WO1991010800A1 - Procede et dispositif pour l'utilisation d'elements actionnes par force exterieure comportant un risque de coincement - Google Patents

Procede et dispositif pour l'utilisation d'elements actionnes par force exterieure comportant un risque de coincement Download PDF

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Publication number
WO1991010800A1
WO1991010800A1 PCT/DE1990/000992 DE9000992W WO9110800A1 WO 1991010800 A1 WO1991010800 A1 WO 1991010800A1 DE 9000992 W DE9000992 W DE 9000992W WO 9110800 A1 WO9110800 A1 WO 9110800A1
Authority
WO
WIPO (PCT)
Prior art keywords
speed
determined
limit value
parameter
torque
Prior art date
Application number
PCT/DE1990/000992
Other languages
German (de)
English (en)
Inventor
Hubert Lamm
Stefan Kiefer
Gerhard Knecht
Gert Mau
Rainer Zottmaier
Original Assignee
Robert Bosch Gmbh
Reitter & Schefenecker Kg
Domatic Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch Gmbh, Reitter & Schefenecker Kg, Domatic Gmbh filed Critical Robert Bosch Gmbh
Publication of WO1991010800A1 publication Critical patent/WO1991010800A1/fr

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Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
    • H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
    • H02H7/08—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors
    • H02H7/085—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors against excessive load
    • H02H7/0851—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors against excessive load for motors actuating a movable member between two end positions, e.g. detecting an end position or obstruction by overload signal

