KR20180136510A - Control device and method for recognizing motion disorder of driving device - Google Patents

Abstract

The invention relates to a method of recognizing a motion disorder in a drive device (14), characterized in that while the drive device (14) is subjected to at least one shake (26), the displaceably mounted component (15) To a target position 20 and an increase in a predetermined load is detected in the electric motor 16 before reaching the target position 20 . In this case, upon detecting an increase in the load, the power electronic system 18 having the semiconductor switching element and controlling the electric motor 16 is switched to the electric cut-off state 30, The energy exchange between the power electronic systems is interrupted and the electric motor 16 further rotates due to its inertia and at least one measurement signal n, V depending on the residual movement of the electric motor 16 is identified , A check is performed to determine whether the measurement signal (n, V) exceeds a threshold value (n2, Vthr) after a predetermined period of time (T) 16 toward the target position 20.

Description

Control device and method for recognizing motion disorder of driving device

The present invention relates to a method for recognizing movement disturbances in a driving device, in which a displaceably mounted element is moved toward an aimed position by an electric motor. The driving device can be designed, for example, as a window winding system of an automobile. Here, a window pane is used as the element. The present invention also includes a control device for controlling the electric motor of the drive device. Finally, the present invention also includes a drive device that can be designed, for example, as a window winding system or sunroof module of an automobile.

In the case of an electric window winding system or sunroof, or in the case of a closed system in general, the controller generally involves indirect recognition of the process in which the object is hung. In other words, moving the element while moving towards the target position may be blocked by the limb of the object or person. The jammed object can be recognized, for example, by detecting that the torque output by the drive electric motor has risen.

During operation of the drive, other mechanical actuation mechanisms, such as, for example, an accelerating force acting on the driven drive, may cause a temporary rise in the torque output by the electric motor during shake. For example, when the driving device is an electric window winding system of an automobile, and when the automobile is running on a rough road, or when the vehicle door is slamming during operation of the driving device, Or acceleration may temporarily affect the drive. In other words, the shaking causes an increase in the torque in the electric motor, resulting in incorrect detection of the stuck situation, i.e., a false alarm.

An object of the present invention is to reliably detect a situation in a drive device which can be used to displace a displaceably mounted element by an electric motor and to prevent a false alarm from occurring in this case.

This object is achieved by the subject matter of the independent patent claims. Advantageous refinements of the present invention appear from the features of the dependent patent claims, the following description, and the drawings.

The present invention includes a method of recognizing a motion disorder of the drive device, wherein the displaceably mounted element is moved toward the target position by the electric motor while the drive device is subjected to at least one shake. The motion disorder is here associated with the element. The movement disorder slows or interferes with movement of the element. The target position may be, for example, a closed position in which the element contacts a frame or other stop element. When an object (i.e., a thing or a limb) is placed between the moving element and the stop element, the movement of the element is blocked before reaching the target position. Thus, in the method, before reaching the target position, an increase in the predetermined load in the electric motor is detected. In this case, whether the increase of the load is caused by the fact that the obstacle has been caused by the object, or an acceleration force is generated in the driving device by at least one shake, and the acceleration force is increased by the load in the electric motor, Is now unclear.

According to the present invention, after the increase of the load is identified, the power electronic system controlling the electric motor is switched to the electric cut-off state. The power electronic system may be formed by, for example, an inverter. The power electronic system has a semiconductor switching element. The semiconductor switching element may be switched to the electrically disconnected state, i.e., the high impedance switching state. This switches off the electric motor. However, further energy exchange between the electric motor and the power electronics system is additionally interrupted. Whereby the electric motor can further rotate due to its inertia. At least one measurement signal that depends on the residual motion of the electric motor is identified and after a predetermined period of time a test is performed to determine whether the measured signal exceeds a threshold value. This period is determined from the switching-off of the electric motor, that is, from the point of switching the power electronic system to the electric cut-off state. If the motion impairment is a permanent obstruction, for example, when an object is stuck, the residual motion is braked faster than the case of an increase in load due to just shaking. After a predetermined period of time, the measurement signal therefore has a value that is below the threshold value (in the case of an object jam) or a value that exceeds a threshold value (in the case of a temporary increase in load due to shaking). When the measured signal exceeds the threshold, the element further moves towards the target position by the electric motor. That is, the moving process continues.

The present invention provides an advantage of preventing an erroneous triggering from happening by recognizing that an object is jammed when an increase in load temporarily can only be caused by shaking of the driving apparatus.

