, this is a smaller opening rate than is actually possible. For adaptation of the sensor signal of the actual upper mechanical stop, the worst case factor is slowly reduced. In the normal case, the manufacturer of the electric regulator suggests at what maximum speed (opening rate per second) the upper mechanical stop is moved. From this the maximum allowable reduction of the worst case-factor is calculated. By this method step, the electric regulator is actually more open in the case of a constant calculated opening. Once the actual upper mechanical stop is reached, the electrical regulator can no longer be moved, so the sensor signal remains constant. As the worst case-factor is further reduced, the value calculated for the opening of the electrical regulator moves downward. Thus a virtual control deviation is formed and the drive of the electrical regulator is amplified. When the position control reaches a certain threshold, the method ends and from the adapted sensor signal in the case of the lower mechanical stop and the upper mechanical stop, the actual factor VPSTG of each of the regulators is calculated, the opposite of which corresponds to the actual sensor gain. do. The sensor gain at the maximum edge of the tolerance band is selected as the worst case-sensor gain followed by a change in the sensor gain corresponding to the control gain of the control path of the control circuit, resulting in unstable control behavior of the position control. Can be.

In order to prevent unstable control behavior during adaptation, the following steps according to the invention:

Moving the movable component along a movement path from the first position to the second position corresponding to the signal change of the sensor signal by the preset gain,

Changing the setting signal of the position control in order to further move the movable part from the second position to the final position through readjustment, the final position being found by measuring a constant control deviation,

For adaptation of the actual sensor signal, a step is provided for calculating sensor gains from a first position with the corresponding first sensor signal and a final position with the corresponding second sensor signal.

In this way the first position is the fixed, defined (known) position of the part. The part first moves from the first position to the second position. For this purpose, a preset gain is used according to the invention. From this preset gain and, for example, the average sensor gain and corresponding tolerance data provided by the manufacturer of the sensor, the maximum travel path is determined, which determines the spacing of the first position relative to the second position. The movement path length used between the first position and the second position is in particular between 50% and 80% of the total movement path length between the first position and the final position. For further movement to the final position, a preset gain is likewise used. By the use of a constant preset gain, unstable control behavior is generally prevented when the movable part moves to the second and final positions. The sensor gain is based on the estimation of the linear relationship between the signal change and the position change of the sensor signal, so that the movable part is moved to the final position, the corresponding first sensor signal is measured for the first position and the second sensor signal for the final position. It can be detected by measuring.

The advantage is that the preset gain is greater than the gain when the second position is the final position. Thus, the preset gain is greater than the "worst case" -gain. Since the total travel path length between the first position and the final position is used, the preset gain should not be a "Wast Case" -gain. As a result, the part does not reach its final position through movement to the second position.

In particular, the preset gain is provided with an average sensor gain. In this case, the probability of vibration is particularly low.

According to an improvement of the present invention, the movable component is moved from the first position to the second position through the change of the setting signal and the readjustment is executed by the position controller.

The advantage is that the part moves more slowly from the second position to the final position than from the first position to the second position. The use of the preset gains and the travel path lengths correspondingly used to move the movable parts from the first position to the second position ensure that the final position of the movable parts is not reached. Thus, the part can be quickly moved to the second position. Preferably, the movable part is adjusted from the first position to the second position at the maximum speed possible.

The part also moves from the second position to the final position at a low speed so that the movable part is not damaged upon reaching the final position. In the first method step, the part is moved from the first position to the second position at the maximum possible speed, and then in the second method step, the movement to the final position and the readjustment through the position control are performed slowly by changing the set signal. The removable parts are not damaged. To this end the set signal is changed to the corresponding movement rate for further movement, the movement rate including the maximum magnitude of the maximum movement rate preset by the manufacturer of the movable part.

Advantageously, the first position is the first final position of the movable part and the final position is the second final position. The movable part is located in the first final position at the start of the method according to the invention. This first final position is thus a fixedly defined position with the corresponding first sensor signal. Through the method according to the invention, the movable part is adjusted from the first final position to the second final position. This uses the total travel path length of the movable part for the calculation of the sensor gain. Since the sensor signal is associated with a measurement error, the actual sensor signal is detected with the maximum possible accuracy through the use of the first and second final positions.