Definitions

  • DE-PS 30 34 118 discloses a method for electronically monitoring the opening and closing process of electrically operated window lifters and sunroofs in motor vehicles.
  • the path to be followed during the opening and closing process of the moving part is divided into several areas.
  • the electric motor of the drive is switched off as soon as a time limit value is reached when a blocking state occurs, which is determined by a speed detection of the drive.
  • measured values dependent on the speed or the speed of the moving part or the drive motor are continuously determined during the closing operation and compared with a limit value related to an initial measured value.
  • the invention is based on the object of specifying a method and a device for operating power-operated parts, which reliably detects the jamming of objects or people by the part under all operating conditions and immediately initiates countermeasures.
  • the method and the device according to the invention initially provide for the detection of a parameter which is related to the actuating force of the part and the path covered by the part. Subsequently, at least one derivation of the course of the parameter along the path is determined. Derivation is understood to mean the formation of the differential quotient with analog and the formation of a difference quotient with digital calculation. Exceeding a limit value which is predetermined for the result of the at least one derivation leads to the part being switched off and / or to the reversal of the direction of movement.
  • the additional or alternative determination of higher derivatives preferably at least the second derivative, further increases the reliability of the detection, because changes influence the result more than in the first derivative. If more than one derivation is formed, each result must be compared with its own limit value, whereby the limit values can be different. The part is then switched off or the direction of movement is reversed if a limit value is only exceeded.
  • the method and the device according to the invention have the advantage that the speed of the actuated part can be disregarded. The speed of the part can therefore vary within wide limits over the entire distance covered, as long as the result of at least one derivation does not exceed the predetermined limit value.
  • the method and the device according to the invention are suitable for operating sliding doors and other stationary power-operated parts in which there is a risk of objects or body parts being trapped by people.
  • it is suitable for operating sunroofs, window regulators, door closing aids and belt hangers in motor vehicles.
  • sunroofs sunroofs
  • window regulators window regulators
  • door closing aids and belt hangers in motor vehicles.
  • assembly technology it is particularly advantageous to use power-operated handling machines. It is also suitable for operating roller shutters and barriers, in particular parking space reservation parts.
  • a particularly advantageous development of the method according to the invention and the device provides for several determinations of at least one derivation, based on different paths.
  • This measure it is possible to adapt to different objects or body parts of people whose jamming is to be prevented.
  • the different hardness of objects or parts of the body leads to hard or correspondingly soft pinching processes, which are noticeable differently in the change in the parameter, based on the path.
  • a determination of at least one derivative matched to a hard pinching would not recognize a soft pinching.
  • the beginning of the jamming of different objects can thus be recognized as quickly as possible. It is already sufficient to calculate the first derivatives in each case.
  • Detection reliability is also possible here by determining higher derivatives, preferably the first and second derivatives.
  • the results of the several calculations of the derivatives running in parallel are each compared with a limit value. If the first and / or higher derivatives are also determined, separate limit values are also provided for these results.
  • the adaptive determination of limit values by pinching tests is provided. With this measure, it is possible to specify optimal limit values for each individual part.
  • a further improvement of the method and the device according to the invention relates to a division of the entire adjustment path of the part into several partial areas, each of which is assigned its own limit values.
  • the division into several sub-areas allows taking into account different dimensions of the objects or body parts of the people.
  • Signal filtering in the detection of the course of the parameter increases the reliability of the method and the device against mechanical effects on the part, such as vibrations and the resulting high-frequency interference signal components.
  • High-frequency interference signals would come into play when determining higher derivations and possibly simulate a pinching process.
  • the method according to the invention is particularly easy to implement if the speed of a drive of the part is used as the parameter, which is detected by a sensor. The distance traveled by the part can then be calculated in a simple manner by integrating the speed signals.
  • a further improvement of the method and the device according to the invention is possible by specifying a minimum speed below which the part is switched off or the direction of movement is reversed.
  • the additional monitoring for a minimum speed also precludes the prevention of objects or body parts from being trapped if it is no longer possible to determine at least one derivation because the speed is too low to be able to detect a significant change.
  • a particularly advantageous development of the method according to the invention and the device when using an electromotive drive provides for a correction of the detected speed as a function of the operating voltage.
  • a change in the speed can be caused both by a pinching and by a change in the operating voltage, a distinction between the two causes in a signal processing arrangement without the corresponding correction of the detected speed depending on the operating voltage not being readily possible .
  • This correction is particularly simple when using a direct-current motor drive, since a change in the operating voltage results in a parallel shift of the speed-torque characteristic curve, which is linear in the area of interest, the increase in speed in the working area under consideration being linearly dependent on the Operating voltage change.
  • the correction value then depends on the measured voltage, which is multiplied by a constant value.
  • FIG. 1 shows a block diagram of a drive of a power-operated part
  • FIG. 2 shows a functional relationship between the speed and torque of a DC electric motor at different operating voltages.
  • FIG. 1 shows an electric motor 10 which is controlled by a signal processing arrangement 11 via a motor driver circuit 12.
  • a sensor 13 detects the speed of the motor 10 and forwards it to the signal processing arrangement 11.
  • Instructions for controlling the motor 10 are given to the arrangement 11 via an operating device 14.
  • the arrangement 11 can give signals to the operating device 14 which are displayed there, for example.
  • the arrangement 11 is supplied with the operating voltage of the electric motor 10 which is detected by a voltage measuring device 15 and which can be determined, for example, from the motor driver circuit 12.
  • the electric motor 10 drives a part, not shown, in which there is a risk of objects or body parts being trapped by persons.
  • FIG. 2 shows a functional relationship between the speed n and the torque M of a direct current electric motor. Three characteristic curves 16 are entered, which apply at different operating voltages U of the electric motor 10.
  • the electric motor 10 drives a part to be actuated, not shown in the figure, in which there is a risk of being pinched.
  • a pneumatic or hydraulic drive can be provided for the part. It is essential to record a parameter that is related to the actuating force of the part.
  • the sensor 13 is provided in FIG. 1, which detects the speed n of the motor 10, for example. Instead of the engine speed, another speed, for example on a transmission, can be detected.
  • a specific torque M for a given speed n, a specific torque M, and thus an actuating force, can be specified from FIG. 2 on the basis of the characteristic curve.
  • the functional relationship shown in FIG. 2 applies to a direct current electric motor, the operating voltage U for the three different characteristic curves 16 being taken into account as parameters.
  • At least one derivation based on the distance traveled of the part is determined from the course of the parameter. If the speed of the drive 10 is used as a parameter, the distance covered can be obtained by integrating the speed signal. At least one derivation is continuously determined during the operation of the part and the result is compared with a predefinable limit value. If the limit value is exceeded, the direction of movement of the drive 10 is switched off or reversed.
  • the first derivative is preferably determined.
  • higher derivatives preferably at least the second derivative, are determined. The inclusion of higher derivatives, possibly alongside the first derivative, increases the detection reliability of a pinching process, since changes in the characteristic variable in relation to the distance covered are more noticeable with higher derivatives than with the first derivative.
  • higher derivatives are formed from the lower derivatives already determined.
  • a further simplification of the method according to the invention sees the determination of higher derivatives, provided that this determination is provided, at each. learn the smallest way for which a lower derivative already -. - was averaged. If several leads are determined in parallel with respect to different paths, the higher leads can then be determined in one calculation step.
  • an adaptive limit value determination is provided in the signal processing arrangement 11, in which the one or the different limit values is adaptively defined in the arrangement 11 on the basis of one or more test pinching processes.
  • the adjustment of the adjustment of the part into several partial areas is provided, each of which different limit values are assigned.
  • Any signal filtering provided in the signal processing arrangement 11 filters out higher-frequency interferences from the detected parameter, which can arise from mechanical effects on the part. If the device is installed in motor vehicles, such disturbances arise, for example, from a roadway with potholes. The possibility of incorrect detection, which is particularly given when determining higher derivatives, is thus reduced.
  • a further increase in operational safety is given by the specification of a minimum speed, below which a shutdown or a reversal of the direction of movement is triggered.
  • An extremely low speed occurs, for example, when the part is difficult to drive. It may no longer be possible to derive a parameter along the way due to the slight change in the speed. With this measure, blocking of the drive or the part can already be detected at the beginning of the movement in the rest position of the part.
  • a correction of the detected speed of an electric motor or transmission is provided as a function of the operating voltage.
  • the determined speed is increased by one Number correction value increased or decreased, which, for example in a data memory of the signal processing arrangement 11 for the operating voltages to be taken into account in the correction, stores the functional relationship between speed and torque or a variable proportional to the torque as a function of the measured speed and the measured operating voltage for a given torque is determined.
  • the speed-torque characteristic of the electric motor 10 is assumed to be known, its operating voltage being specified as a parameter. In the case of a direct current electric motor 10, it is therefore possible to correct the detected speed from the measured operating voltage, which is weighted with a constant determined from the functional relationship shown in FIG.
  • the functional relationship between speed n and torque M shown in FIG. 2 is the starting point when determining the limit values.
  • the maximum permissible pinching force corresponds to a load torque on the motor, which results in a speed decrease.
  • the pinching force is thus dependent on the gradient of the speed-torque characteristic of the corresponding motor.
  • the limit values can theoretically be derived.
  • An experimental limit value determination is preferably provided.
  • the adaptive limit value determination already described is particularly advantageous since the characteristic curve 16 between the individual motors can be subject to scattering. This would lead to an unacceptable fluctuation in the pinching forces.
  • the adaptation is carried out on the fully assembled part. The part is subjected to defined load moments, from which the speed of the motor is determined.
  • the slope of the characteristic curve specific to this engine is determined from various measuring points. This measurement sequence can be carried out separately for each direction of rotation, for example, taking into account the self-heating of the motor during the measurement process. From the characteristic curves 16 determined, the limit values and the constant when correcting the detected speed as a function of the operating voltage are determined.
  • a Hall sensor which preferably contains two Hall elements, is particularly suitable for detecting the speed of the drive 10.
  • Direction of rotation can be determined with two elements.
  • the Hall effect has proven to be particularly insensitive to interference and inexpensive to manufacture, especially in harsh environmental conditions.