The present invention further includes optional enhancements that include features that generate additional advantages.

As the load increases, it is desirable that the rotational speed of the electric motor is detected to be less than a predetermined rotational speed value. That is, it can be detected that the rotation speed is reduced to less than the predetermined threshold value. Additionally or alternatively, as the load increases, it can be detected that the torque generated by the electric motor exceeds a predetermined torque value. This can be detected based on, for example, the motor current of the electric motor. This corresponds to an indirect torque measurement. Detecting the above-mentioned increase in load has the advantage that it is possible to use the sensor device provided in any case to operate the electric motor in each case.

The rotational speed profile of the electric motor and / or the generator voltage generated by the electric motor is preferably identified as a measurement signal for observing or inspecting residual motion. The rotational speed profile may be identified using a sensor device to operate or control the electric motor. The generator voltage has a profile that is comparable to the rotational speed so that it can be used by cost-effectively replacing the rotational speed sensor.

The threshold value compared with the measurement signal may be a fixed fixed value. However, when the electric motor is switched off, that is, when the power electronic system is switched to the electric cutoff state, it is preferable that a threshold value is provided or set according to the value of the measurement signal. As a result, it can be confirmed that the measurement signal changes relatively. Additionally or alternatively, it can be provided by setting the threshold value according to at least one operating parameter of the drive device set before switching off. That is, the threshold value is defined according to the current operation state. For example, the current load (e.g., required torque), the current rotational speed during switching off, and / or the operating voltage may be taken as a basis for determining a limit value for the generator voltage. The magnitude of the generator voltage is generated, for example, by the load and the rotational speed.

If after the period the measurement signal is below the threshold, i. E. A permanent motion impairment is detected, the element is moved away from the target position. That is, the electric motor is reversed or moved in the reverse direction. This has the advantage that the object is automatically released.

The period is preferably set according to the memory value of the variable design memory. That is, a period in which the power electronic system has a high impedance, that is, a period of switching to the electric cutoff state, is designed to be parameterized. As a result, the period is adjustable. After the drive is installed in, for example, the vehicle, a period of time suitable for reliably detecting that an object has been caught without a false alarm rate exceeding a predetermined maximum value can be confirmed by a test measurement. The period may be set, for example, in the range of 5 milliseconds to 50 milliseconds.

As already mentioned, a window or sunroof may be moved as said element by said drive. The drive system has the advantage that it can be used in an automobile to close an automobile or a sunroof while the automobile is shaken, for example, due to running on uneven roads or because the car door is slammed. Nevertheless, this does not cause a false alarm to be generated in the drive due to the detected effect of the object being stuck.

To carry out the method, the present invention provides a control apparatus for a drive apparatus. The control device is configured to control an electric motor of the drive device according to an embodiment of the method according to the invention. To this end, the control device may have a microcontroller or a processor device with a microprocessor. The processor device may also have a memory with program code, the program code being configured to perform an embodiment of the method according to the invention when executed by the processor device. The control device may be designed, for example, as a control device for an automobile.

The invention also includes the drive device having the displaceably mounted element and having an embodiment of the control device according to the invention.

The element may be a window or a sunroof in the manner described above. Therefore, it is preferable that the driving device is designed as an automobile window winding system or a sunroof module.

Finally, the invention further comprises a motor vehicle having at least one drive device designed in accordance with an embodiment of the drive device according to the invention. The automobile according to the present invention is preferably designed as an automobile, particularly a passenger car or a truck.

Exemplary embodiments of the invention are described below.

1 is a schematic view of an embodiment of a vehicle according to the invention; And
Figure 2 is a graph with a schematic profile of measured variables generated in the drive of the vehicle of Figure 1 to perform an embodiment of the method according to the invention.

The exemplary embodiments described below are preferred embodiments of the present invention. In the exemplary embodiment, the components described in this embodiment should be considered as being independent of each other, and each of which may be regarded as a component of the present invention, Which represent individual features of the invention that can be considered as constituent elements of the invention. In addition, other features of the invention that have been described above can be further added to the described embodiments.

In the drawings, functionally equivalent components are provided with identical reference numerals in each case.