In particular, by changing the setting signal for moving the detectable part from the starting position to the first final position, the first final position is found through readjustment and measurement of a constant control deviation. In the case of the method according to the invention, if the starting position is not a fixedly defined position, the fixedly defined position must first be reached. This position which is fixedly defined is the first final position. In order to find the first final position, the method according to the invention is prefixed with a method step for moving the movable part to the first final position, the manner of which is the second method of the method according to the invention. Corresponds to the step (change of the setting signal of the position control unit to move the movable part further). In particular, the component moves from the starting position to the first final position at a low speed so that the movable component is not damaged upon reaching the first final position.

The sensor signal is a sensor voltage.

It is an advantage to provide an electrical regulator comprising movable parts and sensors. In the case of an electric regulator, a mechanical element (eg a flap valve) is electrically driven by an electric element (eg an electric motor). This drive is performed by location notification via sensors.

Finally, the electric regulator is an electric throttle valve (TV-E), an exhaust gas recirculation valve (EGR), a charge motion valve (CMV), a compressor control valve, a waste-gate-valve, an intake manifold switch or a universal actuator. Is provided. Electric throttle valves, exhaust gas recirculation valves, charge motion valves, compressor control valves, waste-gate-valve, intake manifold diverter and universal actuators are, for example, electric regulators used in automotive technology.

In the following the invention is explained in more detail by means of the corresponding figures.

According to the present invention, an unstable control behavior at the time of adaptation can be prevented by the adaptation method of the sensor signal of the sensor for notifying the position controller of the position of the movable component.

FIG. 1 shows a block circuit diagram of a control circuit 1 consisting of an electric regulator 2 comprising a movable component 3 and a sensor 4 and a position control 5. The movable component 3 outputs its position S as an output variable, which is an input variable of the sensor 4. The sensor 4 outputs a sensor voltage U _Ist corresponding to the position S. The ratio of the signals (position S and sensor voltage U _Ist ) is preset by the sensor gain of sensor 4. The position control unit 5 compares the sensor voltage U _Ist with the set voltage U _Soll , and provides a corresponding adjustment value W to an unshown motion unit (eg engine) of the movable part 3. .

2 is a graph for illustrating a conventional adaptation method of the sensor voltage U _Ist of the sensor 4 for notifying the position controller 5 of the position of the movable component 3. The position S of the electric regulator 2 is shown as a percentage (%) of the total travel path length (OEF), with 0% at the first final position, the lower mechanical stop (UMA) and 100% at the second final Position, corresponding to the upper mechanical stop (OMA). The sensor 4 of the electrical regulator 2 provides a sensor voltage U _Ist that can be converted to percent movement (opening). Generally, a factor (VPSTG) corresponding to the reciprocal sensor gain is used for this. The factor VPSTG indicates what percentage of the position S changes when the voltage of the sensor 4 differs at 1 volt (V). The position S is calculated by the formula:

S = VPSTG × (U _Ist -U _UMA )

The voltage U _UMA is the sensor voltage of the sensor 4 at the first final position (lower mechanical stop UMA).

For the method of adapting the sensor signal according to the prior art, the following steps are provided:

1. To prevent mechanical damage due to very rapid movement of the second final position (upper mechanical stop (OMA)) during adaptation, firstly from the tolerance manufacturer's tolerance data of the electrical regulator 2, the factor VPSTGWC> VPSTGWG> VPSTG. (West case VPSTG) is determined. The electrical regulator 2 thus does not reach the mechanical stop of the second final position (upper mechanical stop OMA) even in the case of the second final position calculated by the factor VGSTGWC (the first step is not shown).

2. The electric regulator 2 is then adjusted by the activated position control 5 to the received second final position (100% open). Since still calculated as VPSTGWC, the position of the electric regulator 2 is on a travel path that does not yet correspond to the second final position (second step B).