Landscapes

  • Power-Operated Mechanisms For Wings (AREA)
  • Window Of Vehicle (AREA)

Abstract

Il est proposé un procédé et un dispositif pour l'utilisation d'éléments actionnés par force extérieure comportant le risque du coincement d'objets ou de parties de corps de personnes, et où est déterminée au moins une dérivée, par rapport au chemin effectué par l'élément, d'une grandeur caractéristique appliquée à la force de commande de l'élément. Lorsqu'au moins une valeur limite est dépassée, il y a mise hors circuit ou inversion du sens de mouvement.
PCT/DE1990/000992 1990-01-12 1990-12-22 Procede et dispositif pour l'utilisation d'elements actionnes par force exterieure comportant un risque de coincement WO1991010800A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DEP4000730.8 1990-01-12
DE19904000730 DE4000730A1 (de) 1990-01-12 1990-01-12 Verfahren und vorrichtung zum betreiben von fremdkraftbetaetigten teilen mit einklemmgefahr

Publications (1)

Publication Number Publication Date
WO1991010800A1 true WO1991010800A1 (fr) 1991-07-25

Family

ID=6397951

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/DE1990/000992 WO1991010800A1 (fr) 1990-01-12 1990-12-22 Procede et dispositif pour l'utilisation d'elements actionnes par force exterieure comportant un risque de coincement

Country Status (3)

Country Link
CS (1) CS3991A2 (fr)
DE (1) DE4000730A1 (fr)
WO (1) WO1991010800A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0640740A1 (fr) * 1993-08-30 1995-03-01 UNITED TECHNOLOGIES AUTOMOTIVE, Inc. Commande adaptative pour lève-vitre avec force de pincement basée sur la rigidité d'un objet et de la position de la vitre
EP0688933A1 (fr) * 1994-06-24 1995-12-27 Sumitomo Wiring Systems, Ltd. Dispositif de sécurité pour lève-vitre automatique

