WO2000014846A1 - Antriebsvorrichtung und verfahren zum verstellen eines fahrzeugteils - Google Patents

Antriebsvorrichtung und verfahren zum verstellen eines fahrzeugteils Download PDF

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Publication number
WO2000014846A1
WO2000014846A1 PCT/EP1999/006511 EP9906511W WO0014846A1 WO 2000014846 A1 WO2000014846 A1 WO 2000014846A1 EP 9906511 W EP9906511 W EP 9906511W WO 0014846 A1 WO0014846 A1 WO 0014846A1
Authority
WO
WIPO (PCT)
Prior art keywords
estimated
determined
motor
time
vehicle part
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/EP1999/006511
Other languages
German (de)
English (en)
French (fr)
Inventor
Joachim Klesing
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Webasto Dachsysteme GmbH
Original Assignee
Webasto Dachsysteme 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 Webasto Dachsysteme GmbH filed Critical Webasto Dachsysteme GmbH
Priority to JP2000569483A priority Critical patent/JP4370609B2/ja
Priority to EP99944601A priority patent/EP1110289A1/de
Priority to US09/786,391 priority patent/US6605911B1/en
Publication of WO2000014846A1 publication Critical patent/WO2000014846A1/de
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P1/00—Arrangements for starting electric motors or dynamo-electric converters
    • 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
    • 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
    • H02H7/093—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 increase beyond, or decrease below, a predetermined level of rotational speed