1 shows an automobile 10 which can be, for example, a motor vehicle, in particular a passenger car or a truck. A vehicle door 11 is shown in which a window winding system 12 for electrically opening and closing a window 13 can be provided. The electric window winding system 12 in this case represents a drive device 14, a window 13, a displaceably mounted element 15. Generally, the drive system 14 may have an electric motor 16 and a control device 17 for the electric motor 16. [ The control device 17 can be designed, for example, as a control device. The control device 17 may be a component part of the control device 17 or may control the power electronic system 18 which may be interconnected with the control device 17 in other ways (not shown). Controlling the power electronic system 18 may be performed by the processor device 19 that is capable of generating the control signal S for the power electronic system 18. [ The control signal S may indicate, for example, the direction of movement (UP, DOWN) to the element 15, i.e. the window 13, for example. The control signal S can signal the movement direction UP when closing the window 13, i. E. To move the element 15 to the target position 20. [ In order to open the window 13, i.e. to move the window 13 away from the target position 20, the movement direction DOWN may be signaled.

The electric motor 16 may be operated by the power electronic system 18 in a manner known per se. The power electronics system 18 may be, for example, an inverter for a DC motor or a control electronics system. Thus, the electric motor 16 may be a synchronous motor or an asynchronous motor or a DC motor. The supply current I may be switched by the power electronic system 18 in accordance with the control signal S. The electric motor 16 is operated by the supply current I. As a result, the electric motor 16 generates the torque M at the rotational speed n. The torque M is connected to the mechanical system 22 by the shaft 21 in a manner known per se to move or displace the window 13 (toward or away from the target position 20) .

During the operation of the electric motor 16, particularly when the window 13 is closed (when the control signal S signals the movement direction UP in this example), the control device 17 provides jamming protection . To this end, the control device 17 monitors whether the object 23 hits the window 13 while the window 13 moves toward the target position 20 (24). This jam causes movement disturbance of the window 13, i. E., Causing the movement 24 to stop or at least to slow down. This can be identified, for example, by the control device 17 based on the current intensity value of the supply current I and / or on the basis of the rotation speed n. The rotational speed n may be detected or identified by the rotational speed sensor 25, for example, in a known manner.

However, motion 24 may also be provided as being temporarily slowed down for other reasons. The entire vehicle 10 or the vehicle door 11 is moved in each case by the wobbling case 26 so that the acceleration force 27 acts on the window winding system 12, It can also be affected. For this reason, a change may occur in the supply current I and / or the rotation speed n.

On the one hand, in order to distinguish between a motion impairment due to the engagement of the object 23 and on the other hand a motion impairment due to the acceleration 27, the control device 17 determines whether this is a permanent or continuous motion impairment, Can be confirmed.

To this end, the control device 17, in particular the processor device 19, can perform the following method described with reference to Fig.

Fig. 2 shows the profiles 28, 29 (t) of the following variables, i.e. the rotational speed n, the torque M, the motor voltage V applied to the electric motor 16 and the time t of the control signal S ).

Two profiles are presented in each case, one profile being the case of motion impairment due to the object 23 (profile 28) and the other profile being the case of motion impairment due to the shake 26 (profile 29). In this example, it is assumed that the motion disorder starts at time t0. Due to the motion disorder, the rotational speed n decreases and the torque M generated by the electric motor increases. By monitoring the rotation speed n and / or the torque M by measuring the supply current I (for example, by measuring the supply current I), the control device 17 determines that the rotation speed n is, for example, It is possible to identify that it is less than the triggering threshold value n1. Thus, it is identified whether there is an increase in the threshold load at time t1. It is not immediately started that the reversing process, that is, the control signal S is switched from the movement direction UP to the movement direction DOWN. Alternatively, after an increase in the critical load has been identified, for example, the power electronic system 18 may be switched to a high impedance, i. E., Electrically disconnected state, by the jam prevention algorithm of the processor device 19, Is not exchanged between the power electronic system 18 and the electric motor 16. The high impedance operating phase of the power electronics system 18 is indicated at 30 in FIG. During this phase, the electric energy is no longer supplied to the electric motor 16. The electric motor 16 can perform the residual motion by consuming the rotational energy stored in the electric motor 16. [ (Load inertia of the electric motor, for example) and the current load condition (load torque M1) present in the motor at the instant of switching the power electronic system 18 to the high impedance state 30, The reduction of the rotation speed n from the rotation speed n1 is limited.