3. To reach the second final position (top mechanical stop (OMA)), the factor VPSTGWC decreases slowly for a constant setpoint of 100%. This corresponds to a rise in the sensor gain received. In the normal case, the manufacturer of the electric regulator 2 suggests at which maximum speed (moving rate per second (opening rate per second) the second final position (upper mechanical stop (OMA)) is reached (maximum rate of movement). From this the maximum permissible reduction in factor VPSTGWC can be calculated. Through this method step, the adjuster 2 is actually moved more in the case of a constant calculated movement (opening). When the second final position (upper mechanical stop OMA) is reached, the electric regulator 2 can no longer be moved and the sensor voltage U _Ist remains constant in the case of U _OMA . Since the factor VPSTGWC continues to decrease, the value calculated for position S moves downward. Therefore, the virtual control deviation (setting opening is at 100%) and the drive of the electric regulator 2 are amplified (third step C).

4. When the drive reaches a certain threshold, the method ends and for adaptation of the actual sensor signal, the first final position (lower mechanical stop UMA) and corresponding sensor signal ( _UAMA ) with the corresponding sensor voltage U _UMA . The sensor gain is calculated from the second final position (upper mechanical stop _OMA ) with U _OMA (fourth step D).

Figure 3 shows a graph for illustrating the method according to the invention for adaptation of the sensor signal, which corresponds substantially to the graph of Figure 2, so only differences are presented here. Unlike the method shown in Fig. 2, in the case of the method according to the invention for the adaptation of the sensor signal, since a constant gain is preset (preset gain), the opposite value is shown in Fig. 3 as the slope VPSTG ^* . The method according to the invention comprises the following steps in the illustrated embodiment:

I. The factor VPSTG is set to the average nominal value of the tolerance data (VPSTGWC, VPSTGWC '), factor VPSTG ^* at the start of adaptation. The electrical regulator 2 is located in the first position (lower mechanical stop UMA). Based on the manufacturer data, a second position is calculated from this, the second position giving a minimum value for the regulator opening (S ^* ) (typically 50 to 80% for each tolerance), the minimum value being given to the average sensor gain. With the use of the opposite factor VPSTG ^* , it is ensured that the actual second final position (actual upper mechanical stop (OMA)) has not yet been reached. This second position of the electric regulator is preset as a setting for the position controller and readjusted through the controller (step I).

II. The set value S _Soll for the position control is adjusted in the direction of the second final position (upper mechanical stop OMA). The set value S _Soll may be greater than 100%, since the factor VPSTG ^* may be greater than the factor VPSTG (inverted value of the actual sensor gain) to be detected through adaptation. The maximum movement rate (corresponding to the maximum arrival speed for the second final position OMA) is determined by the manufacturer at the upper mechanical stop OMA of the factor VPSTG ^* and the first final position (lower mechanical stop UMA). It is simply calculated from the adapted voltage U _{UMA at} )) (step II).

III. Upon reaching the second final position (upper mechanical stop OMA), the real-position S _Ist of the electric regulator 2 can no longer follow the set value S _Soll . This applies to U _OMA = U _Ist . According to the formed control deviation, the output of the position controller and the regulator drive rise. When the control deviation reaches a certain threshold, a second final position (upper mechanical stop (OMA)) is reached, a first final position (lower mechanical stop (UMA)) and a second final position (upper mechanical stop) From the sensor voltages U _UMA and U _OMA ), the factor VPSTG of each of the regulators and thus the actual sensor gain is calculated (step III).

The following drawbacks are solved by the method according to the invention for adaptation of the sensor signal.