Definitions

  • the invention relates to a drive device for a vehicle part that can be adjusted between at least two positions, and a method for adjusting a vehicle part between at least two positions.
  • a similar drive device in which, however, the threshold value is selected as a function of the position, the speed change between two adjacent positions recorded in a previous run being stored in a memory for certain positions of the adjustment path in order to be dependent on this to calculate the cut-off threshold for the speed depending on the position from the last position and speed currently recorded.
  • DE-OS 29 26 938 it is known to detect the engine speed in a sliding roof drive at constant time intervals, to form the differences of successive values, to add up these differences if they are greater than a predetermined threshold value, and to switch off or reverse the Trigger motor as soon as the sum total exceeds a predetermined threshold.
  • a drive device for a motor vehicle window which detects the motor speed by means of two Hall detectors and reverses the motor when a threshold value for the relative change in speed is exceeded.
  • the threshold value is constantly recalculated as a function of the detected motor voltage and the ambient temperature determined by a temperature sensor on the motor. The standstill / operating times of the motor are also taken into account in order to be able to infer the ambient temperature from the motor temperature.
  • a disadvantage of such drive devices detecting the speed is that the pinch protection is not effective between two signals for detecting the period or the engine speed and, in this respect, pinching of an object is only detected with a delay, which leads to increased clamping force and thus damage the actuation mechanism of the adjustable vehicle part or injuries to trapped body parts.
  • a drive device for a motor vehicle window which detects the motor current and also detects the window position by means of Hall sensors in the motor and reverses the motor when a threshold value for the motor current is exceeded as a function of the window position.
  • a disadvantage of such drive devices that detect the motor current is that additional electronic components are required for motor current detection. It is an object of the present invention to provide a drive device for a vehicle part movable between at least two positions and a method for adjusting a movable vehicle part between at least two positions, by means of which a rapid detection of an object being jammed is made possible without additional components.
  • the extrapolation times preferably have a fixed time interval.
  • Spring stiffness, damping and friction of the drive device are preferably taken into account when determining the force.
  • the trigger threshold can be set lower.
  • a measurement of the current period of the engine rotation is determined from the difference to at least one previous pulse signal measured value, an estimated value of the current period being determined taking into account at least one previous measured period, at each extrapolation time, an estimated from the estimated period current speed change is determined and the estimated value of the current force is determined from the estimated speed changes.
  • the estimated speed change results from the difference between the period duration estimated for an extrapolation point in time and the period duration estimated for the previous extrapolation point in time, the period duration estimated for each extrapolation point in time being the sum of the last measured period duration and the weighted with parameters Sum of several before the last measured period duration, the latter sum being multiplied by the time elapsed since the last measurement.
  • the force effect on the vehicle part is preferably determined by multiplying each estimated speed change by a proportionality factor and adding up the values obtained in this way as soon as the estimated speed change exceeds a lower threshold value. This reduces the influence of small changes in speed, which increases the tripping accuracy.
  • the upper threshold value is preferably chosen to be variable depending on the last determined speed change value. This can further increase the triggering accuracy.
  • control unit is preferably designed such that the proportionality factor for the determination of the change in force is selected from the change in speed as a function of the engine characteristic curve, which is determined for at least one engine voltage before the vehicle is started without a driven vehicle part. This results in better modeling of the individual system, so that the trigger threshold can be set lower.
  • An advantageous further development consists in that, in parallel to the determination of the estimated value of the current force effect in at least one second independent calculation from the detected pulse signals at certain second times, a second value for the current force effect on the vehicle part is determined, the second value as a additional criterion is used when deciding whether the engine is switched off or reversed or not.
  • a spectral analysis of the speed changes determined or estimated within a certain time window up to the time of the analysis is preferably carried out at certain points in time, the engine being switched off or reversed only when the determined spectrum meets certain requirements. This protects against false triggering under vibrating conditions.
  • FlG. 1 shows a schematic illustration of a drive device according to the invention
  • FlG. 2 shows a graphical representation of an exemplary temporal course of the period of the motor rotation
  • FlG. 3 shows a schematic representation of an embodiment of the method according to the invention for determining a case of pinching
  • FlG. 4 schematically shows a vehicle roof to illustrate the method according to FIG. 3.
  • the movable covers 54 of vehicle sunroofs today predominantly designed as sliding / lifting roofs or spoiler roofs, are mostly driven by means of such drive cables 16.
  • the window lifters of a motor vehicle door often act on the movable part, ie the pane, via a cable drum and a smooth cable. For the following consideration, it does not matter how the force is applied to the moving vehicle part.
  • the cover 54 of a slide-lift is preferably Roof driven, which is, however, only shown in Fig. 4 for better clarity.
  • a magnetic wheel 18 with at least one south and one north pole is mounted on the shaft 12 in a rotationally fixed manner.
  • several, for example four, north and south poles can also be arranged on the magnetic wheel 18, as a result of which the period of the signals is shortened accordingly.
  • Two Hall sensors 20, 22 are arranged near the magnetic wheel 18 in the circumferential direction, each of which sends a pulse signal to a control unit 24 provided with a microprocessor 36 and a memory 38 each time the north or south pole of the magnetic wheel 18 passes emit, which thus receives a signal about every quarter turn of the shaft 12.
  • the period duration results in each case from the distance between two successive signals on the same sensor 20 or 22, which are received at a distance of one full rotation of the shaft 12.
  • the period is alternately calculated from the time difference between the two last signals at the sensors 20 and 22, so that a new value of the period is available every quarter of a turn.
  • the direction of rotation can also be determined on the basis of the phase shift of the signals of the two sensors 20, 22.
  • the current position of the cover 54 can also be determined from the signals of the Hall sensors 20, 22 by feeding these signals to a counter 40 assigned to the control unit 24.
  • the direction of rotation of the electric motor 10 can be controlled by the control unit 24 via two relays 26, 28 with changeover contacts 30, 32.
  • the speed of the motor 10 is controlled by pulse width modulation via a transistor 34 controlled by the control unit 24.
  • the microprocessor 36 determines the monthly period of the rotation of the shaft 12 and thus also of the electric motor 10.
  • a measurement value for the period is available approximately every quarter of a rotation of the shaft 12 .
  • estimates for the period are continuously extrapolated from previous measured values of the period in a fixed time grid, for example every 1 ms, for example according to the following formula:
  • T * [k] T [i] + k • (al • T [i-1] + a2 ⁇ T [i-2] + a3 ⁇ T [i-3]) (1)
  • al, a2, a3 are parameters, i is an index that every quarter, incremented, and k is the running index of the fixed time grid, which is reset to zero for each new measurement for the period.
  • i is an index that every quarter, incremented
  • k is the running index of the fixed time grid, which is reset to zero for each new measurement for the period.
  • the parameters al, a2, a3 model the overall system of the drive device, i.e. Motor 10, power transmission components and cover, and are determined by the spring stiffness, damping and friction of the overall system. This results in a bandpass effect with the property that spectral components of the period over time, which result from vibrations, are rated weaker than those which result from a pinching event.
  • FlG. 2 schematically shows an exemplary temporal course of the measured period durations T and the period durations T * estimated therefrom. The dashed curve represents the true course of the period.