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DE4031257A1 (de) * 1990-10-04 1992-04-09 Bosch Gmbh Robert Vorrichtung zum betreiben von elektromotorisch angetriebenen teilen
DE4140197C2 (de) * 1991-12-03 1996-07-25 Brose Fahrzeugteile Verfahren zum Verstellen eines fremdkraftbetätigbaren Bauteils
US7548037B2 (en) 1992-04-22 2009-06-16 Nartron Corporation Collision monitoring system
US5422551A (en) * 1992-05-23 1995-06-06 Koito Manufacturing Co., Ltd. Safety device and method for power window
DE4234501C2 (de) * 1992-10-13 1995-12-07 Tuerautomation Fehraltorf Ag F Steuerungsverfahren zur Begrenzung der Antriebskraft eines Türantriebs oder dergleichen, insbesondere Drehflügelantriebs, sowie eine zugehörige Sicherheitsschaltung
DE9217563U1 (fr) * 1992-12-22 1993-04-01 Uher Ag Fuer Zaehler Und Elektronische Geraete, Wien, At
DE9307326U1 (fr) * 1993-05-14 1993-07-29 Siemens Ag, 80333 Muenchen, De
DE4318128C2 (de) * 1993-06-01 1995-04-13 Kostal Leopold Gmbh & Co Kg Verfahren zur elektronischen Überwachung und Steuerung des Öffnungs- und Schließvorganges von elektrisch betriebenen Aggregaten
DE4330904A1 (de) * 1993-09-11 1995-03-16 Teves Gmbh Alfred Sicherheitsvorrichtung für bewegliche Teile
DE4420359A1 (de) * 1994-06-10 1995-12-14 Abb Patent Gmbh Schließvorrichtung zum automatischen Schließen von Öffnungen
DE4442171A1 (de) * 1994-11-26 1996-06-13 Telefunken Microelectron Verfahren zur Überwachung des Öffnungs- und Schließvorgangs bei einem System mit mindestens einem elektromotorisch bewegten Teil
EP0751274A1 (fr) * 1995-06-30 1997-01-02 Siemens Aktiengesellschaft Dispositif d'actionnement
DE29514786U1 (de) * 1995-09-14 1996-10-17 Siemens Ag Stellantrieb
DE19540620A1 (de) * 1995-10-31 1997-05-07 Marantec Antrieb Steuerung Überwachung der Bewegung eines antreibbaren, ein- oder mehrteiligen Tür- oder Torblattes
DE19601359A1 (de) * 1996-01-16 1997-07-17 Fraunhofer Ges Forschung Verfahren zum Steuern eines Gleichstromantriebs
DE19618219B4 (de) * 1996-05-07 2004-04-29 Robert Bosch Gmbh Vorrichtung zur elektronischen Überwachung eines Verstellantriebs
DE19840161A1 (de) 1998-09-03 2000-03-16 Webasto Karosseriesysteme Antriebsvorrichtung und Verfahren zum Verstellen eines Fahrzeugteils
DE19840163A1 (de) 1998-09-03 2000-03-16 Webasto Karosseriesysteme Antriebsvorrichtung und Verfahren zum Verstellen eines Fahrzeugteils
EP1149451B2 (fr) * 1999-01-18 2008-07-09 Hörmann KG Antriebstechnik Procede et commande pour commander un dispositif d'entrainement destine a une installation de fermeture d'un batiment ou d'une enceinte
DE19901855A1 (de) 1999-01-19 2000-07-20 Bosch Gmbh Robert Verfahren und Vorrichtung zum Betreiben eines Verstellantriebs in einem Kraftfahrzeug
DE10048602A1 (de) * 2000-09-30 2002-04-11 Bosch Gmbh Robert Vorrichtung und Verfahren zur Detektion einer Einklemmsituation bei bewegten Flächen am Kraftfahrzeug
US7612515B2 (en) 2004-07-24 2009-11-03 Conti Temic Microelectronic Gmbh Method and device for identifying pinching situations in displacing drives in motor vehicles
DE102010014806B4 (de) 2010-02-02 2014-03-13 Hörmann KG Antriebstechnik Torantriebsvorrichtung, damit versehener Gebäudeabschluss, Torsystem und Herstell- und Antriebsverfahren
DE102010037804A1 (de) * 2010-09-28 2012-03-29 Dr. Ing. H.C. F. Porsche Aktiengesellschaft Verfahren zum Ansteuern einer Stelleinrichtung
DE102012016302A1 (de) * 2012-08-16 2014-02-20 Brose Fahrzeugteile Gmbh & Co. Kommanditgesellschaft, Hallstadt Einklemmschutzverfahren

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Publication number Priority date Publication date Assignee Title
EP0640740A1 (fr) * 1993-08-30 1995-03-01 UNITED TECHNOLOGIES AUTOMOTIVE, Inc. Commande adaptative pour lève-vitre avec force de pincement basée sur la rigidité d'un objet et de la position de la vitre
EP0688933A1 (fr) * 1994-06-24 1995-12-27 Sumitomo Wiring Systems, Ltd. Dispositif de sécurité pour lève-vitre automatique

Also Published As

Publication number Publication date
DE4000730A1 (de) 1991-08-01
CS3991A2 (en) 1991-09-15

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