By defining VPSTGWC, the value at the shortest edge of the tolerance band of the factor VPSTG is used as a starting value for adaptation according to the prior art. This can lead to unstable control behavior. A setpoint jump from 0% to 100% will only move the electric regulator by a value much smaller than that detected in the controller application. For example, if VPSTGWC is applied twice to the factor VPSTG at the same time and the electric regulator 2 normally has a stroke of 10 mm, the electric regulator moves only 5 mm instead of 10 mm. However, since the drive (position control) is applied for a jump of 10 mm stroke, overshoot may occur. Since the factor VPSTG ^* is located at the center of the tolerance band, it is practically suitable for better calculating the actual position of the electrical regulator than the factor VPSTGWC. The probability of unstable control behavior of the control circuit 1 is therefore lower than when using the factor VPSTGWC for adaptation. By changing the factor VPSTG during adaptation, the actual position of the electrical regulator in the conventional method changes abruptly (discontinuously). This nonphysical behavior can likewise have a negative effect on readjustment. In the case of the position control unit 5 having a set value filter (not shown), an unstable control behavior can occur. This is because, in the case of a constant set value that is normally filtered, the actual value which does not normally jump by the inertial mass changes very quickly. If the factor VPSTG ^* is used as the starting value in the method according to the invention, the factor VPSTG must be newly defined only once at the end of the adaptation. At this point, the regulator is in the final position formed as the second final position (top mechanical stop OMA). The final position is the defined position where the movable part 3 is pressed into the mechanical stop. It is very unlikely that vibration will occur at this location. Therefore, the adaptation of the sensor gain or the adaptation of the factor VPSTG at this position is particularly preferred.

1 is a block circuit diagram of a control circuit formed of a movable component, a sensor, and a position controller.

2 is a diagram of a sensor voltage adaptation method of a sensor for position notification of an electrical regulator position, according to the prior art;

3 is a diagram of a sensor voltage adaptation method of a sensor for location notification of an electrical regulator location, in accordance with the present invention;

<Explanation of symbols for the main parts of the drawings>

1: control circuit

2: electric regulator

3: movable parts

4 sensor

5: position control

UMA: Lower Mechanical Stop

OMA: Upper Mechanical Stop

Claims (11)

It is an adaptation method of the sensor signal of the sensor to inform the position control unit comparing the sensor signal and the setting signal, which is the actual signal, and the movable part can be moved to the final position along the moving path and the sensor gain of the sensor A method of adapting a sensor signal of a sensor to provide a ratio of the signal change of the sensor signal to a corresponding position change of the movable part, Corresponding to the signal change of the sensor signal by a constant preset gain, the controllable movement of the movable part is performed along the movement path from the first position to the second position, and the component is finally moved through the movement to the second position. Where the position is not reached, By the use of a constant preset gain and by the position control, the setting signal of the position control is changed to further move the movable part from the second position to the final position through readjustment, the final position being of constant control deviation The steps found through measurement, Calculating a sensor gain from a first sensor signal corresponding to a first position and a second sensor signal corresponding to a final position for adaptation of the actual sensor signal. The method of claim 1, wherein the preset gain is greater than the gain when the second position is the final position. 3. A method according to claim 1 or 2, wherein the preset gain is an average sensor gain. The method according to claim 1 or 2, wherein the movable component is moved from the first position to the second position through a change in the set signal and the readjustment is performed by the position controller. The method according to claim 1 or 2, wherein the component moves more slowly from the second position to the final position than from the first position to the second position. The method according to claim 1 or 2, wherein the component moves from the second position to the final position at a low speed so that the movable component is not damaged upon reaching the final position. . The method according to claim 1 or 2, wherein the first position is the first final position of the movable part and the final position is the second final position. 3. A method according to claim 1 or 2, characterized in that through a change in the setting signal for moving the movable part from the starting position to the first final position, the first final position is found through readjustment and measurement of a constant control deviation. The sensor signal adaptation method of the sensor. The method of claim 1 or 2, wherein the sensor signal is a sensor voltage. The method according to claim 1 or 2, wherein an electrical regulator comprising a movable part and a sensor is used. The sensor of claim 10, wherein the electric regulator is an electric throttle valve, an exhaust gas recirculation valve, a charge motion valve, a compressor control valve, a waste-gate-valve, an intake manifold switch or a universal actuator. Adaptation method.

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