  • the speed change at time [k], based on the previous time [k-1], is then estimated from the estimated values for the period, using a motor voltage filter and a travel profile filter to determine the influences of the motor voltage and the position at which the moving vehicle part, ie the cover, just located, to eliminate the engine speed using the following formula:
  • Um [k] is the motor voltage at the time [k]
  • Vu is a motor voltage filter which simulates the dependence of the speed on the motor voltage detected by the control unit 24
  • x [k] is the position of the cover at the time [k]
  • Vr is a displacement profile filter that simulates the dependence of the engine speed on the position of the cover.
  • the motor voltage filter Vu simulates the dynamic behavior of the motor when the voltage changes.
  • the motor voltage filter Vu is preferably designed as a low-pass filter, the time constant of which is equal to the motor time constant.
  • the time constant depends on the operating case, i.e. the opening or closing of the cover 54 in the sliding or lowering direction, and the magnitude of the change in voltage.
  • the Wegpro filfilter Vr is automatically determined by a learning run after installing the drive device in the vehicle. As mentioned above, the position of the cover 54 is determined from the pulse signals of the Hall sensors 20, 22 which are summed up by means of the counter 40.
  • the estimated speed changes ⁇ N * [k] are compared with a fixed lower limit that is constant over time. As soon as they exceed this lower limit, they are each multiplied by a proportionality factor Vf, which represents the steepness of the motor characteristic of the electric motor 10 (torque versus speed). The slope is approximately constant at constant motor voltage and motor temperature, but is different for each electric motor 10.
  • Vf proportionality factor
  • the ambient temperature is detected by a temperature sensor and the motor temperature is approximated by recording the operating time (instead of the ambient temperature, the motor temperature can also be detected directly by a temperature sensor on the electric motor 10).
  • the ⁇ F [k] values are added up as long as the ⁇ N * [k] values are above the specified lower limit. As soon as two consecutive ⁇ N * [k] values are below it again, the sum is set to zero. If a ⁇ N * [k] value exceeds a fixed upper limit, only the value of the upper limit is included in the sum instead of this ⁇ N * [k]. This serves to eliminate as far as possible the effects of vibrations, which lead to brief, periodic peaks in the speed change, on the detection of a glueing accident. In the simplest case, this upper limit can be chosen to be constant. In order to increase the accuracy of the triggering, however, the upper limit can also be selected in a time-dependent manner depending on the currently determined speed change, e.g. in the form that the upper limit is increased with increasing current speed change.
  • the control unit 24 triggers a reversal of the electric motor 10 by actuating the relays 26, 28 via the switches 30, 32 in order to immediately release a jammed object or a jammed body part to give.
  • the trapping protection is active by the described extrapolation of the period also between two measured values of the period at fixed times, which means that a trapping occurs earlier, i.e. even with lower cycles, force can be recognized, which better prevents injuries or damage and thereby increases the safety of the drive device.
  • a spectral analysis of the speed changes determined within a certain time window up to the time of analysis can be carried out.
  • Certain spectral characteristics in particular when a clearly pronounced peak occurs, which is not in the spectral range typical for pinching cases, prevents triggering, even if the threshold Fmax is exceeded.
  • a second embodiment of the invention is shown schematically in FIG.
  • the main difference from the first embodiment described above is that, in parallel and independently of an extrapolation according to the invention of the measured period durations at specific times and the determination of estimated values for the force acting on the adjustable vehicle part, a second calculation 52 with its own parameter set is carried out in a first calculation 50 and another sampling rate is carried out, which also provides a value for the current force.
  • a logic stage 54 in the form of an OR operation.
  • the rigidity of the overall system is made up of the rigidity of the sliding-lifting roof mechanism, the clamped body and the vehicle body.
  • the stiffness of the pinched body depends on the type of body.
  • the rigidity of the body is heavily dependent on the place where the body is pinched. This applies in particular to the lowering movement of a cover 54 from an opening position, see FIG. 4. If a body 56 is clamped in the area of the roof center (indicated in FIG. 4 by 58), the overall system is considerably softer due to the possible deflection of the rear edge of the cover than when pinching in the edge area (indicated in Fig. 4 with 60).
  • the sampling rate means the distance between the times at which a value for the momentary force is determined. If the system works with a single fixed sampling rate, the parameter set of the calculation, in particular the threshold or Limit values and the selected sampling rate can only be optimized for a single stiffness of the overall system, although in practice different stiffnesses of the overall system can be decisive depending on the type and location of the clamped body.
  • a second parallel calculation 52 it is possible, by appropriate selection of the calculation parameters and the sampling rate on which the calculation is based, that is to say the choice of the times at which a new value of the momentary force action is calculated, this second calculation 52 for a different stiffness to optimize.
  • the second calculation 52 is preferably for the detection of slow changes in force, i.e. small stiffnesses optimized, while the first calculation 50 for the detection of rapid changes in force, i.e. great stiffness is optimized.
  • the second calculation 52 does not require an extrapolation of measured values of the period duration, but, depending on the relevant stiffness range, a calculation 52 is made after the receipt of a new measured value or only after every nth input of a measured value a new value of the momentary force applied. In principle, however, if necessary, the second calculation 52 can also use an extrapolation algorithm, the extrapolation times being selected at a greater distance than in the first calculation 50.
  • the first sampling rate is selected so that it is used for the detection of pinching with the The highest detection system stiffness is optimal
  • the speed detection stage 62 is used jointly by the first calculation 50 and the second calculation 52.
  • the change in speed ⁇ N * is converted to the by means of the formula (3) in the manner described above using a first value for the fixed lower limit, a first value for the fixed upper limit and a first value for the threshold value Fmax the first sampling rate specified points in time, ie the extrapolation points in time [k], determined whether the momentary force effect exceeds this first threshold value Fmax.
  • the values of this first parameter set are optimized for the detection of pinching cases with the greatest expected system rigidity.
  • the sampling rate is selected so that it is optimal for the detection of pinching cases with the lowest expected system stiffness.
  • This second sampling rate can e.g. should be chosen so that only every fourth measured value of the period T should be taken into account.
  • the second calculation is only carried out by the Hall sensors 20, 22 every fourth signal input, i.e. only every fourth speed N [i] determined by the stage 62, which goes back to a measured period T, is taken into account in the sampling stage indicated by 66 in FIG. 4.
  • the speeds N * [k] determined from extrapolated period durations T * are of course not taken into account anyway.
  • the second calculation 52 is therefore only carried out every fourth point in time [i].
  • the speed change ⁇ N [i] compared to the last measured value is determined. Then it is determined in an analogous manner by means of the formula (3) using a second value for the fixed lower limit, a second value for the fixed upper limit and a second value for the threshold value Fmax whether the momentary force action exceeds this second threshold value Fmax.
  • the values of this second parameter set are optimized for the detection of pinching cases with the lowest expected system rigidity.
  • the results of the first and the second calculation are logically linked to one another in a logic stage 64 for the decision as to whether there is a jamming situation, ie the engine should be switched off or reversed. In the simplest case, this is an OR operation. In this case, the motor is switched off or reversed when one of the two calculations has detected a case of jamming.
  • the decision becomes everyone Time when the first calculation 50 delivers a new result. Since new results of the second calculation 52 are available much less frequently, the last result of the second calculation 52 is always supplied to the logic stage 64.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Power-Operated Mechanisms For Wings (AREA)
  • Control Of Direct Current Motors (AREA)
PCT/EP1999/006511 1998-09-03 1999-09-03 Antriebsvorrichtung und verfahren zum verstellen eines fahrzeugteils Ceased WO2000014846A1 (de)