The rotation speed n and / or the motor voltage V are measured by the control device 17 and the control device 17 is still in operation due to the generator voltage Vemf generated by the rotating electric motor 16 Generates a signal profile of the motor voltage (V) similar to the rotation speed (n). When the rotational speed n or the motor voltage Vemf undershoots the respective threshold values n2 and Vthr after a predetermined period of time T2 at time t2, It is classified as movement disorder. If the rotational speed n or the motor voltage Vemf is located above the respective threshold value n2 or Vthr then a motion fault due to the shake 26 is assumed which may cause the movement of the window 13 to continue . In other words, the motion is again taken in the original motion direction (24). When each of the threshold values n2 and Vthr is undershooted, the reversing process is started, that is, the window 13 is moved away from the target position 20 again. This is set by the corresponding control signal S at time t2 in each case.

The time window or period T during the high impedance state 30 between t1 and t2 can be designed such that the period T can be parameterized by being defined by the memory value 31 of the processor device 19. [ have. As a result, the control device 17 can be adapted to, for example, each system or each environment, i.e., the electric motor 16 and / or the mechanical system 22. The value range of the period T may be extended to a range of 5 milliseconds to 50 milliseconds.

The threshold values n2 and Vthr, particularly the threshold value Vthr, can be defined or confirmed according to the operating conditions (load, rotational speed, voltage) existing before the event.

The described method is advantageous in that, for example, if the event occurs regularly by the object 23, the jamming forces in the process do not increase significantly, for example running on rugged roads or when the vehicle door 11 is slammed Thereby reducing the sensitivity of the system to individually prevent erroneous triggering from taking place due to transient interference that may be caused by < Desc / Clms Page number 2 >

To this end, it is distinguished whether the motion impairment includes a temporary load increase or a stop load increase. When the stop load increase is recognized, the reversing process is started. If a transient load rise is recognized, the electric motor is reactivated in its original direction of movement.

Overall, the present embodiment provides a method by which the temporary load torque in the indirect engagement system can be recognized by the present invention.

10: vehicle 11: vehicle door
12: Window winding system 13: Window
14: driving device 15: element
16: electric motor 17: control device
18: power electronic system 19: processor device
20: target position 21: shaft
22: mechanical system 23: object
24: Motion 25: Rotational speed sensor
26: shake 27: acceleration
28: Profile 29: Profile
30: State 31: Memory value

Claims (10)

A method of recognizing movement disturbances in a drive system (14), characterized in that the displaceably mounted element (15) is driven by an electric motor (16) during a time period during which the drive system Is moved toward the position (20) and an increase in the predetermined load in the electric motor (16) is detected before reaching the target position (20), and when the increase of the load is detected, The power electronics system 18 controlling the electric motor 16 is switched to the cutoff state 30 so that the energy exchange between the electric motor and the power electronics system is interrupted and the electric motor 16 ) Is further rotated due to its inertia and at least one measurement signal (n, V) dependent on the residual motion of the electric motor (16) is identified and after a predetermined period of time (T) ) Exceeds the threshold value (n2, Vthr) Is performed checks to determine, in this case, the element 15 is how to recognize a movement disorder, characterized in that by the electric motor 16 is further moved toward the target position (20). 2. The electric motor according to claim 1, wherein as the load increases, the rotational speed n of the electric motor 16 is less than a predetermined rotational speed value n1 and / or the torque generated by the electric motor 16 M) exceeds a predetermined torque value. 3. A method as claimed in claim 1 or 2, characterized in that the rotational speed profile (n) of the electric motor (16) and / or the generator voltage (V) generated by the electric motor (16) ≪ / RTI > The method of any one of claims 1 to 3, wherein the threshold value (n2, Vthr) is determined according to the value of the measurement signal (n, V) when the power electronic system (18) Or the at least one operating parameter of the driving device (14) set before the switching off. The method according to any one of claims 1 to 4, characterized in that when the measured signal (n, V) is less than the threshold value (n2, Vthr) after the period (T) 20. A method for recognizing movement disorders, comprising: 6. A method according to any one of claims 1 to 5, wherein said period (T) is set according to a memory value (31) of a variably designed configuration memory. 7. A method according to any one of claims 1 to 6, wherein the window (13) or sunroof is moved as the element (15) by the drive device (14). A control device (17) for a drive device (14), the control device (17) being adapted to control the electric motor (16) of the drive device (14) according to the method of any one of claims 1 to 7 (17). A drive device (14) having a displaceably mounted element (15) and the control device (17) of claim 8. 10. The drive device (14) according to claim 9, wherein the drive device (14) is designed as a window winding system (12) or a sunroof module for an automobile (10).

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