Priority Applications (3)

Application Number Priority Date Filing Date Title
JP2000569483A JP4370609B2 (ja) 1998-09-03 1999-09-03 車両部品を調節するための駆動装置と方法
EP99944601A EP1110289A1 (de) 1998-09-03 1999-09-03 Antriebsvorrichtung und verfahren zum verstellen eines fahrzeugteils
US09/786,391 US6605911B1 (en) 1998-09-03 1999-09-03 Drive device and method for moving a vehicle part

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE19840163A DE19840163A1 (de) 1998-09-03 1998-09-03 Antriebsvorrichtung und Verfahren zum Verstellen eines Fahrzeugteils
DE19840163.9 1998-09-03

Publications (1)

Publication Number Publication Date
WO2000014846A1 true WO2000014846A1 (de) 2000-03-16

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PCT/EP1999/006511 Ceased WO2000014846A1 (de) 1998-09-03 1999-09-03 Antriebsvorrichtung und verfahren zum verstellen eines fahrzeugteils

Country Status (6)

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US (1) US6605911B1 (enExample)
EP (1) EP1110289A1 (enExample)
JP (1) JP4370609B2 (enExample)
KR (1) KR100723318B1 (enExample)
DE (1) DE19840163A1 (enExample)
WO (1) WO2000014846A1 (enExample)

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KR20010090721A (ko) 2001-10-19
US6605911B1 (en) 2003-08-12

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